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Parker Hannifin OEM6250 Network Card User Manual

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1. Joystick Input Circuit Analog Channel Input Circuit 5VDC HCMOS compatible Low lt 1 00V High 3 25V 5VDC 5VDC 5 input SOK 5 150 KO me Q Terminal a Analog Channel Pins 15 19 bas Input Terminal 10 0 KO amp 8 Channel lt 8 6 Pins 1 3 8 bit A D a a e ka 5x 47 KQ DX Converter SE Ground se 04 pF 9 Terminal a N 49 9 KQ T a Pin 14 VW Digital GND Z Ground A 35 V gt Terminal Pin 14 This input circuit applies to Axes Select Velocity Select Joystick Release Joystick Trigger amp Joystick Auxiliary Digital GND PIN OUTS amp SPECIFICATIONS Pin In Out Name Description 1 IN Analog Channel 1 Analog input for joystick control of axis Voltage range is 0 2 5VDC 8 bit A D converter CAUTION Input voltage must not exceed 5VDC 2 IN Analog Channel 2 same description as pin 1 above 3 IN Analog Channel 3 same description as pin 1 above 8 Shield Shield chassis ground 14 Ground Digital ground 15 IN Axes Select If using one joystick you can use this input to alternately control axes 1 amp 2 16 IN Velocity Select Input to select high or low velocity range as defined with the JOYVH or JOYVL commands 17 IN Joystick Release When low grounded joystick mode can be enabled When high not grounded program execution will continue with the first command after the joy
2. DRIVE 1 ENCODER 1 15 8 BD E Drive OEM6250 ge amp Sail S U oO AF V2 pint lt CMD se sHmc He i e SHTNO HBr VI pin2 lt CMD ee e pFT B GND pin4 lt GND ex AGND o sr RST pin5 lt COM os RSVD He 15V pin6 lt SHTNO 9 i 2 CMD HND FT pin9 lt DFT CMD SHLD AOP pin 10 lt A lt AOP pin11 lt A T BOP pin12 lt B BOP pin 13 lt B ZOP pin 14 E5 Ch NOTE These connections will work only if ZOP pin15 Z BD E jumper LK2 is set to position B not the factory default position Dynaserv Drives most Dynaserv Drive OEM6250 DN1 50 pin C T is pn omero DRIVE 1 ENCODER 1 Dynaserv Drive OEM6250 S m 9 sup Lagu O com H 2 Oo le A pin 13 A a S o SHTNC Q H A pin14 se A 5 SHTNO oh SRVON pin 23 lt gt SHTNO 5 e DFT B Vcc pin 24 lt gt 5V a 6 gt AAND E Er i O O xa a Be pin AD Bs o 9 o loup Fene B pin 30 lt gt B Q Z 6 CMD SHLD Z pin43 gt Z O e e O Z pin 44 lt Z e 3 VIN pin 49 lt CMD O Q O A AGND pin 50 lt gt AGND O e O e 18 50 NOTE Dynaserv A connected to OEM6250
3. SSSSSSSENGSSSSSN ASSSSSSsSaN ASTIITISII V m Communications Cable Triggers Cable Ground Strap CAO Remove connect to TH1 Paint VM50 Programmable UO Cable 4 LLY BISSSYSSGSSGHSGGGGGGEGHGGHSIESHH naa Figure 3 EMC Connections for OEM6250 Remove paint if mounting on this surface User provided power from a clean DC power supply use twisted pair cable GQ I O Flat Cable Appendix B EMC Installation Guidelines 49 5V power input external supply 20 5V power supply internal connections to see page for connection item like ENBL Encoder etc load limit 3 20 6000user cmotor com e mail address i A acceleration feedforward control SGAF 38 acceleration range 3 accuracy positioning 3 velocity 3 active levels see polarity actual position 34 ADDR auto addressing command 6 address auto address multiple units 6 DIP switch selection 6 air flow space minimum 4 airborne contaminants 4 algorithm servo control 36 analog inputs joystick connections amp specs 14 ANI input connections 11 test 23 feedback source 34 polarity 29 assumptions skills amp knowledge required for installation i auto addressing multiple units 6 auto baud procedure 6 auxiliary input joystick connections amp specs 14 axes select input joys
4. adal Electroni I 1 EM62 Sinking Output bace e 1 I OEMG290 Device i EN Pulled up l V GND to 5V I sourcing 5Ve 5VDC The output should A R12 0ko be able to sink at I IN P Remove if you wish least 1mA of current I I g T use an external Out 5 24 Volts I Input I co R power source Output Connection 5 I I azko asail I I 74HCxx Na I Ground seen Connection 4 N7 GND e e mm e e e e m a eee Connection to a eae Od te wna ee sin i I Sourcing Output Electronic i i OEM6250 Device Device i GND e i Pulled V GND down to VD V4 L Ground 5V 5vDC ainking R12 0 Ko is R4 I removed I I 9 i Input lt Output g Connection Out 5 24 Volis i 1 47 KQ b S I Ground Siod Connection l N7 GND m mm e e e m mm d Ku e e e e e mm m Connection to a Sie Se Combination of Electronic OEM6250 Sinking amp Device I I Sourcing GND a Outputs i Pulea p I GND to VI sourcing B E I R12 0 Ko R4 I Remove if you wish I a to use an external I iS 5 24V power source I Input 9 Output Connection 5 Out 5 24 Volis Va 47KQ l Kn I Ground Grounds Connection 7 GND e e e e e e mm mm al eee The value of R must be lt 6 8 KQ and sized such that V lt 1 0V when the output is open and V gt 3 4V when the output is closed R must be lt R If R4 is 0 Q
5. Bn pe ais 7 SET External Supply TEEST ya tS T Toe a te ee pel External Supply Seas ogee os Electronic up to 24VDC OEM6250 Electronic up to 24VDC i OEM6250 Device i to GND Device i E GND i sv GND H sv GND voc svoe 1 our p R13 0 Ka V OUT P R13 0 Ko i aa ar TA is removed r is removed i WN 4 7 KO se Output ALKO E Mo iain Output nput 4 Connection b nput Connection 5 i lt 1 1 Ww 7406 l 7406 h Ba 1 Ground open collector 1 Ground i open collector Ground 4 Connection Ground 1 EST I Z GND l N7 GND Connection to a Combination of Sinking amp Sourcing Inputs External Supply i PET eee ead Sos l up to 24VDC i OEM6250 Combinations of sourcing PAG GND and sinking inputs can be Electronic i bp accommodated at the same Devices 5V voltage level Be aware of S A E NA ENG e 5VDC the input impedance of the v OUT P R13 0 Ko sourcing input module and e is removed make sure that there is NY enough current flowing 2 SE i i 8 1TG through the input module Mpu g Output 1 oc while in parallel with the Sourcing Input i i m OUT P pull up resistor G d I I open collector roun I TEE TET iii ete ee Cain i 4 7 KQ Input Output 24 1 X I 7406 2 KAG I Ground open collector Ground Connection e e e e Sinking Input I GND
6. External Supply N ET Vcc up to 24VDC OEM6250 GND 1 Z GND VI REKTERNAL Z 73 5VDC OUT P R13 0 KQ oe is removed L I Rinpuctance S AN Output Z 4 7 KQ Connection e e 7406 1 open collector 18 OEM6250 Installation Guide Use an external diode when driving inductive loads Connect the diode in parallel to the inductive load attaching the anode to the OEM6250 output and the cathode to the supply voltage of the inductive load via an external resistor To size the external resistor use this formula Vcc REXTERNAL RINDUCTANCE s 30mA PROGRAMMING TIP Connecting to an active high sinking input Set the output s active level to high with the OUTLVL command 1 active high Connecting to an active low sourcing input Set the output s active level to low with the OUTLVL command active low Thus when the OEM6250 s output is activated current will flow through the attached input and the TOUT status command will report a 1 indicates that the output is active regardless of the type of input that is connected Details on setting the active level and checking the output status are provided in the 6000 Series Programmer s Guide Refer also to the OUTLVL and TOUT command descriptions in the 6000 Series Software Reference THUMBWHEEL CONNECTIONS for entering BCD data Connection to the Compumotor TM8 Module
7. _ 0000 00 Connections Test Procedure Response Format left to right End of travel and Home Limits NOTE If you are not using end of travel limits issue the Disable Limits LH command and ignore the first two bits in each response field Enable the hardware end of travel limits with the LH3 3 command Close the end of travel switches and open the home switches Enter the TLIM command The response should be xTLIM110 110 Open the end of travel switches and close the home switches Enter the TLIM command The response should be TLIM 91_901 Close the end of travel switches and open the home switches return to original config Enter the TLIM command The response should be xTLIM110 110 NOOR WP gt TLIM response bit 1 Axis 1 POS limit bit 2 Axis 1 NEG limit bit 3 Axis 1 HOM limit bit 4 Axis 2 POS limit bit 5 Axis 2 NEG limit bit 6 Axis 2 HOM limit POS means positive travel NEG means negative travel HOM means home 22 OEM6250 Installation Guide Connections Test Procedure Response Format left to right Analog Output Signal 1 2 A If the servo drives are connected to the OEM6250 s DRIVE connectors disconnect them Set all the gains to zero by entering these commands SGP lt cr gt SGI lt cr gt SGV lt cr gt SGAF lt cr gt and SGVF lt cr gt Enter the DRIVE11 command to e
8. To set the address use the DIP switch see below or use the ADDR command see 6000 Series Software Reference ADDRESS Switch 1 Switch 2 Switch 3 Device Address OFF OFF default OFF OFF 1 ON OFF Device address is checked upon power up or reset AUTO BAUD Factory Settings May Be Sufficient OEM6250 lt Device address is set to zero if you are connecting multiple units in a daisy chain you can automatically establish the device address by using the ADDR command lt Factory default baud rate is 9600 CoD DIP Switch Factory Default Setting Shown NN gt Z O S e OE L OE 6 OEM6250 Installation Guide Switch 4 ON Auto Baud Enabled Switch 4 OFF Auto Baud Disabled default To implement the Auto Baud feature The default baud rate is 9600 As an alternative you can use this procedure to automatically match your terminal s speed of 1200 2400 4800 or 9600 baud 1 Set switch 4 to ON 2 Connect the OEM6250 to the terminal 3 Power up the terminal 4 Cycle power to the OEM6250 and immediately press the space bar several times 5 The OEM6250 should send a message with the baud rate on the first line of the response If no baud rate message is displayed verify steps 1 3 and repeat step 4 6 Change switch 4 to OFF 7 Cycle power to the OEM625
9. Using integral feedback control the value of the control Position Overshoot signal is integrated at a rate proportional to the feedback device position error The rate of integration is set by the Servo Gain Integral SGI command Position Setpoint WwW D Command Position m x R S Position Error at T4 The primary function of the integral control is to overcome friction and or gravity and to reject disturbances so that steady state position error can be minimized or Time eliminated This control action is important for achieving VS Actual Output 4 ntegral Generated high system accuracy However if you can achieve Value by the Integral Term acceptable position accuracy by using only the Integral at T4 proportional feedback SGP then there is no need to use the integral feedback control Max Analog Output 10V Windup Duration In the task of reducing position error the integral gain ta SGI works differently than the proportional gain SGP this is because the magnitude of its control signal is not dependent on the magnitude of the position error as in the case of proportional feedback If any position error persists then the output of the integral term will ramp up over time until it is high enough to drive the error back to zero Therefore even a very small position error can be ov Min Analog Output 10V eliminated by the integral feedback
10. DFT Drive Fault input HCMOS compatible switching low lt 1 00V high 3 25V Voltage range 0 24V Chapter 1 Installation 7 PIN OUTS amp SPECIFICATIONS 9 pin DRIVE Connector Name In Out Description and Specifications SHLD Shield Internally connected to chassis earth ground COM Signal common for shutdown Not connected to any ground or other COM SHTNC OUT Shutdown relay output to drives that require a closed contact to disable the drive The shutdown relay is active disabling the drive when no power is applied to the OEM6250 When the OEM6250 is powered up the shutdown relay remains active until you issue the DRIVE11 command Max rating 175VDC 0 25A 3W Shutdown active DRIVE this output is internally connected to COM see schematic above Shutdown inactive DRIVE11 this output is disconnected from COM see schematic above SHTNO OUT Shutdown relay output to drives that require an open contact to disable the drive The shutdown relay is active disabling the drive when no power is applied to the OEM6250 When the OEM6250 is powered up the shutdown relay remains active until you issue the DRIVE11 command Max rating 175VDC 0 25A 3W Shutdown active DRIVE this output is disconnected from COM see schematic above Shutdown inactive DRIVE11 this output is internally connected to COM see schematic above DFT IN Drive fault input Set active level with the DRFLVL command The drive fault
11. Green White B s Circuit a ame Circul ZChannel Orange Z as AChannel 5VDC Z Channel Orange White a Z i Ground Black E IB v Digital Ground Incremental SHLD i Easa E Encoder Wire colors for Compumotor E Series encoders A Channel Encoder Cable A Channel a Yellow White 77 Chassis Ground 115351 HR RRR HR HRH HHE ENCODER Connector x B Channel B Channel Z Channel Z Channel Ground Sa SM Motor PIN OUTS amp SPECIFICATIONS ENCODER Connector sy Wire colors E 5V A A t B NOTE Be sure to connect B the A encoder lead yellow to the A terminal and Z connect the A encoder lead Z white to the A terminal GND SHLD Pin Name In Out Description 9 5V OUT 5VDC output to power the encoder 8 Ar IN A Channel quadrature signal input 7 Pe IN A Channel quadrature signal input 6 B IN B Channel quadrature signal input 5 B IN B Channel quadrature signal input 4 Z IN Z Channel signal input 3 Z IN Z Channel signal input 2 GND Digital ground 1 SHLD Shield lnternally connected to chassis ground earth Specification for all encoder inputs Differential comparator accepts two phase quadrature incremental encoders with differential recommended or single ended outputs Max frequency is 1 6 MHz
12. H BOP pin13 lt B V ZOP PINTA sen Ak NOTE These connections will work only if ZOP pin15 lt Z BD E jumper LK2 is set to position B not the factory default position ABOUT THIS GUIDE Chapter 1 Installation Chapter 2 Troubleshooting What You Should Have Ship KMD sese 2 Troubleshooting Basics sse eee eee eree 28 Before You Begin uu cece cents 2 Reducing Electrical Noise 28 Recommended Installation Process 2 Diagnostic LEDs 28 Electrical Noise Guidelines 2 Test Options 28 General Specifications 0 Technical Support 28 Mounting the OEM6250 4 Common Problems amp Solutions esse eee 2 Electrical Connections 5 Troubleshooting Serial Communication Problems eeeeeeeeseeeses 30 Grounding System 5 Product Return Procedure sese 32 Serial Communication 6 Motor Drivers T 7 ANI Analog Input 11 4 Enable ENBL Input Emergency Stop Switch 0114 11 Appendix B EMC Installation Guidelines 47 End of Travel and Home Limit Ima ie VIN OX TT 51 Sie eie TTT 13 Joystick amp Analog Inputs sese 14 Trigger INDUS ss sami NANANG ANGGE SKA DENG NA Sena a dadakan 15 General Purpose Programmable Inputs amp Outputs 16 RP240 Remote Operator Panel sese 20 Input Power siirat noiou atiae danre 20 Lengthening VO Cabl
13. Minimum time between transitions is 625 ns TTL compatible voltage levels 5VDC Low lt 0 4V High 2 4V Maximum input voltage is Differential outputs are recommended Requirements for Non Compumotor Encoders lt Use incremental encoders with two phase quadrature output An index or Z channel output is optional lt lt must be a 5V lt 200mA encoder to use the OEM6250 s 5V output Otherwise it must be separately powered with TTL compatible low lt 0 4V high 2 4V or open collector outputs If you are using a single ended encoder leave the A B and Z terminals on the OEM6250 unconnected Chapter 1 Installation 13 Joystick amp Analog Inputs CONNECTIONS Joystick potentiometers are 5KQ with 60 of usable travel adjusted to span 02 to 1KQ The 1KQ resistors for velocity select axes select joystick trigger amp joystick auxiliary are for noise suppression only RO AMKOU 5VDC Analog Channel 1 Analog Channel 2 om eg ee Joystick 1 1KQ Resistors e e e e e eo i X MS Y Axis 5KQ ma gt N C Momentary Joystick Release Velocity Select Velocity Select Ime a Axes Select C Axes Select Joystick Release a P i P JA N O Momentan Joystick Trigger O 6 Joystick Trigger Joystick SoD Ong Joystick Aux INTERNAL SCHEMATICS
14. Ship kit This manual OEM6250 Installation Guide 88 016524 01 14 bit analog inputs l 7 L To order the ANI input Motion Architect response Card sese 88 013715 01 board separately ae l order part number If you order OEM6250 MANUALS the ship kit would also include OPT OEM6250 A 6000 Series Software Reference 6000 Series Programmer s Guide 88 012966 01 88 014540 01 These manuals are available in electronic form Adobe Acrobat PDF files from our web site http www compumotor com Motion Architect may be downloaded from our web site xx Before You Begin A WARNINGS AN The OEM6250 is used to control your system s electrical and mechanical components Therefore you should test your system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Always remove power to the OEM6250 before e Connecting any electrical device e g drive encoder inputs outputs etc e Adjusting the DIP switches or other internal components Recommended Installation Process This chapter is organized sequentially to best approximate a typical installation process 1 Review the general specifications 2 Mount the OEM6250 3 Connect all electrical system components 4 Test the installation 5 Mount the motor and couple the load 6 Tune the OEM6250 for optimum performance If you are using Servo Tuner
15. TRG B drive fault inputs DFT and enable input ENBL If you are experiencing noise problems try adding resistors to reduce noise sensitivity see illustration below You must use either the on board 5V supply internally connected via resistor R45 or an external power supply to power the AUX P pull up resistor for the HOM NEG POS TRG A B and ENBL inputs If you need to use an external supply you must remove R45 first otherwise you will damage the OEM6250 OEM6250 Power Supply Options OPTIONAL External Power Supply i 5 24VDC Terminal could be Add a resistor between the input and the power supply this will lower HOM NEG POS the input impedance and reduce noise sensitivity Use a value TRG A TRG B between 3302 and 2 2KQ depending on noise suppression required or ENBL Input Terminal Output Device Switch etc Digital Ground Shield Long Shielded Cable Earth Chapter 1 Installation 21 Testing the Installation Test Setup Terminal Emulation for IBM Compatibles To communicate with the OEM6250 you will need a terminal emulation program We recommend you use Motion Architect for Windows a request card for a free copy is provided in your ship kit which provides terminal emulation and program editor features as part of its ensemble of programming tools Using Motion Architect 1 To install Motion Architect insert
