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Compumotor Compumotor Division Parker Hannifin Corporation p/n 88-016524-01B March 1998 OEM6250 Servo Controller Installation Guide.
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.
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 .
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Online Manuals This manual (in Acrobat PDF format) is available from our web site: http://www.compumotor.com ABO U T TH IS GU ID E Chapter 1. Installation What You Should Have (ship kit) ........................................................... 2 Before You Begin .
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1 CH APT E R ONE Installation IN THIS CHAPTER • Product ship kit list • Things to consider before you install the OEM6250 • General specifications table • Mounting the OEM6250 • Connecting a.
2 OEM6250 Installation Guide What You Should Have (ship kit) Part Name Part Number If an item is missing, call the factory (see phone numbers on inside front cover). One of the following line items: OEM6250 standard product (with ship kit) ...........
Chapter 1. Installation 3 General Specifications Parameter Specification Power DC input.................................................................... 5VDC ± 5%, 4A minimum (current requirements depend on the type and amount of I/O used – see page 20).
4 OEM6250 Installation Guide 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.
Chapter 1. Installation 5 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.
6 OEM6250 Installation Guide Serial Communication RS-232C Connections LIMITS RP240 9 5 1 9 1 49 50 Rx Tx GND SHLD 1 Tx Rx GND NOTE : Max. cable length is 50 ft (15.
Chapter 1. Installation 7 Motor Drivers WARNING REMOVE DC POWER FIRST before connecting or disconnecting the drive. CONNECTIONS & INTERNAL SCHEMATICS OEM6250 Drive Motor Internal Schematics Analog Ground (AGND) 6.
8 OEM6250 Installation Guide PIN OUTS & SPECIFICATIONS (9-pin DRIVE Connector) Name In/Out Description and Specifications SHLD — Shield—Internally connected to chassis (earth) ground. C O M — Signal common for shutdown. Not connected to any ground or other COM.
Chapter 1. Installation 9 BD-E Drive OEM6250 BD-E Drive User I/O Connector NOTE: These connections will work only if BD-E jumper LK2 is set to position B (not the factory default position).
10 OEM6250 Installation Guide OEM670 Drive OEM625 0 OEM670 Drive SHLD COM SHTNC SHTNO DFT AGND RSVD CMDÐ CMD+ DRIVE 1 1 13 25 14 OEM670 Drive CMD+ (pin 1) CMD– (pin 2) FAULT (pin 9) ENABLE (pin 10).
Chapter 1. Installation 11 ANI Analog Input (OEM6250-ANI or OPT-OEM6250-A product only) Internal Schematics Analog Ground ± 10V A na og Input Source ¥ Each input is a ± 10V analog input with a 14-bit analog-to-digital converter. ¥ The ANI input is s ampled at the servo sampling rate (see table for SSFR command).
12 OEM6250 Installation Guide End-of-Travel and Home Limit Inputs NOTES • CAUTION : As shipped from the factory, the limit inputs are pulled up to +5V through the R45 resistor.
Chapter 1. Installation 13 Encoder CONNECTIONS & INTERNAL SCHEMATICS +5V A+ A– B+ B– Z+ Z- GND SHLD Internal Schematic Chassis Ground Digital Ground ENCODER Connector +5VDC Incremental Encoder Max.
14 OEM6250 Installation Guide Joystick & Analog Inputs CONNECTIONS SHLD +5VDC Analog Channel 1 Analog Channel 2 Velocity Select Axes Select Joystick Release Joystick Trigger GND Velocity Select Axes Select N.O. Momentary Joystick Trigger Joystick potentiometers are 5K W with 60 ° of usable travel adjusted to span 0 W to 1K W .
Chapter 1. Installation 15 Trigger Inputs Internal Schematic TRG-A & 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.
16 OEM6250 Installation Guide General-Purpose Programmable Inputs & Outputs PIN OUTS & SPECIFICATIONS P i n Function Internal Schematics Specifications 1 2 49 50 PROGRAMMABLE INPUT/OUTPUT 50-pin plug is compatible with VM24 and OPTO-22™ signal conditioning equipment.
