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2 Installing the 6420 Indexer/Drive

1. Cabling diagram LEUTEN Motor Case Gnd Green ES Q mm 5 r To B Yellow mm i Motor B Red 4o PS 7 mm A Orange 7 mm A Black 2 O CUR RUE In addition make the following connections at the motor Org Wht xa YelWht Wire Nuts RedWht 09000 E 2 6 MA6420 6420 User Manual Rev B 2 3 1 3 8 Lead Motor Parallel Connected Introduction For an 8 lead motor to be wired in parallel build and install the cable as follows Building an 8 lead connector assembly using standard Pacific Scientific stepper parallel motor cablemotor color coding is shown below Cabling diagram T c LEADED MOTOR GND GREEN e rium YELLOW TO RED WHT TO MOTOR B RED Cum DRIVE YEL WHT ire A ORANGE s BLK WHT 27m A BLACK ORG WHT mm 2 3 2 J 2 Power Connection Introduction Bus power is applied to the 6420 J2 with a 3 pin PCD connector as shown on the following page Mating connector The J2 power input is for a PCD 3 pin mating connector The connector supplied with the unit is type ELVP03100 6420 User Manual Rev B MA6420 Cabling diagram Green Case Ground White Bus 3 Black Bus N 120 S 2 3 3 J 4 Serial Port Connection Introduction The serial port transmits and
2. by regulated supply where both an external capacitor and regenerated power supply dump circuit are required The recommended fusing is also shown J2 3 2 1 6420 gt 2 Q O 2 8 5 rusg _BLEEDER o RESISTOR oh TWISTED 5 5 REGULATED BUS T gt POWER MDA10 AE 75 VOLT 2 SUPPLY je MAX s L 1 6420 3 FEET MAX 5 EARTH SAFETY GROUND 6420 User Manual Rev B MA6420 G 11 Appendix H CE Installation Guide Introduction Customer Responsibility 6420 User Manual Rev B MA6420 H 1 The information contained in this appendix applies to the 6420 ONLY The 6420 is designed for use within machines that require compliance with European Safety and EMC Directives The standards that the 6420 complies with are described in the Declaration of Conformity on the following page Note The information contained in this appendix supplements the material in the MA6420 This appendix supplied with all 6420 series drives provides detailed information on installation This appendix must be closely followed if EMC compliance is to be maintained It covers details such as mechanical mounting safety earth connections and motor wiring The 6420 s input voltage is provided by a user supplied dc power supply System harmonics and conducted emissions are dependent on the system chosen Therefore the machine builder is responsible to properly filter the installation thereby preventing unwanted cond
3. USA 888 932 9183 CANADA 805 828 2505 Over 100 years cumulative experience 24 hour rush turnaround technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America Visit us on the web Www servo repair com www servorepair ca www ferrocontrol com www sandvikrepair com www accuelectric com Scroll down to view your document For 24 7 repair services USA 1 888 932 9183 Canada 1 905 829 2505 Emergency After hours 1 416 624 0386 Servicing USA and Canada p SCIENTIFIC AUTOMATION TECHNOLOGY GROUP MA6420 MOTION TECHNOLOGY DIVISION 110 Fordham Road Wilmington MA 01887 978 988 9800 Fax 978 988 9940 Part MA6420 List Price 35 U S November 1998 Rev B 6420 Indexer Drive User Manual This document is copyrighted by Pacific Scientific Company It is supplied to the user with the understanding that it will not be reproduced duplicated or disclosed in whole or in part without the express written permission of Pacific Scientific Company Copyright O 1995 1996 1998 WARRANTY AND LIMITATION OF LIABILITY Includes software provided by Pacific Scientific Pacific Scientific warrants its motors and controllers Product s to the original purchaser the Customer and in the case of original equipment manufacturers or distributors to their original consumer the Customer to be free from defe
4. 7 Connection These inputs and outputs are shown as follows diagram J4 n 5VRTN 1 TXD 232 2 gt RXD232 3 5 4 4 NOTUSED COMMON 5 5 TXD 485 6 e poss 1 racec RXD485 9 SCIENTIFIC J5 Port 8 1 6 42 0 Port6 2 J32 4 3 Boles F INDEXER 1 LDC TE DC nregulai STEP 6 DRIVE 24 Vdc to 75 Vdc ENABLE 7 3 Case GND REMOTE START 8 LIMIT 9 J3 HOME 10 JOG 11 FAULT 12 4 Phase A 45 7 13 B PORT7 14 2 Phase A PORT 5 15 ae PORT 3 16 Phase BUD PORT 1 17 45 GND 18 4 Phase BO P DIRECTION 19 GND 20 5 CaseGnds 2 Phase REMOTE STOP 21 Stepper LIMIT 22 Motor JOG 23 MOVING 24 6420 User Manual Rev B MA6420 2 3 1 J 3 Motor Connection Introduction Mating connector The J3 motor cable connects the drive to the motor windings Motor cables are available from Pacific Scientific or you can make your own The J3 motor connector is for a PCD 5 pin screw mating connector The mating connector supplied with the unit is type ELVP05100 2 3 1 1 4 Lead Motor Cable requirements Building a 4 lead motor cable Cabling diagram Motor Case Gnd Green mH p To Motor A Orange _ B Yellow ILI A Black Use 18 to 16 gauge stranded wire twisted at approximately 3 to 4 turns per inch for each motor phase The motor cable assembly uses a 5 pin PCD connector at the 6420 Pacific Scientific motors common
5. 1 2058 To run between the same start and final velocities as the original example 300 to 3000 with 2 command the program parameters will be 2 M5 F 600 V 6000 MA6420 6420 User Manual Rev B Velocities are found from the lookup table 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 3126 3225 3348 3461 3582 3690 3804 3925 4028 4137 4251 4342 4468 4568 4672 4744 4856 4974 5056 5141 5273 5365 5461 5560 5610 5715 5823 5936 5994 The velocity ramp now consists of 46 points compared to the initial 14 without the 2 command Ram ime 5 5 5 uL t xl 300 721 1054 5994 Note f the final velocity is below 721 sps the second speed in the lookup table there will be NO ramping associated with that move Instead the move is completed in one step Example If Initial Velocity were specified at 100 steps sec Final Velocity at 1000 steps sec acceleration factor 120 deceleration factor 20 referring to the Profile Generator Table shown on the following page the intermediate velocity points would be 155 562 and 820 steps sec During acceleration 120 steps at 100 steps sec followed by 120 steps each at 155 steps sec 562 steps sec 820 steps sec concluding with the Final Velocity at 1000 steps sec for the duration of the index until decelerati
6. 6420 Dialogue will be loaded and the Main Menu screen will appear 6420 Dialogue is now running and you can select the tool desired 6 2 2 Installing 6420 Dialogue on a Hard Drive The 6420 Dialogue disk is supplied with an installation program This program will create a sub directory named 16420 on the hard drive and copy the 6420 Dialogue files from the floppy disk into the sub directory The installation program assumes that the hard drive is designated C To install 6420 Dialogue on the PC s hard drive follow the steps below 1 Boot up the PC 2 Insert 6420 Dialogue disk in drive A 3 Type A INSTALL Enter 6420 Dialogue is now installed on the hard disk To run 6420 Dialogue get to the 6420 directory and type 6420 lt Enter gt 6 2 MA6420 6420 User Manual Rev B 6 2 3 Serial Port Connections 6420 Dialogue can be used to generate programs off line However at some point programs have to be downloaded or uploaded between the PC and the motion control hardware The RS 232 serial link is used to communicate between the PC and the hardware Many PCs have two serial communication ports COMI and 2 One of these must be wired to the motion control hardware Refer to the PC s Hardware Reference Manual and the Instruction Manual provided with the motion control hardware for wiring information Use the Init Serial Port tool on the Main Menu to select the correct COM port and to set the serial link parameters
7. Note Default Serial Link Parameters for the 6420 are displayed 6 3 Keyboard Commands The choices from a main menu are highlighted by typing the Up or Down arrow keys Selection of the highlighted item is made by entering the choice with the Enter key This selection will bring up a prompt a list and or a sub menu Choices are made from a sub menu or list using the Up key to move up or the Down key to move down then entering a choice with the Enter key Typing the Esc key will abort the current operation and return to the previous menu or exit the program The Esc key is also used to exit from the Editor To exit from a Terminal Emulator session type lt Ctrl gt lt E gt The keyboard command definitions are displayed in appropriate places on the screen to assist the user 6 3 1 Terminal Emulator The PC can be used as a dumb terminal to communicate with the selected controller The PC s serial port is initialized when 6420 Dialogue is started The parameters can be changed with the Init Serial Port utility 3 o amp a Q To exit the Terminal Emulator at any time type lt Ctrl gt lt E gt which returns to the Main Menu 6420 User Manual Rev B MA6420 6 3 6 3 2 Upload Utility After selecting this utility the user is prompted for what filename to name the uploaded file By default the uploaded file will be created in the current direct