16. the typical value for R is 450 Q PROGRAMMING TIP Connecting to a sinking output Set the input s active level to low with the INLVL command active low Connecting to a sourcing output Set the input s active level to high with the INLVL command 1 active high Thus when the output is active the TIN status command will report a 1 indicates that the input is active regardless of the type of output that is connected Details on setting the active level and checking the input status are provided in the 6000 Series Programmer s Guide Refer also to the INLVL and TIN command descriptions in the 6000 Series Software Reference NOTE If you will be connecting to a combination of sourcing and sinking outputs leave IN P internally connected to 5V or remove R12 and connect IN P to an external 5 24VDC supply to accommodate sinking output devices Then for each individual input connected to a sourcing output wire an external resistor between the OEM6250 s programmable input terminal and ground see R in above drawing The resistor provides a path for current to flow from the device when the output is active Chapter 1 Installation 17 OUTPUT CONNECTIONS includes OUT A amp OUT B for electronic devices such as PLCs Connection to a Sinking Input active high Connection to a Sourcing Input active low
17. 1 00V High 3 25V Voltage range 0 24V Sourcing Current Leave as is to use the internally supplied 5VDC pull up supply or remove R12 and connect IN P to an external 5 24VDC power supply Sinking Current On the AUX connector connect IN P to GND remove R12 first STATUS Check with TIN or INFNC Active level Default is active low but can be changed to active high with the INLVL command Outputs External 5 24VDC Supply an alternative to using the internal 5V supply If you wish the outputs to be pulled up toa voltage other than the internally supplied 5V remove R13 on the OEM6250 PCB and connect OUT P to an external supply of up to 24VDC Ground Connection Output Connection Outputs Open collector output Max voltage in the OFF state not sinking current 24V max current in the ON state sinking 30mA Pull up connection on AUX connector Leave as is to use the internally supplied 5VDC pull up supply or remove R13 and connect OUT P to an external 5 24VDC power supply STATUS Check with TOUT or OUTFNC Active level Default is active low but can be changed to active high with the OUTLVL command NOTE All even numbered pins are connected to a common digital ground see drawing on page 5 LSB least significant bit MSB most significant bit CAUTION If you fail to remove the resistor R12 for inputs or R13 for outputs before conn
18. 667 rps V Drive manufactures usually provide a potentiometer for adjusting this gain factor Some manufacturers provide preset values selectable with jumpers or DIP switches Step 2 Tune the drive iteratively to achieve the desired response a Enter the following commands to create and execute a step velocity command the motor will move for 1 second and then stop DEF STEPS Begin program definition for STEPS SGPO Set the SGP gain to zero SGIO Set the SGI gain to zero SGVO Set the SGV gain to zero SGAFO Set the SGAF gain to zero SGVFO Set the SGVF gain to zero SMPERO Disable checking the maximum allowable position error SOFFSO 5 Set command output to 0 5 volts T1 Wait for 1 second SOFFSO Set command output to zero volts stopping the motor SMPER1 Re enable checking the maximum allowable position error END End definition of the program STEPS Execute the program called STEPS 7 F b Observe the plot of the commanded velocity versus the actual velocity on the oscilloscope Using the tuning methods specified in the drive s user documentation tune the drive to achieve a first order response no overshoot as illustrated below repeat Steps 2 a and 3 b as necessary Command Velocity vm Velocity TIME VELOCITY Step 3 Proceed to the Controller Tuning Procedure section to tune the OEM6250 Controller Tuning Procedure The Controller Tuning Proc
19. Connection to your own Thumbwheel Module OEM6250 Programmable Input 1 Programmable Input 2 Programmable Input 3 Programmable Input 4 Programmable Input 5 Pin 49 5VDC Pin 48 GND Programmable Output 1 Programmable Output 2 Programmable Output 3 TM8 Thumbwheel Module 5 GND I5 14 13 12 05 04 03 02 O1 i Optional Sign Bit BBB BBE BBB BBB BBB BBB BBB BBE Sec YY Sign Bit es THESE es esl badna Thumbwheel Thumowhes Chapter 1 Installation Input 9 sign Input 8 MSB most Input 7 significant Input 6 digit Input 5 LSB Input 4 MSB least Input 3 significant Input 2 digit Input 1 LSB Output 4 Output 3 Output 2 Output 1 1 0 GND 19 RP240 Remote Operator Panel RP240 Back Plane Input Power 5VDC 5 4A minimum Current Requirements The current requirements for the 5VDC supply depend on the type and amount of I O used At the minimum current 4A for 5VDC supply the OEM6250 should supply sufficient 5V power for
20. Disk 1 into your disk drive and run the Setup program setup exe Follow the instructions in the Setup program NOTE Be sure to install the driver files for your product the Setup program will prompt you for the 6000 Driver and Samples disk that comes with Motion Architect 2 Inthe Setup program s last dialog indicating that Motion Architect has been installed successfully select Yes want to run Motion Architect now and click the Finish button to launch Motion Architect 3 From Motion Architect s main menu click on the Product pull down menu and click on Selection to invoke the 6000 Series Product Selection dialog box In the Servo Control area of the dialog box type OEM6250 in the Other field and click the Okay button 4 From Motion Architect s main menu click on Terminal to launch the terminal emulator 5 Power up the OEM6250 The terminal window will display a powerup message followed by a command prompt gt this indicates that you are communicating with the OEM6250 If you use a different terminal emulation software package configure it as follows 9600 baud 8 data bits no parity 1 stop bit full duplex enable XON XOFF Serial communication problems see page 30 A WARNING A lt This test procedure allows you to control I O therefore damage eguipment or injure personnel lt The procedures below are designed to be executed with the d
21. OEM6250 SOLL1 X8 pin 01 lt CMD SOLL1 X8 pin 02 lt CMD N X13 pin 02 lt gt Z B X13 pin 03 lt B A X13 pin 04 lt gt A GND X13 pin 05 lt GND NI X13 pin 09 lt gt Z B X13 pin 10 lt B A X13 pin 11 lt A 5V X13 pin 13 lt BV ENABLE GND X10 pin 08 lt short these 24V OUT GND X10 pin 10 lt two terminals ENABLE X10 pin 01 COM 24V OUT X10 pin 09 lt SHTNO 24V IN X10 pin 14 lt gt 24V Ext Supply Fault Output X10 pin 15 lt gt DFT GND for 24V X10 pin 16 lt gt GND amp Ext Supply NOTE Connect SV A called A to OEM6250 A Connect SV A called A to OEM6250 A Connect SV s X10 pins 14 amp 16 to an external 24V power supply Also connect SV X10 pin 16 to OEM6250 GND Connect a 500Q resistor between the OEM6250 s GND and DFT terminals TQ Series Drive 10 TQ Series Drive OEM6250 ENABLE IN pin 1 lt gt SHTNO ENABLE GND pin 2 lt COM FAULT OUT ping lt DFT FAULT OUT pin 4 gt AGND COMMAND pin 7 lt gt
22. Sets the velocity gain in the PIV amp F servo algorithm SBGAP Sets the acceleration feedforward gain in the PIV amp F algorithm SGVEF 1 Sets the velocity feedforward gain in the PIV amp F algorithm SGILIM Sets a limit on the correctional control signal that results from the integral gain action trying to compensate for a position error that persists too long Enables a previously saved set of PIV amp F gains A set of gains specific to the current feedback source selected with the SFB command is saved using the SGSET command SGSET Saves the presently defined set of PIV amp F gains as a gain set specific to the current feedback source on each axis Up to 5 gain sets can be saved and enabled at any point in a move profile allowing different gains at different points in the profile Servo Performance Selects the number of available axes to use Sets the ratio between the update rate of the move trajectory and the update rate of the servo action Affects the servo sampling update the motion trajectory update and the system update Feedback Setup Selects the servo feedback device Options are encoder or ANI input IMPORTANT Parameters for scaling tuning gains max position error SMPER and position offset PSET are specific to the feedback device selected with the SFB command at the time the parameters are entered Encoder resolution Sets the maximum allowable erro
23. command SGSET Saves the presently defined set of PIV amp F gains as a gain set specific to the current feedback source on each axis Up to 5 gain sets can be saved and enabled at any point in a move profile allowing different gains at different points in the profile Servo Performance INDAX Selects the number of available axes to use SSPR iei Sets the ratio between the update rate of the move trajectory and the update rate of the servo action Affects the servo sampling update the motion trajectory update and the system update Feedback Setup BR tearmann Selects the servo feedback device Options depending on the product are encoder or ANI input IMPORTANT Parameters for scaling tuning gains max position error SMPER and position offset PSET are specific to the feedback device selected with the SFB command at the time the parameters are entered ERES Encoder resolution SMPER Sets the maximum allowable error between the commanded position and the actual position as measured by the feedback device If the error exceeds this limit the controller activates the Shutdown output and sets the DAC output to zero plus any SOFFS Offset If there is no offset the motor will freewheel to a stop You can enable the ERROR command to continually check for this error condition ERROR 12 1 and when it occurs to branch to a programmed response defined in the ERRORP program Servo
24. component to professional assemblers As a component it is not required to be compliant with Electromagnetic Compatibility Directive 89 336 EEC However Appendix B 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 oE V ETTE ER This manual in Acrobat PDF format is available from our web site http www compumotor com CHAPTER O stallation IN THIS CHAPTER e Product ship kit list e Things to consider before you install the OEM6250 e General specifications table e Mounting the OEM6250 e Connecting all electrical components includes specifications e Testing the installation e Tuning the OEM6250 refer to Servo Tuner User Guide or to Appendix A Preparing for what to do next C Appendix B 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 What You Should Have ship kit If an item is missing call the factory see phone numbers on Inside front cover Part Name Part Number One of the following line items OEM6250 standard product with ship KD tees OEM6250 OEM6250 product with ANI input board with ship kit OEM6250 ANI lt The ANI input board provides two 10V
25. control By the same With SGILIM principle integral feedback control can also reduce the tracking error when the system is commanded to cruise at B constant velocity aoi E Controlling Integral Windup z a If integral control SGT is used and an appreciable position error has persisted long enough during the transient period time taken to reach the setpoint the control signal generated by the integral action can end up too high and saturate to the maximum level of the controller s analog control signal output This Time Max Analog Output 10V phenomenon is called integrator windup d ntegral a Windup Limi After windup occurs it will take a while before the Perah integrator output returns to a level within the limit of the ue ov controller s output Such a delay causes excessive position overshoot and oscillation Therefore the integral windup limit SGILIM command is provided for you to set the absolute limit of the integral and in essence turn off the Min Analog Output 10V integral action as soon as it reaches the limit thus position overshoot and oscillation can be reduced see illustration below The application of this feature is Velocity Feedback Control SGV demonstrated in Step 5 of the Controller Tuning Procedure i below The velocity feedback control tends to increase damping and improve the stability of the system When this control is used the control signa
26. ground thereby i 5VDC and connect AUX P to GND terminal DRIVE 2 ENCODER 2 allowing motion to occur To connect a normally closed external switch for Ta Isho 9 e lv operating the emergency stop function see page 11 you must first j i Specs HCMOS compatible voltage range 0 24VDC lcoM Zl remove R25 Enable ENBL input pg ue ISTNE Of Resistor R45 R45 pulls up the enable ENBL trigger TRG A B and i mol ig imit POS NEG HOM inputs to the Internal 75VDE supply You must pigtal eno pas oo ar DFT B remove R45 before you can use the AUX P pullup terminal for these i connecting your swite AGND 2 z inputs To pull up these inputs to a voltage other than the internal 5VDC ma ENBL ASvD 2 z remove R45 and connect an external 5 24VDC supply to the AUX P 47 KQ CMD GND terminal To sink current on these inputs remove R45 and connect AUX P AUX P used also by DFT POS NEG L2 CMD 4 ISHLD to GND HOM and TRG n see schematic vn above AUX LIMITS Ta kg apos ug Specs HoMOS compaie volage range 0 24VDC S Len g en I i Encoder Inputs pg 13 SHLD GND 5VDC 1 8VDC e v 2P0s mm i 6 lours O luza a i zas me Fan AO line 2HoM QL 225 22 0 r A O ie hea 2 leno i SL dh A B or Z 2 rnan 11 SHLD ANI BOARD i l 6 leno If you ordered the H Specs Differential comparator Use 2 phase guadrature encoders our a RR240 OEM6250 ANI product a i max freque
27. have a shutdown input use a manual emergency stop switch to disable the drive s power supply Step 1 Remove power to the drive Step 2 Apply power to the OEM6250 only and issue the DRIVE11 command Measure the OEM6250 s analog output between the CM D and CMD terminals on the DRIVE connector with both an oscilloscope to check for noise and a digital volt meter DVM to monitor the analog output Both readings should be very close to zero If an offset exists ignore it for now it will be taken care of later in step 8 Step 3 If your system has mechanical stops manually move the load to a position mid way between them Step 4 Enter these commands to zero all the gains and run the system in open loop SGPO0 0 Set proportional feedback gain to zero SGV0 0 Set velocity feedback gain to zero SGI0 0 Set integral feedback gain to zero SGVFO 0 Set velocity feedforward gain to zero SGAFO 0 Set acceleration feedforward gain to zero Step 5 Apply power to the drive The motor shaft should be stationary or perhaps turning very slowly velocity drives only A small voltage to a torque drive with little or no load attached will cause it to accelerate to its maximum velocity Since the torque demand at such a low voltage is very small you can prevent the shaft from moving by holding it Step 6 Observe the OEM6250 s analog output noise level on the oscilloscope Typically the ideal noise level shou
28. input will not be recognized until you enable the input functions with the INFEN1 command HCMOS compatible Low s 1 00V High 3 25V with internal 6 8 KQ pull up resistor to internal 5VDC supply AGND Analog ground RSVD reserved CMD IN Command signal return CMD OUT Command output signal 10V analog output 12 bit DAC Load should be gt 2KQ impedance CONNECTIONS TO SPECIFIC DRIVES APEX Series Drives APEX Series OEM6250 Drive DRIVE 1 ENCODER 1 APEX Series Drive OEM6250 Reset SHLD D 5V Gnd COM w Enable In lt gt SHTNO Vel Int Enable SHTNC M Ps Enable In SHTNO BN Faut Ot DRT Fault Out DFT EE Gnd 7 AGND Grd 2 laap LZ Command lt gt CMD Command RSVD G be Command lt gt CMD Command CMD ONP CHA lt A Tach Output 1 CMD SHLD Gnd CHA lt A 15V CHB lt B Gnd A CHB e B 15V CHZ lt Z CHA 2 CHZ e Z CHA Oo Gnd lt GND CHB CHB NOTE CHZ Apex Series CHA connected to OEM6250 s A CHZ Apex Series CHA connected to OEM6250 s A Gnd V 8 OEM6250 Installation Guide BD E Drive BD E Drive OEM6250 User I O Connector
29. min current requirements depend on Zero Ohm Resistors the type and amount of I O used see page 20 Resistor R12 R12 pulls up all 16 programmable inputs to the internal Serial Com RS 232C 3 wire Rx Tx amp GND on AUX connector 5VDC supply You must remove R12 before you can use the IN P pullup Up to 99 units in a daisy chain terminal for the programmable inputs To pull up the programmable inputs 9600 baud or use AutoBaud feature see page 6 T sH_ T sv to a voltage other than the internal 5VDC remove R12 and connect an 8 data bits 1 stop bit no parity coM A external 5 24VDC supply to the IN P terminal To sink current on the SHTNC A programmable inputs remove R12 and connect the IN P to GND r Limits and Trigger Inputs pg 12 amp 15 s eee s Z SHINO eo 4 Resistor R13 R13 pulls up all 8 programmable outputs to the internal i T POS NEG HOM or TRG n 2 AGND 2 Z 5VDC supply You must remove R13 before you can use the OUT P l A RSVD A z pullup terminal for the programmable outputs To pull up the AUX P Inputs are pulled up to 5V via 2 CMD 2 GND programmable inputs to a voltage other than the internal 5VDC remove R45 alternative is to remove R45 and 2 2 R13 and connect an external 5 24VDC supply to the OUT P terminal Rae connect AUX P to an external 5 24VDC ag _JCMD 1 SHLD supply To sink current remove R45 DRIVE 1 ENCODER 1 Resistor R25 R25 connects the enable input ENBL to
30. most desirable because it optimizes the trade off l between damping and Time speed of response n Oscillatory An oscillatory response is characterized by a sustained position oscillation of equal amplitude 7 Time Chattering Chattering is a high frequency low amplitude oscillation which is usually audible Time Response Description Profile position time Unstable Instability causes the position to oscillate in an exponentially diverging fashion Position Time Performance Measurements When we investigate the plot of the position response versus time there are a few measurements that you can make to quantitatively assess the performance of the servo e Overshoot the measurement of the maximum magnitude that the actual position exceeds the position setpoint It is usually measured in terms of the percentage of the setpoint value e Rise Time the time it takes the actual position to pass the setpoint s Settling Time the time between when the commanded position reaches the setpoint and the actual position settles within a certain percentage of the position setpoint Note the settling time definition here is different from that of a control engineering text book but the goal of the performance measurement is still intact These three measurements are made before or shortly after the motor stops moving When it is moving to reach and settle to the setpoint we call
