Parker Hannifin SERVO CONTROLLER OEM6250 - Manual (Page 9)

Chapter 1. Installation 3
General Specifications
P a r a m e t e r S p e c i f i c a t i o n
Power
DC input.................................................................... 5VDC ± 5%, 4A minimum
(current requirements depend on the type and amount of I/O used – see page 20).
Status LEDs/fault detection...................................... Refer to Diagnostic LEDs on page 28
Environmental
Operating Temperature .......................................... 32 to 122 ° F (0 to 50 ° C)
Storage Temperature............................................... -22 to 185 ° F (-30 to 85 ° C)
Humidity ................................................................... 0 to 95% non-condensing
Performance
Position Range & Accuracy..................................... Position range: ± 2,147,483,648 counts;
Accuracy: ± 0 counts from preset total
Velocity Range, Accuracy, & 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 2
Motion Trajectory Update Rate............................... See SSFR command description in the 6000 Series Software Reference
Servo Sampling Update Rate.................................. See SSFR command description in the 6000 Series Software Reference
Serial Communication
Connection Options.................................................. RS-232C, 3-wire (Rx, Tx & 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................................... 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 , & ENBL ............... HCMOS compatible* with internal 6.8 K W 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
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: 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 .
DFT ........................................................................... HCMOS compatible* with internal 6.8 K W 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 K W pull-ups to +5V; voltage range is 0-24V.
Trigger, Release, and Auxiliary
Encoder.....................................................................
Differential comparator accepts two-phase quadrature incremental encoders with differential
(recommended) or single-ended outputs.
Maximum voltage = 5VDC. Switching levels (TTL-compatible): Low
£ 0.4V, High ³ 2.4V.
Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.
16 General-Purpose Programmable Inputs .......... HCMOS compatible* with internal 6.8 K W 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 current, 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 ....................................... Open-collector output with internal 4.7 K W 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.
+5V Output................................................................ 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 ).............................................. ± 10V analog output. 12-bit DAC. Load should be > 2K W impedance.
Shutdown ( SHTNO , SHTNC , and COM ) ................... Shutdown relay output. Max. rating: 175VDC, 0.25A, 3W.
* HCMOS-compatible switching voltage levels: Low £ 1.00V, High ³ 3.25V.
TTL-compatible switching voltage levels: Low £ 0.4V, High ³ 2.4V.