8. Logic 1 1 1 0 E 272 272 M 40 40 800 WO G Loop 10 MA6420 6420 User Manual Rev B This is the 3rd profile where P 4 1 Logic 1 1 0 1 E 288 288 M 100 40 200 W 0 G Loop E Note Since the jump table is encoded as straight binary rather than grey coded the 4 lower bits should be set first followed by a separate activation signal as is done above Otherwise if you attempt to set up a continuous loop where the 4 input lines may change state while the G instruction is executing the program may not jump to the desired profile c 2 oa LE Oo 5 ox Lu E 6420 User Manual Rev B MA6420 E 11 Appendix F ASCII Codes ASCII Code ASCII Code ASCII Code ASCII Code Result Result Result Result 0 A NUL 32 64 96 1 A SOH 33 65 A 97 a o 2 B STX 34 66 B 98 b 2 3 C ETX 35 67 C 99 c 4 EOT 36 68 D 100 d 5 37 69 E 101 e O 6 F ACK 38 amp 70 F 102 f 2 7 G BEL 39 i 71 G 103 g 8 AH BS 40 72 H 104 h 9 I HT 41 73 I 105 i 10 J LF 42 74 106 j 11 K VT 43 Jo K 107 k 12 L FF 44 76 L 108 1 13 M CR 45 TEL M 109 m 14 AN SO 46 7 78 N 110 n 15 O SI 47 79 111 16 P DLE 48 0 80 P 112 p 17 Q DCI 49 1 81 Q 113 q 18 R DC2 50 2 82 R 114 r 19 S DC3 51 3 83 S 115 20 AT DC4 52 4 84 T 116 t
9. 21 AU NAK 53 5 85 U 117 u 22 AV SYN 54 6 86 V 118 23 W ETB 55 7 87 W 119 w 24 X CAN 56 8 88 X 120 25 Y EM 57 9 89 X 121 y 26 7 SUB 58 90 7 122 7 27 ESC 59 91 123 28 N FS 60 lt 92 124 29 GS 61 93 125 30 AK RS 62 gt 94 126 31 US 63 95 _ 127 6420 User Manual Rev B MA6420 F 1 Appendix G Power Supply Considerations G 1 Bridge Capacitor Power Supply The figure below shows the full wave bridge capacitor input configuration most commonly used to power one or more 6420 drive modules A single transformer provides isolation and transforms the AC input voltage to a level that when rectified provides the desired DC bus voltage Fusing should be between the rectifier and individual bus capacitors This allows fuse size to be based upon the current requirements of a single module to provide the greatest protection The capacitors must be connected to the 6420 DC and DC inputs using twisted pairs no longer than three feet in length as shown to control winding inductive effects A regen clamp to absorb power transferred from the motor to the 6420 s is sometimes required This section provides selection guidelines for the power supply components Block diagram BLEEDER TRANSFORMER FUSE RESISTOR TWISTED BUS 115 VAC MDA10 gt o L gt
10. Locations 128 192 are FAST RAM locations and are not saved when the unit is powered down until P Store parameters is issued 256 511 User programs and G 2048 Indexed jump 512 767 User Programs 768 1023 User Programs 1024 1279 User Programs 1280 1535 User Programs 1536 1791 User Programs Location 1600 is starting address for AUTOSTART 1792 1893 RESERVED Variable resolution fraction look up table 1894 2047 RESERVED Motion parameter storage may be read by the Read Memory command 6420 User Manual Rev B MA6420 5 2 3E 2 D gt 6 6420 Dialogue 6 1 Description of 6420 Dialogue Introduction 6420 Dialogue is a menu driven software package that contains several software utilities to aid in the use of Pacific Scientific Digital Motion Control Products These utilities are designed to run on an IBM compatible PC and interface to the Pacific Scientific motion control hardware via an RS 232 serial link The Main Menu summarizes the tools available 1 Terminal Emulator The Terminal Emulator utility allows the PC to be used as a dumb terminal In this mode the PC is acting as a terminal and allows the generation and editing of programs directly on the hardware i e on line 2 Upload Utility The Upload Utility allows files to be read out of the controller s memory into a file on the PC s flopp
11. Improper wiring or undiscovered shipping damage can result in undesired motor motion Be prepared to remove power if excessive motion occurs 3 1 1 Connections test Introduction Before beginning the connections test please check the following all wiring and mounting to verify correct installation specifications to ensure that voltages being applied do not exceed the voltages specified 6420 User Manual Rev B MA6420 3 1 Procedure nr A Q 10 1 ja 12 Connect only J2 unregulated 24 Vdc to 75 Vdc input to the 6420 then apply power Verify 5 7 Vdc at the 6420 J5 13 to J5 5 voltage should be 5 2V to 5 9V If it is not refer to Troubleshooting section Switch power OFF Connect the J3 motor connector Switch power ON again Verify that the motor has holding torque by attempting to rotate the motor shaft The energized shaft is either immovable or very resistant to rotation when the drive is enabled Connect the J4 RS 232 connector Cycle power to the controller If using a PC use the 6420 Dialogue disk to set up your PC as a dumb terminal as described in Section 6 Type ESC and then a single space character The controller should respond with a pre defined sign on message 5134 PACIFIC SCIENTIFIC 1994 v1 10 Enable the 6420 by connecting J5 7 Enablel to J5 5 GNDA From the terminal or computer type R100 lt enter gt This will move the motor at a vel
12. argument can be supplied to abort the current program in addition to stopping all motion If arg 2 1 motion will cease but the program will continue otherwise with arg 0 the program will terminate placing the indexer into immediate mode Syntax S arg Arguments None Programming Embedded in a program will stop motion and abort returning to guidelines idle mode Program line Explanation S0 or S to stop motion and abort program Typing S while a program is running will abort the program and return to idle mode 7 26 MA6420 6420 User Manual Rev B T Master Slave Control T enb Immediate Execution Purpose Syntax Arguments This command is used when one 6420 Indexer Drive controls motion of two axes both at Fixed Resolution only The 6420 is the master unit controlling a slave 6410 Drive Jumpers E12 and E13 determine if the slave unit is running synchronous with the master that is identically executing index commands or in alternating fashion where motion is executed on one axis and then the other independently Power up state is T 1 T enb Synchronous Operation E12 OUT E13 IN enb 1 enables step pulses to both master and slave enb 0 disables step pulses to both master and slave Alternating Operation E12 IN E13 OUT enb I enables master disables slave enb 0 disables master enables slave 6420 User Manual Rev B MA6420 7 27 Programming The unit is configured for alternating operation
13. lt 19 000 steps second dir must be 1 for CCW or 0 for CW Related F set Initial Velocity Commands 7 10 MA6420 6420 User Manual Rev B Programming guidelines Example 1 Example 2 The system is designed so that CW motion advances toward Home The Home switch is not active and H 250 0 is executed Motion will be CW at 250 steps second until switch is activated then motion flips to CCW at the Initial Vel 50 steps second until switch is de activated and then motion stops Program line Explanation M 10 10 set accel decel factors F 50 set initial velocity H 2500 home The system is designed so that CCW motion advances toward Home The Home switch is not active and H 250 1 is executed Motion will be CCW at speed until switch is activated then motion flips to CW at the Initial Vel F until switch is de activated and then motion stops Program line Explanation M 10 10 set accel decel factors F 50 set initial velocity 250 1 home 6420 User Manual Rev B MA6420 7 11 mode Immediate Purpose This instruction selects Fixed or Variable Resolution Modes Fixed Resolution Mode allows a fixed step size to be selected by the Step Size command Of course fine step sizes result in proportionately slower stepping rates Variable Resolution Mode allows high speed high resolution indexes to be executed without compromising speed A mode value of 0 selects Fixed Resolution Mode Stepping proceeds at fixed resolu
14. me 0 04 1 50 38 1 mm 1 10 27 9 mm i 0 02 i538 hi 4 75 120 7mm gt 0 CUSTOMER MTG 188 5 00 127 0 mm 89 s 90 90 90 90 90 9o o9 n 0 02 0 75 19 1 mm 0 02 CUSTOMER MTG 2 75 69 9 mm OPTIONAL SIDE MTG H 8 MA6420 6420 User Manual Rev B Index B steps 7 40 B addr cntr 7 13 steps 7 42 Baud rate 2 9 axis 7 54 Bipolar chopper drive 1 3 addr data 7 49 Block diagram 1 2 polarity 7 53 Bridge capacitor G 1 addr size 7 48 position 7 38 C Vstep resolution 7 44 C arg 7 4 1 7 50 Capacitor Selection G 6 speed 7 37 CE Installation guide H 1 C 7 47 Test set up H 3 nextpos port 7 51 Clamping Circuit G 9 Cleaning unit 4 1 A Components system 1 4 A opcode 7 2 Communications A 2 Alternating Operation 2 18 2 22 Connections Application Examples E 1 diagram 2 3 H 7 ASCII Codes F 1 motor 2 4 AUTOSTART 5 3 power 2 7 serial 2 8 signal 2 12 testing 3 1 6420 User Manual Rev B MA6420 1 Connectors A 5 Command summary C 1 Damage 2 1 Declaration of Conformity H 2 Dedicated Input Output 2 14 Pin Designations 2 15 Default settings 2 19 Definition 1 1 Dimensions 2 2 Discrete Input Voltage A 3 Discrete Inputs Outputs 2 12 port designations 2 13 Discrete Output Voltage A 3 Drive features 1 3 settings 2 20 E addr 7 5 El and E2 2 21 E3 to E10 2 22 E11 2 22 E12 and E13 2 22 En
15. 3 Powering Up the 6420 Drive 3 1 3 1 Testing the 3 1 4 Maintaining Troubleshooting 4 1 4 1 Maintaining the 6420 Drive a 4 1 4 2 Troubleshooting the 6420 4 1 MA6420 6420 User Manual Rev B 5 Programming Overview amp Instruction Set Description 5 1 5 4ModesofOperation ie e e se es 5 1 5 1 1 Immediate Mode e h e e e 5 1 5 1 2 Execution Mode ss sos uo Dep Ree Regg 5 3 5 1 3 The AUTOSTART Program 5 3 5 2 Instruction 5 3 5 3 Memory EAE quy 5 4 6 6420 Dialogue 6 1 6 1 Description of 6420 Dialogue llle 6 1 6 2 Get ng Started oe S queo PE S Er Boe 6 2 6 2 1 Using the 6420 Dialogue Floppy Disk 6 2 6 2 2 Installing 6420 Dialogue Hard 6 2 6 2 3 Serial Port Communication 6 3 6 3 Keyboard Commands 6 3 6 3 1 Terminal Emulator lens 6 3 6 32 Uplo ad Utihty ee Sor Meum AER 6 4 6 3 3 Download Utility ee 6 4 6 3 4 Syntax Checker lees 6 5 6 3 5 Editor sk os Se RAR Boek eS A RA Se 5 6 5 6 3 6 Imt Serial Port 4 5 ue aR eee UE aes 6 7 6 4 Indexer Language for the 6420 6 8 6 4 1 Use of Symbolic Labels in Programming 6 8 6 5 Syntax Checker 2 eA 6 9 6 6 Download Utility A
