Related Manuals for Parker OEM6250
Summary of Contents for Parker OEM6250
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Page 1: Installation Guide
OEM6250 Servo Controller Installation Guide Compumotor Division Parker Hannifin Corporation p/n 88-016524-01B March 1998... -
Page 2: User Information
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 3 Change Summary OEM6250 Installation Guide R e v B March 1998 The following is a summary of the primary technical changes to this document. This book, p/n 88-016524-01B, supersedes 88-016524-01A. T o p i c D e s c r i p t i o n...
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Page 5: 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: In This Chapter
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 OEM6250 • General specifications table • Mounting the OEM6250 • Connecting all electrical components (includes specifications) •... -
Page 8: Before You Begin
The ANI input board provides two ±10V, phone numbers on inside front cover). 14-bit analog inputs. This manual ( OEM6250 Installation Guide ) * ..... 88-016524-01 Ship kit: To order the ANI input Motion Architect response card ** ....... 88-013715-01 board separately, order part number If you order “OEM6250 MANUALS”, the ship kit would also include:... -
Page 9: General Specifications
General Specifications Parameter Specification Power DC input..............5VDC ±5%, 4A minimum (current requirements depend on the type and amount of I/O used – see page 20). Status LEDs/fault detection........Refer to Diagnostic LEDs on page 28 Environmental Operating Temperature .......... 32 to 122°F (0 to 50°C) Storage Temperature.......... -
Page 10: Mounting The Oem6250
Airborne Contaminants, Liquids. Particulate (50.8) (50.8) contaminants, especially electrically conductive material, such as metal shavings and grinding dust, can damage the OEM6250. Do not allow liquids or fluids to come in contact with the OEM6250 or its cables. (50.8) OEM6250 Installation Guide... -
Page 11: Electrical Connections
Electrical Connections Appendix B (page 47) provides guidelines on how to install the OEM6250 in a manner most likely to minimize the OEM6250’s emissions and to maximize the OEM6250’s immunity to externally generated electromagnetic interference. Grounding System ANALOG GROUND SHLD Terminal SHLD SHTNC SHTNO... -
Page 12: Serial Communication
OEM6250 is only capable of matching 1200, 2400, 4800, and 9600 baud. Once the baud rate has been determined, the OEM6250 stores that baud rate in non-volatile memory; therefore, Switch #4 should be set to the OFF position after the baud rate has been determined. OEM6250 Installation Guide... -
Page 13: Motor Drivers
Motor Drivers WARNING REMOVE DC POWER FIRST before connecting or disconnecting the drive. CONNECTIONS & INTERNAL SCHEMATICS Drive Motor Maximum recommended cable length is 15 feet (4.56 m). Use 22 AWG wire. Internal Schematics Chassis Ground Solid State Relay DRIVE Connector Closed if DRIVE¯... - Page 14 A– « CHA– +15V « CHB+ « -15V CHB– B– « CHZ+ CHA+ « CHZ– Z– CHAÐ « CHB+ CHBÐ CHZ+ NOTE: CHZÐ Apex Series CHA+ connected to OEM6250’s A– Apex Series CHA– connected to OEM6250’s A+ OEM6250 Installation Guide...
- Page 15 BD-E Drive OEM6250 BD-E Drive User I/O Connector DRIVE 1 ENCODER 1 SHLD BD-E Drive OEM6250 « SHTNC V2 (pin 1) CMD– AÐ SHTNO « V1 (pin 2) CMD+ BÐ « GND (pin 4) AGND « RST (pin 5) RSVD ZÐ...
- Page 16 RESET GND AGND « FAULT OUT– (pin 4) AGND COMMAND+ RSVD « COMMANDÐ CMD- COMMAND+ (pin 7) CMD+ COMMAND SHLD CMD+ « COMMAND– (pin 8) CMD– « COMMAND SHLD (pin 9) (cable shield) « GND (pin 10) AGND OEM6250 Installation Guide...
