6210 Installation Manual
Contents
1. H H 5 MEN Po FE w 1 A O off or open GND ground positive current flow negative currrent flow 2 8 6210 Installation Manual Danaher Motion Pacific Scientific Installation Guidelines 2 1 2 2 2 1 2 3 F1 POWER INPUT The DC input power is connected to terminals 5 and 6 of the terminal strip Terminal 5 Vm is the power supply plus connection and pin 6 Vom is the power supply minus connection An unregulated supply is similar to that shown below and is preferable If a regulated supply is used it must be capable of operating with the added filter capacitor A switching regulated supply may not be suitable for use with this drive It is important that the capacitor C1 be connected within three feet 0 9 m of the input terminals The capacitor must be of the correct value and have the proper current and voltage parameters see list of components on page 11 It is recommended that the power supply leads be twisted together using approximately six twists per foot 0 3m If the power supply is grounded it must only be grounded on the negative side or the short circuit protection will not operate properly TYPICAL POWER SUPPLY FOR A SINGLE DRIVE APPLICATION Ti 2 Drive 240 VAC R1 should be twisted using approximately six twists per foot 0 3m Maximum wire length is three feet Use 16 AWG or larger wire gt The cable between the filter c2. 2 2 A i o CS S TNM OY 9J 2 a m E WHT ORG V 3SVHd 2 4 6210 Installation Manual Danaher Motion Pacific Scientific Installation Guidelines DRIVE CONNECTION CCW STEP A B 1 GND 2 O 3 GND O GND cw 4 GND O GND 1 GND GND DRIVE CONNECTION Ccw STEP A B B 1 _ 2 En 5 cw 4 E _ 1 _ _ off or open GND ground positive current flow 2 1 2 1 2 N3x K3x T2x Power Connections 8 flying leads or 8 terminals The 8 lead motor is the most versatile configuration It may be connected by you in a choice of 8 lead or 4 lead series or parallel BLK BLK ORG WHT ORG ORG 6210 Installation Manual negative currrent flow 2 is offered only with flying leads RED x WHT RED WHT YEL 8 Lead Configuration 9 YEL Terminal Board N3x K3x 2 5 Installation Guidelines 2 6 Danaher Motion Pacific Scientific DRIVER CONNECTION CONNECTION LEAD COLOR TERMINAL 4 Lead Bipolar A Black BLK 1 Series 3 Red RED 2 B Yellow YEL 4 None WHT BLK amp 6 amp 5 WHT ORG None WHT RED amp 8 amp 7 WHT YEL 4 Le
3. 6210 Installation Manual Danaher Motion Pacific Scientific Introduction 1 INTRODUCTION 1 1 Before You Begin Only qualified personnel should install or perform servicing procedures on this equipment Before performing any work on the unit allow at least five minutes for the capacitors to fully discharge Voltage is present on unprotected pins when the unit is operational Motors powered by this drive may develop extremely high torque Disconnect power to this drive before doing any mechanical work This unit is designed only for 24 40 VDC input see Electrical Specifications Reconfiguration of the circuit not shown in this manual voids the Warranty Failure to follow the installation guidelines voids the Warranty 1 2 6210 Product Features The 6210 Translator Drive is a bipolar adjustable speed two phase PWM drive that uses hybrid power devices It can be set to operate a step motor in microstep mode at up to 20 000 microsteps per revolution The maximum running speed is 3 000 rpm To reduce the chances of electrical noise problems the control signals are optically isolated from the drive circuit Features include Switch selectable current levels of 1 0 through 3 5 amperes Full short circuit protection phase to phase and phase to ground Undervoltage and transient overvoltage protection Efficient thermal design Optically isolated inputs Windings Off capability Automatic current reduction Switch selectabl
