Parker Compumotor 6200 Installation Manual
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Parker Compumotor 6200 Installation Manual

Parker Compumotor 6200 Installation Manual

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Parker Compumotor 6200 Installation Manual

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  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
  • Page 2 G - A G - B T - A T - B P - C I N P Compumotor Division Parker Hannifin Corporation p/n 88-016454-01A September 1997 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice.
  • Page 4 6200 Documentation Enhancements T o p i c D e s c r i p t i o n The 6200 User Guide (p/n 88-013168-01), which contained hardware and software New Documentation Set documentation, is replaced by this document ( 6200 Installation Guide , p/n 88-016454-01) and the 6000 Series Programmer’s Guide (p/n 88-014540-01).
  • Page 5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 6: Table Of Contents

    • Mechanical motion control concepts, such as inertia, torque, velocity, distance, force. • Serial communication and terminal emulator experience: RS-232C Related Publications • 6000 Series Software Reference, Parker Hannifin Corporation, Compumotor Division; part number 88-012966-01 • 6000 Series Programmer’s Guide, Parker Hannifin Corporation, Compumotor Division;...
  • Page 7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 8: Chapter 1. Installation

    C H A P T E R O N E Installation IN THIS CHAPTER • Product ship kit list • Things to consider before you install the 6200 • General specifications table • Optional pre-installation alterations (requires removal of chassis) - DIP switch settings for device address and autobaud feature - Jumper setting for programmable inputs to source or sink current •...

  • Page 9: What You Should Have (Ship Kit)

    What You Should Have (ship kit) Part Name Part Number 6200 standard product (with ship kit) ............6200 If an item is missing, Ship kit: (2) 10-foot, 15 D to 25 D drive cables ........71-010432-01 call the factory (see 120VAC 8-foot power cord............

  • Page 10: General Specifications

    General Specifications Parameter Specification Power AC input ..............110-240VAC (±10%) single-phase, 50/60Hz, 0.6A @ 120VAC. Status LED..............GREEN if proper AC input power supply is connected. RED if power reset is required. OFF if no power. Environmental Operating Temperature .......... 32 to 122°F (0 to 50°C). Storage Temperature..........

  • Page 11: Pre-Installation Adjustments

    Pre-installation Adjustments — Optional Factory Settings May Be Sufficient (if so, skip this section) • DIP Switches (Device Address Selection; Autobaud Feature): Device address is set to zero. : If you are connecting NOTE multiple units in a daisy-chain or multi-drop, you can automatically establish the device address by using the ADDR command, thereby eliminating the need to access the internal DIP switches.

  • Page 12: Mounting The 6200

    Mounting the 6200 Before you mount the 6200 Check the list below to make sure you have performed all the necessary configuration tasks that require accessing internal components (DIP switches and jumper JU2). • Select device address (DIP switches). If you are not connecting multiple 6200 units in an RS-232C daisy chain, use the factory setting.

  • Page 13: Electrical Connections

    Electrical Connections To install the 6200 so that it is LVD compliant, refer also to the supplemental instructions in Appendix A (page 29). Appendix B (page 31) provides guidelines on how to install the 6200 in a manner most likely to minimize the 6200’s emissions and to maximize the 6200’s immunity to externally generated electromagnetic interference.

  • Page 14: Serial Communication (Rs-232C)

    Serial Communication (RS-232C) RS-232C Connections RS-232C Daisy-Chain Connections* Unit 0 Unit 1 Unit 2 SHLD SHLD SHLD Daisy Chain to a Computer or Terminal SHLD Serial Port Connection Unit 0 Unit 1 Unit 2 9-Pin COM Port: 25-Pin COM Port: Pin 2 (Rx) Pin 2 (Tx) SHLD...

  • Page 15: Motor Drivers

    Motor Drivers PIN OUTS & SPECIFICATIONS (15-pin DRIVE Connector) 15 D Cable (71-010432-10) Pin # Color (25 D Pin #) Name In/Out Description Red (pin #1) Step (+) Differential output. Step (pulse) output to the drive. Step + signal is active high. Signal levels: Low ≤...
  • Page 16 Connecting a ZETA, S, OEM650, OEM750 or PDS Drive Connecting an OEM670SD Drive 6200 ZETA, S, OEM or PDS Drive 6200 OEM670SD Drive (DRIVE Connector) (25-pin Connector) (DRIVE Connector) Step + (pin 1) Step + (pin 1) Step + (pin 1) Step + (pin 3) Step Return (pin 9) Step Return (pin 14)

  • Page 17: End-Of-Travel And Home Limit Inputs

    End-of-Travel and Home Limit Inputs N O T E S • Motion will not occur on an axis until you do one of the following: - Install end-of-travel ( & ) limit switches. - Disable the limits with the LHØ command (recommended only if load is not coupled). - Change the active level of the limits with the LHLVL command.