31. open loop operation 39 sampling freguency 34 41 tuning see tuning servo sampling update rate 3 technical assistance see inside of front cover and HELP command temperature range 3 terminal emulation set up 22 test setpoint 34 ing ti system installation 22 settling time 35 l shielding 2 test panel Motion Architect 28 EMC guidelines 47 thumbwheel connections 19 I O cables 21 iat ah an ship kit 2 travel limits trigger input joystick connections amp specs 14 trigger inputs connections 15 testing 23 troubleshooting 28 common problems amp solutions 29 diagnostic LEDs 28 serial communication 30 test panels Motion Architect 28 TTL compatible switching voltage levels 3 tuning 33 34 gains definition 36 shut down in case of emergency 39 shutdown output to drive 8 sinking input device connecting to 18 sinking output device connecting to 15 17 software update from BBS 28 sourcing input device connecting to 18 sourcing output device connecting to 15 17 specifications overall list of see also back cover stability 35 status commands see also back cover and test on page 22 amp 23 i axis see TASF command OEM6250 tuning procedure 41 S S PIV amp F algorithm 36 EN hi voltage see process flow diagram 43 joystick digital inputs see TINOF related 6000 series commands 36 command bits 1 5 scenario case example 44 limit switches see TLIM command setup procedure 39 P CUT input see
32. procedure unless you are sure you have successfully completed these system connection test and test procedures provided in Chapter 1 s Connect the drive especially the drive s shutdown output s Connect and test the feedback devices s Connect and test the end of travel limits lt Test the OEM6250 s analog output s Attach the load and the feedback devices as required for your application lt Configure the number of axes in use drive fault level if using a rotary drive and feedback device resolution lt Select the appropriate feedback source per axis with the SFB command tuning parameters for each axis are specific to the currently selected feedback source N N WARNING A A The tuning process requires operation of your system s electrical and mechanical components Therefore you should test your system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel EMERGENCY SHUTDOWN You should be prepared to shut down the drive during the tuning process for instance if the system becomes unstable or experiences a runaway You can use the ENBL input disconnect it from ground to disable the OEM6250 s analog output signal see wiring instructions on page 11 An alternative is to issue the DRIVE command to the OEM6250 over the communication interface but this requires connecting a shutdown output to the drive If the drive does not
33. s A U Dynaserv A connected to OEM6250 s A OEM6250 GND connected to OEM6250 COM Linearserv Drive and Dynaserv DM1004 Drive Linearserv or DM1004 Drive OEM6250 Linearserv DM1004 OEM6250 CN1 30 pin enn DRIVE 1 ENCODER 1 Com pin 01 lt gt 5V p Sect a Tenn rvo On pin lt SHTN H Sis Ge A ea L com Fens SHTNC pe SYS Bi SHTNO O ae Z pin21 lt Z DFT oh Agnd TQ pin 22 lt gt CMD AGND BB Vin TQ pin 23 lt gt CMD RSVD h Agnd VEL pin 24 lt gt CMD 2 CMD o m Vin VEL pin 25 lt CMD M ps Com pin 26 lt gt AGND Ready pin 31 lt gt DFT L A pin 41 lt Arc B pin 43 lt B Z pin 45 e Z NOTE When the Linearserv is in Torque Mode connect Linearserv pins 23 amp 22 to CMD amp CMD When in the Velocity Mode gt connect pins 25 amp 24 are CMD 8 CMD Connect Linearserv A to OEM6250 A Connect Linearserv A to OEM6250 A Connect OEM6250 GND to OEM6250 COM Chapter 1 Installation 9 OEM670 Drive OEM670 Drive OEM6250 CMD pin 1 lt gt CMD CMD pin2 gt CMD FAULT pin9 lt DFT ENABLE pin 10 lt gt SHTNO GND pin11 COM GND pin 16 lt AGND SV Drive SV Drive
34. such period of time the transient When it is not moving it is defined as in steady state A typical stable position response plot in preset mode MC is shown below lt Settling Time Target Zone Mode I i I Settling Band Setpoint 4 ng Setpoint L Steady State Position Error ES Commanded Position Se 1 I Overshoot Position a Actual l Position Rise Time Transient Steady State Time Appendix A Tuning 35 Tuning Related Commands More detailed information on each 6000 Series command can be found in the 6000 Series Software Reference Tuning Gains SGP ana Sets the proportional gain in the PIV amp F servo algorithm SGT oes Sets the integral gain in the PIV amp F servo algorithm SGV e Sets the velocity gain in the PIV amp F servo algorithm SGAP Sets the acceleration feedforward gain in the PIV amp F algorithm SBGVE Sets the velocity feedforward gain in the PIV amp F algorithm SGILIM Sets a limit on the correctional control signal that results from the integral gain action trying to compensate for a position error that persists too long SGENB Enables a previously saved set of PIV amp F gains A set of gains specific to the current feedback source selected with the SFB command is saved using the SGSET
35. the OEM6250 The OEM6250 must be mounted to a conductive panel Before mounting the OEM6250 remove the paint from the rear face of the mounting hole that will be closest to the input filter location as shown in Figure 3 below and if necessary from the corresponding area on the rear panel of the enclosure This is to guarantee a good high frequency connection between the drive case and the cabinet After mounting the unit use petroleum jelly on the exposed metal to minimize the risk of future corrosion 48 OEM6250 Installation Guide Control Signal Connections High quality braided screen cable should be used for control connections In the case of differential outputs it is preferable to use a cable with twisted pairs to minimize magnetic coupling A connection is made to the cable screen at the controller end by exposing a short length of the braided screen and anchoring this to earth using a P clip see Figure 2 Fit a ferrite absorber close to the I O connector and run the cable down to the mounting panel as shown in Figure 3 The level at which the I O operates means that the signals are unlikely to meet EMC immunity requirements if taken outside the enclosure without proper screening 50 Pin Ribbon Cable It is recommended when using the 50 Pin Ribbon Cable I O found on the OEM6250 that you use a terminal break out box such as the VM50 or VM24 see Figure 3 Mount the VM50 close to the OEM6250 keeping the ribbon cable as shor
36. the OEM6250 and the drive and swap the CMD and CMD connections either at the OEM6250 or at the drive whichever is more accessible this will not work for servo drives that do not accept differential input Then turn on the O0EM6250 again enter the DRIVE11 command and repeat Steps 4 through 7 d before proceeding to Step 8 e Enter the SOFFS command to stop the motor and enter the DRIVE11 command to re enable the drives Step 8 Having set the servo output offset to zero with the SOFFS command see Step 7 e read the OEM6250 s analog output with the DVM to determine if there is any offset caused by the electrical interconnections between the OEM6250 and the drive If the DVM reads anything other than zero enter the DVM s reading but with the opposite polarity as the offset adjustment with the SOFFS command For example if the DVM reading is 0 015V then enter SOFFS 15 If after doing this the reading is still not zero then fine tune it by trying SOFFS entries of slightly different values until the DVM reading is between 3 0mV Step 9 If you are using a velocity drive motion may still be occurring due to the drive s balance offset setting If so adjust the drive s balance offset until motion stops Consult the drive s user documentation for instructions Step 10 Proceed to the Drive Tuning Procedure section to tune the velocity drive if you are using a torque drive skip to the Controller Tuning Pr
37. to 95 non condensing Performance Position Range amp Accuracy Position range 2 147 483 648 counts Accuracy 0 counts from preset total Velocity Range Accuracy 4 Repeatability Range 1 2 000 000 counts sec commanded velocity Accuracy 0 02 of maximum rate Repeatability 0 02 of set rate Acceleration Range 1 24 999 975 counts sec Motion Trajectory Update Rate See SSFR command description in the 6000 Series Software Reference Servo Sampling Update Hate See SSFR command description in the 6000 Series Software Reference Serial Communication Connection Options RS 232C 3 wire Rx Tx amp GND on the AUX connector Maximum units in daisy chain 99 use DIP switch or ADDR command to set individual addresses for each unit Communication Parameters sese 9600 baud range is 9600 1200 see AutoBaud page 6 8 data bits 1 stop bit no parity RS 232 Full duplex XON XOFF enabled Inputs HOM POS NEG TRG A TRG B amp ENBL HCMOS compatible with internal 6 8 KQ pull up resistor to AUX P terminal Voltage range for these inputs is 0 24V As shipped from the factory AUX P is internally connected to 5V via resistor R45 input is sinking current To make the input sink current to a supply other than 5V first remove R45 and then connect an external 5 24V supply to the AUX P terminal To source current first remove R45 and then connect the AUX P terminal to the GND termi
38. 0 This stores the baud rate in non volatile memory NOTE If Auto Baud is enabled the OEM6250 performs its auto baud routine every time it is powered up or reset The 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 Motor Drivers A WARNING AN REMOVE DC POWER FIRST before connecting or disconnecting the drive CONNECTIONS amp INTERNAL SCHEMATICS S K Drive Motor Maximum recommended cable FTA length is 15 feet 4 56 m Sees Use 22 AWG wire ANONANNAAANONNANMAUNANNONMAUONANOUNNANMAUNONNUNMAUNANAONMAUMAANAANONMAUBARNONOANAAEDNRDNERe Internal Schematics Z 7 7 Chassis Ground i E Solid State Relay DRIVE Connector i closed if DRIVE S BA SHLD pen if DRIVEL OEM6250 COM B SHTNC pen if DRIVE i amu B SHTNO Gl6sedii DRIVE ae Ei DFF ako E PAWE BH AGND Analog Ground B RSVD Z AGND 74HCxx i FE CMD 6 8 Ko B CMD 5VDC i S ae i N AGND i e i i F i MAGND E E Command E 7 PEELE
39. 0 Series Programmer s Guide ea Technical support see phone numbers on inside of front cover and the HELP command response HCMOS compatible levels Low lt 1 00V High gt 3 25V We welcome your feedback on our products and user guides Please send your responses 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 emal
40. 1 Check LEDs 1 See Diagnostic LEDs above 2 End of travel limits are active 2 a Hardware limit switches Move load off of limits or disable limits with the 3 ENBL enable input not grounded LH command 4 Drive fault detected 2 b Software limits Set LSPOS to a value greater than LSNEG 5 Improper wiring 3 Ground the ENBL connection 6 Load is jammed 4 a Check status with TASXF command see bit 4 7 No torque from motor 4 b Verify correct drive fault level setting DRFLVL command value 8 Max allowable position error SMPER 5 Check command CMD shutdown SHTNC or SHTNO drive fault DFT and end of travel limit connections 6 Remove power and clear jam 7 See problem Torque loss of 8 Check status with TASF report see bit 23 and issue the DRIVE1 command to the affected axis Motion does not occur 1 Joystick Release input not grounded 1 Ground Joystick Release input in joystick mode 2 Improper wiring 2 Check wiring for opens shorts and mis wired connections lt alue exceeded Chapter 2 Troubleshooting 29 Problem Cause Solution Table continued Problem Cause Solution Programmable inputs 1 IN P input pull up not connected toa 1 a When inputs will be pulled down to OV by an external device leave IN P not working power supply connected internally via R12 resistor to 5V or remove R12 and then 2 If external power supply is used the connect IN P to an external
41. 12 home input 12 programmable inputs 16 programmable outputs 16 trigger inputs 15 position actual based on feedback device 34 commanded 34 error 34 overshoot 37 response servo 34 types 35 setpoint 34 tracking error 35 position accuracy 3 position range 3 positive travel limits 12 power supply 5V load limit 3 20 DC input connections amp specs 20 for Drive Fault DFT inputs 7 for ENBL limit inputs amp trigger inputs 11 12 15 for programmable inputs amp outputs 16 pre installation changes 6 precautions installation 2 mounting 4 process of installation 2 product return procedure 32 programmable I O connections amp specs 16 testing 23 programming tools available 25 proportional feedback control SGP 36 R R clamps P clips 47 reference documentation i release input joystick connections amp specs 14 resolution encoder 29 response servo 35 return procedure 32 rise time 35 RP240 connections 20 testing 23 runaway motor 30 S safety 2 safety stops see end of travel limits saturation of the control output 34 schematics internal see also back cover ANI inputs 11 drive connections 7 ENBL input 11 encoder inputs 13 joystick analog inputs 14 limit inputs 12 programmable inputs and outputs 16 trigger inputs 15 serial communication RS 232C connections 6 daisy chain connections 6 disable handshaking 30 specifications 3 troubleshooting 30 servo T control methods types 36
42. 2 Set velocity feedback gain SMPER 001 001 Set max position error to Step 10 1 1000 of a rev 4 encoder counts Overshoot is reduced very little after lowering the SGP gain PSETO 0 Set current position as to 70 The SGV gain might have been lowered too much in absolute pos IE 10n zero Step 9 Next we should try raising the SGV gain again until the overshoot is gone KAKAK AKK KK AKK KK AKK KK AKK KK AKK KK AKK KK AKK KK KK KK KK Setup for ANI feedback OEM6250 ANI ONLY KAKAK AKK KK AKK KK AKK KK AKK KK AKK KK AKK KK AKK KK KK KK KK Select ANI feedback for both axes subseguent scaling gains servo offset PSET and SMPER parameters are specific to ANI feedback Set scaling for programming accel decel in volts sec sec Set scaling for programming velocity in volts sec Set scaling for programming distances in volts H SFB2 2 SCLA819 819 SCLV819 819 SCLD819 819 SGP1 1 Set proportional feedback gain SGI0 0 Set integral feedback gain SGV 5 5 Set velocity feedback gain Step 11 SMPER 01 01 Set max position error to 1 100 of a volt 8 ANI counts Set current position as absolute position 5 When we raised the SGV gain to 2 52 the step response PSET5 5 became fast and very stable Ne me me Ne Ne me Ne Ne Ne me Ne Ne me Ne Ne me me Se Select encoder feedback for start of main program SFB1 1 kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Insert other appropriate commands in
43. 250 s setup still too high program We put the gains in the setup program because we want the OEM6250 to power up in a ready state for motion For more information on creating a setup program refer to the 6000 Series Programmer s Guide Next we should lower the SGV gain until chattering stops Example Setup Program DEF SETUP Begin def of setup program DRIVE Disable both drives INDAX2 Place both axes in use SSFR4 Servo sampling frequency ratio DRFLVL11 Set drive fault level to active high for both axes KDRIVE11 Enable DISABLE ON KILL feature Step 9 KAKAK AKK KK AKK KK AKK KK AKK KK AKK KK AKK KK AKK XX KK KK KK f Setup for encoders will need to switch After lowering the SGV gain to 2 2 even less than in the 2 3 between encoder and ANI feedback setting in Step 7 chattering stops Z kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk E SFB1 1 Select encoder feedback for Next we should lower the SGP gain both axes subsequent scaling 1 1 1 1 1 1 1 1 gains servo offset PSET Eat teil Alans gael whe sach LAN and SMPER commands are specific to encoder feedback ERES4000 4000 Set encoder resolution to 4 000 counts rev SCLA4000 4000 Set scaling for programming accel decel in revs sec sec SCLV4000 4000 Set scaling for programming velocity in revs sec SCLD4000 4000 Set scaling for programming distances in revs SGP70 70 Set proportional feedback gain SGV2 52 2 5
44. 5 24V positive supply remove R12 first grounds must be connected together 1 b When inputs are pulled to 5 24V by an external device connect IN P to OV 3 Improper wiring remove R12 first 1b When inputs are pulled to 5 24V by an external device connect IN P to OV 2 Connect external power supply s ground to OEM6250 s ground GND 3 Check wiring for opens shorts and mis wired connections Programmable outputs 1 Output connected such that it must 1 Outputs are open collector and can only sink current change wiring not working source current pull to positive voltage 2 If you have removed the R13 resistor connect OUT P to the 5V terminal 2 OUT P not connected to power source or to an external supply of up to 24V not to both 3 If external power supply is used the 3 Connect the external power supply s ground to the OEM6250 s ground grounds must be connected together GND 4 Improper wiring 4 Check wiring for opens shorts and mis wired connections Runaway 1 Direction connections reversed 1 Switch CMD with the CMD connection to drive if encoder counts 2 Improper tuning 2 Retune the OEM6250 and or the drive Refer to the tuning instructions in the positive when turned Servo Tuner User Guide or in Appendix A clockwise Torque loss of 1 Improper wiring 1 Check wiring to the motor as well as other system wiring 2 No power STATUS LED off 2 Check power connection STATUS LED shoul
45. 5VDC 0 25A 3W HCMOS compatible switching voltage levels Low lt 1 00V High 3 25V TTL compatible switching voltage levels Low lt 0 4V High 2 4V Chapter 1 Installation 3 Mounting the OEM6250 NOTE The drawing below illustrates the dimensions of the OEM6250 printed circuit board The board is shipped from the factory attached to sheet metal which allows either flat mounting or side mounting of the OEM6250 This board will fit in a 6U rack if you remove the PCB from the sheet metal Max Component Height lIx 1 48 37 59 Ng 0 50 12 70 I 1 00 25 40 Inches Millimeters Environmental Considerations 10 01 gt 254 25 L 9 67 gt 245 62 4 3 11 00 279 40 10 10 256 54 9 19 654321 233 43 QB 2 2 2 5 5 od O O U 1 z U 1 7 R 0 70 Provision for 10 a 1 00 plu 8 00 17 78 25 40 Mounting Screws 203 20 E ANI Option Boar