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Page 17: Ani Analog Input
ANI Analog Input (OEM6250-ANI or OPT-OEM6250-A product only) ±10V Ana og Input Source Signal Source + Ground – Internal Schematics 6 5 4 3 2 1 +15V Analog Input #1 N.C. Analog Input #2 N.C. (same as #1) L F 4 1 2 Analog Ground 150 KW N.C. -
Page 18: End-Of-Travel And Home Limit Inputs
• Active level for HOM is set with HOMLVL (default is active low, 2HOM Home limit input, axis 2. requires n.o. switch). — Digital ground. • Active level for POS & NEG is set with LHLVL (default is active SHLD — Chassis ground (earth). low, requires n.c. switch). OEM6250 Installation Guide... -
Page 19: Encoder
Encoder CONNECTIONS & INTERNAL SCHEMATICS Internal Schematic ENCODER Connector +1.8VDC +5VDC Max. Cable Length is 100 feet. +5VDC Use 22 AWG wire. 22 KW A Channel + Brown A Channel – Brown/White A– B Channel + Green 22 KW B Channel – Green/White B–... -
Page 20: Joystick & Analog Inputs
(using the command) to control program flow. * +5VDC (out) +5VDC power output. * Input voltage range for pins 15-19 is 0-24VDC. HCMOS compatible (switching voltage levels: Low £ 1.00V, High ³ 3.25V). OEM6250 Installation Guide... -
Page 21: Trigger Inputs
Trigger Inputs Internal Schematic TRG-A & TRG-B connected to GND AUX Connector (normally-open switches). SHLD The active level (default is active low) can be changed +5VDC with the INLVL command. Chassis OUT-P Ground These inputs are like the general-purpose inputs on IN-P the 50-pin header. -
Page 22: General-Purpose Programmable Inputs & Outputs
2 4 6 8 10 12 14 16 18 20 22 24 26 The VM50 snaps 1 3 5 7 9 11 13 15 17 19 47 49 on to any standard DIN rail. VM50 Adaptor Board OEM6250 Installation Guide... - Page 23 INPUT CONNECTIONS — Connecting to electronic devices such as PLCs Connection to a Electronic OEM6250 Sinking Output Device D e v i c e Pulled up to +5V +5VDC (sourcing) The output should (0 KW) be able to sink at IN-P Remove if you wish least 1mA of current.
- Page 24 OUT-P is removed. descriptions in the 6000 external resistor. To size the external resistor, use this formula: Series Software Reference . 4.7 KW INDUCTANCE Output Connection £ 30mA EXTERNAL INDUCTANCE 7406 (open collector) OEM6250 Installation Guide...
- Page 25 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 OEM6250 Programmable Input #1 Programmable Input #2 Programmable Input #3 Programmable Input #4 Programmable Input #5 Pin #49 (+5VDC) Pin #48 (GND)
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Page 26: Rp240 Remote Operator Panel
IN-P terminal; for the programmable outputs, remove R13 first before connecting the external supply to the OUT-P terminal. OEM6250 +15V NC -15V GND +5V No Connect External 5VDC Supply (±5%, 4A minimum) OEM6250 Installation Guide... -
Page 27: 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 28: Testing The Installation
5. Enter the TLIM command. The response should be *TLIM¯¯1_¯¯1. “POS” means positive travel. 6. Close the end-of-travel switches and open the home switches (return to original config.). “NEG” means negative travel. “HOM” means home. 7. Enter the TLIM command. The response should be *TLIM11¯_11¯. OEM6250 Installation Guide... - Page 29 Connections Test Procedure Response Format (left to right) Analog Output 1. If the servo drives are connected to the OEM6250’s DRIVE connectors, disconnect them. TDAC response (output voltage ) Signal ±axis 1, ±axis 2 2. Set all the gains to zero by entering these commands: SGP¯,¯ , SGI¯,¯...
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Page 30: Tuning The Oem6250
(ERROR.12-1), and when it occurs to rate of the servo action. Affects the servo sampling update , the motion branch to a programmed response defined trajectory update , and the system update . in the ERRORP program. OEM6250 Installation Guide... -
Page 31: 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. Mount the OEM6250 — see page 4. 3. Connect all electrical system components — see pages 5-21. EMC installation guidelines are provided in Appendix B (page 47). -
Page 33: Troubleshooting
C H A P T E R T W O Troubleshooting IN THIS CHAPTER • Troubleshooting basics: - Reducing electrical noise - Diagnostic LEDs - Test options - Technical support • Solutions to common problems • Resolving serial communication problems •... -
Page 34: Troubleshooting Basics
Refer to the guidelines on page 21. General information on reducing electrical noise can be found in the Engineering Reference section of the Parker Compumotor/Digiplan catalog. Appendix B (page 47) provides guidelines on how to install the OEM6250 in a manner most likely to minimize the OEM6250’s emissions and to maximize the OEM6250’s immunity to... -
Page 35: 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 1. See Troubleshooting Serial Communication section below. Communication 1. Improper interface connections or (serial) not operative, communication protocol. -
Page 36: Troubleshooting Serial Communication Problems
1. Power up the computer or terminal and launch the terminal emulator. 2. Power up the OEM6250. A power-up message (similar to the following) should be displayed, followed by a prompt (>): *PARKER COMPUMOTOR OEM6250 - 2 AXIS SERVO CONTROLLER *RP240 CONNECTED >... - Page 37 3. Type “TREV” and press the ENTER key. (The TREV command reports the software revision.) The screen should now look like the one shown below; if not, see Problem/Remedy table below. *PARKER COMPUMOTOR OEM6250 - 2 AXIS SERVO CONTROLLER *RP240 CONNECTED >TREV *TREV92-013471-01-4.7 OEM6250...
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Page 38: Product Return Procedure
• What upgrades, if any, are required (hardware, software, user guide)? Step 3 Call for return authorization. Refer to the Technical Assistance phone numbers provided on the inside front cover of this document. The support personnel will also provide shipping guidelines. OEM6250 Installation Guide... - Page 39 Appendix A T u n i n g In this appendix: • Servo control terminology • Servo control techniques • Servo tuning procedures (These procedures are based on empirical techniques. If you are using Servo Tuner™, refer to the Servo Tuner User Guide for instructions.) You should tune the OEM6250 before attempting to execute any motion functions.