  • Page 18: Encoder

    Encoder CONNECTIONS & INTERNAL SCHEMATICS Internal Schematic ENCODER Connector +5VDC +5VDC +5VDC 22 KΩ Max. Cable Length is 100 feet. A Channel + Brown White Use 22 AWG wire. A Channel – Brown/White (n/a) A– Green Brown B Channel + 22 KΩ...

  • Page 19: Joystick & Analog Inputs

    Joystick & Analog Inputs C O N N E C T I O N S Joystick Feedrate Control (Using a Potentiometer) Joystick Joystick potentiometers are 5K Ω with 1KΩ Resistors 60 ° of usable travel adjusted to span 0 Ω to 1K Ω . X Axis Y Axis 1KΩ...

  • Page 20: Trigger Inputs

    Trigger Inputs TRG-A and TRG-B connected to GND (normally-open switches). The active level (default is active low) can be changed with the INLVL Internal Schematic command. AUX Connector These inputs are like the general- purpose inputs on the 50-pin header. Both trigger inputs share TRG-A The differences are (1) the triggers...

  • Page 21: General-Purpose Programmable Inputs & Outputs

    General-Purpose Programmable Inputs & Outputs VM50 ADAPTOR — for screw-terminal connections Color stripe (pin #1) 2-Foot Cable (provided with VM50) Pin outs on the VM50 are identical to the pin outs for the 50-pin connectors (only if the cable is Color stripe connected as illustrated).
  • Page 22 INPUT CONNECTIONS — Connecting to electronic devices such as PLCs Connection to a Electronic 6200 Sinking Output Device D e v i c e ISO GND Set Jumper JU2 to position 2/3 (factory The output should default be able to sink at position) for the inputs to least 1mA of current.
  • Page 23 OUTPUT CONNECTIONS (includes OUT-A & OUT-B) — for electronic devices such as PLCs Connection to a Sinking Input (active high) Connection to a Sourcing Input (active low) External Supply External Supply Electronic 6200 Electronic 6200 (up to 24VDC) (up to 24VDC) –...
  • Page 24 THUMBWHEEL CONNECTIONS — for entering BCD data Connection to the Compumotor TM8 Module TM8 Thumbwheel Module +5 GND I5 I4 I3 I2 I1 O5 O4 O3 O2 O1 6200 Programmable Input #1 Programmable Input #2 Programmable Input #3 Programmable Input #4 Programmable Input #5 Pin #49 (+5VDC) Pin #48 (GND)

  • Page 25: Rp240 Remote Operator Panel

    RP240 Remote Operator Panel RP240 Back Plane RP240 SHLD Input Power WARNING : The 6200’s SHLD terminals are grounded through the AC power connector ground pin. You must provide a proper AC power ground for safety purposes. AC Input — 110-240VAC (±10%) single-phase, 50/60Hz, 0.6A @ 120VAC 120VAC Input 240VAC Input Grounded 240VAC...

  • Page 26: Lengthening I/O Cables

    Lengthening I/O Cables Bear in mind that lengthening cables increases noise sensitivity. (The maximum length of cables is ultimately determined by the environment in which the equipment will be used.) If you lengthen the cables, follow the precautions below to minimize noise problems. •...

  • Page 27: Testing The Installation

    Testing the Installation WARNING This test procedure allows you to control I/O and produce motion. Make sure that exercising the I/O will not damage equipment or injure personnel. We recommend that you perform these tests with the motor uncoupled from the load; however, if you leave the motor coupled to the load, make sure that you can move the load without damaging equipment or injuring personnel (and be ready to use the emergency stop switch or...
  • Page 28 PANEL, the RP240 Rx and Tx lines are probably switched. Remove power and correct. 3. Assuming you have not written a program to manipulate the RP240 display, the RP240 screen should display the following: COMPUMOTOR 6200 INDEXER STATUS DISPLAY Pulse Cutoff 1.

