Zero-ohm resistors, Quick reference sheet, Connections troubleshooting – Parker Hannifin SERVO CONTROLLER OEM6250 User Manual

Page 61: Automation, Email

• 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.....................

TASF

TSSF

TSTAT

Limits (end-of-travel, home)...................

TASF

TLIM

ENBL input.............................................

TINOF

(bit #6)

Programmable inputs and TRG-n...........

TIN

INFNC

Programmable outputs...........................

TOUT

OUTFNC

• ENBL input must be grounded to GND terminal to allow motion.
• NEG & POS inputs must be grounded to GND terminal to allow motion (or disable with

LHØ

command).

• To help prevent electrical noise, shield all connections at one end only (see also Appendix B).
• Error messages while programming or executing programs – see

6000 Series Programmer's Guide.

• Technical support – see phone numbers on inside of front cover, and the

HELP

command response.

AUX-P (Inputs are pulled up to 5V

via

R45; alternative is to remove R45 and
connect AUX-P to an external 5-24VDC
supply. To sink current, remove R45
and connect AUX-P to GND terminal.)

Limits and Trigger Inputs (pg 12 & 15)

–

A–, B–, or Z–
A+, B+, or Z+

Encoder Inputs (pg 13)

General-Purpose Programmable Input

IN-P (Inputs are pulled up to 5V

via R12;

alternative is to remove R12 and
connect IN-P to an external supply of up
to 24VDC. To sink current, remove R12
and connect IN-P to a GND terminal.)

Specs: HCMOS-compatible*; voltage range = 0-24VDC.

Programmable Inputs (pg 16)

General-Purpose Programmable

Output

OUT-P (Outputs are pulled up to 5V via
R13; alternative is to remove R13 &
connect OUT-P to an external supply of
up to 24VDC)

Specs: Open collector output. Max. voltage in OFF state (not sinking
current) = 24V; Max. current in ON state (sinking) = 30mA.

Programmable Outputs, includes OUT-A & OUT-B (pg 16)

DC Input............5VDC

5%, 4A min. (current requirements depend on

.....................

the type and amount of I/O used – see page 20).

Serial Com.........RS-232C 3-wire (Rx, Tx & GND on AUX connector);

.....................

Up to 99 units in a daisy chain.

.....................

9600 baud (or use AutoBaud feature – see page 6);

.....................

8 data bits; 1 stop bit; no parity.

* HCMOS-compatible levels: Low

≤

1.00V, High

≥

3.25V.

Connections

Troubleshooting

I/O SPECIFICATIONS & INTERNAL SCHEMATICS

Specs: Differential comparator. Use 2-phase quadrature encoders;
max. frequency = 1.6 MHz; min. time between transitions = 625 ns.
TTL levels (Low

≤

0.4V, High

≥

2.4V); range = 0-5VDC.

8VDC

+5VDC

22 K

Ω

22 K

Ω

8 K

Ω

47 K

Ω

74HCxx

7406

(open collector)

7 K

Ω

See also pages 28-31

OEM6250 2-Axis Servo Controller

We welcome your feedback on our products and user guides. Please send your responses to our email address:

[email protected]

Direct your technical questions to your local ATC or distributor, or to the numbers printed on the inside front cover of this document.

Automation

150 K

Ω

9 K

Ω

1 µF

0 K

Ω

35 V

8 Channel
8-bit A/D
Converter

GND

Specs: Voltage range

0-2.5VDC,

8-bit.

Must not exceed 5VDC.

Analog Channel Inputs (pins 1-3)

Ground (pin 14)

DFT; and Axes Select, Velocity, Release,
Trigger, & Aux (JOYSTICK pins 15-19)

8 K

Ω

74HCxx

47 K

Ω

+5VDC

Specs: HCMOS-compatible*;

voltage range = 0-24VDC.

+5VDC

Drive Fault Inputs (pg 7) and Joystick Digital Inputs (pg 14)

OTHER PIN OUTS

Pin

Function

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

Even pins connected to common logic gnd.
MSB = most significant bit.
LSB = least significant bit.

PROGRAMMABLE I/O

Pin

Function

Analog Channel #1

Analog Channel #2

Analog Channel #3

Shield (chassis gnd)

Digital Ground

Axes Select Input

Velocity Select Input

Release Input

Trigger Input

Auxiliary Input

+5VDC Output

JOYSTICK

Pins 4-7, 9-13, 20-21, 24-25 are reserved

8 K

Ω

74HCxx

47 K

Ω

Specs: HCMOS-compatible*; voltage range = 0-24VDC.