16. 6420 User Manual Rev B MA6420 E11 E11 RS Communication Configuration IN RS 485 Communications OUT RS 232 RS 422 Communications Note The factory default is Jumper OUT enabling RS 232 and RS 422 communications E12 and E13 E12 E13 Synchronous or Alternating Operation Configuration IN OUT Alternating Operation OUT IN Synchronous Operation Note Factory default setting is E12 IN E13 OUT E3 to E10 Jumpers E3 to E10 control discrete I O bit directions to E10 I O Configuration IN Output OUT Input Note Factory default settings are all jumpers OUT configuring all lines as INPUTS 2 24 MA6420 6420 User Manual Rev B 3 Powering up the 6420 In this chapter This chapter explains how to power up the 6420 after installation 3 1 Testing the Installation Background Perform the following test procedure to verify that the 6420 is installed properly and that is was not damaged internally during shipment Configuration The installation and power up procedure requires a motor and computer or terminal to test the basic functionality of the 6420 2 Oo gt o Procedure After performing the installation per the guidelines given in Chapter 2 Installing the 6420 test your installation as follows Warning Perform this initial power up with the motor shaft disconnected from the load
17. The following example illustrates a 2 axis system where a master guidelines 6420 controls one axis and a slave 6410 drives the other axis The program indexes the master axis a total of 4 times and for each of these indexes the slave axis 8 times Program line Explanation EO 0 F100 T1 Outer loop begins use J 5 1000 10 WO 13 TO enable slave axis Inner loop begins use B 15 1500 index 1500 steps along slave axis 20 WO till complete 23 W 100 wait 1 second 26 B157 Repeat slave axis motion 8 iterations End of inner loop 30 733 for every master index repeated 4 times End of outer loop 7 14 MA6420 6420 User Manual Rev B K Read Input Port K Immediate Purpose Syntax Arguments Related Commands Programming guidelines 6420 User Manual Rev B Reads user defined I O ports The bits are active low so a logic 0 applied to the input port reads back as a 1 None The bit weightings are Port 1 21 Port 5 2 16 Port 2 2 Port 6 32 Port 3 4 Port 7 64 Port 4 8 Port 8 128 Y Write Port To program an I O port bit as an input the respective I O configuration jumper must be removed Ports through Port 8 are configured by jumpers E3 to E10 respectively Remember as a consequence of the internal processor wired AND design of the I O port a logic 1 inadvertently written to an I O port configured as an input will over ride the
18. User Manual Rev B V Final Velocity V vel Immediate Execution Purpose Syntax Arguments Related Commands Programming guidelines 6420 User Manual Sets the final velocity of an absolute position or incremental move to vel pulses sec In Fixed Resolution Mode the actual speed is determined by the current StepSize So if vel 1000 and the step resolution is set for Full Steps 200 pulses rev then the shaft spins at 1000 full steps sec or 300 RPM If vel 1000 and the step resolution is set for 1 8 Steps 1600 pulses rev then the shaft spins at 125 full steps sec 37 5 RPM In Variable Resolution Mode the speed is determined by the VelScale factor So if VelScale has been set by issuing 0 the nominal value and vel 1000 then the shaft spins at 1000 full steps sec or 300 RPM If VelScale has been set by issuing 2 and vel 1000 then the shaft spins at 250 full steps sec or 75 RPM This parameter does not affect the velocity supplied in the R Run at constant Velocity or that programmed for Jog or Home operations V vel 0 vel 19 000 F Set Initial Velocity Program line Explanation V 1000 set final velocity for and indexes Rev B MA6420 7 31 W Wait W period Immediate Execution Purpose Waits for a specified period of time The argument period specifies the wait in terms of 10 millisecond periods hence the actual wait time is the period
19. address perform the following Procedure 1 Apply power and press a key a z A Z NOT the Spacebar to be used as the address followed by a single space Execute the P command to program the node address into non volatile memory S 7 2 Power down the unit and insert jumper E11 to configure the unit for RS 485 mode There is no sign on procedure while in RS 485 multi unit mode This mode is designed to be used with a host computer but can be tested using a terminal 3 Type in the node address The character should be echoed if the unit recognizes the address 4 Type a simple motion command R 500 followed by a lt LF gt line feed terminating character press lt Ctrl gt lt J gt The motor should now run Note Units configured for single unit RS 232 or RS 422 always have the serial drive lines enabled Therefore avoid connecting one of these units into a chain of RS 485 configured units 6420 User Manual Rev B MA6420 2 11 2 3 4 J 5 Discrete Inputs Outputs Connection Introduction The 6420 features 8 user programmable discrete input output lines Input output selection for Port 1 to 8 is configured by jumpers E3 to E10 respectively To enable a port as an input remove the respective jumper To enable as an output install the jumper Always remove the external cabling when making I O configuration changes to ensure that an external low impedance input is not driving a I O Port con
20. as speeds increase For example step rates from 2498 to 2502 steps second yield a 491 count value and result in an actual speed of 2503 steps second Likewise 2503 to 2507 steps second yield a 490 count and result in an actual speed of 2508 steps second In summary speed accuracy over the full 20 19 000 step second range is approximately 0 72 6420 User Manual Rev B MA6420 Ramp E D Appendix E Application Examples Introduction The following examples give a flavor of just a few of the myriad applications for the 6420 E 1 Standalone Operation The 6420 has approximately 1792 bytes of internal non volatile memory for user programs Internal programs can set initial and final velocities acceleration and deceleration rates execute incremental absolute and constant velocity moves program loops branches based on the state of an input port and also write to the output port s In addition a special case of the G instruction allows up to 16 different motion routines to be executed based on the state of the lower 4 port lines Programs are entered with the E command and parameters saved with the P command in immediate mode The external Remote Start and Stop can be used to start and stop program execution Limit switches attached to the assembly can be used as safeguards for over motion A slave 6410 can be controlled by the Direction and Step lines the Moving line can be polled for motion and the F
21. internal operating temperature should not exceed 50 C If the cabinet is ventilated by filtered or conditioned air make sure to prevent the accumulation of dust and dirt on the unit s electronic components The air should also be free of corrosive or electrically conductive contaminants Mounting The 6420 can be mounted in the two orientations shown dimensions below Refer to Appendix A Specifications Environmental Requirements for additional information CLEARANCE FOR M4 or 6 32 SCREW 0 04 a 4 30 109 2 mm N T zi 0 04 1 50 38 1 1 10 27 9 mm i amp 620 f va 8o of 98 INS 0 02 4 75 120 7mm mcg n n CUSTOMER MTG 9 7 1 98 o9 o9 o9 s LES E Nr z Na CN dE 0 02 I 0 75 19 1 mm 0 02 CUSTOMER MTG 2 75 69 9 mm OPTIONAL SIDE MTG 2 2 MA6420 6420 User Manual Rev B 2 3 Connecting the Four Input Output Cables Introduction The four input output cables are J3 Motor J2 Power J4 Serial port 2 J5 Discrete inputs and outputs e Note JI Connector is NOT USED amp
22. invalid input label or program command expected invalid label expecting alphanumeric after delimiter invalid label or expecting valid command after label invalid operand digit 1 expected 2 3 4 5 invalid operand expecting digit 6 EOL encountered expecting operand 7 invalid input no operand required 8 invalid input expecting EOL character 9 invalid input expecting valid number or label 3 o amp a Q 10 illegal for this command to have a label reference 6420 User Manual Rev B MA6420 6 9 Messages cont d 1 invalid operand character not allowed after command 12 invalid number input number is out of range 13 invalid operand reference to nonexistent label 14 invalid label duplicate label name exists Note The end of line character EOL which is defined as the linefeed character is expected at the end of each line of code 6 6 Download Utility Address Translation of Labels Before a 6420 program is downloaded it is automatically syntax checked If there are no syntax errors the Syntax Checker takes out all labels from the program and translates the label references to address The program thus contains only commands and numeric operands and is downloaded to the controller 6 7 Upload Utility Label Generation for Addresses When a 6420 program is uploaded labels are