  • Page 29: What's Next

    What’s Next? By now, you should have completed the following tasks, as instructed earlier in this chapter: 1. Review the general specifications — see page 3. 2. Perform configuration/adjustments (if necessary) — see page 4. 3. Mount the 6200 — see page 5. 4.
  • Page 30 C H A P T E R T W O Troubleshooting IN THIS CHAPTER • Troubleshooting basics: - Reducing electrical noise - Diagnostic LED - Test options - Technical support • Solutions to common problems • Resolving serial communication problems •...

  • Page 31: Chapter 2. Troubleshooting Troubleshooting Basics

    Troubleshooting Basics When your system does not function properly (or as you expect it to operate), the first thing that you must do is identify and isolate the problem. When you have accomplished this, you can effectively begin to resolve the problem. The first step is to isolate each system component and ensure that each component functions properly when it is run independently.

  • Page 32: Common Problems & Solutions

    Common Problems & Solutions N O T E Some software-related causes are provided because it is sometimes difficult to identify a problem as either hardware or software related. Problem Cause Solution Communication 1. Improper interface connections or 1. See Troubleshooting Serial Communication section below. (serial) not operative, communication protocol.

  • Page 33: Troubleshooting Serial Communication Problems

    1. Power up the computer or terminal and launch the terminal emulator. 2. Power up the 6200. A power-up message (similar to the following) should be displayed, followed by a prompt (>): ∗PARKER COMPUMOTOR 6200 - 2 AXIS STEPPER CONTROLLER ∗RP240 CONNECTED >...

  • Page 34: Product Return Procedure

    Problem Remedy (based on the possible causes) No Response • COM port not enabled for 6000 language communication. Issue the “PORT1” command and then the “DRPCHKØ” command. • Echo may be disabled; enable with the ECHO1 command. • Faulty wiring. See instructions on page 7. Also check for shorts or opens. •...
  • Page 35 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 36 Appendix A L V D I n s t a l l a t i o n I n s t r u c t i o n s When installed according to the procedures in the main body of this installation guide (pages 2-21), the 6200 may not necessarily comply with the Low Voltage Directive (LVD).
  • Page 37 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 38 DC connection, The recommended components are produced by Parker does not at all speak to the integrity of an AC (high- Chomerics (617-935-4850) and are suitable for use with frequency) connection.
  • Page 39 cable (this allows the braid to continue to the cable The 6200 incorporates a switch-mode power supply connector), be careful not to damage the braid. Snap the operating directly from the AC input. The substantial P-clip over the exposed braid, and adjust for a tight fit. filtering effect of a mains isolation transformer is therefore Secure the clip to the designated ground with a machine not available, and additional external filtering is required.
  • Page 40 cable down to the mounting panel as shown in Figure 3. Remember to route control signal connections well Expose a short length of the braided screen and anchor to away (at least 8 inches) from relays and contactors. the panel with a P-clip. Avoid routing communication Control wiring should not be laid parallel to power or cables near high power lines and sources of high energy motor cables and should only cross the path of these...
  • Page 41 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 42: Appendix A (Lvd Installation Instructions) Appendix B (Emc Installation Guidelines) I N D E X

    I N D E X 5V power supply (internal), load limit 3 end-of-travel limit inputs 10 grounding 6 (e-mail address) 6000user@cmotor.com home limit inputs 10 FAX number for technical support 24 AC input power connections & specs 18 joystick 12 feedback, e-mail address i lengthening cables 19 feedrate control (potentiometer), connections...
  • Page 43 joystick reference documentation i velocity accuracy 3 connections 12 release input (joystick), connections/specs 12 velocity range 3 test 21 removing the 6200 enclosure 4 velocity repeatability 3 specs 12 resolution velocity select input, connections & specs 12 jumper (JU2) for sinking/sourcing 4 drive 25 VM50 adaptor 14 LED, diagnostic 24...
  • Page 44 6200 2-Axis Indexer Automation Connections See also pages 6-21 OTHER PIN OUTS I/O SPECIFICATIONS & INTERNAL SCHEMATICS Dimensions & Mounting — refer to page 5 — PROGRAMMABLE PROGRAMMABLE AC Input....110-240VAC (±10%) single-phase, 50/60Hz, INPUTS OUTPUTS ..... 0.6A @ 120VAC......Connection instructions – see page 18. Function Function +5VDC...
  • Page 45 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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