4. Descriptions Opto Isolator Supply User supplied power for the opto isolators Pulse Input A low to high transition on this terminal advances the motor one step The step size is determined by the Step Resolution switch setting Direction Input When this signal is high motor rotation is clockwise Rotation is counter clockwise when this signal is low Clockwise and counter clockwise directions are properly oriented when viewing the motor from the end opposite the mounting flange Windings Off Input When this signal is low AC and DC current to the motor is zero 1 There will be no holding torque when the AWO signal is low Level Requirements OPTO Voltage 4 5 VDC 6 0 VDC Current 16mA per signal used Other Signals Voltage Low 0 8VDC 0 0VDC High OPTO 1V Current Low 16 mA High 0 2 mA Timing Requirements PULSE Max Frequency 500 kHz Max Rise and Fall Times 1 second Min Pulse Width 1 second Other Signals Response Time 50 second 6210 Installation Manual 3 3 Specifications Danaher Motion Pacific Scientific 3 8 Suggested Methods for Control Interface 12VDC 16mA PER 560 OHMS SIGNAL CONTROL SIGNAL CONTROL LOGIC COMMON 4 5VDC 6 0VDC 16mA 9PTOIN PER SIGNAL CONTROL SIGNAL DRIVE CONTROL LOGIC COMMON 4 5VDC 6 0VDC 16mA PER SIGNAL CONTROL SIGNAL 5v SWITCH OPTO 5V GND 3 9 Indicator Lights Fault LED Red Lights to indicate over curr
5. If two or more switches are ON the one which selects the highest current level will be the active switch The switch settings are Position Current amperes None 1 0 1 1 5 2 2 0 3 2 5 4 3 0 5 3 5 6210 Installation Manual 3 1 Specifications Danaher Motion Pacific Scientific 3 5 Automatic Current Reduction When switch 6 is in the OFFposition the current at standstill goes to 5096 of the selected level This occurs between 1 and 2 seconds after the last pulse is received When switch 6 is in the ON position the current at standstill remains at full value 3 6 Step Resolution The number of pulses per revolution is selected using positions 7 and 8 of the switch described in Current Settings The following chart shows the correct switch setting for each available step resolution Switch Position 7 8 Step Resolution Pulses Per Revolution 0 OFF 0 OFF 400 1 0 1 10 2 000 0 1 1 25 5 000 1 1 1 100 20 000 3 6 1 Switches for Setting Current Level and Step Resolution Cure and Pop cal 3 7 Signal Specifications 3 7 1 Terminal Assignments connections are made via the 4 terminal strip J1 Pin Assignment 1 2 PULSE 3 DIR 4 AWO 3 2 6210 Installation Manual Danaher Motion Pacific Scientific Specifications 3 7 2 PULSE DIR AWO 2 7 3 3 7 4 Signal
6. Pacific Scientific motors listed have 8 leads 6210 Installation Manual 4 5 Torque vs Speed Danaher Motion Pacific Scientific 4 2 Motor Performance 4 6 stepper motors exhibit instability at their natural frequency and harmonics of that frequency Typically this instability occurs at speeds between 50 and 1000 full steps per second and depending on the dynamic motor load parameters can cause excessive velocity modulation or improper positioning This type of instability is represented by the open area at the low end of each Torque vs Speed curve There are also other instabilities that may cause a loss of torque at stepping rates outside the range of natural resonance frequencies One such instability is broadly defined as mid range instability Usually the damping of the system and acceleration deceleration through the resonance areas aid in reducing the instability to a level that provides smooth shaft velocity and accurate positioning If instability does cause unacceptable performance under actual operating conditions the following techniques can be used to reduce velocity modulation 1 Avoid constant speed operation at the motor s unstable frequencies Select a base speed above the motor s resonant frequencies and adjust acceleration and deceleration to move the motor through unstable regions quickly 2 motor winding current can be reduced as described in Current Settings Lowering the current reduces torque pr