23. multiplied by 10 milliseconds Specifying period to be 0 is a special case that delays completion of the wait instruction until the end of the current motion command such as an absolute or incremental index Syntax W period Arguments 0 period 65 535 Related and indexes Commands Programming Note A non zero wait period executed after issuing a motion guidelines command such as absolute or incremental index will immediately start counting down in parallel to the motion command Therefore if the wait period is desired after the motion is completed use a W 0 followed by the actual wait command Program line Explanation W 100 wait 1 second 100000 wo wait till index complete 7 32 MA6420 6420 User Manual Rev B X Read Limits X arg Immediate Purpose Syntax Arguments This command returns the status of the limit home and jog switches and the Drive Fault status The value of arg specifies whether limit switch or input line information is returned X arg Specifying arg 0 returns 1 for Limit active 2 for Limit active and 3 for both active Bit 7 is active high if the drive has faulted Specifying arg 1 returns a binary weighted value corresponding to the level of these signals 1 gt Home Input 32 gt Jog Input 64 gt Jog Input 128 gt Drive Fault 6420 User Manual Rev B MA6420 7 33 Y Write Output Port Y port Immediate Execution Purpose Sy
24. obtained by multiplying the specified secondary voltage Volts rms by the rated secondary current Amps rms For example a 24 Vac transformer with a rated secondary current of 1 Amp has a VA of 24 6420 User Manual Rev B MA6420 G 3 Current Rating Based upon these considerations the table below gives the highest allowable rated secondary voltage when using a line with 10 voltage tolerance Transformer Maximum Rated Rating Secondary Voltage 1 100 44 7 Vac 100 350 45 5 Vac gt 500 46 8 Vac The average current load of the 6420 is a function of the motor used as well as motor speed and torque To optimize the power supply design the supply current can be measured using a DC current meter when the motor is producing the highest shaft power If it is difficult to make this measurement assume the maximum average load current equals the selected phase current Thus if the DIP switch is set for 5 Amps RMS assume the maximum average power supply current is 5 amps The average transformer secondary current equals the sum of the average currents for all 6420s powered by the supply Because the transformer supplies pulses of current to charge the bus capacitor s on the other side of the diode bridge the rms current is higher than the average current The transformer should have a rated secondary rms current of at least 1 8 times the average current MA6420 6420 User Manua
25. of blanks The branch to address commands GOTO J JUMP and U LOOP may have a label or an address for OPERANDI The label reference in OPERANDI must have a matching label somewhere in the program or a syntax error is generated Duplicate label names are not allowed and will cause a syntax error to be generated The format for a label is STRING where there are no blanks between the dollar sign and the string The string is limited to eight characters composed of any sequence of digits and letters including the underscore Any variation from this format will generate a syntax error The maximum number of labels allowed for any program is 200 Note Labels are only used in the Editor Mode 6 8 MA6420 6420 User Manual Rev B Example Here is an example program that uses labels begin k j begin 1 loop 1000 u loop 5 g end end 5 The labels in this program are begin loop and end 6 5 Syntax Checker The Syntax Checker checks for valid syntax for each line of code If no syntax errors are found the Syntax Checker takes out all symbolic labels and label references and inserts the target address for each label reference a label reference is a label used as the operand for a branch to an address command If an error is found the program and error messages are put into a listing file which is displayed The possible error messages are listed below 1
26. receives RS 232 communication for the user interface of your unit Mating The J4 serial port mating connector supplied with the connector unit is an ITT Cannon DE 9S 9 pin plug in female D connector Port These are the RS 232 transmit TXD and receive RXD connections terminals Pin Number Connection J4 2 RS 232 TXD output J4 3 RS 232 RXD input J4 5 RS 232 Common 2 8 MA6420 6420 User Manual Rev B Baud rate The 6420 supports single unit RS 232 RS 422 and multi unit RS 485 communication protocols running at 9600 bps 1 start bit 1 stop bit RS 232 and RS 422 mode selection is automatic dependent upon whether connections are made to the single ended RS 232 TX and RX lines or to the differential TX and RX lines RS 485 mode is jumper selected and allows up to 32 units on a c single differential RS 485 communications link The host computer is the bus master and always initiates packet transfers External termination may be required in some installations The unit is factory configured for RS 232 protocol The table below D shows the Serial Port pin designations Input Output Pin Description Number 5 Vdc RTN Shield J4 1 RS 232 Transmit data output TXD_232 J4 2 RXD_232 J4 3 RS 232 Receive Data input COMMON J4 5 TXD_485 J4 6 Differential Transmit Data output TXD 485 J4 7 Differential Transmit Data input RXD_485 J4 8 Differential Receive Data output RXD_485 J4
27. required Pacific Scientific suggests n addition to the cable requirements given in this manual the motor and signal interface cables should have a braided shield which can be grounded to reduce high frequency disturbances The motor cable shield must be grounded near the drive with a suitable high frequency ground Such a ground connection is made by removing the cable s outer insulation to expose the braided shield then clamping the exposed braid to a conductive surface of the machine chassis If the chassis is painted or coated with another nonconductive coating remove the coating from the clamping location prior to clamping the shield It is important that the clamp chosen be conductive and provide a full 360 degree connection gt o L o gt Considerations m Wrap the end of the shielding in wire and solder it Shielding oy al Motor connector max 40 cm Motor Clamp Note Ground shield to machine cable chassis with a metal clamp providing a 360 degree termination cable Machine Chassis 6420 User Manual Rev B MA6420 H 5 The signal interface cable shield should be grounded to the drive through the 9 pin D sub connector s conductive hood If the cable connector does not provide a 360 degree ground connection to the shield the signal interface cable should be grounded in accordance with the instructions given in the previous
28. resistance between junction and case and hence ease heat sinking requirements It is good design practice to limit the maximum junction temperature to 125 C Testing should be done to insure the power on surge current is within the diode s Iggy rating 6420 User Manual Rev B MA6420 G 5 G 1 3 Capacitor Selection The table below gives the minimum bus capacitance value for a single 6420 as a function of the current setting and bus voltage These values give approximately 1096 peak to peak ripple voltage with a 60 Hz line increase capacitor values by 20 for use with a 50 Hz line Current Setting 30 Volt Bus 50 Volt Bus 70 Volt Bus 5 0 14 000 8300 6000 4 375 12 000 7300 5200 3 75 10 000 6300 4500 3 125 8700 5200 3700 2 5 6900 4200 3000 1 875 5200 3100 2200 1 25 3500 2100 1500 0 625 1700 1000 740 Ripple current rating Example Bus Capacitance in Micro farads The bus capacitor s 120 Hz ripple current rating should equal or exceed the 6420 s current setting The capacitor s working voltage rating must exceed the maximum bus voltage under all line load and regen conditions Select a capacitor rated for at least 1 3 times the nominal bus voltage Suppose a 6420 is operating at 70 volts and is set for 5 A rms motor current Assuming a 60 Hz line a bus capacitor of 6000 micro farads should be used The capacitor should have a 120 Hz ripple current rating of at lea
29. resolution Of course the finer step sizes result in high shaft resolution at the expense of shaft speed The motion profile is trapezoidal with programmable initial and final speeds The acceleration and deceleration rates are specified by a single command in terms of acceleration and deceleration factors ranging in value from 1 to 255 1 2 MA6420 6420 User Manual Rev B Variable resolution mode Drive features Variable Resolution Mode is the recommended alternative where micro stepping is desired without compromising speed This mode allows for positioning at a resolution of 1 100 of a step at effective full step speeds of 20 19 000 steps second Internal power supply Single power supply Bipolar chopper drive Patented for superior current regulation and low ripple current Output current adjustable from 0 625 A to 5 A RMS with 3 position DIP switch Microstepping for smooth operation and increased resolution Fixed Resolution microstepping Binary Steps Full 1 2 1 4 1 8 1 16 1 32 1 64 1 128 1 256 Decimal Steps Full 1 2 1 5 1 10 1 25 1 50 1 125 1 250 Variable Resolution microstepping Decimal step resolution 0 01 steps at effective full step speeds of 20 19 000 steps second Optical isolation Indexer optically isolated from drive Digital Electronic Damping Patented circuit reduces instability at speeds in middle of operating range Idle current reduction ICR to reduce motor heati
