Parker Hannifin OEM6250 manuel d'utilisation

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. Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change thi[...]

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 D escr i p ti o n Error Correction: DFT Input Circuit Revision A incorrectly stated that the drive fault input (DFT pin on the DRIVE connectors) sh[...]

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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 all electrical components (includes specifications) • Testing the installation • Tuning the OEM6250 (refer to Servo Tuner User Guide or to Appendix[...]

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) .............................. OEM6250 OEM6250 product with ANI input board (with ship kit)........... OEM6250[...]

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). Status LEDs/fault detection...................................... Refer to Diagnostic LED[...]

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. This board will fit in a 6U rack (if you remove the PCB from the sheet metal). Ma[...]

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. Grounding System LIMITS AUX JOYSTICK RP240 PROGRAMMABLE INPUT/OUTPUT 1 9 [...]

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 (15.25 m) AUX 1 7 1 9 25-Pin COM Port: 9-Pin COM Port: Serial Port Connection Pin 2 (Rx) Pin 3 (Tx) Pin 5 (GND) Pin 2 (Tx) Pin 3 (Rx) Pin 7 (GND) Rx Tx GND Rx Tx GND RS-232C Daisy-Chain Conn[...]

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 K W DRIVE Connector SHLD COM SHTNC SHTNO DFT AGND RSVD CMD– CMD+ AGND Chassis Ground AGND + - Command + Closed if DRIVE¯ Open if[...]

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. SHTNC OUT Shutdown relay output to drives that require a closed contact to dis[...]

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). BD-E Drive V2 (pin 1) V1 (pin 2) GND (pin 4) RST (pin 5) +15V (pin 6) FT (pin 9) AOP (pin 10) AOP (pin 11) BOP (pin 12) BOP (pin 13) ZOP (pin 14) ZOP (pin 15) ?[...]

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) GND (pin 11) GND (pin 16) « « « « « « OEM6250 CMD+ CMD– DFT SHTNO COM AGND SV Drive SV Drive SOLL1+ (X8 pin 01) SOLL1– (X8 pin 02) N (X13 p[...]

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). ¥ Voltage value reported with t[...]

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. 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 ([...]

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. Cable Length is 100 feet. Use 22 AWG wire. +5VDC Red A Channel + Brown A Channel – Brown/White B Channel + Green B Channel – Green/White Z C[...]

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 . N.C. Momentary J[...]

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. The differences are (1) the triggers are pulled up via the AUX-P pull-up term[...]

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. 1 Input #16 (MSB of inputs) 3 Input #15 5 Input #14 7 Input #13 9 Input [...]

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 6.8 K W 47 K W Input Connection Ground Connection Output Ground IN-P +5V[...]

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 low) Electronic Device Output Connection Ground Connection Input Ground OUT-P +5V GND OEM6250 7406 GND GND (open collector) +5VDC R13 (0 K W ) is rem[...]

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 Programmable Input #4 Programmable Input #5 Pin #49 (+5VDC) Pin #48 (GND) Programmable Output #1 Programmable Output #2 Programmable Output #3 +123456[...]

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. At the minimum current (4A for 5VDC supply), the OEM6250 should supply sufficient +5V po[...]

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. • Use a minimum wire size of 22 AWG[...]

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. • The procedures below are designed to be executed with the drives not connected to the OEM6250; therefore, do not proceed until you have disc[...]

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. 2 . Set all the gains to zero by entering these commands: SGP¯,¯ <cr> , SGI¯,¯ <cr> , SGV¯,¯ <cr> , SGAF¯,¯ <cr> , and [...]

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. The goal of the tuning process is to define the gain settings, servo performance, and feedback setup (see command list below) that you can incorpo[...]

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. EMC installation guidelines are provided in Appendix B (p[...]

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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 • Resolving serial communication problems • Product return procedure[...]

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. The first step is to isolate each system component and ensure that[...]

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. 1. Improper interface connections or communication pr[...]

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. 3. Improper wiring. 1.a. When inputs will be pulled down to 0V by an external device, lea[...]

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 * TREV92-013471-01-4.7 OEM6250 Problem Remedy (ba[...]

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. Step 2 Before you return the unit, have someone from your organization with a tech[...]

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.) You should tune the OEM6250 before attempting to execute any motion functions. At a m[...]

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. The digital control algorithm consists of a set of numerica[...]

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 ). If a position e[...]

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. SGI .............. Sets the integral gain in the P I V&F servo algorithm. SGV ...........[...]

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. The primary function of the integral control is to overcome friction and/o[...]

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). Since the feedback device’s velocity is derived by differentiating the feedback device’s position with a finite resolution, the finite word truncation effec[...]

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. Before you set up for tuning: Do not begin this procedure unless you are sure you have successfully completed these system connection, test, and[...]

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.b. If the position reading decreases when using a positive SOFFS setting, turn off the OEM6250 and the drive and swap the CMD+ and CMD- connections either at the OEM6250 or at the[...]

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 . Setup up for tuning. 2 . Select the OEM6250’s servo Sampling Frequency Ratios ( SSFR ). 3 . Se[...]

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.g., D,1¯¯ ) : A999 ; Set accel to 999 units/sec/sec AD999 ; Set decel to [...]

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 . NOTE The steps shown below (steps 1 - 11) represent the major steps of the process; the[...]

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 2.2 (even less than in the 2.3 setting in Step 7), chattering stops. [...]

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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. It is important to remember tha[...]

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. The use of brass or other inert conductive metal P-clip is recommended.[...]

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 mounting on this surface VM50 Programmable I/O Cable Limits Cable Communications Cable Triggers Cable Drive Cable Encoder Cable Braided-screen Cables Figure[...]

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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.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 ADD[...]

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 sets, saving & recalling 38 tuning controller 41 drive 40 setup 39 grounding 2 EMC guidelines 47 system diagram 5 H handshaking, disabling 30 hard[...]

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 cables 21 ship kit 2 shut down in case of emergency 39 shutdown output to drive 8 sinking input device, connecting to 18 sinking output device, connec[...]

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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 ..................... TASF , TSSF , TSTAT Limits ([...]