Chapter 1. Installation 17 INPUT CONNECTIONS — Connecting to electronic devices such as PLCs Connection to a Sinking Output Device Connection to a Sourcing Output Device Connection to a Combination of Sinking & Sourcing Outputs Electronic Device Out 5-24 Volts GND 74HCxx 6.
18 OEM6250 Installation Guide OUTPUT CONNECTIONS (includes OUT-A & OUT-B) — for electronic devices such as PLCs Connection to a Sinking Input (active high) Connection to a Sourcing Input (active.
Chapter 1. Installation 19 THUMBWHEEL CONNECTIONS — for entering BCD data Connection to the Compumotor TM8 Module Optional Sign Bit Programmable Input #1 Programmable Input #2 Programmable Input #3 .
20 OEM6250 Installation Guide RP240 Remote Operator Panel RP240 SHLD Tx Rx GND +5V GND Rx Tx +5V 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.
Chapter 1. Installation 21 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.
22 OEM6250 Installation Guide Testing the Installation WARNING • This test procedure allows you to control I/O; therefore, make sure that exercising the I/O will not damage equipment or injure personnel.
Chapter 1. Installation 23 Connections Test Procedure Response Format (left to right) Analog Output Signal 1 . If the servo drives are connected to the OEM6250’s DRIVE connectors, disconnect them.
24 OEM6250 Installation Guide Tuning the OEM6250 Before tuning the OEM6250, mount and couple the motors as required for your application. To assure optimum performance, you should tune your servo system.
Chapter 1. Installation 25 What’s Next? By now, you should have completed the following tasks, as instructed earlier in this chapter: 1 . Review the general specifications — see page 3. 2 . Mount the OEM6250 — see page 4. 3 . Connect all electrical system components — see pages 5-21.
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2 C H A P TER TW O Troubleshooting IN THIS CHAPTER • Troubleshooting basics: - Reducing electrical noise - Diagnostic LEDs - Test options - Technical support • Solutions to common problems • Res.
28 OEM6250 Installation Guide 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.
Chapter 2. Troubleshooting 29 Common Problems & Solutions NOTE 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 (serial) not operative, or receive garbled characters.
30 OEM6250 Installation Guide Problem/Cause/Solution Table (continued) Problem Cause Solution Programmable inputs not working. 1. IN-P (input pull-up) not connected to a power supply. 2. If external power supply is used, the grounds must be connected together.
Chapter 2. Troubleshooting 31 3 . Type “ TREV ” and press the ENTER key. (The TREV command reports the software revision.) The screen should now look like the one shown below; if not, see Problem/Remedy table below. * PARKER COMPUMOTOR OEM6250 - 2 AXIS SERVO CONTROLLER * RP240 CONNECTED >TREV * TREV92-013471-01-4.
32 OEM6250 Installation Guide Product Return Procedure 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.
Appendix A T uning In this appendix: • Servo control terminology • Servo control techniques • Servo tuning procedures (These procedures are based on empirical techniques. If you are using Servo Tuner™, refer to the Servo Tuner User Guide for instructions.
34 OEM6250 Installation Guide 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.
Appendix A – Tuning 35 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 ).
36 OEM6250 Installation Guide Tuning-Related Commands More detailed information on each 6000 Series command can be found in the 6000 Series Software Reference . Tuning Gains : SGP .............. Sets the proportional gain in the P IV&F servo algorithm.
Appendix A – Tuning 37 Integral Feedback Control ( SGI ) Using integral feedback control , the value of the control 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.
38 OEM6250 Installation Guide gain is needed for adequate damping, you can balance the tracking error by applying velocity feedforward control (increasing the SGVF value—discussed below).
Appendix A – Tuning 39 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.
40 OEM6250 Installation Guide 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.
Appendix A – Tuning 41 Actual Velocity Command Velocity VELOCITY TIME Step 3 Proceed to the Controller Tuning Procedure section to tune the OEM6250. Controller Tuning Procedure The Controller Tuning Procedure leads you through the following steps: 1 .