30. which have been repaired or replaced pursuant to such warranty and within the period of time in accordance with Pacific Scientific s date of warranty No person including any agent distributor or representative of Pacific Scientific is authorized to make any representation or warranty on behalf of Pacific Scientific concerning any Products or Programs manufactured by Pacific Scientific except to refer purchasers to this warranty Table of Contents 1 Overview of the 6420 1 1 1 1 6420 Definition 2 rs 1 1 1 2 System Components 1 4 t3 Waranty RN REOR SURE EIER VS 1 4 2 Installing the 6420 2 1 2 1 Unpacking and Inspecting 2 1 2 2 Mounting the 6420 Unit 2 2 2 3 Connecting to the 6420 css sp RU gu 2 3 2 31J 3MotorConnections leen 2 4 2 52J2PowerConnector 2 7 2 3 3 J4 Serial Port 2 8 2 3 4 J5 Signal Interface Connector 2 12 2 4 Using the 6420 to 1 6410 2 18 2 4 1 Synchronous 2 18 2 4 2 Alternating 2 18 2 5 Factory Default 2 19 2 5 1 Drive Board Settings Switch S1 amp Jumper J6 2 20 2 5 2 Indexer Board Settings gt ss 0 0 2 21
31. within 3 feet of the 6420 is recommended to absorb the motor regen energy 5 A RMS max A peak full step 7 1 A peak microstepping 0 30 Vdc max Vi lt 0 8 V is a logic low and Vi 2 3 7 Visa logic high Open collector Darlington 0 30 max 70 mA sink Vsa lt 1 0 Vdc Indexer option power and interface signals to 6410 completely isolated All other external inputs and outputs referenced to Indexer ground unless otherwise specified 6420 User Manual Rev B MA6420 A 3 Environmental Requirements Storage 55 C to 470 C temperature Operating 0 to 50 C ambient air temperature Maximum 60 C chassis operating temperature Note For optimal thermal performance mount the 6420 chassis back or side to a cooling plate or heatsink Use a thermal pad or grease if surface is irregular A fan or idle current reduction may be employed to keep chassis below 60 C Convection Cooling with optional Full rating 5A at 25 C Ambient heatsink 2 5A max at 45 C Ambient without optional 2 5 max at 25 C Ambient heatsink 1 25A max at 45 C Ambient Humidity Range 10 to 90 non condensing Note Adhere to the specified bus voltage range and power ratings a heat sink may be required to prevent exceeding the temperature limit otherwise unit may be damaged A 4 MA6420 6420 User Manual Rev B Mechanical Dimensions 5 x L5 x 4 3 Weight 1 Ib nominal Connectors Discrete I O 25 pin male D connector
32. your motor cannot generate enough torque for your application Try resizing Unit will not If the power supply is not adequate for the load a momentary respond to drop in power may reset the unit and require that the sign on commands procedure be repeated It is possible a maximum velocity value well above the specified range may have been executed Try cycling power and resetting any erroneous parameters before issuing another motion command If the error occurs in an AUTOSTART program try ESCaping as soon as possible before the maximum velocity is attained Cycle power 4 2 MA6420 6420 User Manual Rev B If the 6420 is defective Retum procedure Call Pacific Scientific at 815 226 3100 from 8 am to 6 pm If you cannot correct the drive problem or if it is defective return it to Pacific Scientific for repair or replacement Eastern Standard Time to get a Returned Materials Authorization Number RMA Note Do not attempt to return the 6420 or any other equipment without a valid RMA Returns received without a valid RMA will not be accepted and will be returned to the sender 2 Pack the drive in its original shipping carton Pacific 3 Scientific is not responsible or liable for damage resulting from improper packaging or shipment Ship the drive to Pacific Scientific Motion Technology Division 110 Fordham Road Wilmington MA 01887 Attn Repair Department RMA N
33. 0 User Manual Rev B MA6420 7 1 A Clear and Restore A opcode Immediate Purpose This command is used to initialize a portion of non volatile memory Non volatile memory is segmented into 8 pages The specified opcode determines precisely the page to be erased reloaded or initialized Syntax A opcode Arguments AO Reloads the last saved parameters from NVRAM Al to 7 Erase the corresponding page in Completely initializes to default values 9 Initializes variable resolution fraction look up table to default values List of 100 eight bit values starting at location 1792 in NVRAM 7 2 MA6420 6420 User Manual Rev B Programming Memory Map Details guidelines Erase Cmmd Address Notes Al 0 255 User programs Location 0 for REMOTE START input Locations 128 192 are Fast RAM locations A2 256 511 User programs and G 2048 Indexed jump A3 512 767 User programs A4 768 1023 User programs A5 1024 1279 User programs A6 1280 1535 User programs 7 1536 1791 User programs Location 1600 for AUTOSTART XX 1792 1893 RESERVED Variable resolution fraction look up table XX 1894 2047 RESERVED Motion parameter storage can be read by the Read Memory command 6420 User Manual Rev B MA6420 7 3 C Read Position Counter C arg Immediate Purpose Displays current position counter value In Fixed Resolution Mode the v
34. 0 User Manual Rev B MA6420 7 41 L c lio Negative Incremental Move steps Immediate Execution Purpose Moves the motor a total of steps in the CCW direction with a trapezoidal velocity profile shown below In Fixed Resolution mode the steps specifies 8 388 607 pulses So if steps 200 and StepSize is set for Full steps the shaft spins 1 revolution If steps 1600 and StepSize is set for 1 8 step 1600 pulses rev then the shaft also spins 1 revolution In Variable Resolution Mode the steps specifies 8 388 607 99 Full steps with 0 01 step size resolution 20 000 pulses rev If steps 200 00 then the shaft spins 1 revolution Final Vel Initial Vel Syntax steps Arguments 0 lt steps lt 8 388 607 Fixed Resolution 0 00 lt steps 8 388 607 99 Variable Resolution 7 42 MA6420 6420 User Manual Rev B Related M set accel decel Commands F set initial velocity V set final velocity I set resolution mode V set StepSize Programming Program line Explanation guidelines M 10 10 set accel decel factors F 300 set initial velocity V 1000 set final velocity 1000 index 1000 steps at current resolution 6420 User Manual Rev B MA6420 7 43 V StepSize VelScale arg Immediate Execution Purpose Syntax Arguments In Fixed Resolution Mode sets the StepSize In Variable Resolution Mode determines VelScale to sca
35. 138 15000 4 143 20000 8 148 250004 153 300002 158 350001 MA6420 6420 User Manual Rev B Limit Switch Polarity polarity immediate Purpose Sets the limit switch polarity The default limit input upon power up is active LOW Syntax polarity Arguments 1 Active Low 0 Active High 6420 User Manual Rev B MA6420 7 53 Selective Termination axis Immediate Purpose Aborts operations on a particular axis when configured for RS 485 communications mode Syntax axis Arguments Where axis is the single letter axis designation 7 54 MA6420 6420 User Manual Rev B Appendix A Specifications Fixed Resolution Mode Fixed resolution mode offers either binary or decimal step sizes Binary step sizes range from 200 to 51 200 pulses rev Decimal sizes range from 200 to 50 000 pulses rev All indexing is specified in terms of an integer number of step pulses at the specified resolution This mode must be used if a single 6420 indexer controls its own drive and a slave s 6410 drive Step size Minimum Speed Maximum Speed Resolution RPM full RPM full Pulses revolution steps sec steps sec Binary Steps Full 6 20 5 700 19 000 200 1 2 3 10 3 000 10 000 400 1 4 1 5 5 1 500 5 000 800 1 8 75 2 5 750 2 500 1 600 1 16 37 1 25 375 1 250 3 200 1 32 19
36. 14456 14456 14628 14628 14628 14804 14804 14804 14985 14985 15170 15170 15170 15360 15360 15360 15360 15554 15554 15554 15554 15753 15753 15753 15753 15958 15958 15958 15958 16168 16168 16168 16168 16168 16384 16384 16384 16384 16605 16605 16605 16605 16605 16832 16832 16832 16832 16832 17066 17066 17066 17066 17066 17307 17307 17307 17307 17307 17307 17554 17554 17554 17554 17554 17554 17808 17808 17808 17808 18070 18070 18070 18070 18070 18070 18340 18340 18340 18340 18340 18340 18340 18618 18618 18618 18618 18618 18618 18618 18618 18904 18904 18904 18904 18904 18904 18904 19200 19200 19200 19200 19200 19200 19200 19200 19200 19504 19504 19504 19504 19504 19504 19504 19504 19819 D 4 MA6420 6420 User Manual Rev B 19819 19819 19819 19819 19819 19819 19819 19819 19819 20144 20144 20144 20144 20144 20144 20144 20144 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 21186 21186 21186 21186 21
37. 186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 D 2 Speed Accuracy The 6420 Indexer generates step pulses by initializing a counter with a value that generates interrupts at approximately the desired step rate The counter runs at a frequency of 1 2288 Mhz This value is divided by the desired step rate to yield the integer counter initialization value Consequently the rounding process results in reduced accuracy
38. 625 188 625 6 400 1 64 09 312 93 75 312 12 800 1 128 05 156 46 87 156 25 600 1 256 02 078 23 43 78 51 200 Decimal Steps Full 6 20 5 700 19 000 200 1 2 3 10 3 000 10 000 400 1 5 1 2 4 1 200 4 000 1 000 1 10 60 2 600 2 000 2 000 1 25 24 8 240 800 5 000 1 50 12 4 120 400 10 000 1 125 048 16 48 160 25 000 1 250 024 08 24 80 50 000 6420 User Manual Rev B MA6420 A o c o o Variable The indexer varies the step size from Full to 1 256 as a Resolution function of the specified velocity position profile All Mode indexing is specified in terms of a mixed integer fractional number with the integer portion specifying the full number of steps and the fractional portion specifying 0 01 to 0 99 decimal step resolution carried out to within 8 binary bits of precision Step Size Minimum Speed Minimum Speed Resolution RPM full RPM full Pulses revolution steps sec steps sec Variable 02 078 5 700 19 000 20 000 automatically chosen User specifies position to within 1 100 of a step Communications Multi axis capability RS 232 or RS 422 RS 485 at 9600 bits per second 1 stop bit and no parity The RS 485 mode supports both single axis and multi drop multi axis operation Multiple 6420 units may be connected to a single RS 485 bus for multi axis operation Another alternative is to u