46. CMD COMMAND pin 8 CMD COMMAND SHLD pin 9 lt cable shield GND pin 10 AGND OEM6250 Installation Guide OEM670 OEM6250 Drive ite 25 DRIVE 1 oS SHLD BG com g SHTNC So SHTNO ee DFT eo AGND ao RSVD 50 CMD 1g 28 CMD SV Drive OEM6250 X8 i DRIVE 1 ENCODER 1 SHLD SHLD yas GOM L 8SNB 4 A SHTNC H os sHtno H 6 X DFT H ee AGND BH e 500s so 2 RSVD H o H GMD Q He o8 CMD bes 16 H s s X10 l External 24V Power Supply 16 TQ Series OEM6250 Drive DRIVE 1 S Laws SHLD HENABLE GND GOM SHTNC HAUEF6UT SHTNO RESET IN DFT RESET GND AGND HEOMMAND RSVD eOMMANB CMD CMD ANI Analog Input OEM6250 ANI or OPT OEM6250 A product only 10V Ana og Input Source SignalSource Ground PO sisi E Internal Schematics 654321 i 15V i we Analog Input 1 N C Analog Input 2 same as 1 Eci N C Analog Ground s 150 KO i S V 15V Analog ANI Option Z Gro
47. Control Techniques To ensure that you are tuning your servo system properly you should understand the tuning techniques described in this section The OEM6250 employs a PIV amp F servo control algorithm The control techniques available in this system are Pa Proportional Feedback control with SGP command Ta Integral Feedback control with SGT command V Velocity Feedback control with SGV command F Velocity and Acceleration Feedforward control with the SGVF and SGAF commands respectively 36 OEM6250 Installation Guide The block diagram below shows these control techniques in relation to the servo control algorithm configuration The following table presents a condensed summary of each control s effect on the servo system Sam ki kawih ana S Control Algorithn ma r m aman o C ervo Control igorithm 1 bce System an I Valea Feedtorward I I I SGVF I Current Torque or Velocity I N Acceleration Feeafonard I i iss l ml I ainm TRT ROST Motor Drive 1 D c SGI St H sil System F Tron reas Fg aw JIN I feas I cometsina Boston I ae G a I Davies l z SL SS SSeS rs it f Steady l 3 4 Disturbance State Tracking Gain Stability Damping Rejection Error Error Proportional Improve Improve Improve Improve Improve SGP Integral Degrade Degrade Improve Im
48. H Zi S 99999096 U CONO DRIVE 2 9999699995 4 ob PN NEP PPS 50 PROGRAMMABLE INPUT OUTPUT POWER NOG OVG 5 BU N 15V GND 5V L This connection is critical for providing adequate shielding GND Terminal GND Terminal GND Terminals GND Pin 14 GND Terminal GND Pins even numbered pins N DIGITAL GROUND Chapter 1 Installation 5 Serial Communication RS 232C Connections RS 232C Daisy Chain Connections eo eo eo eo eo eo Le 1L AUX LIMITS W jr Te fi Lo leno lHo eo 12 Serial Port Connection i 2 A 9 Pin COM Port 25 Pin COM Port RP240 Pin 2 Rx sara nx Pin 2 Tx oo eo A Pin 3 Tx gor Tx Pin 3 Rx got I Rx Pin 5 ER GND in 7 GND 38 D 2 a L Je 12 C 22 98 49 1 NOTE Max cable length is 50 ft 15 25 m Changing the address and baud rate OPTIONAL Unit 1 Unit 2 m HX W HX mk aot W GNB w GND B SHLD m SHLD ee Unit 0 Unit 1 Unit 2 W HX m HX m HX mt mr mt m_ GND W GSNB B GND B SHLD m SHLD B SHLD _ _ Te Stand Alone Daisy Chain Be sure to set unique devices addresses for each unit
49. OEM6250 Servo Controller Installation Guide FO NG Q Ya VITLILILILILIETLLLY 44 VILLETTE Ya 44 SIGIIHIFVGG YFHVSIVG L AGTIVVSIISG ULLI ULULI LUU UULU LUULU gt 8 Q Oo s Compumotor Division Parker Hannifin Corporation Darker p n 88 016524 01B March 1998 MPORT ANT User Information A WARNING A 6000 Series products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel 6000 Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers and may not be copied disclosed or used for any purpose not expressly authorized by the owner thereof 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 In no event will the provider of the equipment be liable for any incidental consequential or special damages of any kind or nature whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide 1991 7 Parker Hannifin Corpor
50. OTE 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 2 Enable serial communication with the E1 command or receive garbled 2 Serial communication is disabled 3 Verify DIP switch settings see page 6 or proper use of ADDR command 3 In a daisy chain the unit may not be set to proper address Direction is reversed 1 Command output CMD connections 1 Hardware remedy Switch CMD with the CMD connection to the drive stable servo and feedback device connections or if your drive does not accept differential outputs this will not work You will response mounting are reversed also have to change the feedback device wiring or mounting so that it counts in same direction as the commanded direction Direction is reversed 1 Not tuned properly 1 Refer to the tuning instructions in the Servo Tuner User Guide or in unstable servo 2 Phase of encoder reversed or Appendix A response mounting of ANI input is such that it 2 If encoder feedback swap the A and A connections to the OEM6250 If counts in the opposite direction as the ANI feedback change the mounting so that the counting direction is reversed commanded direction Distance velocity a
51. S IN Positive direction end of travel limit input axis 1 HCMOS compatible Low lt 1 00V High 3 25V with internal 8 1NEG_ IN Negative direction end of travel limit input axis 1 6 8 KQ pull up resistor to AUX P terminal As shipped from the 7 1HOM IN Home limit input axis 1 factory AUX P is internally connected to 5V via resistor R45 ke To connect AUX P to a supply other than 5V or to connect to 6 GND Digital ground ground first remove R45 and then connect AUX P to an external 5 2POS IN Positive direction end of travel limit input axis 2 5 24V supply or to the GND terminal Voltage range for these 4 2NEG IN Negative direction end of travel limit input axis 2 inputs is 0 24V 3 2HOM IN Home limit input axis 2 Active level for HOM is set with HOMLVL default is active low 2 GND Digital ground requires n o switch 1 SHLD Chassis ground earth e Active level for POS amp NEG is set with LHLVL default is active low requires n c switch 12 OEM6250 Installation Guide Encoder CONNECTIONS amp INTERNAL SCHEMATICS ENCODER Connector A 315355 HR HR HR RRR HR RRR HRH Internal Schematic 1 8VDC i Max Cable Length is 100 feet baste i Use 22 AWG wire 5VDC Red 5V 22 KQ S AChannel Brown A a z A Channel Brown White A E BChannel Green B 22 KO i B Channel
52. TINOF command velocity drive tuning procedure 40 bit 6 programmable inputs see TIN or U Z INFNC command under damped servo response 35 programmable outputs see TOUT or unstable 35 _ OUTFNC command velocity accuracy 3 trigger inputs see TIN command velocity feedback control SGV 37 status LEDs 28 velocity feedforward control SGVF 38 steady state 35 velocity range 3 position error 35 velocity repeatability 3 stiction overcoming 39 velocity select input connections amp support software available 25 specs 14 system update rate 41 VM50 adaptor 16 windup of the integral action 37 Z channel output 13 Index 53 OEM6250 2 Axis Servo Controller Darker Automation Connections Mesos also paces 523 UO SPECIFICATIONS amp INTERNAL SCHEMATICS DC Input 5VDC 5 4A
53. Two encoders A joystick All home and end of travel limits The two trigger inputs An RP240 100mA You may need additional power from an external 5 24VDC supply for the programmable inputs and outputs depending on how and what they are connected to To provide additional power for the programmable inputs be sure to remove the R12 resistor first before connecting the external power supply to the IN P terminal for the programmable outputs remove R13 first before connecting the external supply to the OUT P terminal OEM6250 IN NNN NIS 15V NC 15V GND 4V san l No Connect External 5VDC Supply 5 4A minimum 20 OEM6250 Installation Guide 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 s Use a minimum wire size of 22 AWG e Use twisted pair shielded cables and connect the shield to a SHLD terminal on the OEM6250 Leave the other end of the shield disconnected e Do not route I O signals in the same conduit or wiring trays as high voltage AC wiring or motor cables Reducing noise on limit inputs HOM POS amp NEG trigger inputs TRG A amp
54. ation All Rights Reserved Motion Architect is a registered trademark of Parker Hannifin Corporation Motion Builder Motion OCX Servo Tuner CompuCAM and DDE6000 are trademarks of Parker Hannifin Corporation Microsoft and MS DOS are registered trademarks and Windows DDE and NetDDE are trademarks of Microsoft Corporation Motion Toolbox is a trademark of Snider Consultants Inc LabVIEW is a registered trademark of National Instruments Corporation Technical Assistance gt Contact your local automation technology center ATC or distributor or North America and Asia Europe non German speaking Germany Austria Switzerland Compumotor Division of Parker Hannifin Parker Digiplan HAUSER Elektronik GmbH 5500 Business Park Drive 21 Balena Close Postfach 77607 1720 Rohnert Park CA 94928 Poole Dorset Robert Bosch Str 22 Telephone 800 358 9070 or 707 584 7558 England BH17 7DX D 77656 Offenburg Fax 707 584 3793 Telephone 44 0 1202 69 9000 Telephone 49 0 781 509 0 FaxBack 800 936 6939 or 707 586 8586 Fax 44 0 1202 69 5750 Fax 49 0 781 509 176 07 584 4059 Barker Product Feedback Welcome Automation E mail 6000user c motor com Change Summary OEM6250 Installation Guide Rev 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 Topic Description Error Correction DFT Input Circ
55. ation deceleration and velocity values appropriate to your application Set the SGVF value to appropriate to your application Set SGAF to 0 01 be the product of SGP SGV if SGV zero set SGVF SGAF 1 equal to SGP b Check the position error during acceleration by issuing b Check the position error at constant velocity by the TPER command c Increase SGAF to reduce the position error repeat steps c Increase SGVF to reduce the position error repeat steps a and b as necessary a and b as necessary Appendix A Tuning 43 Tuning Scenario This example shows how to obtain the highest possible proportional feedback SGP and velocity feedback SGV gains experimentally by using the flow diagram illustrated earlier in Step 4 of the Tuning Procedure NOTE The steps shown below steps 1 11 represent the major steps of the process the actual progression between these steps usually requires several iterations The motion command used for this example is a step command with a step size of 100 The plots shown are as they might appear on a scope X axis time Y axis position Step 1 For a starting trial we set the proportional feedback gain SGP to 2 As you can see by the plot the response is slow In the next step we should increase SGP until the response is slightly underdamped Commanded Position Step 2 With SGP equal to 15 the response becomes slightly underdamped see plo
56. bandwidth frequency the required minimum servo sampling frequency would be 3600 Hz If two axes are running INDAX2 then you should try using the SSFR4 setting For more in depth discussion on the different update parameters servo motion and system refer to the SSFR command description in the 6000 Series Software Reference Before you tune the OEM6250 Be sure to complete the Tuning Setup Procedure and the Drive Tuning Procedure if you are using a velocity drive before proceeding with the following tuning procedure Unlike the Tuning Setup Procedure you must tune one axis at a time If your application requires switching between feedback sources on the same axis then for each feedback source on each axis you must select the feedback source with the SFB command and repeat steps 3 7 Step 1 Set up for tuning Use a computer with a terminal emulator or a dumb terminal to enter the commands noted in the steps below To monitor system performance you may use visual inspection or use an analog type position transducer potentiometer LVDT RVDT etc to pick up the load s or motor s position displacement and monitor the transducer output on a digital storage oscilloscope Step 2 Select the sampling frequency ratios SSFR NOTE The default setting SSFR4 is adequate for most applications CAUTION If you change the sampling frequency ratios SSFR after the tuning is complete and t
57. chnical Assistance phone numbers provided on the inside front cover of this document The support personnel will also provide shipping guidelines OEM6250 Installation Guide Appendix A Tuning In this appendix lt Servo control terminology Servo control techniques lt 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 At a minimum complete this chapter s Tuning Setup Procedure and Controller Tuning Procedures until you have found a proportional feedback gain that can give a stable response for your system The Drive Tuning Procedure below is for use with velocity drive systems only Then you can proceed to execute your motion functions To gain a full understanding of tuning you should read through this entire appendix and follow its procedures to ensure your system is properly tuned Servo Tuning Software Available To effectively tune the OEM6250 and any velocity drives you may be using use the interactive tuning features in the Servo Tuner It greatly improves your efficiency and gives you powerful graphical tools to measure the performance of the system Servo Tuner is included as an integral element of Motion Builder an optional icon based programming tool Servo Tuner is also available as an optional add on modul
58. current To make the ENBL input sink current to a supply other than 5V first remove R45 and then connect an external 5 24V supply to the AUX P terminal To source current first remove R45 and then connect the AUX P terminal to the GND terminal m z 5 HR AUX P Location of resistor R45 CAUTION Failure to remove R45 before connecting AUX P to an external supply or to the GND terminal or to the 5V terminal will damage the OEM6250 Ox NOTE AUX P and R45 are also used by the HOM NEG POS amp TRG inputs HCMOS compatible switching levels low lt 1 00V high 3 25V Location of resistor R25 Voltage range 0 24V Chapter 1 Installation 11 End of Travel and Home Limit Inputs NOTES Install end of travel POS amp NEG limit switches discussions about using end of travel limits and homing CONNECTIONS amp INTERNAL SCHEMATICS POS amp NEG connected to GND normally closed switches 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 lt CAUTION As shipped from the factory the limit inputs are pull
59. d lf you ordered the OEM6250 ANI product this option board is factory installed If you ordered the board separately p n OPT OEM6250 A install it now Allow 0 91 23 11 mimimum for component height 6 Plcs Temperature Operate the OEM6250 in ambient temperatures between 32 F 0 C and 122 F 50 C Provide a minimum of 2 inches 50 8 mm of unrestricted _air flow space around the OEM6250 see illustration Fan cooling may be necessary if adequate air flow is not provided Humidity Keep below 95 non condensing Airborne Contaminants Liquids Particulate 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 4 OEM6250 Installation Guide Minimum Airf ow Space 2 inches 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 lt gt zo seutua L QNOW m SHLD Terminal SHLD Terminal SHLD Terminal SHLD Terminal SHLD Terminals SHLD Pin 8 Shield Screw EART
60. d be on 3 Drive failed 3 a Check the drive fault TASXF report see bit 4 4 Drive shutdown 3 b Check the drive condition 4 Enable drive with the DRIVE11 command Trigger home end of 1 If external power supply is used the 1 Connect external power supply s ground to OEM6250 s ground GND travel or ENBL inputs grounds must be connected together 2 a Check wiring for opens shorts and mis wired connections not working 2 Improper wiring 2 a When these inputs will be pulled down to OV by an external device leave AUX P connected internally via R45 resistor to 5V or remove R45 and then connect AUX P to an external 5 24V positive supply remove R45 first 2 b When these inputs are pulled to 5 24V by an external device connect AUX P to OV remove R45 first 2 c If you are trying to use an ENBL switch make sure that resistor R25 is removed from the OEM6250 PCB If R25 is left in place the ENBL input will always be grounded thus allowing motion to occur Troubleshooting Serial Communication Problems General Notes Power up your computer or terminal BEFORE you power up the OEM6250 e Make sure the serial interface is connected as instructed on page 6 Shield the cable to earth ground at one end only The maximum RS 232 cable length is 50 feet 15 25 meters e RS 232 Handshaking must be disabled Most software packages allow you to do this You can also disable handshaking by jumpering some terminals on th
61. ded as an integral element of Motion Builder an optional icon based programming tool Servo Tuner is also available as an optional add on module to Motion Architect it does not automatically come with the basic Motion Architect software package Instructions for using Servo Tuner are provided in the Servo Tuner User Guide and in Motion Builder s online Help system and Motion Builder Startup Guide amp Tutorial To order Motion Builder or the Servo Tuner add on module to Motion Architect contact your local Automation Technology Center ATC or distributor AT6450 768 Controller Tuner Untitled File Communications Setup Tune View Help Graph Display vila Tuning Session h Time millisec 205 975 0 Axis 1 Comm Pos counts Axis 1 Comm Pos counts 0 Time millisec 205 975 AT6450 Data Acquisition Current Current 2 Current 1 Current 3 Tuning Gains X Axis eg 2 3 4 Gains SGP 0 5 SGI 0 200 SGILIM SGV 0 SGAF 10 Capture Graph Motion Start Reset SGVF 0 Tuning Related Commands see 6000 Series Software Reference or the Servo Tuner User Guide for details Tuning Gains SG Piali Sets the proportional gain in the PIV amp F servo algorithm SGI Sets the integral gain in the PIV amp F servo algorithm SGV