- Page 40 The difference between the commanded position and actual control signal less than the limit. This phenomenon of position is the position error. To view the position reaching the output limit is called controller output OEM6250 Installation Guide...
- Page 41 error, use the TPER (Transfer Position Error) command; the Over- A highly damped, or damped over-damped , system response represents the position error at the instant the gives a smooth but command is received. When the motor is not moving, the slower response.
- Page 42 I ..Integral Feedback (control with SGI command) set to zero, except when open-loop operation is desired. V ..Velocity Feedback (control with SGV command) F ..Velocity and Acceleration Feedforward (control with the SGVF and SGAF commands, respectively) OEM6250 Installation Guide...
- Page 43 Integral Feedback Control (SGI) Without SGILIM Using integral feedback control, the value of the control Position Overshoot signal is integrated at a rate proportional to the feedback Position Setpoint device position error. The rate of integration is set by the (D Command) Servo Gain Integral (SGI) command.
- Page 44 (track) the commanded position. OEM6250 Installation Guide...
- Page 45 Tuning Setup Procedure Step 3 If your system has mechanical stops, manually move the load to a position mid-way between them. Use the following procedure to set up your servo system before completing the tuning procedures. You can perform this procedure for both axes simultaneously. Step 4 Enter these commands to zero all the gains and run the Before you set up for tuning:...
- Page 46 Unlike the Tuning Setup Procedure , you must tune one response (no overshoot) as illustrated below—repeat axis at a time. Steps 2.a. and 3.b. as necessary. OEM6250 Installation Guide...
- Page 47 The general rule to determining the proper SSFR value is Command Velocity to first select the slowest servo sampling frequency that is able to give a satisfactory response. This can be done by experiment or based on the closed-loop bandwidth Actual Velocity requirement for your application.
- Page 48 (or valve, hydraulic cylinder, etc.) to chatter. You can still increase the velocity feedback gain (SGV value) further, provided that it is not already at the highest possible setting (causing the motor or valve to chatter). OEM6250 Installation Guide...
- Page 49 Tuning Process Flow Diagram (using proportional and velocity gains) START Increase SGP UNTIL Decrease SGV Increase SGV UNTIL UNTIL Decrease SGV UNTIL STOP Decrease SGP UNTIL Increase SGV UNTIL Decrease SGV UNTIL Step 6 Step 7 Use the Velocity Feedforward Gain (SGVF) to Use the Acceleration Feedforward Gain (SGAF) reduce position error at constant speed.
- Page 50 With SGV equal to 2, the response turns out fairly well the overshoot. damped (see plot). At this point, the SGP should be raised again until oscillation or excessive overshoot appears. SGP = 85 SGV = 2.3 SGP = 15 SGV = 2 OEM6250 Installation Guide...
- Page 51 Step 8 Step 12 After raising the SGV gain to 2.4, overshoot is reduced a Now that we have determined the appropriate SGP and SGV little, but chattering reappears. This means the gains are gains, we can include them in the OEM6250’s setup still too high.
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Page 53: Safety Considerations
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 54 After terminal) with the cabinet door open; static discharge may mounting the unit use petroleum jelly on the exposed cause damage to unprotected inputs. metal to minimize the risk of future corrosion. OEM6250 Installation Guide...
- Page 55 Limits Cable Drive Cable Remove paint Encoder Cable if mounting on this surface Braided-screen Cables Communications Cable User provided power from a clean DC power Triggers Cable supply (use twisted pair cable) Ground Strap Remove (connect to TH1) Paint Programmable I/O Flat Cable I/O Cable VM50...
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Page 57: I N D E X
I N D E X 5V power input (external supply) 20 control signal 34 5V power supply (internal) controller output saturation 34 cables connections to (see page for critically damped servo response 35 drive 7 connection item, like ENBL, encoder 13 Encoder, etc.) I/O, extending 21 load limit 3, 20... - Page 58 6 EMC guidelines 47 home input 12 daisy-chain connections 6 mounting (see mounting) programmable inputs 16 disable handshaking 30 precautions 2 programmable outputs 16 specifications 3 process overview 2 trigger inputs 15 troubleshooting 30 test 22 OEM6250 Installation Guide...
- Page 59 servo control methods/types 36 technical assistance (see inside of open loop operation 39 front cover, and HELP command) sampling frequency 34, 41 temperature range 3 tuning, see tuning terminal emulation, set up 22 servo sampling update rate 3 test setpoint 34 system installation 22 settling time 35 test panel (Motion Architect) 28...
- Page 61 OEM6250 2-Axis Servo Controller Automation Connections See also pages 5-23 I/O SPECIFICATIONS & INTERNAL SCHEMATICS DC Input....5VDC 5%, 4A min. (current requirements depend on Zero-Ohm Resistors .....the type and amount of I/O used – see page 20). Serial Com..RS-232C 3-wire (Rx, Tx & GND on AUX connector); Resistor R12.