39. 9 Differential Receive Data input 6420 User Manual Rev B MA6420 2 9 2 3 3 1 Single unit RS 232 Connection Solder connections to TXD 232 output RXD 232 input and COMMON After installing the power and serial communications cable you can quickly test the unit by applying power and pressing Esc and then the space bar You should see the Pacific Scientific sign on message and copyright notice 89 fug ud X QGj COMMON 179 7 5 232 4 2 8 4 RXD 232 2 3 3 2 Single unit RS 422 Connection Solder connections to TXD_485 and RXD 485 differential lines After installing the power and serial communications cable you can quickly test the unit by applying power and pressing Esc and then the space bar You should see the Pacific Scientific sign on message and copyright notice Build the cable to connect to your computer or terminal by referring to the documentation for the device Note Pinouts vary among computer manufacturers Check your computer s hardware reference manual before wiring 2 10 MA6420 6420 User Manual Rev B 2 3 3 3 Multi unit RS 485 Connection Solder connections to TXD_485 and RXD 485 differential lines This mode requires each 6420 to be initialized with a single letter node address to be used with each subsequent command This node address must be setup in Single Unit mode before the RS 485 mode operation is attempted To set this
40. ART are active the 6420 will be in Immediate Mode If the 6420 is configured for RS 232 RS 422 serial communications it will wait for one ESC and one space character and then respond with the Pacific Scientific sign on message and copyright notice Commands are sent via the serial link and are terminated with a carriage return CR The 6420 responds with any requested data followed by a lt CR gt lt LF gt Only one command can be sent at a time Motion commands will immediately echo a lt CR gt lt LF gt and carry out the motion in the background If a second motion command is sent to the 6420 while another is in progress the lt CR gt lt LF gt response will be delayed until the original command is complete 2 3E 2 D gt 6420 User Manual Rev B MA6420 5 1 Programs can be entered into non volatile memory while in Immediate Mode Either a terminal emulator program or the Pacific Scientific 6420 Dialogue can be used to facilitate program development The E address command allows you to edit a program starting at the location specified by address The starting address is echoed indicating where the command will go in memory You can continue to enter successive commands line by line If an entry error occurs before CR the backspace or delete key can be used to correct the error If the error is noticed sometime later leave the edit mode by entering E CR and start editing at the line where the err
41. Considerations RECTIFIER REGEN ares aio ZENER 3 FEET MAX Hm gt EARTH SAFETY GROUND 6420 User Manual Rev B MA6420 G 1 LN Warning Power supply design must insure that the voltage between J2 2 and J2 1 never exceeds 75 volts under any operating conditions These conditions include high line voltage transformer regulation effects voltage spiking due to current switching within the module and regeneration Failure to do this can result in permanent damage to the 6420 G 1 1 Line Transformer Selection Primary voltage and frequency rating Secondary voltage rating Make sure that the transformer is guaranteed to operate at the highest line voltage combined with the lowest line frequency that will ever be used to power your system Failure to do so can result in saturation large current increases and winding failure Maximum motor speed performance will be achieved by using as high a motor supply voltage as possible without ever exceeding 75 volts Of course lower voltages can also be used so long as the voltage is greater than the minimum specified value of 24 volts but motor torque will drop more rapidly as speed increases The peak bus voltage excluding any spiking due to current switching in the drive module or any regeneration effects is approximately equal to 1 414 Actual Secondary rms voltage 1 5 Note This assumes a 0 75 volt drop across each rectifier diode To insure this as well as
42. Dispensed Conveyer Belt Paddlewheel gea t M Motor M p ick ce D 6420 P 6420 Indexer Driver and motor functioning in a clutch brake application Shipping Container en 9 a a 6420 User Manual Rev B MA6420 6 m a E G x m E 6 6420 Controlling Indexer Table The 6420 Indexer Drive and motor combination easily drives an Indexing Table The motor can drive the table directly with a belt or through a worm gear An optic sensor can be used to indicate the starting or home position of the table and motion can be executed with open loop stepping commands Incremental Indexing Table E 6 MA6420 6420 User Manual Rev B E 7 Miscellaneous Application Notes Start Stop The following is a start stop motion program example The Program program starting at location 128 in FAST memory spins the motor until an optic sensor wired to Port 8 goes HIGH Once this stop point is detected the motor decelerates until coming to a stop The program is written such that the wait command executes in parallel with the deceleration If the deceleration factor is set for maximum deceleration rate 0 motion stops very quickly and dead time will be about 1 second If deceleration is set for the minimum rate 255 depending on the velocities involved the stopping time may be several seconds possibly over shooting the stopping point substantially and eliminating the 1 s
43. LM311 E 402K X ANM LM336BZ Sm 1K IRF633 0 1 UF V 6420 User Manual Rev B MA6420 G 9 G 2 Powering the 6420 from a Regulated Supply Certain precautions should be taken when powering the 6420 drive from a regulated power supply The 6420 s bipolar chopper output stage draws current from the DC supply in the form of pulses with fast rise and fall times This may be a problem for some regulated supplies designed to drive loads having relatively constant or slowly varying current drain If a regulated supply is used and problems are encountered a 470uf capacitor should be placed across the DC and DC lines between the power supply and 6420 Ideally this capacitor is located close to the 6420 drive but it can be located near the power supply and connected to the 6420 with a twisted pair no longer than 3 feet in length The capacitor should have a 20KHz ripple current rating of at least the 6420 s current setting and a voltage rating of 1 3 times the nominal bus voltage A second precaution involves regenerated power see section G 1 5 Regulated supplies are usually not designed to absorb power This might cause their output voltage to rise during regeneration and lead to power supply and or 6420 damage The same considerations and solutions described in section G 1 5 apply G 10 MA6420 6420 User Manual Rev B 6420 s powered The figure below illustrates powering the 6420 from a regulated
44. MA6420 6420 User Manual Rev B P Store Parameters P Immediate Purpose Syntax Arguments Programming guidelines Stores parameters to non volatile memory Values are restored to working memory upon power up and by issuing the AO command none Type P Enter All paramters and fast memory locations 128 191 will be saved to non volatile memory in addition to the following parameters Initial Velocity F Final Velocity V Ramp slope M Jog Speed Trip Point O Resolution Mode Limit Switch Polarity RS 485 Node Address User Programs The default mode after memory initialization is Variable Resolution Mode at Full Speed Note Whenever a change in any of these parameters or code in Fast RAM locations 126 191 is to be saved during power cycling the P command must be executed 6420 User Manual Rev B MA6420 7 21 Examine Parameters Q Immediate Purpose Displays current parameters and system settings Returns a variable number of lines depending on mode of operation Only in Single User Mode Syntax Q Programming Type Q Enter The screen should show the following guidelines parameter information M accel decel VR or FR na axis name trip pos trip addr F initial vel vel stepsize V final vel vel stepsize rl accel length The initial vel and final vel are the programmed initial and final velocity values set by the F and V commands The a
45. N 1 Make sure your host is working properly Disconnect the D 9 connector from the 6420 unit Wire pins 2 and 3 of this connector together Try typing characters on the keyboard each character should be echoed back to the screen If not check your cabling and connectors and refer to your host reference guide 6420 User Manual Rev B MA6420 4 1 o ta c o Table cont d Symptom Corrective Action Motor doesn t spin Verify that the motor is properly connected with no open wires or shorts With the 6420 energized try twisting the motor shaft If you re able to easily spin the shaft especially at the higher motor current levels chances are the motor 1s disabled The Drive board J6 pins 5 6 Enable sense should be IN and J5 pin 7 ENABLE should be wired to a ground pin on the J5 connector Verify that some motor problem has not created a Fault condition A FAULT has occured if J5 pin 12 is low or the Read HW status command returns with Bit 7 high If so correct the condition that created the fault If you issued the T command with Indexer jumpers E12 and E13 set for alternating operation you may have disabled step pulses to the motor Double check your jumper configuration and usage of the T command Motor spins but Experiment with the M command by issuing M 255 255 which tends to stall results in the slowest possible acceleration and deceleration Possibly