62. e K command or the lt ctrl gt K command to kill the program Garbled Characters e Verify setup 9600 baud range is 9600 1200 see AutoBaud page 6 8 data bits 1 stop bit no parity Full duplex lt Faulty wiring See instructions on page 6 Also check for shorts or opens Double Characters lt Your terminal emulator is set to half duplex set it to full duplex Chapter 2 Troubleshooting 31 Product Return Procedure 32 Step 1 Obtain the serial number and the model number of the defective unit and secure a purchase order number to cover repair costs in the event the unit is determined by the manufacturers to be out of warranty Step 2 Before you return the unit have someone from your organization with a technical understanding of the OEM6250 system and its application include answers to the following guestions What is the extent of the failure reason for return How long did it operate Did any other items fail at the same time What was happening when the unit failed e g installing the unit cycling power starting other equipment etc How was the product configured in detail Which if any cables were modified and how With what equipment is the unit interfaced What was the application What was the system environment temperature enclosure spacing contaminants etc What upgrades if any are required hardware software user guide Step 3 Call for return authorization Refer to the Te
63. e computer s terminal s serial port connect RTS to CTS usually pins 4 and 5 and connect DSR to DTR usually pins 6 and 20 Test the Interface 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 gt PARKER COMPUMOTOR OEM6250 2 AXIS SERVO CONTROLLER RP240 CONNECTED gt 30 OEM6250 Installation Guide 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 gt TREV TREV92 013471 01 4 7 OEM6250 Problem Remedy based on the possible causes No Response lt COM port not enabled for 6000 language communication Issue the PORT1 command and then the DRPCHK command lt Echo may be disabled enable with the ECHO1 command lt Faulty wiring See instructions on page 6 Also check for shorts or opens lt Is the cable or computer terminal bad Here s a test 1 Disconnect the serial cable from the OEM6250 end only 2 Connect the cable s Rx and Tx lines together this echoes the characters back to the host 3 Issue the TREV command If nothing happens the cable or computer terminal may be faulty lt The controller may be executing a program Issue th
64. e to Motion Architect it does not automatically come with the basic Motion Architect software package Instructions for using Servo Tuner are provided in the Servo Tuner User Guide and in Motion Builder s online Help system and Motion Builder Startup Guide amp Tutorial To order Motion Builder or the Servo Tuner add on module to Motion Architect contact your local Automation Technology Center ATC or distributor ad AT6450 768 Controller Tuner Untitled File Communications Setup Tune View Help Graph Display vja Tuning Session Time millisec ooog ae Current Current 2 T T T Current 1 Current 3 Tuning Gains Axis i 2 3 Gains SGP Axis 1 Comm Pos counts Axis 1 Comm Pos counts SGI was a SGILIM Time millisec i SGV AT6450 Data Acquisition Capture Graph Start Reset Servo System Terminology This section gives you an overall understanding of the principles and the terminology used in tuning your OEM6250 Servo Tuning Terminology The OEM6250 uses a digital control algorithm to control and maintain the position and velocity The digital control algorithm consists of a set of numerical equations used to periodically once every servo sampling period calculate the value of the control signal output The numerical terms of the equations consist of
65. ecting an external supply to the inputs pull up terminal IN P or the outputs pull up terminal OUT P you will damage the OEM6250 R12 amp R13 Resistor Locations NOTE You must first remove the resistor R12 for inputs or R13 for outputs before you can connect an external supply to the inputs pull up terminal IN P or the outputs pull up terminal OUT P otherwise you will damage the OEM6250 16 OEM6250 Installation Guide 3 S JO amp amp amp amp VM50 ADAPTOR for screw terminal connections 96966945 The VM50 snaps on to any standard DIN rail Color stripe a 2 Foot Cable provided with VM50 pin 1 Pin outs on the VM50 are identical to the pin outs for the Color stripe pin 1 e 50 pin connectors only if the cable is connected as illustrated ih AA D000 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 COA kN ise 135791 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 L gt VM50 Adaptor Board INPUT CONNECTIONS Connecting to electronic devices such as PLCs Connection to a
66. ed up to 5V through the R45 resistor To use a voltage reference other than 5V first remove R45 and then use either the on board 5V terminal or an external power supply to power the AUX P pull up resistor using both will damage the OEM6250 Motion will not occur on an axis until you do one of the following Disable the limits with the LH command recommended only if load is not coupled Change the active level of the limits with the LHLVL command lt Refer to the Basic Operation Setup chapter in the 6000 Series Programmer s Guide for in depth 4155151555515515 5151551515155155 5151518151581815 8151 Internal Schematic direction and clear the limit by closing the switch or you can disable i E the limits with the LH command but this is recommended only if the LIMITS Connector motor is not coupled to the load The active level default is active B 1P0S Z low can be changed with the LHLVL command B 4NEG E BH 1HOM All limit inputs share the GND same circuit design 2NEG Z 2HOM E GND Digital E GND E F SHLD Chassis 7 7 Ground HOM connected to GND normally open switch E E The home limit input is used during a homing move which is initiated AUX Connector ng AUP io E with the HOM command After initiating the homing move the controller 8 TRG B an external 5 24VDC waits for the home s
67. edance at 25MHz 800 135Q Impedance at 1OOMHz 12002 21002 Curie temperature 130 C 130 C the device should not be operated near this temperature Handling amp Installing Ferrite Absorbers Take care when handling the absorbers they can shatter if dropped on a hard surface For this reason the suggested method of installation is to use a short length of 19mm diameter heat shrink sleeving see Figure 1 This gives a degree of physical protection while the cable is being installed The sleeving should have a shrink ratio of at least 2 5 1 Cable ties may be used as an alternative however they give no physical protection to the absorber Ferrite absorber retained by heatshrink sleeving Figure 1 Ferrite Sleeve Installation P Clip Installation Details The function of the P clip is to provide a 360 degree metallic contact and thus a convenient means of ensuring a proper R F ground When dealing with EMI issues it is important to remember that continuity a DC connection does not at all speak to the integrity of an AC high frequency connection High Frequency bonding typically involves wide flat cabling to establish a suitable system ground When applied properly the P clip has been shown to give an adequate high frequency contact When installing a P clip see Figure 2 install as close to the cable end as possible provided a suitable ground backplane earth stud or bus bar is accessible this may mean removing the
68. edure leads you through the following steps 1 Setup up for tuning 2 Select the OEM6250 s servo Sampling Frequency Ratios SSFR 3 Set the Maximum Position Error SMPER 4 Optimize the Proportional SGP and Velocity SGV gains 5 Use the Integral Feedback Gain SGT to reduce steady state error 6 Use the Velocity Feedforward Gain SGVF to reduce position error at constant velocity 7 Use the Acceleration Feedforward Gain SGAF to reduce position error during acceleration and deceleration The general rule to determining the proper SSFR value is 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 requirement for your application Keep in mind that increasing the SSFR value allows for higher bandwidths but produces a rougher motion profile conversely decreasing the SSFR value provides a smoother profile but makes the servo system less stable and slower to respond SELECTING THE SSFR VALUE Refer to the SSFR command description in the 6000 Series Software Reference Use the table to determine the appropriate setting based on your desired servo update rates As an example if your application requires a closed loop bandwidth of 450 Hz and you determine the minimum servo sampling frequency by using the rule of thumb setting the servo sampling frequency at least 8 times higher than the
69. eld when tuning axis 2 e g D 1060 A999 Set accel to 999 units sec sec AD999 Set decel to 999 units sec sec v30 Set velocity to 30 units sec D100 Set distance to 100 units b Start with an SGP command value of 0 5 SGP 5 or SGP 5 c Enter the GO1 or GO 1 command depending on which axis is being tuned at the time d Observe the plot of the commanded position versus the actual position on the oscilloscope If the response is already very oscillatory lower the gain SGP if it is sluggish overdamped increase the SGP gain Repeat Steps 4 c and 4 d until the response is slightly under damped e Start with an SGV command value of 0 1 SGV 1 or SGV 1 f As you did in Step 4 c enter GO1 or GO 1 g Observe the plot on the oscilloscope If the response is sluggish overdamped reduce the SGV gain Repeat Steps 4 f and 4 g until the response is slightly under damped h The flow diagram next page shows you how to get the values of the proportional and velocity feedback gains for the fastest well damped response in a step by step fashion Refer to the Tuning Scenario section later in this chapter for a case example The tuning principle here is based on these four characteristics e Increasing the proportional gain SGP can speed up the response time and increase the damping e Increasing the velocity feedback gain SGV can increase the damping more so than the proportional gain can b
70. es seene 21 Testing the lnstallaiion sees eee eee eee eee 22 Tuning the OEMG2B0 see 24 Whats e attest aaa e i a Aga Iga ag LOG Na a Rogha 25 Program Your Motion Control Functions 0400 esenaeaeanen 25 Purpose of This Guide This document is designed to help you install and troubleshoot your OEM6250 hardware system Programming related issues are covered in the 6000 Series Programmer s Guide and the 6000 Series Software Reference These reference documents are available by ordering the OEM6250 MANUALS ship kit add on or they can be downloaded from Compumotor s web site at http www compumotor com What You Should Know To install and troubleshoot the OEM6250 you should have a fundamental understanding of e Electronics concepts such as voltage current switches e Mechanical motion control concepts such as inertia torque velocity distance force e Serial communication and terminal emulator experience RS 232C Related Publications s 6000 Series Software Reference Parker Hannifin Corporation Compumotor Division part number 88 012966 01 e 6000 Series Programmer s Guide Parker Hannifin Corporation Compumotor Division part number 88 014540 01 e Current Parker Compumotor Motion Control Catalog s Schram Peter editor The National Electric Code Handbook Third Edition Quincy MA National Fire Protection Association EMC Installation Guidelines The OEM6250 is sold as a complex
71. f any particular installation This will be strongly influenced by the physical and electrical details of the installation and the performance of other system components Nevertheless it is important to follow all the installation instructions if an adequate level of compliance is to be achieved Safety Considerations The OEM6250 is intended for installation according to the appropriate safety procedures including those laid down by the local supply authority regulations The recommendations provided are based on the requirements of the Low Voltage Directive and specifically on EN60204 It should be remembered that safety must never be compromised for the purpose of achieving EMC compliance Therefore in the event of a conflict occurring between the safety regulations and the following recommendations the safety regulations always take precedence Ferrite Absorbers and P Clips Ferrite Absorber Specifications The absorbers described in these installation recommendations are made from a low grade ferrite material which has high losses at radio frequencies They therefore act like a high impedance in this waveband The recommended components are produced by Parker Chomerics 617 935 4850 and are suitable for use with cable having an outside diameter up to 10 13mm The specification is as follows Chomerics part 83 10 M248 1000 83 10 A637 1000 Outside diameter 17 5mm 28 5mm Inside diameter 10 7mm 13 77mm Length 28 5mm 28 57mm Imp
72. g an analog voltage output of 10V for commanding the drive After the digital control algorithm has calculated the digital control signal this digital value is sent out from the DSP digital signal processor to the Digital to Analog converter DAC The DAC has an analog output range of 10V to 10V It is often possible that the digital control signal calculated by the control algorithm can exceed this limit When this happens the analog output would just stay or saturate at the maximum limit until the position error changes such that the control algorithm would calculate a control signal less than the limit This phenomenon of reaching the output limit is called controller output 34 OEM6250 Installation Guide saturation When saturation occurs increasing the gains does not help improve performance since the DAC is already operating at its maximum level Position Variable Terminology In a servo system there are two types of time varying value changes with time position information used by the controller for control purposes commanded position and actual position You can use this information to determine if the system is positioning as you expect Commanded Position The commanded position is calculated by the motion profile routine based on the acceleration A AA deceleration AD ADA velocity V and distance D command values and it is updated every servo sampling period Therefore the commanded position is the inte
73. he new servo sampling frequency is lower than the previous one the response may change if your system bandwidth is quite high and you may have to re tune the system Step 3 Set the Maximum Position Error SMPER The SMPER command allows you to set the maximum position error allowed before an error condition occurs The position error monitored once per system update period is the difference between the commanded position and the actual position as read by the feedback device selected with the last SFB command Larger values allow greater oscillations motion when unstable therefore smaller SMPER values are safer When the position error exceeds the value entered by the SMPER command an error condition is latched see TAS or AS bit 23 and the 6000 controller issues a shutdown to the faulted axis and sets its analog output command to zero volts To enable the system again the appropriate DRIVE1 command must be issued which also sets the commanded position equal to the actual feedback device position incremental devices will be zeroed If the SMPER value is set to zero the position error condition is not monitored allowing the position error to accumulate without causing a fault Appendix A Tuning 41 Step 4 Optimize the Proportional SGP and Velocity SGV gains see illustration on next page for tuning process a Enter the following commands to create a step input profile use a comma in the first data fi
74. hen the output is active the TIN status command will report a 1 indicates that the input is active regardless of the type of output that is connected For details on setting the active level and checking the input status refer to the INLVL and TIN commands in the 6000 Series Software Reference Chapter 1 Installation 15 General Purpose Programmable Inputs amp Outputs PIN OUTS amp SPECIFICATIONS Function Internal Schematics Specifications Pin 1 3 S 5 7 b 9 h 11 3 13 15 17 z 19 LH 21 lt 23 25 S S 31 a 33 g 35 37 39 41 50 pin plug is 43 compatible with 45 VM24 and 47 OPTO 22 signal 49 conditioning equipment Input 16 MSB of inputs Input 15 Input 14 Input 13 Input 12 Input 11 Input 10 Input 9 Output 8 MSB of outputs Output 7 Output 6 Output 5 Input 8 Input 7 Input 6 Input 5 Output 4 Output 3 Output 2 Output 1 LSB of outputs Input 4 Input 3 Input 2 Input 1 LSB of inputs 5VDC External 5 24VDC Supply an alternative to using the internal 5V supply If you wish the inputs to be pulled up toa voltage other than the internally supplied 5V remove R12 on the OEM6250 PCB and connect IN P to an external supply of up to 24VDC Ground Connection Input Connection Inputs HCMOS compatible voltage levels Low lt
75. ilder A Windows based iconic programming interface that removes the Tools Available requirement to learn the 6000 programming language CompuCAM A CAD to Motion CAM program that allows you to easily translate DXF To Order these HP GL and G Code files into 6000 Series Language motion programs Windows environment software packages contact your local DDE6000 Facilitates data exchange between the OEM6250 and Windows applications Technology Center that support the dynamic data exchange DDE protocol NetDDE compatible ATC or distributor Motion Toolbox A library of LabVIEW virtual instruments VIs for programming and monitoring the OEM6250 Available for the Windows environment Chapter 1 Installation 25 Troubleshootine IN THIS CHAPTER e Troubleshooting basics Reducing electrical noise Diagnostic LEDs Test options Technical support e Solutions to common problems e Resolving serial communication problems e Product return procedure 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 You may have to dismantle your system and put it back
76. ion suppressing noise 21 testing 22 23 trigger 15 problems 30 instability 35 installation ANI option board attachment 4 connections see connections DIP switch settings see DIP switch EMC guidelines 47 mounting see mounting precautions 2 process overview 2 test 22 52 OEM6250 Installation Guide integral feedback control SGI 37 integral windup limit SGILIM 37 J L joystick connections 14 test 23 specs 14 LEDs diagnostic 28 limit input connections 12 M minimum air flow space 4 Motion Architect 25 servo tuner option 33 Motion Builder 25 Motion Toolbox 25 motion trajectory update rate 3 41 mounting 4 ANI option board 4 EMC compliant 48 N O National Electric Code Handbook i negative travel limits 12 noise electrical 2 28 EMC guidelines 47 suppression on I O cables 21 open loop operation 39 oscillatory servo response 35 37 output saturation 34 outputs 5V internal supply 20 drive 7 general purpose programmable connections amp specs 16 problems 30 testing 23 testing 23 over damped servo response 35 overshoot 35 37 P Q P clips 47 panel layout 2 spacing minimum 4 performance specifications 3 pin outs see also back cover drive connector 7 8 encoder connector 13 joystick connector 14 limits connector 12 programmable inputs 16 programmable outputs 16 PIV amp F gains 36 PLC connections 17 polarity ANI input 29 commanded direction 29 encoder 29 end of travel limit inputs
