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AT6200 & AT6400 Indexers
Connections
CONNECTOR TO MAIN BOARD
ENCODER 1
LIMITS 1/2
1
SHLD
1POS
GND
1NEG
D
Z-
1HOM
R
GND
Z+
I
2POS
B-
V
B+
2NEG
E
A-
2HOM
1
A+
GND
SHLD
+5V
1
ENCODER 2
LIMITS 3/4
1
SHLD
3POS
GND
3NEG
D
Z-
3HOM
R
Z+
GND
I
B-
4POS
V
B+
4NEG
E
A-
4HOM
2
A+
GND
+5V
SHLD
ENCODER 3
TRIGGERS
1
SHLD
TRG-A
GND
GND
D
Z-
TRG-B
R
Z+
GND
I
B-
TRG-C
V
B+
GND
E
A-
TRG-D
3
A+
GND
+5V
SHLD
1
ENCODER 4
AUXILIARY
1
SHLD
+5V
GND
GND
D
Z-
+5V
R
Z+
OUT-P
I
B-
IN-P
V
B+
GND
E
A-
AUX-P
4
A+
P-CUT
+5V
GND
Dashed line denotes features not available on the AT6200.
PIN OUTS FOR "D" CONNECTORS
PROGRAMMABLE
INPUTS & OUTPUTS
Pin
Function
49
+5VDC
47
Input or Output #1 (LSB)
45
Input or Output #2
43
Input or Output #3
41
Input or Output #4
39
Input or Output #5
37
Input or Output #6
35
Input or Output #7
33
Input or Output #8
31
Input or Output #9
29
Input or Output #10
27
Input or Output #11
25
Input or Output #12
23
Input or Output #13
21
Input or Output #14
19
Input or Output #15
17
Input or Output #16
15
Input or Output #17
13
Input or Output #18
11
Input or Output #19
9
Input or Output #20
7
Input or Output #21
5
Input or Output #22
3
Input or Output #23
1
Input or Output #24 (MSB)
Even numbered pins are
connected to logic ground.
Troubleshooting
• LEDs – see illustration (right).
• Status information (see descriptions in 6000 Series Software Reference ):
Axis status (general problem conditions)...TAS command
Joystick analog voltage..............................TANV command
Joystick digital inputs.................................TINO command (bits 1-5)
Limit switches.............................................TLIM command
P-CUT input...............................................TINO command (bit 6)
Programmable and trigger inputs...............TIN command
Programmable outputs...............................TOUT command
• P-CUT input terminal must be grounded to GND terminal to allow motion.
• Programmable input functions (INFNC command) and drive fault detection
will not be operable until you enable input functions with the INFEN1 command.
• Incorrect drive fault level (DRFLVL command) will prevent motion.
• To help prevent electrical noise, shield all connections at one end only.
• Error messages while programming or executing programs – see the 6000
Series Programmer's Guide .
• Download errors – see page 27.
• Address, transfer mode, and interrupt DIP switch settings – see page 4.
• Technical support – see phone numbers on inside of front cover..›
We welcome your feedback on our products and user guides. Please send your comments to our email address: 6000user@cmotor.com
Direct your technical questions to your local ATC or distributor, or to the numbers printed on the inside front cover of this document.
Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com
See also pages 7-20
Power Input:
AC INPUT
Compumotor
AT6n00
Limits, P-CUT, & Trigger Inputs
n-AXIS INDEXER
1
2
1
2
P
P
R
R
O
O
G
G
R
R
A
A
Encoder Inputs
M
M
M
M
A
A
B
B
L
L
E
E
O
I
U
N
T
P
P
Programmable Inputs
U
U
T
T
S
S
1
49
50
49
50
STATUS
GREEN : READY
Programmable Outputs
J
RED : NOT READY
O
OFF: NO POWER
Y
S
T
I
C
K
+
External
Drive Inputs
DC power input
(+5VDC @ 1.6A)
–
Required for DC AUX boards;
power input alternative for AC
AUX boards.
Drive Outputs
1
DRIVE
Pin
Function
1
Step +
2
Direction +
4
In-Position
5
Drive Fault
7
+5VDC Output
Joystick Analog and Digital Inputs
8
Shield (chassis gnd)
9
Step Return (–)
10
Direction Return (–)
11
Shutdown +
12
Shutdown Return (–)
8 Channel
13
Isolated Logic gnd
8-bit A/D
Converter
14
Isolated Logic gnd
Pins 3, 6, & 15 are reserved
JOYSTICK
Pin
Function
1-4
Analog Channels 1-4
8
Shield (chassis gnd)
Terminals found on multiple connectors
14
Isolated Logic gnd
15
Axes Select Input
16
Velocity Select Input
17
Release Input
18
Trigger Input
19
Auxiliary Input
23
+5VDC Output
* HCMOS-compatible levels: Low ≤ 1.00V, High ≥ 3.25V.