7. Use conforming with requirements means that the safety recommendations and warnings detailed in this manual are complied with and applicable regulations for safety machine directives etc and noise suppression EMC Directives are observed while operating the drive At the end of its lifetime dispose of or recycle the drive according to the applicable regulations Installation and wiring of the drive must be completed only by qualified personnel having a basic knowledge of electronics installation of electronic and mechanical components and all applicable wiring regulations Commissioning of the machine utilizing the drives must be done only by qualified personnel having a broad knowledge of electronics and motion control technology As the user or person applying this unit you are responsible for determining the suitability of this product for the application In no event is the Pacific Scientific Company responsible or liable for indirect or consequential damage resulting from the misuse of this product Read this manual completely to effectively and safely operate the 6210 Comply with the applicable European standards and Directives Danaher Motion Pacific Scientific Table of Contents Contents T INTRODUCTION SSS A CSS te Sese ua in erue deine wa 1 1 1 1 BEFORE Y OU BEGIN ee n de as ganan m a deans pr 1 2 6210 PRODUCT FEATURES 1 3 EXPRESS START UP PROCEDURE 2 INSTAL
8. the motor from the end opposite the mounting flange 6210 Installation Manual Danaher Motion Pacific Scientific Installation Guidelines 2 INSTALLATION GUIDELINES The 6210 drive is mounted by fastening its mounting brackets to a flat surface Dimensions are shown in the figure below If the drive assembly is mounted against a bulkhead be sure to apply a thin coating of thermal compound between the drive and the mounting surface before fastening the unit in place Do not use too much thermal compound It is better to use too little than too much 0 19 Extrusion 4 13 Thickness 105 19 H 3 75 48 95 T T l 1 1 1 19 80 i 3 r lt 3 25 82 042 5 922 10 Typical 6 a pe 48 95 gt iis o 1 56 m j d 0 06 j 0 19 EXTRUSION 5 THICKNESS DIMENSIONS IN BRACKETS ARE IN MILLIMETERS A Case temperature must not exceed 70 C 158 F When selecting a mounting location it is important to leave at least two inches 51 mm of space around the top bottom and sides of the unit to allow proper airflow for cooling It is also important to keep the drive away from obvious noise sources If possible locate the drive in its own metal encl
9. 000 Speed step sec 6210 Installation Manual 4 9 Torque vs Speed Danaher Motion Pacific Scientific 4 3 4 P21 M21 36V Speed rpm 0 600 1200 1800 2400 3000 __ au 80 Z Ti vl 7 7P21 A Series 254 RMS E 5 di aM a s Z LIS 1 EE n ui 10 4 5 2 000 4 000 6 000 8 000 10 000 Speed step sec 4 10 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed 4 3 5 P22 M22 24 Speed rpm 0 600 1200 1800 2400 3000 200 180 160 140 120 REE T_T P22 Series 25A pms AAP SEI P22 Series AMS a L EE Ka TL L TL C AINE I I I I I I See LLL he 11 L L 4 I I L 0 2 000 4 000 6000 8000 10 000 Speed full step sec Torque oz in Torque N cm 6210 Installation Manual 4 11 Torque vs Speed Danaher Motion Pacific Scientific 4 3 6 P22 M22 36V 200 180 180 140 120 Torque oz in C ce ce De ce co ce 4 12 Speed rpm 0 600 1200 1800 2400 3000 T T T u22 D Parallel 2 5 ARMS 126 N J T T AA j j 22 Parallel 25 ARMS 112 ______ Pap P22 B Parallel 3 5 ARMS 38 QO Th S T 4