46. O lines as a function of current position To use this instruction set up a Trip Point O command in the normal fashion but with an entry address in fast RAM locations 128 to 191 such that the entire TPSR resides within the fast RAM range When the Trip and Output instruction is executed the port parameter is sent out to the bi directional ports The position parameter nextpos sets the next trip point position The Q command always shows the next trip point Trip and Output instructions must be embedded within the TPSR in contiguous locations At end of sequence a new Trip Point can be specified nextpos port None 6420 User Manual Rev B MA6420 7 51 Programming guidelines The following example activates ports P1 P2 P3 P4 in sequence as successive positions are traversed The O command sets the initial trip point to position 1000 and vector address to 128 When this position is encountered execution vectors to location 128 The Trip and Output instruction at location 128 writes a 1 to the bi directional ports and sets the next trip point to position 5000 and the vector address 133 Subsequent execution continues in a similar manner Note Only the E command at the conclusion of editing is necessary to end the trip point service routine Program line Explanation EO 0 Z Zero position 1 1000 128 trip at pos 1000 6 50000 index 1 WO till done 14 W 100 wait 1 sec 17 GO loop E128 128 5000 1 133 10000 2
47. Serial Port 9 pin male D connector Power 3 pin PCD ELVP03100 Motor 5 pin PCD ELVP05100 6420 User Manual Rev B MA6420 A 1 o c o o Appendix B Ordering Information Background This appendix lists 6420 part numbers and gives information on ordering 6420 part number table Pacific Scientific Part Order Comment Stepper Drive 6420 Connector Kit CK6420 25 pin D connector 9 pin D connector 5 pin PCD 3 pin PCD 6420 Dialogue 904 008 101 00 3 1 2 inch User Manual MA6420 Motor Cable SPC xxx 6420 Xxx represents length in feet for example SPC 005 is a cable 5 feet long For lengths over 50 feet contact Pacific Scientific The connectors are MS on the motor end and PCD on the drive end to connect to Pacific Scientific motors Heatsink HS6420 Optional heatsink 6420 User Manual Rev B MA6420 c 2 L o E How to order Contact Pacific Scientific to order these parts Call 815 225 3100 from 8am to 6pm Eastern Standard Time Write Pacific Scientific 4301 Kishwaukee Street Rockford IL 61105 Fax 815 226 3048 B 2 MA6420 6420 User Manual Rev B Appendix C Quick Reference In this chapter This section contains an alphabetized list of 6420 programming commands including a brief description and the operating modes where they apply Detailed descriptions of eac
48. We alternately guidelines index each axis by Program line Explanation enable master indexing 1000 index 1000 steps at current resolution WO wait till done TO enable slave indexing 2000 index at current resolution WO wait till done Note To be meaningful both units must be in Fixed Resolution mode 7 28 MA6420 6420 User Manual Rev B U Loop on Port U addr cond Immediate Execution Purpose This command tests a single I O port bit P1 to P8 and jumps to the specified address addr if cond is true Syntax U addr cond Arguments 0 addr 1791 6420 User Manual Rev B The cond codes are 0 gt Jump if Port 1 high 2 Jump if Port 1 low 2 Jump if Port 2 high 3 gt Jump if Port 2 low 4 gt Jump if Port 3 high 5 gt Jump if Port 3 low 6 Jump if Port 4 high 7 gt Jump if Port 4 low 8 gt Jump if Port 5 high 9 gt Jump if Port 5 low 10 gt Jump if Port 6 high 11 gt Jump if Port 6 low 12 gt Jump if Port 7 high 13 gt Jump if Port 7 low 14 gt Jump if Port 8 high 15 gt Jump if Port 8 low MA6420 Programming guidelines Program line Explanation 0 M1010 3 F300 6 V 1000 9 U401 jump if Port 1 Low 13 U 1003 jump if Port 2 Low 17 G9 E E40 40 1000 CW 1000 steps 45 WO till done 48 0481 wait for release E E100 100 1000 105 WO 108 U 1083 E 7 30 MA6420 6420
49. abling the drive 3 2 Environmental A 4 Convection Cooling A 4 Humidity A 4 Operating temperature A 4 Storage temperature A 4 ESC 7 46 Fast RAM 5 4 Features 1 3 F vel 7 6 Fixed resolution mode 1 2 A 1 Fuse Selection G 7 G addr 7 8 Grounding H 5 H speed dir 7 24 Humidity A 4 6420 User Manual Rev B I mode 7 12 Indexer features 1 4 settings 2 21 Input Interface 2 16 Input Power A 3 Inspection 2 1 Installation 2 1 Instruction Overview 5 3 J addr cntr 7 13 J2 Power 2 7 connector 2 7 diagram 2 8 J3 Motor 2 4 connector 2 4 J4 Serial 2 8 connector 2 8 table 2 9 J5 Signal 2 12 block diagram 2 12 RS 232 Connection 2 10 RS 422 Connection 2 10 RS 485 Connection 2 11 table 2 15 Jumpers 2 21 location 2 21 K 7 15 L addr 7 16 Line transformer selection G 2 M accel decel 7 17 Maintaining Troubleshooting 4 1 Mechanical A 5 Dimensions A 5 H 8 Weight A 5 Memory Map 5 4 Modes of Operation 5 1 Execution Mode 5 3 Immediate Mode 5 1 6420 User Manual Rev B MA6420 Motion Profile Algorithm D 1 Motor Connection 2 4 4 Lead 2 4 8 Lead Parallel 2 7 8 Lead Series 2 6 Mating connector 2 4 Mounting 2 2 H 4 dimenstions 2 2 H 8 Multi axis capability A 2 O position vaddr 7 19 Ordering Information B 1 Output Interface 2 17 Output Motor Phase Current A 3 Overview 1 1 P 7 21 Part numbers B 1 Por
50. actual input state and hence will always be read back as a logic 1 Therefore an inactive level logic 0 must be written to input bits Type K Enter The value of P8 P1 should be displayed with the least significant bit representing MA6420 7 15 L List Program L addr Immediate Purpose Produces a listing of instructions starting from the specified addr returning upto 20 command lines Programs will be listed until a program terminator byte is encountered Syntax L addr Arguments 0 addr 1791 Programming Enter a program starting at location 0 in memory Type L 0 The guidelines program should now be listed on the screen 7 16 MA6420 6420 User Manual Rev B M Accel Decel Factor M accel decel Immediate Execution Purpose Related Commands The accel and decel values determine acceleration and deceleration profiles respectively Accel Decel ramps are determined by lookup table and are NOT specified in terms of dv dt The Initial and Final Velocity parameters are used as indicies into a lookup table to determine a range of step speeds to be applied to the drive The time spent at any given step speed within the range is determined by the accel and decel values and hence determine how quickly the drive ramps up or down in speed The arguments must be in the range of 5 to 255 Values towards the low end result in high acceleration rates and conversely values towards the upper end resul
51. al velocity M Initialization to set the acceleration and deceleration profiles O to setup for a position trip point 6420 User Manual Rev B MA6420 5 3 Initialization and Such as A to initialize memory P to store current Utility Commands parameter values E to edit a program 5 3 Memory Map User programs Fast RAM Approximately 1792 bytes are available for user programs The maximum size of a program in terms of number of command lines is dependent on the actual commands used since each command is composed of 1 to 5 bytes In general programs can be entered into the entire 1792 byte range of User Programs memory however certain commands when utilized require specific areas of memory to be reserved for their use In addition there is a 64 byte segment extending between locations 128 to 191 marked as Fast Ram This area is fast static RAM inside the microprocessor used when a specific command the Trip and Output requires it and when higher response or looping speed is necessary in an application As the name implies this area is NOT saved when the unit is powered down To save the program s in this area to non volatile memory you must issue the P command Upon power up the contents will be restored automatically MA6420 6420 User Manual Rev B Memory Map Details Address Description 0 255 User Programs Location 0 is the starting location when the REMOTE START input is activiated
52. alue is an integer In Variable Resolution Mode a mixed integer fractional value in range of 8 388 607 99 to steps Specifying arg 1 enables continuous echoing of position via the serial interface only in single unit mode Syntax C arg Arguments arg is 0 1 Programming This command is normally used when the 6420 is controlled by a guidelines host computer or with a terminal emulator Type Z lt Enter gt followed by C lt Enter gt The value 0 should be displayed Index incrementally by typing 200 lt Enter gt Type C lt Enter gt again and 200 should now be displayed 7 4 MA6420 6420 User Manual Rev B E Edit Program E addr Immediate Purpose Allows entry of user programs for subsequent execution by the G GO command or execution of a program at location 0 with activation of the Remote Start input or AUTOSTART at power up The addr argument specifies the address at which to edit a new or existing program Syntax E addr Programming guidelines Example Program line Explanantion E 100 Edit a program starting at location 100 M 10 10 F 400 V 1200 1000 E Edit Program mode is entered by the E 100 Various commands are entered and terminated by Enter When completed the last E inserts a terminator byte at the end of the program over writing any pre existing data The ESC key instead of the last E will prevent over writing the next command which is useful for patching in corrections to an existing program whe