Remove R25 before
connecting your ENBL switch.

R12 (0

Ω

)

R13 (0

Ω

)

+5VDC

LIMITS

AUX

JOYSTICK

RP240

PROGRAMMABLE INPUT/OUTPUT

POWER

+15V NC -15V GND +5V

SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD-
CMD+

Rx
Tx
GND
SHLD
+5V
OUT-P
IN-P

TRG-A
TRG-B
GND
OUT-A
OUT-B
GND
ENBL
+5V
AUX-P

1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD

SHLD
Tx
Rx
GND
+5V

TH1

DRIVE 2

DRIVE 1

+5V
A+
A-
B+
B-
Z+
Z-
GND
SHLD

ENCODER 2

ENCODER 1

DSBL2

DSBL1

STATUS

DIMENSIONS & MOUNTING: refer to page 4.

Pin

Function

Analog input #1

Analog input #2

Analog Ground

not connected

ANI BOARD

The

10V analog inputs (ANI inputs) are

available only if you ordered the
OEM6250-ANI or OPT-OEM6250-A.

R45

R25

R12

R13

Resistor R12. R12 pulls up all 16 programmable inputs to the internal
+5VDC supply. You must remove R12 before you can use the IN-P pullup
terminal for the programmable inputs. To pull up the programmable inputs
to a voltage other than the internal +5VDC, remove R12 and connect an
external 5-24VDC supply to the IN-P terminal. To sink current on the
programmable inputs, remove R12 and connect the IN-P to GND.

Resistor R13. R13 pulls up all 8 programmable outputs to the internal
+5VDC supply. You must remove R13 before you can use the OUT-P
pullup terminal for the programmable outputs. To pull up the
programmable inputs to a voltage other than the internal +5VDC, remove
R13 and connect an external 5-24VDC supply to the OUT-P terminal.

Resistor R25. R25 connects the enable input (ENBL) to ground, thereby
allowing motion to occur. To connect a normally-closed external switch for
operating the emergency stop function (see page 11), you must first
remove R25.

Resistor R45. R45 pulls up the enable (ENBL), trigger (TRG-A/B), and
limit (POS, NEG, HOM) inputs to the internal +5VDC supply. You must
remove R45 before you can use the AUX-P pullup terminal for these
inputs. To pull up these inputs to a voltage other than the internal +5VDC,
remove R45 and connect an external 5-24VDC supply to the AUX-P
terminal. To sink current on these inputs, remove R45 and connect AUX-P
to GND.

Zero-Ohm Resistors

6 5 4 3 2 1

ANI BOARD
If you ordered the
“OEM6250-ANI” product,
this option board is
factory installed. If you
ordered the board
separately (p/n “OPT-
OEM6250-A”), you must
install it–see page 4.

POS, NEG, HOM or TRG-n

+5VDC

R45 (0

Ω

)

AUX-P (used also by DFT, POS, NEG,
HOM and TRG-n — see schematic
above)

Enable (ENBL) Input (pg 11)

8 K

Ω

74HCxx

47 K

Ω

Specs: HCMOS-compatible*; voltage range = 0-24VDC.

ENBL

+5VDC

R45 (0

Ω

)

GND

Digital GND

R25 (0

Ω

)

GND

+5V

SHLD

5V terminal found on multiple
connectors. Total load limit
depends on current supplied from
your external DC power supply to
the power input connector.

Terminals found on multiple connectors

Digital GND

Chassis GND

AGND

Analog Input Terminal

ANI Input, from the optional analog input card (pg 11)

AGND

COM (signal common for shutdown)

Drive Shutdown Outputs (pg 7-10)

SHTNC (normally closed)

SHTNO (normally open)

Closed if

DRIVEØ

Open if

DRIVE1

Open if

DRIVEØ

Closed if

DRIVE1

Specs: Solid state relay. Max. rating = 175VDC, 0.25A, 3W.

AGND

Command +

CMD+ (command signal output)

CMD– (command signal return)

Drive Command Output (pg 7-10)

Specs:

10V analog output; 12-bit DAC.

Load should be > 2K

Ω

impedance.

150 K

Ω

AGND

–15V

+15V

AGND

Analog GND

+5VDC

Specs:

10V analog input; 14-bit ADC.

Grounding
diagram on
page 5.

Joystick Analog Inputs (pg 14)