10. 2002 40 vo venatu e beth ae 4 1 41 MOTOR COoMPATIBILITY enne enr en eren 4 1 4 1 1 Motors for Use with the 6210 Translator Drive 4 2 4 1 1 1 Std Ltr Winding Connection Drive Amps Rated Motor Current Phase Resistance by Motor 4 2 4 1 1 2 Phase Inductance Holding Torque Rotor Inertia and Detent Torque by Motor Type 4 4 4 2 MOTOR PERFORMANCE eere 4 6 4 3 TYPICAL TORQUE VS SPEED CURVES 4 7 4 3 1 iIP2H 24V oerte 4 7 4 3 2 PH 36 a s SS TE 4 8 4 3 3 ET E D EHI d 4 9 6210 Installation Manual i Table of Contents Danaher Motion Pacific Scientific 4 3 4 P21 M21 36 V aoo date uet ete a ees 4 3 5 P22 M22 24 V 4 3 6 P22 M22 36 V 4 3 7 T2H 24 V a 4 3 8 T2036 Vi aee 4 3 9 121 24V eet oer eter ede C OO es 4 15 4 3 10 T21 36 4 16 4 3 11 M TA M hd dU A 4 17 4 3 12 122 36 V iiic dr ri ego op ain ign 4 18 4 3 13 123 24 4 19 4 3 14 123 36 V cetero ede 4 20 4 3 15 INSTAR SD 36V m dat eet ds 4 21 4 3 16 IN32 K32 36 Voy eet v ett et vete deve e etg 4 22 5 TROUBLESHOOTING 5 1 5 1 5 2 5 3 5 4
11. 23 H Parallel 3 RMS 250 T23 H Parallel 2 5 ARMS Torque oz in 50 0 2 000 4 000 6 000 8 000 Speed full step sec 4 20 3000 10 000 200 175 150 125 100 75 50 Danaher Motion Pacific Scientific Torque N cm 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed 4 3 15 N31 K31 36 V Speed rpm 0 600 1200 1800 2400 3000 600 400 500 350 i 300 T 400 9 250 3 300 200 9 5 F 200 190 9 100 100 50 0 0 0 2 000 4 000 6 000 8 000 10 000 Speed full step sec 6210 Installation Manual 4 21 Torque vs Speed Danaher Motion Pacific Scientific 4 3 16 N32 K32 36 V Speed rpm D 600 1200 1800 2400 3000 1200 800 1000 700 en T 800 o N 2 500 2 600 400 o o 400 300 200 200 100 0 0 0 2 000 4000 6 000 8 000 10 000 Speed full step sec 4 22 6210 Installation Manual Danaher Motion Pacific Scientific Troubleshooting 5 TROUBLESHOOTING Motors connected to this drive can develop high torque and large amounts of mechanical energy Keep clear of the motor shaft and all parts mechanically linked to the motor shaft Turn off all power to the drive before performing work on parts mechanically coupled to the motor 5 1 n General Check all installation wiring carefully for wiring errors or poor connections Check to see that the proper voltage levels are being supplied to the unit B
12. Danaher Motion Pacific Scientific Microstep Translator Drive 6210 Installation Manual Part Number MA6210 Document Number M MD 610 0101 Record of Manual Revisions ISSUE NO DATE BRIEF DESCRIPTION OF REVISION 1 10 31 02 Initial release Copyright Information O Copyright 2002 Danaher Motion Pacific Scientific rights reserved Printed in the United States of America NOTICE Not for use or disclosure outside of Danaher Motion Pacific Scientific Company except under written agreement All rights are reserved No part of this book shall be reproduced stored in retrieval form or transmitted by any means electronic mechanical photocopying recording or otherwise without the written permission from the publisher While every precaution has been taken in the preparation of the book the publisher assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of Danaher Motion Pacific Scientific Company that is furnished for customer use ONLY No other uses are authorized without written permission of Pacific Scientific Company Information in this document is subject to change without notice and does not represent a commitment on the part the Pacific Scientific Company Therefore information contained in this manual may be updated from time to time due to product improvements etc and may not confo
13. LATION GUIDELINES 2 1 2 1 TERMINAL LOCATIONS AND ASSIGNMENTS 2 2 2 T Terminal Locations eei e qe bei est 2 2 2 1 2 Motor Connections 2 1 2 1 Motor Wiring Configurations 2 4 2121 21 21 22 2225 0000 00 60 int jener do een inn 2 4 2 1 2 1 2 N3x K3x T2x 5255 2 1 2 2 Power Input reae recette et ett 2 9 2 1 2 3 Typical Power Supply for a Single Drive Application 2 9 3 SSPECIEICATIQONS 5 eret eee tete eo serata See Te NEN EE SEU 3 1 3 1 MECHANICA Liss ease 3 2 EEEGTRICALU 3 3 ENVIRONMENTAL 3 4 CURRENT SETTINGS 3 5 AUTOMATIC CURRENT REDUCTION 3 6 STEP RESOLUTION Ss 3 6 1 Switches for Setting Current Level and Step Resolution 3 2 2 7 SIGNAL SPECIFICATIONS oi e Eo ede dees oes 3 7 1 Terminal Assignments 3 52 Signal Descriptions 3 7 3 Level Requirements sev e p t RR 3 7 4 Timing Requirements essere 3 3 3 8 SUGGESTED METHODS FOR CONTROL INTERFACE 3 9 INDICATOR 4 5 2 40