42 OEM6250 Installation Guide 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 field when tuning axis 2—e.
Appendix A – Tuning 43 Tuning Process Flow Diagram (using proportional and velocity gains) OR Increase SGP UNTIL OR Decrease SGV UNTIL Increase SGV UNTIL OR OR Decrease SGV UNTIL OR Decrease SGP UNTIL OR Decrease SGV UNTIL Increase SGV UNTIL START STOP Step 6 Use the Velocity Feedforward Gain ( SGVF ) to reduce position error at constant speed .
44 OEM6250 Installation Guide 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 .
Appendix A – Tuning 45 Step 8 After raising the SGV gain to 2.4, overshoot is reduced a little, but chattering reappears. This means the gains are still too high. Next, we should lower the SGV gain until chattering stops. SGP = 85 SGV = 2.4 Step 9 After lowering the SGV gain to 2.
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Appendix B E M C I nsta lla tion G uide line s General Product Philosophy The OEM6250 was not designed originally for EMC compliance. Therefore, it will require specific measures to be taken during installation. The ultimate responsibility for ensuring that the EMC requirements are met rests with the systems builder.
48 OEM6250 Installation Guide 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.
Appendix B – EMC Installation Guidelines 49 Ground Strap (connect to TH1) I/O Flat Cable User provided power from a clean DC power supply (use twisted pair cable) Remove Paint Remove paint if mounti.
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I NDE X 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.
52 OEM6250 Installation Guide 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 .
Index 53 servo control methods/types 36 open loop operation 39 sampling frequency 34, 41 tuning, see tuning servo sampling update rate 3 setpoint 34 settling time 35 shielding 2 EMC guidelines 47 I/O .
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• STATUS LED: Green = 5VDC power is applied. Red = power reset required. Off = no power. DSBL (axis disabled) LEDs: Off = O.K. On = drive is disabled (see page 28 for possible causes). • Status information (see command descriptions in 6000 Series Software Reference ): General status information .
Ein wichtiger Punkt beim Kauf des Geräts Parker Hannifin OEM6250 (oder sogar vor seinem Kauf) ist das durchlesen seiner Bedienungsanleitung. Dies sollten wir wegen ein paar einfacher Gründe machen:
Wenn Sie Parker Hannifin OEM6250 noch nicht gekauft haben, ist jetzt ein guter Moment, um sich mit den grundliegenden Daten des Produkts bekannt zu machen. Schauen Sie zuerst die ersten Seiten der Anleitung durch, die Sie oben finden. Dort finden Sie die wichtigsten technischen Daten für Parker Hannifin OEM6250 - auf diese Weise prüfen Sie, ob das Gerät Ihren Wünschen entspricht. Wenn Sie tiefer in die Benutzeranleitung von Parker Hannifin OEM6250 reinschauen, lernen Sie alle zugänglichen Produktfunktionen kennen, sowie erhalten Informationen über die Nutzung. Die Informationen, die Sie über Parker Hannifin OEM6250 erhalten, werden Ihnen bestimmt bei der Kaufentscheidung helfen.
Wenn Sie aber schon Parker Hannifin OEM6250 besitzen, und noch keine Gelegenheit dazu hatten, die Bedienungsanleitung zu lesen, sollten Sie es aufgrund der oben beschriebenen Gründe machen. Sie erfahren dann, ob Sie die zugänglichen Funktionen richtig genutzt haben, aber auch, ob Sie keine Fehler begangen haben, die den Nutzungszeitraum von Parker Hannifin OEM6250 verkürzen könnten.
Jedoch ist die eine der wichtigsten Rollen, die eine Bedienungsanleitung für den Nutzer spielt, die Hilfe bei der Lösung von Problemen mit Parker Hannifin OEM6250. Sie finden dort fast immer Troubleshooting, also die am häufigsten auftauchenden Störungen und Mängel bei Parker Hannifin OEM6250 gemeinsam mit Hinweisen bezüglich der Arten ihrer Lösung. Sogar wenn es Ihnen nicht gelingen sollte das Problem alleine zu bewältigen, die Anleitung zeigt Ihnen die weitere Vorgehensweise – den Kontakt zur Kundenberatung oder dem naheliegenden Service.