77. ity feedforward control is to improve tracking performance that is reduce the position error when the system is commanded to move at constant velocity The tracking error is mainly attributed to three sources friction torque load and velocity feedback control SGV Velocity feedforward control is directed by the Servo Gain Velocity Feedforward SGVF setting which is in turn multiplied by the rate of change velocity of the commanded position to produce the control signal Consequently because the control signal is now proportional to the velocity of the commanded position the controller essentially anticipates the commanded position and initiates a control signal ahead of time to more closely follow track the commanded position Applications requiring contouring or linear interpolation can benefit from improved tracking performance however if your application only requires short point to point moves velocity feedforward control is not necessary Because velocity feedforward control is not in the servo feedback loop see Servo Control Algorithm drawing above it does not affect the servo system s stability Therefore there is no limit on how high the velocity feedforward gain SGVF can be set except when it saturates the control output tries to exceed the controller s analog control signal range of 10V Acceleration Feedforward Control SGAF The purpose of acceleration feedforward control is to improve positi
78. l OUT A and OUT B Enter the OUTALL1 1 1 command to turn on sink current on all programmable outputs Verify that the device s connected to the outputs activated properly Enter the TOUT command The response should be TOUT1111_1111_11 Enter the OUTALL1 1 command to turn off all programmable outputs Verify that the device s connected to the outputs de activated properly Enter the TOUT command The response should be TOUT _ _ TOUT response bits 1 8 prog outputs 1 8 bits 9 10 OUT A and OUT B RP240 Cycle power to the OEM6250 If the RP240 is connected properly the RP240 s status LED should be green and one of the lines on the computer or terminal display should read RP24 CONNECTED If the RP240 s status LED is off check to make sure the 5V connection is secure If the RP240 s status LED is green but the message on the terminal reads NO REMOTE PANEL the RP240 Rx and Tx lines are probably switched Remove power and correct Assuming you have not written a program to manipulate the RP240 display the RP240 screen should display the following COMPUMOTOR 6250 SERVO CONTROLLER RUN JOG STATUS DRIVE DISPLAY ETC Enable and Joystick Inputs Open the enable input ENBL switch and open the joystick input switches or turn off the device driving the joystick inputs Enter the TINO command The response should be TINO _ Close the ENBL switch and c
79. l position of the system is also a finite value On the other hand if the system is unstable then no matter how small the position setpoint or how little a disturbance motor torque variation load change noise from the feedback device etc the system receives the position error will increase continuously and exponentially in almost all cases In practice when the system experiences instability the actual position will oscillate in an exponentially diverging fashion as shown in the drawing below The definition here might contradict what some might perceive One common perception shared by many is that whenever there is oscillation the system is unstable However if the oscillation finally diminishes damps out even if it takes a long time the system is still considered stable The reason for this clarification is to avoid misinterpretation of what this user guide describes in the following sections Position Response Types The following table lists describes and illustrates the six basic types of position responses The primary difference among these responses is due to damping which is the suppression or cancellation of oscillation Over A highly damped or damped over damped system gives a smooth but slower response Time Under damped A slightly damped or under damped system gives a slightly oscillatory response Position Time Critically damped A critically damped response is the
80. l is proportional to the feedback device s velocity rate of change of the actual position The Servo Gain Velocity SGV command sets the gain which is in turn multiplied by the feedback device s velocity to produce the control signal Since the velocity feedback acts upon the feedback device s velocity its control action essentially anticipates the position error and corrects it before it becomes too large A high velocity feedback gain SGV can also increase the position tracking error when traveling at constant velocity In addition setting the velocity feedback gain too high tends to slow down overdamp the response to a commanded position change If a high velocity feedback Appendix A Tuning 37 gain is needed for adeguate damping you can balance the tracking error by applying velocity feedforward control increasing the SGVF value discussed below Since the feedback device s velocity is derived by differentiating the feedback device s position with a finite resolution the finite word truncation effect and any fluctuation of the feedback device s position would be highly magnified in the velocity value and even more so when multiplied by a high velocity feedback gain When the value of the velocity feedback gain has reached such a limit the motor or hydraulic cylinder etc will chatter high frequency low amplitude oscillation at steady state Velocity Feedforward Control SGVF The purpose of veloc
81. ld be below 3 0mV but inevitably you must determine the acceptable noise level for your application If the noise level is acceptable proceed to Step 7 If the noise level is too high refer to the guidelines in Appendix C Step 7 The purpose of this step is to ensure that a positive voltage on the OEM6250 s analog control signal output from the CMD and CMD terminals results in the feedback device counting in the positive direction a Using the SMPER command set the maximum allowable position error to 1 rev e g if using 1000 line encoders and no scaling use the SMPER4 4000 command b Enter the TFB command to check the current position of the feedback devices Record this number for later use c CAUTION The offset introduced in this step may cause an acceleration to a high speed if there is little or no load Enter the SOFFS 2 command to introduce an offset DAC output value of 0 2V to make the motor move slowly in the positive clockwise direction Motion will stop when the maximum allowable position error is exceeded If the load has a large stiction component you may need to use a larger offset SOFFS command to overcome Stiction and affect motion Appendix A Tuning 39 d Use the TFB command again to observe the feedback device s position The value should have increased from the value observed in Step 7 b If the position reading decreases when using a positive SOFFS setting turn off
82. lose the joystick switches or turn on the device Enter the TINO command The response should be TINO1111 11699 TINO response bit 1 joystick auxiliary bit 2 Joystick trigger bit 3 joystick axes select bit 4 Joystick velocity select bit 5 joystick release bit 6 Enable ENBL input bits 7 amp 8 are not used Chapter 1 Installation 23 Tuning the OEM6250 To assure optimum performance you should tune your servo system The goal of the tuning Before tuning the OEM6250 mount and couple the Series Programmer s Guide motors as required for your application the tuning instructions in Appendix A page 33 process is to define the gain settings servo performance and feedback setup see command list below that you can incorporate into your application program Typically these commands are placed into a setup program see examples in the Basic Operations Setup chapter of the 6000 Tuning Instructions If you are using the Servo Tuner package see note below refer to the Servo Tuner User Guide for tuning instructions If you are not using Servo Tuner refer to Servo Tuning Software Available To effectively tune your 6000 servo controller and any velocity drives you may be using use the interactive tuning features in the Servo Tuner It greatly improves your efficiency and gives you powerful graphical tools to measure the performance of the system Servo Tuner is inclu
83. nable the OEM6250 to send out the analog command Set the DAC output limit to 10 volts by entering the DACLIM1 10 command Drive the analog output to the maximum positive range by entering the SOFFS106 10 command Enter the TDAC command to check the analog output value The response should be TDAC 10 1 Using a Digital Volt Meter DVM measure the actual analog output voltage between the CMD analog command and CMD analog command return terminals Compare the DVM reading to the entry for the SOFFS command see step 5 If the reading deviates more than 0 1V from 10V then there is either a problem with the system s grounding connection or the OEM6250 s DAC is not functioning properly Repeat steps 5 through 7 using these servo output offset values for step 5 SOFFS 10 10 SOFFS SOFFS5 5 SOFFS 5 5 TDAC response output voltage taxis 1 axis 2 Encoder Enter these commands L lt cr gt TPE lt cr gt T 3 lt cr gt and then LN lt cr gt This will begin a continuous display of the encoders position Press the lt return gt key to move the display to the next line and save the current value Manually rotate the encoder shaft and verify that the position changes as you rotate the encoder shaft If you connected the encoder as instructed earlier in this chapter moving the shaft clockwise should increase the position reading If the reading does not change or if the direction is reversed check the connecti
84. nal CAUTION Failure to remove R45 before connecting AUX P to an external supply or to the GND terminal or to the 5V terminal will damage the OEM6250 NOTE As shipped from the factory the ENBL enable input is connected to ground via zero ohm resistor R25 thereby allowing motion To control the ENBL input with an external switch i e to use it as an emergency stop input remove R25 DPT TT HCMOS compatible with internal 6 8 KQ pull up resistor to 5VDC Voltage range for these inputs is 0 24V Joystick inputs Axes Select Velocity Select HCMOS compatible with internal 6 8 KQ pull ups to 5V voltage range is 0 24V Trigger Release and Auxiliary ENGGEN i ranar eT Wa Nan Ese seni Differential comparator accepts two phase duadrature incremental encoders with differential recommended or single ended outputs Maximum voltage 5VDC Switching levels TTL compatible Low s 0 4V High 2 4V Maximum frequency 1 6 MHz Minimum time between transitions 625 ns 16 General Purpose Programmable Inputs HCMOS compatible with internal 6 8 KQ pull up resistor to IN P terminal As shipped from PROGRAMMABLE INPUT OUTPUT Connector the factory IN P is internally connected to 5V via resistor R12 inputs sinking current To make the inputs sink current to a supply other than 5V first remove R12 and then connect an external 5 24V supply to the IN P terminal IN P can handle 0 24V with max current of 100 mA To source cu
85. ncy 1 6 MHz min time between transitions 625 ns 2 loura S SHLD this option board is Ok E levels Low lt 0 4V High gt 2 4V range 0 5VDC Z leno I factory installed If you IR Proaranimakle Inputs pg 16 ENBL Iny 13 1 ordered the board i Programmable Inputs pg 16 Z ay 2 ND separately p n OPT Og General Purpose Programmable Input Ja lauxe L2H Jr OEM6250 A you must bao 47KO man i JOYSTICK install it see page 4 i i m IN P Inputs are pulled up to 5V via R1 HAH POWER alternative is to remove R12 and wae R12 00 eee to an external supply of u E Gee 39A TTC laawan i SVD to 24VDC To sink current remove R12 6 50 PROGRAMMABLE INPUT OUTPUT 2 pence STEHT OT i and connect IN P to a GND terminal Specs HCMOS compatible voltage range 0 24VDC a DIMENSIONS amp MOUNTING refer to page 4 Programmable Outputs includes OUT A amp OUT B pg 16 i General Purpose Programmable Outpu i 7406 4 7 KQ 5 i m OUT P Outputs are pulled up to 5V via open collector OTHER PIN OUTS R13 alternative is to remove R13 amp i RI3 0 9 connect OUT P to an external supply oi m PROGRAMMABLE I O JOYSTICK i seve up to 24VDC Pin Function Pin Function i Specs Open collector ou put Max voltage in OFF state not sinkin 1 Input 16 MSB of inputs 1 Analog Channel 1 i current 24V Max current in ON state sinking 30mA 3 Input 15 2 Analog Channel 2 5 Input 14 3 Analog Channel 3 y Joys
86. nd 1 Incorrect encoder resolution setting 1 Match the ERES command setting default ERES setting is 4 000 accel are incorrect as counts rev to match the post quadrature resolution of the encoder programmed ERES values for Compumotor encoders E Series ERES4000 SM Series Servo Motors SMxxxxD xxxx ERES2000 SMxxxxE xxxx ERES4000 OEM Series motors servo OEM2300E05A MO ERES2000 OEM2303E05A MO ERES2000 OEM3400E05A MO ERES2000 OEM3401E10A MO ERES2000 OEM2300E05A MO ERES4000 OEM2303E10A MO ERES4000 OEM3400E10A MO ERES4000 OEM3401E10A MO ERES4000 OEM2300E20A MO ERES8000 OEM2303E20A MO ERES8000 OEM3400E20A MO ERES8000 OEM3401E20A MO ERES8000 Encoder counts 1 Improper wiring 1 Check wiring missing 2 Encoder slipping 2 Check and tighten encoder coupling 3 Encoder too hot 3 Reduce encoder temperature with heatsink thermal insulator etc 4 Electrical noise 4 a Shield wiring 5 Encoder frequency too high 4 b Use encoder with differential outputs 5 Peak encoder frequency must be below 1 6MHz post quadrature Peak frequency must account for velocity ripple Erratic operation 1 Electrical noise and or improper 1 a Reduce electrical noise or move OEM6250 away from noise source shielding 1 b Refer to Reducing Electrical Noise on page 28 2 Improper wiring 2 Check wiring for opens shorts amp mis wired connections LEDs See Diagnostic LEDs above page 28 Motion does not occur
87. nded position at any given point of time To view the commanded position use the TPC Transfer Commanded Position command the response represents the commanded position at the instant the command is received When this appendix refers to the commanded position it means this calculated time varying commanded position not the distance D command Conversely when this appendix refers to the position setpoint it means the final intended distance specified with the distance D command The following plot is a typical profile of the commanded position in preset MC mode K T Setpoint Profile Complete Commanded Position Do Distance D Position Constant Velocity Acceleration Deceleration Time Actual Position The other type of time varying position information is the actual position that is the actual position of the motor or load measured with the feedback device encoder or ANI input Since this is the position achieved when the drive responds to the commanded position we call the overall picture of the actual position over time the position response see further discussion under Servo Response Terminology To view the actual position use the TFB Transfer Position of Feedback Device command the response represents the actual position at the instant the command is received The goal of tuning the servo system is to get the actual position to track the commanded position as closely a
88. o lower it ls Lower the integral gain SGT value to reduce the overshoot 214 Check whether the OEM6250 s analog output saturates the 10V limit you can do this by observing the signal from a digital oscilloscope If it saturates then lower the integral output limit by using the SGILIM command This should help reduce the overshoot and shorten the settling time Sometimes even if the analog output is not saturated you can still reduce the overshoot by lowering SGILIM to a value less than the maximum output value However lowering it too much can impair the effectiveness of the integral feedback 34 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 Tuning Process Flow Diagram using proportional and velocity gains issuing the TPER command Ka ial Increase SGP UNTIL Vv F in Ta l Decree SGV F Increase SGV C H am ene fe Decrease SGV UNTIL Vv lt pa Ea nae CT mb pm m Decrease SGV F Step 6 Step 7 Use the Velocity Feedforward Gain SGVF to Use the Acceleration Feedforward Gain SGAF reduce position error at constant speed to reduce position error during acceleration a Execute a continuous MC1 command move setting a Execute a continuous MC1 command move setting the acceleration deceleration and velocity values the acceler
89. ocedure Drive Tuning Procedure Velocity Motor Drives Only The goals of the Drive Tuning Procedure are to 1 Tune the drive to output the desired velocity at a given voltage from the OEM6250 2 Tune the drive iteratively to achieve the desired response NOTE Be sure to complete the Tuning Setup Procedure before proceeding with the following drive tuning procedure Unlike the Tuning Setup Procedure you must tune one axis at a time 40 OEM6250 Installation Guide Step 1 Tune the drive to output the desired velocity at a given voltage from the OEM6250 a If your system has mechanical stops manually move the load to a position mid way between them b Enter the SOFFS command to set the OEM6250 s output voltage to its maximum level 10 0 volts SOFFS1 for axis 1 or SOFFS 10 for axis 2 c Adjust the drive gain factor sometimes called the tach gain such that when the OEM6250 s command output is 10V the velocity just reaches its maximum value check the velocity with the TVELA command Refer to your drive s user documentation if necessary EXAMPLE Suppose your drive can run at a max velocity of 7000 rpm or 116 67 rps If the drive gain factor is 20 rps V then the drive will reach the maximum velocity 116 67 rps when the OEM6250 s command output is only 5 833V This means the full range of 10V is not fully usable To use the full range of 10V the gain factor has to be adjusted to 11