14. Z c LS 7 9 9 ii 56 42 L 28 14 0 0 2000 4000 6000 8000 10000 Speed full step sec 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed 4 3 7 T2H 24V Speed rpm 500 1200 1800 2400 3000 0 60 re eee ee T2H G Parallel 2 5 BMS KB 50 M T2H D Parallel 1 2 Parallel 3 5 BMS 40 2 G Parallel 1 A BMS E I N 30 5 20 10 0 0 2 000 4 000 6 000 8 000 10 000 Speed full step sec 6210 Installation Manual 4 13 Torque vs Speed 4 3 8 T20 36V Torque oz in 0 2 000 4 14 Danaher Motion Pacific Scientific Speed rpm 1200 1800 2400 3000 Torque N cm 4 000 6 000 8 000 10 000 Speed full step sec 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed 4 3 9 T21 24 V Speed rpm T 0 600 1200 1800 2400 3000 Parallel 2 5 ARMS 120 I I Tj 121 H Parallel 3 5 ARMS 100 T2 E Parallel 1 RMS 9 am 5 __ a CEI 5 NR T a 20 L L 0 2000 4000 6 000 8000 10 000 Speed full step sec 6210 Installation Manual 4 15 Torque vs Speed Danaher Motion Pacific Scie
15. ad Bipolar A BLK amp 1 amp 5 WHT ORG Parallel ORG amp 3 amp 6 WHT BLK B RED amp 2 amp 7 WHT YEL B YEL amp 4 amp 8 WHT RED 8 Lead Unipolar A Black BLK 1 Orange ORG 3 C Red RED 2 D Yellow YEL 4 V WHT ORG 5 V WHT BLK 6 V WHT YEL 7 V WHT RED 8 GND Green Yellow See Phase Sequencing Tables 6210 Installation Manual Danaher Motion Pacific Scientific Installation Guidelines Power Connections 4 flying leads or 4 terminals or MS connector The 4 lead motor is used with bipolar drives Terminal Board MS Connector N3x K3x N3x K3x RED YEL 4 Lead Configuration CONNECTION DRIVER CONNECTION LEAD COLOR TERMINAL MS PIN OUT 4 Lead Bipolar Black BLK Series Orange ORG Red RED wl wl gt Yellow YEL 1 3 2 4 GND Green Yellow 6210 Installation Manual Terminals 7 amp 8 are not used See Phase Sequencing Tables 2 7 Installation Guidelines Danaher Motion Pacific Scientific Phase Sequencing Tables BIPOLAR HALF STEP DRIVE CONNECTION CW sTP A A B B 1 0 0 2 3 0 0 4 lew 5 0 0 6 0 0 8 e BIPOLAR FULL STEP DRIVE CONNECTION CW step a B 1 H
16. apacitor C1 and the drive 6210 Installation Manual 2 9 Installation Guidelines Danaher Motion Pacific Scientific Components for Power Supply Fl 1 5 A time delay 250 volt 5 Ohm surge limiter Dale 7555 or equivalent TI 130 VA 24 VAC output BRI General instrument GBPC3502 or equivalent 4700 pf 5 5 20 kHz 63 V rated United Chemicon 53D472F063HS6 or equivalent 2 10 6210 Installation Manual Danaher Motion Pacific Scientific Specifications 3 2 3 3 3 4 SPECIFICATIONS Mechanical Size inches 1 56 H X 4 13 W x 3 25 D mm 40 Hx 105 Wx 83 D Weight 0 6 pounds 272 grams Electrical DC Input Range 24 VDC min 40 VDC max DC Current see Motor Table Drive Power Dissipation worse case 35 watts Environmental Temperature Operating 32 F to 122 F 0 C to 50 C free air ambient Natural Convection Maximum heat sink temperature at 158 F 70 C must be maintained Forced air cooling may be required Storage 40 F to 167 F 40 C to 75 C Humidity 95 max non condensing Altitude 10 000 feet 3048 m max Current Settings The proper current setting for each motor is shown on the individual torque vs speed curves Use this current level to obtain the torque shown Switches 1 through 5 are used to select the current level Select the desired operating current by setting the appropriate switch to position 1 ON The OFF position is labeled 0 Only one switch should be ON
