Parker-hannifin SERVO CONTROLLER OEM6250 Manual do Utilizador

CompumotorCompumotor DivisionParker Hannifin Corporationp/n 88-016524-01B March 1998OEM6250 Servo ControllerInstallation Guide

4OEM6250 Installation GuideMounting the OEM6250NOTE: The drawing below illustrates the dimensions of the OEM6250 printed circuit board. Theboard is

Chapter 1. Installation5Electrical ConnectionsAppendix B (page 47) provides guidelines on how to install the OEM6250in a manner most likely to minimiz

6OEM6250 Installation GuideSerial CommunicationRS-232C ConnectionsLIMITSRP240951914950RxTxGNDSHLD1TxRxGNDNOTE: Max. cable length is 50 ft (15.25 m)AUX

Chapter 1. Installation7Motor Drivers WARNING REMOVE DC POWER FIRST before connecting or disconnecting the drive.CONNECTIONS & I

8OEM6250 Installation GuidePIN OUTS & SPECIFICATIONS (9-pin DRIVE Connector)Name In/Out Description and SpecificationsSHLD — Shield—Internally con

Chapter 1. Installation9BD-E DriveOEM6250BD-E DriveUser I/O ConnectorNOTE: These connections will work only if BD-E jumper LK2 is set to

10OEM6250 Installation GuideOEM670 DriveOEM6250OEM670DriveSHLDCOMSHTNCSHTNODFTAGNDRSVDCMDÐCMD+DRIVE 11132514OEM670 DriveCMD+ (pin 1)CMD– (pin 2)FAUL

Chapter 1. Installation11ANI Analog Input (OEM6250-ANI or OPT-OEM6250-A product only)Internal SchematicsAnalogGround±10V Ana ogInput Source¥ Each in

12OEM6250 Installation GuideEnd-of-Travel and Home Limit InputsNOTES• CAUTION: As shipped from the factory, the limit inputs are pulled up to +5V thro

Chapter 1. Installation13EncoderCONNECTIONS & INTERNAL SCHEMATICS+5VA+A–B+B–Z+Z-GNDSHLDInternal SchematicChassis GroundDigital GroundENCODER Conne

6000 Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not

14OEM6250 Installation GuideJoystick & Analog InputsCONNECTIONSSHLD+5VDCAnalog Channel 1Analog Channel 2Velocity SelectAxes SelectJoystick Release

Chapter 1. Installation15Trigger InputsInternal SchematicTRG-A & TRG-B connected to GND(normally-open switches).The active level (default is activ

16OEM6250 Installation GuideGeneral-Purpose Programmable Inputs & OutputsPIN OUTS & SPECIFICATIONSPin Function Internal Schematics Specificati

Chapter 1. Installation17INPUT CONNECTIONS — Connecting to electronic devices such as PLCsConnection to aSinking OutputDeviceConnection to aSourcing O

18OEM6250 Installation GuideOUTPUT CONNECTIONS (includes OUT-A & OUT-B) — for electronic devices such as PLCsConnection to a Sinking Input (active

Chapter 1. Installation19THUMBWHEEL CONNECTIONS — for entering BCD dataConnection to the Compumotor TM8 ModuleOptional Sign BitProgrammable Input #1Pr

20OEM6250 Installation GuideRP240 Remote Operator PanelRP240SHLDTxRxGND+5VGNDRxTx+5VRP240 Back PlaneInput Power (+5VDC ±5%, 4A minimum)Current Require

Chapter 1. Installation21Lengthening I/O CablesBear in mind that lengthening cables increases noise sensitivity. (The maximum length ofcables is ulti

22OEM6250 Installation GuideTesting the Installation WARNING • This test procedure allows you to control I/O; therefore, make sure t

Chapter 1. Installation23Connections Test Procedure Response Format (left to right)Analog OutputSignal1. If the servo drives are connected to the OEM6

Change SummaryOEM6250 Installation GuideRev BMarch 1998The following is a summary of the primary technical changes to this document.This book, p/n 88-

24OEM6250 Installation GuideTuning the OEM6250Before tuning theOEM6250, mountand couple themotors as requiredfor yourapplication.To assure optimum per

Chapter 1. Installation25What’s Next?By now, you should have completed the following tasks, as instructed earlier in this chapter:1. Review the genera