90. on tracking performance when the system is commanded to accelerate or decelerate Acceleration feedforward control is directed by the Servo Gain Acceleration Feedforward SGAF setting which is in turn multiplied by the acceleration of the commanded position to produce the control signal Consequently because the control signal is now proportional to the acceleration of the commanded position the controller essentially anticipates the velocity of the commanded position and initiates a control signal ahead of time to more closely follow track the commanded position 38 OEM6250 Installation Guide Same as velocity feedforward control this control action can improve the performance of linear interpolation applications In addition it also reduces the time required to reach the commanded velocity However if your application only requires short point to point moves acceleration feedforward control is not necessary Acceleration feedforward control does not affect the servo system s stability nor does it have any effect at constant velocity or at steady state Gain Sets An added dimension to the control techniques discussed in the previous section is to group the gains into gains sets that can be invoked to affect motion under certain conditions Gain sets may be useful for applications in which you would like to invoke different gains a different portions of a move profile or at rest or based on an external process e
91. ons For assistance with your programming effort we recommend that you use the programming tools provided in Motion Architect for Windows found in your ship kit Additional powerful programming and product interface tools are available see below Motion Architect Motion Architect is a Microsoft Windows based 6000 product programming tool included in your ship kit Motion Architect provides these features e System configurator and code generator Automatically generate controller code for basic system set up parameters I O definitions feedback device operations etc Program editor Create blocks or lines of 6000 controller code or copy portions of code from previous files You can save program editor files for later use in BASIC C etc or in the terminal emulator or test panel Terminal emulator Communicating directly with the OEM6250 you can type in and execute controller code transfer code files to and from the O0EM6250 Test panel and program tester You can create your own test panel to run your programs and check the activity of I O motion system status etc This can be invaluable during start ups and when fine tuning machine performance On line context sensitive help and technical references These on line resources provide help information about Motion Architect as well as access to hypertext versions of the 6000 Series Software Reference and the 6000 Series Programmer s Guide Other Software Motion Bu
92. ons If the direction is reversed swap the A and A connections When finished enter the K ctrl K or K command to stop the continuous report back TPE response encoder counts encoder1 encoder Direction of rotation 7 Q g Q Clockwise Counter clockwise positive counts negative counts ANI Analog Input Feedback OEM6250 ANI only Enter these commands Lecr gt TANI lt cr gt T 3 lt cr gt and then LN lt cr gt This will begin a continuous display of the voltage level at the ANI inputs on the optional ANI input card Press the lt return gt key to move the display to the next line and save the current value Change the voltage output from your voltage source and verify that the TANI report changes accordingly If the reading does not change check the connections When finished enter the K ctrl K or K command to stop the continuous report back TANI response volts ANI input 1 ANI input 2 NOTE ANI feedback is measured in volts Programmable Inputs incl triggers Open the input switches or turn off the device driving the inputs Enter the TIN command The response should be TINO0O0O 0 0000 0000 0000 00 Close the input switches or turn on the device driving the inputs Enter the TIN command The response should be TIN1111_ 1111 1111 1111 11 TIN response bits 1 16 prog inputs 1 16 bits 17 18 TRG A and TRG B Programmable Outputs inc
93. paint from a cabinet or panel Remove only the outer vinyl jacket of the braided screen cable this allows the braid to continue to the cable connector be careful not to damage the braid Snap the P clip over the exposed braid and adjust for a tight fit Secure the clip to the designated ground with a machine screw and lock washer The use of brass or other inert conductive metal P clip is recommended Cover any exposed bare metal with petroleum jelly to resist corrosion Remove outer jacket only P Clip do not cut braid Figure 2 P Clip Installation Installation External Enclosure Introduction The measures described in this section are primarily for the purpose of controlling conducted emissions To control radiated emissions all drive and control systems must be installed in a steel equipment cabinet which will give adequate screening against radiated emissions This external enclosure is also required for safety reasons There must be no user access while the equipment is operating This is usually achieved by fitting an isolator switch to the door assembly To achieve adequate screening of radiated emissions all panels of the enclosure must be bonded to a central earth point The enclosure may also contain other equipment and the EMC requirements of these must be considered during installation Always ensure that drives and controllers are mounted in such a way that there is adequate ventilation Preparing
94. prove Improve SGI Velocity Improve Improve Degrade Feedback SGV Velocity me Improve Feedforward SGVF Acceleration mn Improve Feedforward SGAF Proportional Feedback Control SGP Proportional feedback is the most important feedback for stabilizing a servo system Use proportional feedback to make the servo system more responsive stiff as well as reduce the steady state position error When the controller uses proportional feedback the control signal is linearly proportional to the position error the difference between the commanded position and the actual position see TPER command The proportional gain is set by the Servo Gain Proportional SGP command Since the control is proportional to the position error whenever there is any disturbance such as torque ripple or a spring load forcing the load away from its commanded position the proportional control can immediately output a signal to move it back toward the commanded position This function is called disturbance rejection If you tune your system using only the proportional feedback increasing the proportional feedback gain SGP value too much will cause the system response to be oscillatory underdamped or in some cases unstable NOTE The proportional feedback gain SGP should never be set to zero except when open loop operation is desired Integral Feedback Control SGT Without SGILIM
95. r between the commanded position and the actual position as measured by the feedback device encoder or ANI input If the error exceeds this limit the controller activates the Shutdown output and sets the DAC output to zero plus any SOFFS offset If there is no offset the motor will freewheel to a stop You can enable the ERROR command to continually check for this error condition ERROR 12 1 and when it occurs to branch to a programmed response defined in the ERRORP program 24 OEM6250 Installation Guide Whats 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 4 Test the installation see pages 22 23 5 Mount the motor and couple the load 6 Tune the OEM6250 see Servo Tuner User Guide or Appendix A for instructions Program Your Motion Control Functions You should now be ready to program your OEM6250 for your application Knowing your system s motion control requirements refer now to the 6000 Series Programmer s Guide for descriptions of the OEM6250 s software features and instructions on how to implement them in your application Be sure to keep the 6000 Series Software Reference at hand as a reference for the 6000 Series command descripti
96. red Off if no power DISABLED Off O K On red if drive is disabled potential causes e Drive is not connected No AC power to the drive e Shutdown SHTNC or SHTNO input is active potential causes DRIVE DRIVEX or DRIVE command was executed Drive Fault DFT input is active or an erroneous drive fault error was detected because the drive fault level DRFLVL setting is incorrect Enable ENBL input is not grounded Max allowable position error SMPER value exceeded A Kill command K K or lt ctr1 gt K was issued or a Kill input or user fault input was activated while the Disable Drive on Kill feature was enabled refer to the KDRIVE command e Test Panel Motion Architect s Panel Module allows you to set up displays for testing system I O and operating parameters lt Hardware Test Procedure see pages 22 23 If you cannot solve your system problems using this documentation contact your local Automation Technology Center ATC or distributor for assistance If you need to talk to our in house application engineers please contact us at the numbers listed on the inside cover of this manual These numbers are also provided when you issue the HELP command NOTE Compumotor maintains a BBS that contains the latest software upgrades and late breaking product documentation a FaxBack system and a tech support email address 28 OEM6250 Installation Guide Common Problems amp Solutions N
97. refer to the instructions in the Servo Tuner User Guide otherwise refer to Appendix A page 33 7 Program your motion control functions Programming instructions are provided in the 6000 Series Programmer s Guide and the 6000 Series Software Reference We recommend using the programming tools provided in Motion Architect for Windows You can also benefit from the optional iconic programming interface called Motion Builder sold separately For information on support software refer to page 25 Electrical Noise Guidelines e Do not route high voltage wires and low level signals in the same conduit e Ensure that all components are properly grounded e Ensure that all wiring is properly shielded e Noise suppression guidelines for I O cables are provided on page 21 e 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 2 OEM6250 Installation Guide General Specifications Parameter Specification Power DC INDULE TT 5VDC 5 4A minimum current requirements depend on the type and amount of I O used see page 20 Status LEDs fault detection eects Refer to Diagnostic LEDs on page 28 Environmental Operating Temperature sese eee eee eee 32 to 122 F 0 to 50 C Storage Temperaure sees enesenn ee 22 to 185 F 30 to 85 C Humidity ssie 0
98. rives not connected to the OEM6250 therefore do not proceed until you have disconnected the drives from the OEM6250 make sure that exercising the I O will not Computer or Terminal Serial Connection gt RS 232C gt 9 see page 6 1T sHio aV Z com ZIM e sic A sumo B e DFT B lacno eis ro lz lom laeno CMD sHLD RIVE ENCODER 1 DRIVE2 ENCODER 2 1 Js 9 5v COM At eo Z Ishe A e sumo B e DFT e B Z lacno eis ro lz lom cnd ale om SHLD AUX LIMITS Yo px iPos x 1NEG leno 1HOM sub e leNp 5V 2POS eo Z ourp e 2NEG _ IN P 2 2HOM TZ TRG A GND rnan 1L SHLD Z eNp loura RP240 ST SHLD Z jours Tx Z leuD Rx 13 1 Z ENBL GND coocccccccc00 2 fev Slav 9L _JAUX P 2 JOYSTICK 11 49 1 ee aoa ee 6 0 PROGRAMMABLE INPUT OUTPUT OOO POWER 1OOGOOO s 15v_NO 15V GND 45V DSBL2 DSBL1 STATUS NOTE commands The test procedures below are based on the factory default active levels for the OEM6250 s inputs and outputs Verify these settings with the following status Command Entered Response Should Be INLVL INLVLOGHD 0000 DOYO 0000 OG HOMLVL HOMLVL O LHLVL LHLVL OUTLVL OUTLVL
99. rrent first remove R12 and then connect the IN P terminal to the GND terminal CAUTION Failure to remove R12 before connecting IN P to an external supply or to the GND terminal or to the 5V terminal will damage the OEM6250 Voltage range 0 24V Analog input channels JOYSTICK connector Voltage range 0 2 5VDC 8 bit A D converter Input voltage must not exceed 5V Analog Inputs optional ANI input board Voltage range 10V 14 bit A D OEM6250 ANI or OPT OEM6250 A product only Outputs 8 Programmable Outputs essen eee Open collector output with internal 4 7 KQ pull up resistor to OUT P terminal Shipped from PROGRAMMABLE INPUT OUTPUT Connector factory with these outputs internally pulled up to 5V through a zero ohm resistor R13 If you remove resistor R13 first you can pull up these outputs by connecting OUT P to the 5V terminal or to an external 5 24V power source Max voltage in the OFF state not sinking current 24V max current in the ON state sinking 30mA 5VO h eT TT Internally supplied 5VDC 5V terminals are available on multiple connectors The amount of current available depends on the current that you supply to the 5V terminal on the input power connector see page 20 Command Out CMD sees 10V analog output 12 bit DAC Load should be gt 2KQ impedance Shutdown SHTNO SHTNC and COM 1 Shutdown relay output Max rating 17
100. s Ground Both trigger inputs TRG A and TRG B share a common circuit design GND Digital GND 74HCxx 6 8 KQ 47 KQ R45 0 KQ 5VDC BITTE HCMOS compatible switching low lt 1 00V high 3 25V Voltage range 0 24V Connection to a Sourcing Output Device Electronic Device OEM6250 SHLD 5V OUT P IN P TRG A TRG B GND OUT A OUT B GND ENBL 5V Vi R4 sears Output s Out 5 24 Volts I Ground R45 0 KO is removed Pulled down to ground I sinking see schematic above If you will be connecting to a combination of sourcing and sinking outputs leave AUX P internally connected to 5V via internal resistor R45 or remove R45 and connect AUX P to an external 5 24V supply to accommodate sinking output devices Then for each individual input connected to a sourcing output wire an external resistor between the OEM6250 s trigger input terminal and ground see illustration The resistor provides a path for current to flow from the device when the output is active PROGRAMMING TIP Connecting to a sinking output Set the trigger input s active level to low with the INLVL command active low default setting Connecting to a sourcing output Set the trigger input s active level to high with the INLVL command 1 active high Thus w
101. s possible The difference between the commanded position and actual position is the position error To view the position error use the TPER Transfer Position Error command the response represents the position error at the instant the command is received When the motor is not moving the position error at that time is called the steady state position error see definition of steady state under Servo Response Terminology l a position error occurs when the motor is moving it is called the position tracking error In some cases even when the system is properly tuned the position error can still be guite significant due to a combination of factors such as the desired profile the motor s limitation the dynamic characteristics of the system etc For example if the value of the velocity V command is higher than the maximum velocity the motor can physically achieve then when it is commanded to travel at this velocity the actual position will always lag behind the commanded position and a position error will accumulate no matter how high the gains are Servo Response Terminology Stability The first objective of tuning is to stabilize the system The formal definition of system stability is that when a bounded input is introduced to the system the output of the system is also bounded What this means to a motion control system is that if the system is stable then when the position setpoint is a finite value the final actua
102. sk GE a ADA E EA a AAN A IKAT eA LSB least significant bit OEM6250 ANI or OPT OEM6250 A pg 7 10 i S L CMD command signal return i AGND N CMD command signal output Command Specs 10V analog output 12 bit DAC Load should be gt 2KQ impedance AN Input from the optional analog input card pg 11 STATUS LED Green 5VDC power is applied Red power reset required Off no power O AGND DSBL axis disabled LEDs Off O K On drive is disabled see page 28 for possible causes Analogi Terminal Status information see command descriptions in 6000 Series Software Reference oe nalog Input Terminal General status information TASF TSSF TSTAT AGND Specs 10V analog input 14 bit ADC Limits end of travel home TASF TLIM L ENBL input bit 6 Terminals found on multiple connectors Programmable inputs and TRG n TIN INFNC H 45V lt 5V terminal found on multiple Programmable outputs TOUT OUTFNC i SDA GND gonnectors Total load a ENBL input must be grounded to GND terminal to allow motion i Grounding Distal GND K FH AGND your external DC power supply to NEG amp POS inputs must be grounded to GND terminal to allow motion or disable with LH command i a on Analog BND m SHLD the power input connector To help prevent electrical noise shield all connections at one end only see also Appendix B a abas ana KAMARE KAGAN a eolas Error messages while programming or executing programs see 600
103. stick enable JOY1 statement 18 IN Joystick Trigger Status of this active low input can be displayed with the TINOF command or read by a program using the INO command to control program flow or to enter the OEM6250 into joystick mode JoY1 19 IN Joystick Auxiliary Status of this active low input can be displayed with the TINOF command or read by a program using the INO command to control program flow 23 OUT 5VDC out 5VDC power output Input voltage range for pins 15 19 is 0 24VDC HCMOS compatible switching voltage levels Low lt 1 00V High 3 25V 14 OEM6250 Installation Guide Trigger Inputs TRG A amp TRG B connected to GND normally open switches The active level default is active low can be changed with the INLVL command These inputs are like the general purpose inputs on the 50 pin header The differences are 1 the triggers are pulled up via the AUX P pull up terminal which is shipped from the factory connected to the internal 5V supply via resistor R45 and 2 the triggers can be programmed with the INFNCi H command to function as position capture inputs and registration inputs OEM6250 Location of resistor R45 HOM POS amp NEG inputs Connection to a Sinking Output Device Electronic Device OEM6250 i 1 T nm SHLD I I B BV The output should I be able to sink a