17. ard Brushless Motors 24 months from date of manufacture Electronics and Accessories Kollmorgen Standard Step Motors Stepper 12 months from date of manufacture Controls and Accessories Kollmorgen Custom Motion Systems To be negotiated on case by case components of any type basis and set forth in the order The Good or parts claimed to be defective must be returned to Seller accompanied by a Return Material Authorization RMA issued by Seller s facility responsible for supplying Goods with transportation prepaid by Customer with written specifications of the claimed defect If a warranty claim is valid Seller shall pay reasonable one way costs of transportation of the defective Goods from either the original destination or the location where defect occurred whichever is closest to Seller s facility Under no circumstances shall Seller be liable for removal of Seller s Goods from Buyer s equipment or re installation into Buyer s equipment NO PERSON INCLUDING ANY AGENT DISTRIBUTOR OR REPRESENTATIVE OF SELLER IS AUTHORIZED TO MAKE ANY REPRESENTATION OR WARRANTY ON BEHALF OF SELLER CONCERNING ANY GOODS MANUFACTURED BY SELLER EXCEPT TO REFER PURCHASERS TO THIS WARRANTY The equipment described herein has been developed produced tested and documented accordance with the corresponding standards During use conforming with requirements the equipment is not dangerous for people or equipment
18. e a 2 25 aoo Fade 259 4 2 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed Motor Type STD LTR Connection Drive Amps I Rated Motor WINDING S Series rms Current Ic P Parallel Amps Phase Resistance OHMS 25 Parallel 6210 Installation Manual 4 3 Torque vs Speed 4 1 1 2 PHASE INDUCTANCE HOLDING TORQUE ROTOR 4 4 INERTIA AND DETENT TORQUE BY MOTOR TYPE Phase Holding Detent Motor Inductance Totque Th Rotor Inertia m Torque Td Type mH 9 1 61 0 00096 25 2 P2H P21 P21 2 3 M21 P22 oms 00168 0 00168 9 4 22 6210 Installation Manual Danaher Motion Pacific Scientific Danaher Motion Pacific Scientific Torque vs Speed Motor PHASE Holding Rotor Inertia Jm Detent Inductance Lp Totque Th ATO Torque Td Type mH oz 07 IN S 2 T22 309 160 0 006 6 000 1199 03798 1199 0 03798 0 03798 Power supply currents shown measured at the output of the rectifier bridge Pacific Scientific motor reference Motors with windings other than those listed can be used as long as the current ratings listed on the motors are not exceeded
19. e step resolution Compact size Sturdy all aluminum mounting base 6210 Installation Manual 1 1 Introduction Danaher Motion Pacific Scientific 1 3 Express Start Up Procedure The following instructions define the minimum steps necessary to make your Translator Drive operational A Always disconnect the power to the unit before connecting or disconnecting the motor leads FAILURE TO DO SO WILL RESULT IN A SHOCK HAZARD AND MAY DAMAGE THE DRIVE Always operate the unit with the motor and drive enclosure GROUNDED Be sure to twist together the wires for each motor phase as well as those for the DC input Six twists per foot 0 3m is a good guideline 1 Check to see that the motor used is compatible with the drive 2 Setthe correct current level for the motor being used per the instructions in Section 4 5 Heat sinking may be required to maintain case temperature below 70 C 158 F 3 Select the appropriate step resolution and set the switches as described in Switches for Setting Current Level and Step Resolution Uv de Wire the motor per the Motor Wiring Configurations Connect the power source to the DC input terminal strip Be sure to follow the instructions for connecting the filter capacitor as described in the Power Input section A A 1 2 If the motor operates erratically refer to the Torque vs Speed section Clockwise and counter clockwise directions are properly oriented when viewing