2CHAPTER TWOTroubleshootingIN THIS CHAPTER• Troubleshooting basics:- Reducing electrical noise- Diagnostic LEDs- Test options- Technical support• Solu

28OEM6250 Installation GuideTroubleshooting BasicsWhen your system does not function properly (or as you expect it to operate), the first thingthat yo

Chapter 2. Troubleshooting29Common Problems & SolutionsNOTESome software-related causes are provided because it issometimes difficult to identify

30OEM6250 Installation GuideProblem/Cause/Solution Table (continued)Problem Cause SolutionProgrammable inputsnot working.1. IN-P (input pull-up) not c

Chapter 2. Troubleshooting313. Type “TREV” and press the ENTER key. (The TREV command reports the softwarerevision.) The screen should now look like

32OEM6250 Installation GuideProduct Return ProcedureStep 1Obtain the serial number and the model number of the defective unit, and secure a purchase o

Appendix ATuningIn this appendix:• Servo control terminology• Servo control techniques• Servo tuning procedures(These procedures are based on empirica

34OEM6250 Installation GuideServo System TerminologyThis section gives you an overall understanding of theprinciples and the terminology used in tunin

Appendix A – Tuning35error, use the TPER (Transfer Position Error) command; theresponse represents the position error at the instant thecommand is rec

36OEM6250 Installation GuideTuning-Related CommandsMore detailed information on each 6000 Series commandcan be found in the 6000 Series Software Refer

Appendix A – Tuning37Integral Feedback Control (SGI)Using integral feedback control, the value of the controlsignal is integrated at a rate proportion

38OEM6250 Installation Guidegain is needed for adequate damping, you can balance thetracking error by applying velocity feedforward control(increasing

Appendix A – Tuning39Tuning Setup ProcedureUse the following procedure to set up your servo systembefore completing the tuning procedures. You canper

40OEM6250 Installation Guided. Use the TFB command again to observe the feedbackdevice’s position. The value should have increasedfrom the value obse

Appendix A – Tuning41Actual VelocityCommand VelocityVELOCITYTIMEStep 3Proceed to the Controller Tuning Proceduresection to tune the OEM6250.Controller

42OEM6250 Installation GuideStep 4Optimize the Proportional (SGP) and Velocity(SGV) gains (see illustration on next page for tuningprocess).a. Enter t

Appendix A – Tuning43Tuning Process Flow Diagram (using proportional and velocity gains)ORIncrease SGPUNTILORDecrease SGVUNTILIncrease SGVUNTILORORDec

Online ManualsThis manual (in Acrobat PDF format) is available from our web site: http://www.compumotor.comABOUT THIS GUIDEChapter 1. InstallationWh

44OEM6250 Installation GuideTuning ScenarioThis example shows how to obtain the highest possibleproportional feedback (SGP) and velocity feedback (SGV

Appendix A – Tuning45Step 8After raising the SGV gain to 2.4, overshoot is reduced alittle, but chattering reappears. This means the gains arestill t

Appendix BEMC Installation GuidelinesGeneral Product PhilosophyThe OEM6250 was not designed originally for EMC compliance. Therefore, it will require

48OEM6250 Installation Guidecable (this allows the braid to continue to the cableconnector), be careful not to damage the braid. Snap theP-clip over t

Appendix B – EMC Installation Guidelines49Ground Strap(connect to TH1)I/O Flat CableUser providedpower from aclean DC powersupply (use twisted pair ca

INDEX5V power input (external supply) 205V power supply (internal)connections to (see page forconnection item, like ENBL,Encoder, etc.)load limit 3, 2

52OEM6250 Installation GuideFFAX number for technical support 28feedback data 34feedback device polarity reversal 29feedback, e-mail address iferrite

Index53servocontrol methods/types 36open loop operation 39sampling frequency 34, 41tuning, see tuningservo sampling update rate 3setpoint 34settling t

• 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 (

1CHAPTER ONEInstallationIN THIS CHAPTER• Product ship kit list• Things to consider before you install the OEM6250• General specifications table• Mount

2OEM6250 Installation GuideWhat You Should Have (ship kit)Part Name Part NumberIf an item is missing,call the factory (seephone numbers oninside front

Chapter 1. Installation3General SpecificationsParameter SpecificationPowerDC input..................