Pins 5-7, 9-13, 20-21, 24-25 are reserved
See also pages 23-28
I/O SPECIFICATIONS AND INTERNAL SCHEMATICS
AT6200 AC AUX Board............90-264VAC, 50/60 Hz, 0.75A @ 240VAC, single-phase.
AT6400 120V AUX Board........90-132VAC, 50/60 Hz, 1.5A @ 120VAC, single-phase.
AT6400 240V AUX Board........90-264VAC, 50/60 Hz, 0.75A @ 240VAC, single-phase.
AT6n00 DC AUX Board...........+5VDC (±5%) @ 1.6A (connect to the AUXILIARY connector).
Internal Schematics
POS, NEG, HOM, P-CUT, or TRG-x
74HCxx
47 KΩ
.
AUX-P (connect to the +5V terminal on the AUXILIARY
6
8 KΩ
connector, or to an external supply of up to 24VDC)
Specs: HCMOS-compatible*; voltage range = 0-24VDC.
+5VDC
+1.8VDC
A–, B–, or Z–
22 KΩ
22 KΩ
A+, B+, or Z+
–
Specs: Differential comparator. Use 2-phase quadrature encoders;
+
max. frequency = 1.6 MHz; min. time between transitions = 625 ns.
TTL voltage levels (Low ≤ 0.4V, High ≥ 2.4V); range = 0-5VDC.
General-purpose Programmable Input
74HCxx
47 KΩ
.
IN-P (Connect to the +5V terminal on the AUXILIARY connector,
6
8 KΩ
or to an external supply of up to 24VDC. To sink current, connect
to a GND terminal.)
Specs: HCMOS-compatible*; voltage range = 0-24VDC.
General-purpose Programmable Output
7406
.
OUT-P (connect to the +5V terminal on the AUXILIARY
(open collector)
4
7 KΩ
connector, or to an external supply of up to 24VDC)
Specs: Open collector output.
+5VDC
Drive Fault or In-Position (pin 5 or 4)
1 KΩ
74HCxx
Specs: HCMOS-compatible*; voltage range = 0-5VDC.
+5VDC
Step+, Direction+, or Shutdown+ (pins 1, 2, or 11)
Step–, Direction–, or Shutdown– (pins 9, 10, or 12)
+5VDC
Specs: Differential line driver output.
Signal high ≥ 3.5VDC @ +30mA; signal low ≤ 1.0VDC @ -30mA.
GND
+output for each differential driver is active high;
-output for each driver is active low.
Step pulse width is 0.3 µs to 20 µs (depends on the value of the
PULSE command—default is 0.3 µs).
GND
+5VDC
+5VDC
Analog Channel Inputs (pins 1-4)
35 V
150 KΩ
.
10
0 KΩ
Ground (pin 14)
.
0
1 µF
.
49
9 KΩ
35 V
ISO GND
+5VDC
.
6
8 KΩ
74HCxx
47 KΩ
Axes Select, Velocity, Release, Trigger, or Auxiliary (pins 15-19)
+5V
+5VDC
GND
ISO GND
SHLD
Chassis GND
PC-AT
After applying power, the status LED on the AT6n00 PC card will be off and the status LED on the AUX board should be red. If
the LED on the AUX board is off, the AUX board does not have AC power.
After downloading the operating system, the status LEDs on the AUX board and the PC card will turn green indicating the
system is ready for operation. If both status LEDs do not turn green after downloading the operating system, an error has
occurred. The download program (AT6400) issues an error message if it cannot find the card or if the download operation is not
successful (refer also to the troubleshooting information in Chapter 2, Troubleshooting).
Board Monitor Alarm (BMA): Detects un-recoverable faults in hardware and software. When the BMA detects fault, the status
LED on AT6n00 PC card turns off. The BMA can be reset by cycling power to the PC-AT, or by re-downloading the AT6n00
operating system.
Max. voltage in OFF state (not sinking current) = 24V,
max. current in ON state (sinking) = 30mA.
Specs: Voltage range = 0-2.5VDC, 8-bit.
Must not exceed 5VDC.
Specs: HCMOS-compatible*; voltage
range = 0-24VDC.
5V Load Limit (for all I/O connections):
1.5A for AT6400-120; 1.0A for AT6200 AC &
AT6400-240. Limit for DC AUX boards depends on
external power supply.
Green: H igh density cable connected.
OFF:Cable not connected properly.
AUX
Board
Automation
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Table of Contents
Troubleshooting