20. e sure that the motor is a correct model for use with this unit 5 2 Specifically If MOTOR DIRECTION is reversed check for Reversed connection to the Motor Connector Reversing the phase A or the phase B connections will reverse the direction of the motor rotation If the MOTOR MOTION is Erratic check for Supply voltage out of tolerance Improper motion parameters low speed acceleration deceleration jog speed home speed and feed rate Set parameters on controller supplying pulse input to drive Filter capacitor missing or too low in value If TORQUE is Low check for windings OFF active Correct current setting Improper supply voltage If FAULT Indicator is Lit check for Improper motor winding Grounded or shorted wiring to the motor or shorted motor Improper motor type or incorrect Current Select switch setting If a malfunction occurs that cannot be corrected by making the preceding checks contact Danaher Motion Customer Support 6210 Installation Manual 5 1 Troubleshooting Danaher Motion Pacific Scientific 5 3 5 4 5 2 Electrical Interference Problems Electrical interference problems are common with today s computer based controls Such problems are often difficult to diagnose and cure If such a problem occurs with your system the following checks should be made to locate the cause of the problem 1 Check the quality of the AC line voltage using an oscilloscope and a line monitor If line
21. ent condition This condition is caused by motor winding errors or a ground fault Recovery from overcurrent condition requires removing and then reapplying the power 3 4 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed 4 TORQUE VS SPEED 4 1 Motor Compatibility Motor Types M Series Frame Sizes T K N Series Frame Sizes Number of Connections Minimum Inductance Maximum Resistance A 6210 Installation Manual Pacific Scientific Pacific Scientific T amp Power Max Pacific Scientific T amp Powerpac 4or8 0 5 millihenry 0 25 x VDC Supply I Setting Example VDC 30 I Setting 3 5 R max 0 25 x 30 3 5 2 1 Ohms Do not use larger frame size motor than those listed or the drive may be damaged If a larger frame size motor must be used consult Pacific Scientific for recommendation Maximum resistance is total of motor plus cable 4 1 Danaher Motion Pacific Scientific 4 1 1 Motors for Use with the 6210 Translator Drive 4 1 1 1 STD LTR WINDING CONNECTION DRIVE AMPS RATED MOTOR CURRENT PHASE RESISTANCE BY MOTOR Motor Type aae peg 2 i a P Parallel Amps 5 25C P2H 1 0 1 2 3 35 022 uma inan P21 Series 0 91 M21 Parallel 0 53 NER wai S
22. ntific 4 3 10 T21 36 V Speed rpm 600 1200 1800 2400 3000 E 120 NC 100 70 n 5 B T 60 aj 5 ml B HE ce 0 0 2 000 4 000 6 000 8 000 10 000 Speed full step sec 4 16 6210 Installation Manual Danaher Motion Pacific Scientific 4 3 11 T22 24 V 225 TT Torque oz in 45 6210 Installation Manual Speed rpm 1200 1800 4 000 6 000 Speed full step sec 2400 8 000 Torque vs Speed 3000 150 135 120 105 90 75 60 45 30 0 10 000 Torque N cm 4 17 Torque vs Speed Danaher Motion Pacific Scientific 4 3 12 T22 36 V Speed rpm 800 1200 1800 2400 3000 0 F 150 122 G Parallel 25 ARMS 135 21 120 o B ix 9 5 75 5 90 60 45 45 _ etk q P i L 1 4 1 1 0 2 000 4 000 6 000 8 000 10 000 Speed step sec 4 18 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed 4 3 13 T23 24 V Speed rpm 0 600 1200 1800 2400 3000 300 200 250 175 2 150 N 1 9 15 Z 150 100 or 5 100 5 50 50 25 0 0 0 2 000 4 000 6 000 8 000 10 000 Speed full step sec 6210 Installation Manual 4 19 Torque vs Speed 4 3 14 T23 36 V Speed rpm Sd 0 600 1200 1800 2400 _ T
23. oportionally The reduced energy delivered to the motor can decrease velocity modulation 3 Using another step resolution may provide smoother operation and reduce the effects of mid range instability Microstepping changes the shaft speed for a given pulse input rate 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed 4 3 Typical Torque Vs Speed Curves The test conditions used when obtaining the torque vs speed data are listed in the lower left hand corner of each curve 4 3 1 P2H 24V Speed rpm 0 600 1200 1800 2400 3000 42 Torque oz in Torque N cm 0 2 000 4 000 6 000 8 000 10 000 Speed step sec 6210 Installation Manual 4 7 Torque vs Speed Danaher Motion Pacific Scientific 4 3 2 P2H 36V Speed rpm 0 600 1200 1800 2400 3000 60 40 z 30 5 5 ES E iet LL 1 ds 0 2 000 4000 6000 8 000 10 000 Speed step sec 4 8 6210 Installation Manual Danaher Motion Pacific Scientific Torque vs Speed 4 3 3 P21 24V Speed rpm 0 600 1200 1800 2400 3000 5 Lp fum 21 C Parallel 35 A RMS 90 120 PAA Series 25 RMS 80 21 0 Parallel 1 BMS 70 me 6 N 80 50 I 8 60 3 i o 5 G 4 Dm 20 s 10 0 2 000 4000 6000 8000 10
