End-Of-Travel And Home Limit Inputs - Parker Compumotor 6200 Installation Manual

End-of-Travel and Home Limit Inputs

• Motion will not occur on an axis until you do one of the following:
- Install end-of-travel (
- 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.
• Refer to the Basic Operation Setup chapter in the 6000 Series Programmer's Guide for
in-depth discussions about using end-of-travel limits and homing.
CONNECTIONS & INTERNAL SCHEMATICS
HOM connected to GND
(normally-open switch).
The home limit input is used during a homing move, which is initiated
with the HOM command. After initiating the homing move, the
controller waits for the home switch to close, indicating that the load
has reached the "home" reference position. The active level (default
is active low) can be changed with the HOMLVL command. You can
also use an encoder's Z channel pulse, in conjunction with the home
switch, to determine the home position (this feature is enabled with
the HOMZ1 command).
CW & CCW connected to GND
Mount each switch such that the load forces it to open before it
reaches the physical travel limit (leave enough room for the load to
stop). When the load opens the switch, the axis stops at the decel
value set with the LHAD command. The motor will not be able to
move in that same direction until you execute a move in the opposite
direction and clear the limit by closing the switch (or you can disable
the limits with the LHØ command, but this is recommended only if the
motor is not coupled to the load). The active level (default is active
low) can be changed with the LHLVL command.
PIN OUTS & SPECIFICATIONS
Pin Name In/Out Description
1 SHLD — Chassis ground (earth).
2 GND — Isolated ground.
3 2HOM IN Home limit input, axis 2.
4 2CCW IN Negative-direction end-of-travel limit input, axis 2.
5 2CW IN Positive-direction end-of-travel limit input, axis 2.
6 GND — Isolated ground.
7 1HOM IN Home limit input, axis 1.
8 1CCW IN Negative-direction end-of-travel limit input, axis 1.
9 1CW IN Positive-direction end-of-travel limit input, axis 1.
1 0
6200 Installation Guide
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N O T E S
& ) limit switches.
CW CCW
LIM 1/2 Connector
(normally-closed switches).
(LIM 1/2 Connector)
1
SHLD
GND
ISO GND
2HOM
2CCW
2CW
GND
1HOM
1CCW
1CW
9
Specification for all limit inputs
• TTL compatible switching levels (Low ≤ 0.4V, High ≥ 2.4V).
Internal 6.8 KΩ pull-up resistor to +5V
• Active level for HOM is set with HOMLVL (default is active low,
requires n.o. switch).
• Active level for CW & CCW is set with LHLVL (default is active
low, requires n.c. switch).
Internal Schematic
Chassis
Ground
+5VDC
6.8 KΩ
47 KΩ
74HCTxx
All limit inputs share the
same circuit design.
Voltage range = 0-24V.
.