104. t Therefore we should introduce the velocity feedback gain SGV to damp out the oscillation Step 3 With SGV equal to 2 the response turns out fairly well damped see plot At this point the SGP should be raised again until oscillation or excessive overshoot appears 44 OEM6250 Installation Guide Step 4 As we iteratively increase SGP to 105 overshoot and chattering becomes significant see plot This means either the SGV gain is too low and or the SGP is too high Next we should try raising the SGV gain to see if it could damp out the overshoot and chattering Step 5 After the SGV gain is raised to 2 6 the overshoot was reduced but chattering is still quite pronounced This means either one or both of the gains is too high The next step should be to lower the SGV gain first Step 6 Lowering the SGV gain to 2 3 does not help reduce the chattering by much Therefore we should lower the SGP gain until chattering stops Step 7 Chattering stops after reducing the SGP gain to 85 However the overshoot is still a little too high The next step should be to try raising the SGV to damp out the overshoot 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 OEM6
105. t 1 1 B OUT P least 1mA of current i B IN P I Out 5 24 Volts 1 TRG A Output TRG B 1 GND a 43 u OUT A B OUT B 5vDC I E GND se 1 m ENBL i Pulled p ao R hsv TH N sourcing To use i a I jan external 5 24V see schematic above 4 supply remove R45 Vi 5V OUT P IN P TRG A TRG B GND OUT A OUT B GND ENBL_ 5V oe m SHLD a a a a Output Out 5 24 Volts 5VDC Ground R45 Pulled up to 5V 1 OK sourcing To use an external 5 24V supply remove R45 see schematic above The value of R must be lt 6 8 KQ and sized such that V4 lt 1 0V when the output is open and V4 gt 3 4V when the output is closed R must be lt R If R is 0 Q the typical value for R is 450 Q As shipped from the factory AUX P is internally connected to 5V via resistor R45 input is sinking current To make the trigger TRG inputs sink current to a supply other than 5V first remove R45 and then connect an external 5 24V supply to the AUX P terminal To source current first remove R45 and then connect the AUX P terminal to the GND terminal CAUTION Failure to remove R45 before connecting AUX P to an external supply or to the GND terminal or to the 5V terminal will damage the OEM6250 NOTE AUX P and R45 are also used by the ENBL DII Internal Schematic DO AUX Connector 5VDC LTE Chassi
106. t as possible Bundle any excess ribbon cable and secure close to a panel wall Individual I O points will require the use of individually shielded cable runs with braids bonded to the panel close to VM50 with a P clip Communications In applications that require serial communications with the OEM6250 take special care to use proper wiring practices Use good quality braided screen cable for the communication cabling No connection is made to the cable screen at the OEM6250 itself Fit a ferrite absorber close to the communications connector and run the cable down to the mounting panel as shown in Figure 3 Expose a short length of the braided screen and anchor to the panel with a P clip Avoid routing communication cables near high power lines and sources of high energy impulses Remember to route control signal connections well away at least 8 inches from relays and contactors Control wiring should not be laid parallel to power or motor cables and should only cross the path of these cables at right angles Bear in mind that control cables connected to other equipment within the enclosure may interfere with the controller particularly if they have come from outside the cabinet Take particular care when connecting external equipment e g a computer or terminal with the cabinet door open static discharge may cause damage to unprotected inputs Limits Cable Drive Cable m Encoder Cable Braided screen Cables
107. tc The SGSET command allows you to save the currently active gains control signal offset SOFFS and maximum position error SMPER setting to a specified gain set see list below SGP Proportional Gain SGV Velocity Gain BGL Rr Integral Gain SGVF Velocity Feedforward Gain SGAF Acceleration Feedforward Gain SGILIM Integral Windup Limit SOFFS Servo Control Signal Offset SMPER Maximum Allowable Position Error The gain set saved with the SGSET command can be enabled recalled later with the SGENB command Using the SGENB command the gains can be enabled during motion at any specified point in the profile or when not in motion see programming example below NOTE The tuning gains saved to a given gain are specific to the current feedback source selected with the last SFB command at the time the gains were saved with the SGSET command Later when you enable the saved gain set make sure that the gain set you enable is appropriate to the feedback source you are using at the time To display the gain values currently in effect use the TGAIN command To display the contents of a particular gain set use the TSGSET command Tuning Setup Procedure Use the following procedure to set up your servo system before completing the tuning procedures You can perform this procedure for both axes simultaneously Before you set up for tuning Do not begin this
108. the setup program e g custom power up mesg scaling factors input function assignmts output function assignments input and output active levels etc See Prog Guide Chapter 3 for more information X X kX kk kk k kk k kk kk k kk kk k kk k kk kk kk k kk k kk kk kk k k END End definition of setup prod STARTP SETUP Assign the program named setup as the program to be executed on power up amp reset Appendix A Tuning 45 Appendix B EMC Installation Guidelines General Product Philosophy The OEM6250 was not designed originally for EMC compliance Therefore it will reguire specific measures to be taken during installation The ultimate responsibility for ensuring that the EMC reguirements are met rests with the systems builder It is important to remember that for specific installations the full protection requirements of the EMC Directive 89 336 EEC need to be met before the system is put into service This must be verified either by inspection or by testing The following EMC installation instructions are intended to assist in ensuring that the requirements of the EMC directive are met It may be necessary to take additional measures in certain circumstances and at specific locations It should be stressed that although these recommendations are based on expertise acquired during tests carried out on the OEM6250 it is impossible for Compumotor to guarantee the compliance o
109. the current commanded and actual position values plus a few from the past sampling period and a set of control parameters Each control parameter commonly called a gain has a specific function see Servo Control Techniques later in this appendix Tuning is the process of selecting and adjusting these gains to achieve optimal servo performance When this control algorithm is used the whole servo system is a closed loop system see diagram below It is called closed loop because the control algorithm accounts for both the command position velocity tension etc and the feedback data from the encoder or ANI input therefore it forms a closed loop of information flow When all gains are set to zero the digital control algorithm is disabled During system setup or troubleshooting it is desirable to disable the algorithm by setting all the gains to zero and use the SOFFS command to directly control the analog output Closed Loop System Offset Control Drive Command Command s Digital Control Se Algorithm Signal J Control Signal Offset Servo e E Drive Motor je Load Feedback Device Encoder or ANI Input Feedback Data Servo Algorithm Disabled SOFFS Offset et Drive Semmens Offset Servo Drive Motor Load Feedback Device Encoder or ANI Input The controller has the capability of providin
110. tick connections amp specs 14 baud rate 3 automatic selection 6 BBS bulletin board service 28 BCD input via thumbwheels 19 INDEX C cables drive 7 encoder 13 I O extending 21 serial communication max length 30 chattering servo response 35 circuit drawings see back cover of manual and schematics internal closed loop operation 34 command servo output 34 commanded position 34 common problems amp solutions 29 communication Motion Architect 25 serial see serial communication terminal emulation 22 troubleshooting 30 CompuCAM 25 conduit 2 21 configuration address 6 autobaud 6 connections analog channel inputs 14 ANI analog input 11 computer 6 22 daisy chain 6 drive 7 EMC compliance guidelines 47 enable input ENBL 11 encoder 13 end of travel limit inputs 12 grounding 5 home limit inputs 12 joystick 14 lengthening cables 21 PLC inputs 18 PLC outputs 17 power VDC input 20 programmable inputs 17 programmable outputs 18 RP240 20 RS 232C 6 terminal 6 22 testing 22 23 thumbwheels 19 trigger inputs 15 VM50 screw terminal adaptor 16 contaminants 4 control signal 34 controller output saturation 34 critically damped servo response 35 D daisy chain connections 6 damping 35 DC input power connections amp specs DDE6000 25 device address see address diagnostic LEDs 28 dimensions 4 DIP switch settings address 6 autobaud feature 6 dis
111. tick Analog Inputs pg 14 7 Input 13 8 Shield chassis gnd 35VDC VDE Analog Channel Inputs pins 1 3 9 Input 12 144 Digital Ground 9 Ghannet Inputs pins 11 Input 11 15 Axes Select Input mm 13 Input 10 16 Velocity Select Input s bit ADD Specs Voltage range 0 2 5VDC 8 bi 15 Input 9 17 Release Input i Converter Must not exceed 5VDC 17 Output 8 MSB of outputs 18 Trigger Input 35V 19 Output 7 19 Auxiliary Input D Ground pin 14 21 Output 6 23 5VDC Output BE ba ONO E S oe Pins 4 7 9 13 20 21 24 25 are reserved p Drive Fault Inputs pg 7 and Joystick Digital Inputs pg 14 27 Input 7 5VDC Specs HCMOS compatible 29 Input 6 74H0xx ar ko 68KO X voltage range 0 24VDC 31 Input 5 ANI BOARD DFT and Axes Select Velocity Releas 33 Output n Trigger amp Aux JOYSTICK pins 15 19 UIpu Pin Function Baa 7 2 z Drive Shutdown Outputs 39 Output W LSB of outputs 1 Analog input 1 H 41 lInput 4 2 Analog input 2 iq Closed if pRIvea KDD SHTNC normally closed 43 Input 3 3 Analog Ground i Open if DRIVEL 45 Input 2 4 not connected 0 COM signal common for shutdown 47 Input 1 LSB of inputs 5 not connected i Open if DRIVES 49 45VDC 6 not connected id Closed if DRIVE1 W0 SHTNO normally open Even pins connected to common logic gnd The 10V analog inputs ANI inputs are i Specs Solid state relay Max rating 175VDC 0 25A 3W MSB most significant bit available only if you ordered the E A A
112. together piece by piece to detect the problem If you have additional units available you may want to exchange them with existing components in your system to help identify the source of the problem Determine if the problem is mechanical electrical or software related Can you repeat or re create the problem Random events may appear to be related but they are not necessarily contributing factors to your problem You may be experiencing more than one problem You must isolate and solve one problem at a time Log document all testing and problem isolation procedures You may need to review and consult these notes later This will also prevent you from duplicating your testing efforts Once you isolate the problem refer to the problem solutions contained in this chapter If the problem persists contact your local technical support resource see Technical Support below Reducing Electrical Noise Diagnostic LEDs Test Options Technical Support 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 externally generated electromagnetic interference STATUS Green if 5VDC 4A min power is connected Red if power reset is requi
113. turbance 35 rejection of 36 drive connections 7 test 23 tuning procedure 40 E e mail address for feedback i electrical noise 2 28 EMC installation guidelines 47 suppressing 21 EMC installation guidelines 47 emergency shutdown 39 emergency stop enable switch 11 enable ENBL input connections amp specs 11 test 23 encoder connections 13 testing 23 feedback source 34 polarity 29 resolution 29 specifications 13 end of travel limits connections 12 testing 22 environmental specifications 3 4 extending cables drive 7 encoder 13 VO 21 RS 232C 30 F FAX number for technical support 28 feedback data 34 feedback device polarity reversal 29 feedback e mail address i ferrite absorbers 47 G gains definition of 34 gain sets saving amp recalling 38 tuning controller 41 drive 40 setup 39 grounding 2 EMC guidelines 47 system diagram 5 H handshaking disabling 30 hard limits end of travel see end of travel limits HCMOS compatible voltage levels 3 heat 3 helpful resources publications i home limit input connections amp specs 12 testing 22 humidity 3 I O cabling 21 inductive load connect outputs to 18 inputs analog joystick 14 ANI analog input 11 drive fault 7 ENBL 11 problems 30 encoder 13 end of travel limits 12 problems 30 general purpose programmable 16 problems 30 home limit 12 problems 30 joystick 14 power DC 20 serial communication see serial communicat
114. uit Revision A incorrectly stated that the drive fault input DFT pin on the DRIVE connectors shared the same circuit design as the limit inputs and trigger inputs DFT is not controlled by the AUX P pullup terminal and is not affected by the R45 resistor The DFT input circuit is R SHLD COM 5VDC SHTNC 6 8KQ SHTNO DFF AGND 47 KQ RSVD CMD CMD 74HCxx Clarification BD E Drive Connections With a BD E drive connected as illustrated in revision A the motor has a tendency to lunge for several revolutions at full torque when power is removed simultaneously from the OEM6250 and the BD E drive as would be the case in a power outage The correction is to connect the OEM6250 s SHTNC terminal to the BD E s GND terminal pin 4 Added connection to prevent lunge BD E Drive OEM6250 User I O Connector DRIVE ENCODER 1 15 8 BD E Drive OEM6250 A SHLD SHL e T1 COM AT V2 pint gt CMD ce rt 2 smc He VI pin2 lt gt CMD ot F SHTNO Lec i lt e T1 DFT oh GND pin 4 GND so Z l aaun o G RST pin5 lt gt COM RSVD o k 15V pin6 lt gt SHTNO i T3 OM and FT pin 9 lt DFT CMD SHLD AOP pin 10 lt A H AOP pin11 lt A BOP pin12 B
115. und Analog E Board F Ground i e Each input is a 10V analog input with a 14 bit analog to digital converter i F lt The ANI input is sampled at the servo sampling i rate see table for SSFR command i ie Voltage value reported with the TANI and ANI commands Position value 819 counts volt Z reported with the TPANI and PANI commands i Enable ENBL Input Emergency Stop Switch am snnt mug AUX Connector Internal Schematic Ta ENBL connected to GND normally closed switch E Z NOTE You must first remove resistor R25 before you can E use a Switch on this input If this connection is opened H motion is killed and the program in progress is terminated TRG A Digital z G d If the ENBL input is not grounded when motion is B TRG B GND To control the ENBL commanded motion will not occur and the error message B GND input with a switch WARNING ENABLE INPUT ACTIVE will be displayed in 3 OUT A first remove R25 and the terminal emulator H 3 R25 then wire the switch E H OUT B 0 KQ as shown E H ENBL Z RBU H AUX P e E H 6 8 KQ 47 KQ 7aHCxx E E R45 E 0 Ko Remove R45 before connecting S AUK P to an external 5 24VD OEM6250 S supply sink current or to the GND 5VDG terminal source current Failure i i to remove R45 first will damage i the OEM6250 z As shipped from the factory AUX P is internally connected to 5V via resistor R45 input is sinking
116. ut also may slow down the response time e When the SGP gain is too high it can cause instability e When the SGV gain is too high it can cause the motor or valve hydraulic cylinder etc to chatter 42 OEM6250 Installation Guide Step 5 Use the Integral Feedback Gain SGI to reduce steady state error Steady state position error is described earlier in the Performance Measurements section on page 35 a Determine the steady state position error the difference between the commanded position and the actual position You can determine this error value by the TPER command when the load is not moving NOTE If the steady state position error is zero or so small that it is acceptable for your application you do not need to use the integral gain The use of the Target Zone Settling Mode STRGTE is recommended b If you have to enter the integral feedback gain to reduce the steady error start out with a small value e g SGI 1 After the gain is entered observe two things from the response e Whether or not the magnitude of steady state error reduces e Whether or not the steady state error reduces to zero at a faster rate c Keep increasing the gain to further improve these two measurements until the overshoot starts to increase and the response becomes oscillatory d There are three things you can do at this point If these three things do not work that means the integral gain is too high and you have t
117. witch to close indicating that the load has reached E I a Digital supply sink current s the home reference position The active level default is active low can H GND GND or to the GND E be changed with the HOMLVL command You can also use an encoder s H OUT A terminal source S 7 channel pulse in conjunction with the home switch to determine the B lOUT B 5vDC current Failure to i t S remove R45 first home position this feature is enabled with the HOM71 command 5 ja E GNDB R45 Zn will damage the Z H ENBL 0 KO OEM6250 i OEM6250 BBV i EH AUX P e Z Z 6 8 KQ 47 KQ 74HCxx g Ha 7 As shipped from the factory AUX P is internally connected to 5V via resistor R45 input is sinking current b To make the Limit inputs sink current to a supply other than 5V first remove R45 and then connect an Da external 5 24V supply to the AUX P terminal To source current first remove R45 and then connect the AUX P terminal to the GND terminal CAUTION Failure to remove R45 before connecting AUX P to an external Location of supply or to the GND terminal or to the 5V terminal will damage the OEM6250 Ey c esistor R45 NOTE AUX P and R45 are also used by the ENBL amp TRG inputs cemer l HCMOS compatible switching levels low lt 1 00V high 3 25V Voltage range 0 24V PIN OUTS amp SPECIFICATIONS LIMITS Connector Pin Name In Out Description Specification for all limit inputs 9 1PO

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