24. osure the shield it and its wiring from electrical noise sources If this cannot be done keep the drive at least three feet 0 9 m from any noise sources 6210 Installation Manual 2 1 Installation Guidelines Danaher Motion Pacific Scientific 2 1 Terminal Locations and Assignments 2 1 1 Terminal Locations I O Connector J1 Motor and Power Supply Connector J2 2 2 6210 Installation Manual Danaher Motion Pacific Scientific Installation Guidelines 2 1 2 Motor Connections motor connections are made via the 6 terminal strip Terminal assignments are given below Motor connections are shown in the next figure J2 Pin Assignment 1 Phase 2 3 3 4 5 Phase Motor Phase is M3 Motor Phase is M4 and MS The motor frame must be grounded 6210 Installation Manual 2 3 Installation Guidelines Danaher Motion Pacific Scientific 2 1 2 1 MOTOR WIRING CONFIGURATIONS 2 1 2 1 1 P2H P21 M21 P22 M22 Phase sequencing direction of rotation as viewed from mounting end of motor YEL Im _ C a So e lt c T lt e c lt ru zc a D a x x 9 S m m 5 lt lt 5 gt E E ze o 4 8 6 7 m a 5 lt lt
25. rm in every respect to former issues Limited Warranty Includes software provided by Pacific Scientific Seller warrants that the Goods sold hereunder are free from defects in material and workmanship for the product warranty period of each item of Goods Product Warranty Periods are listed below Seller warrants its Good s only to the original purchaser the Customer and in the case of original equipment manufacturers or distributors only to their original consumer the Customer There are no warranties whatsoever on Goods built or acquired wholly or partially to a buyer s designs or specifications This express warranty is in lieu of and exclude all other warranties express or implied by operation or law or otherwise including THE WARRANTY OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE WHETHER KNOWN TO SELLER OR NOT all other such warranties being hereby expressly disclaimed by Seller and waived by Buyer Written notice of claimed defects shall have been given to Seller within the period set forth in the schedule below and within thirty 30 days from the date any such defect is first discovered Product Warranty Schedules Brand Products Warranty Period Pacific Scientific Products 24 months from date of manufacture Superior Products 12 months from date of manufacture Kollmorgen Standard Brush type Motors 12 months from date of manufacture Electronics and Accessories Kollmorgen Stand
26. voltage problems exist use appropriate line conditioning such as line filters or isolation transformers Be certain proper wiring practices are followed for location grounding wiring and relay suppression Double check the grounding connections to be sure they are good electrical connections and are as short and direct as possible Try operating the drive with all suspected noise sources switched off If the drive functions properly switch the noise sources on again one at a time and isolate the one s causing the interference problems When a noise source is located try rerouting wiring suppressing relays or other measures to eliminate the problem Customer Support Contact Information Danaher Motion Pacific Scientific technical documentation is updated periodically and may be changed without notice The latest documentation can be found on our website For information on this product or where to purchase near you contact your local distributor Danaher Motion Customer Support Phone 815 226 2222 Fax 815 226 3080 Email customer service danahermotion com Website www danahermotion com 6210 Installation Manual
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