53. ault line can be polled for fault conditions Remote Start Stop Limit Switches User Discrete I O 6 Step lt 4 2 0 Direction Moving Fault gt c 2 oa LE rM ox Lu lt Power Supply Motor 6420 User Manual Rev B MA6420 E 1 E 2 Host Operation Single Unit In this configuration a custom host computer program issues immediate mode commands controlling all motion and parameter settings All operations normally embodied in an on board non volatile program are executed on the host with only default motion parameters stored in non volatile memory This approach allows the programming freedom and flexibility afforded by the host programming language and development environment RS 232 RS 422 RS 485 eee Host PC Limit Switches User Discrete I O Step Direction lt _ Moving Fault 6 4 2 0 Motor Motor 2 MA6420 6420 User Manual Rev B E 3 Host Operation Multiple Units This configuration allows up to 32 independent axes to be controlled in immediate mode from a host computer or PLC Normally all the units operate in immediate mode but can also execute from on board non volatile memory Remember the RS 485 implementation is designed as a bus for the host computer to send commands to individual 6420s The host can issue commands to read ports on individual units but individua
54. ce argument allows execution tracing The addr specifies the starting address of a program in the range of 0 to 1791 A special case is where addr 2048 which executes an indexed jump based on the lower 4 I O port bits to 16 locations within address locations 256 to 496 Syntax G trace Arguments 0x 0 M1010 3 F300 execute Indexed Jump 7 8 MA6420 6420 User Manual Rev B Jump Table The following jump table is used for an indexed jump which might be used for a rotary switch used to select 1 of 16 different operations Jump Loc P4 P3 P2 P1 256 1 1 1 1 272 1 1 1 0 288 1 1 0 1 304 1 1 0 0 320 1 0 1 1 336 1 0 1 0 352 1 0 0 1 368 1 0 0 0 384 0 1 1 1 400 0 1 1 0 416 0 1 0 1 432 0 1 0 0 448 0 0 1 1 464 0 0 0 480 0 0 1 496 0 0 0 6420 User Manual Rev B MA6420 7 9 i H Home H speed dir Immediate Execution Purpose The Home instruction initiates a search for the home position Home is executed with dir set for motion that will move the assembly towards the home switch at speed steps second When the home position is reached and the home input switch is activated the motor will reverse direction and move at a speed equal to the Initial Velocity parameter until the home switch is de activated The activated level should be a logic 0 and the de activated level a logic 1 Syntax H speed dir Arguments 20 speed
55. cing or delaying the switching of the output current with respect to the incoming pulse train This should be taken into account if the user is attempting to employ pulse placement techniques Enable the digital electronic damping function by placing DIP switch S1 position 4 in the open position as shown This is the default position and should be used for most applications if your application is affected by loss of torque at mid range speeds If pulse placement techniques are being used disable the digital electronic damping function by placing DIP switch S1 position 4 in the open position Benefit This feature controls torque loss at mid range speeds When enabled the motor maintains torque at mid range operation provided the torque load does not exceed motor torque ratings Maximum delay from input step to change in motor excitation Step frequency lt 500 full steps sec 500 us Step frequency gt 500 full steps sec 270 of step period 6420 User Manual Rev B MA6420 2 21 S 7 2 5 1 2 Idle Current Reduction Definition The Idle Current Reduction ICR function reduces the phase current at times when no motion is commanded Motor current is reduced when no step commands are received for a given time This time can be set to 0 05 seconds 0 1 seconds or 1 0 second Current to both motor windings is reduced by one half The ICR function can be enabled disabled and the time delay between the las
56. cts in material and workmanship and to be made in accordance with Customer s specifications which have been accepted in writing by Pacific Scientific In no event however shall Pacific Scientific be liable or have any responsibility under such warranty if the Products have been improperly stored installed used or maintained or if customer has permitted any unauthorized modifications adjustments and or repairs to such Products Pacific Scientific s obligation hereunder is limited solely to repairing or replacing at its option at its factory any Products or parts thereof which prove to Pacific Scientific s satisfaction to be defective as a result of defective materials or workmanship in accordance with Pacific Scientific s stated warranty provided however that written notice of claimed defects shall have been given to Pacific Scientific within two 2 years after the date of the product date code that is affixed to the product and within thirty 30 days from the date any such defect is first discovered The products or parts claimed to be defective must be returned to Pacific Scientific transportation prepaid by Customer with written specifications of the claimed defect Evidence acceptable to Pacific Scientific must be furnished that the claimed defects were not caused by misuse abuse or neglect by anyone other than Pacific Scientific Pacific Scientific also warrants that each of the Pacific Scientific Motion Control Software Program
57. ctual velocities also depend on the selected StepSize and Resolution Mode For instance in Fixed Resolution Mode with Half Step Size 1 F 400 V 1000 the second line would appear as F 400 400 2 1001 1001 2 rl 2 Notice that the displayed velocities may not be exactly those that where specified This is a result of truncation and roundoff errors during integer division calculations The values within the parentheses 400 2 and 1001 2 indicate the actual velocity values are 200 and 500 5 full steps second because of the half step size selected 7 22 MA6420 6420 User Manual Rev B Programming In Variable Resolution Mode Full Step Size V 0 F2400 and guidelines V 1000 the second line would appear as F 400 12800 32 V 1001 16168 16 rl 2 The values 12800 32 and 16168 16 indicate the actual velocity values are 400 and 1000 full steps second and the automatically chosen step sizes are fine as 1 32 step The 1 command scales velocity and the choosen automatic step sizes producing the expressions 12800 64 and 16168 32 resulting in actual velocity values of 200 and 500 full steps second 6420 User Manual Rev B MA6420 7 23 R Run at Constant Velocity R vel Immediate Execution Purpose Syntax Arguments Related Commands The Run instruction ramps up or down to the specified vel expressed in pulses second In Fixed Resolution Mode the actual speed in steps per second is determ
58. ddress Translation of Labels 6 10 6 7 Upload Utility Label Generation for Addresses 6 10 7 6420 Programming Instructions 7 1 Rev B MA6420 6420 User Manual Appendix A Specifications A 1 Appendix B Ordering Information B 1 Appendix C Quick Reference C 1 Appendix D Ramp Algorithm amp Lookup Table D 1 Appendix E Application Examples E 1 Appendix F ASCII Codes F 1 Appendix G Power Supply Considerations G 1 Appendix H CE Installation Guide H 1 Index MA6420 6420 User Manual Rev B 1 Overview of 6420 Indexer Drive In this chapter This chapter introduces the 6420 Indexer Drive Topics covered are 6420 definition System diagram Warranty information 1 1 6420 Definition Introduction The 6420 Microstepping Indexer Drive provides economical microstepping control with a simple mnemonic programming interface Operation is programmed via the serial communications port A combination of dedicated and user programmable I O provides motor control status indication and sensor feedback Simple single letter mnemonics are used to specify a wide variety of motion commands A terminal or PC with terminal software can be used to familiarize oneself with 6420 operation Various motion parameters can be modified and motion executed immediately from the command line or from on board non volatile memory Many applications can take advantage of the simplicity of developing programs for on board exec
59. designed such that the user can actively drive the inputs with a low impedance source from 0 to 30 Vdc User Interface 6420 Input Normally Open Stage Switch Input Sinki ng Stage Transistor Opto Isolator Input Stage 23 2 16 MA6420 6420 User Manual Rev B 2 3 4 4 Output Interface Suggestions The output stage is a Darlington sink to ground The user generally supplies the V power However the 6420 can provide upto 200 ma from the 5 7 Vdc intended for the slave 6410 interface for applications such as driving 5 Volt nominal Opto 22 devices 6420 User Interface Relay S 7 Open Collector 30 VDC Max Vsat lt 1 0V 70 ma max User Power Supply User Opto Isolator 6420 User Manual Rev B MA6420 2 17 2 4 Using the 6420 to Control a 6410 Drive Introduction A single 6420 can be used to control two axes in either synchronous or alternating fashion The 6420 Indexer Drive must be in Fixed Resolution mode The slave 6410 drive is usually set for the same step resolution but doesn t necessarily have to be Jumpers E12 and E13 are used to configure these modes 2 4 1 Synchronous Operation E12 OUT E13 IN The T command with enb 1 enables step pulses to both master and slave Issuing T with enb 0 disables step pulses to both master and slave 2 4 2 Alternating Operation E12 IN E13 OUT The T c
60. ds E is the initial kinetic energy in joules 6420 User Manual Rev B MA6420 G 7 Example If an unloaded E34 motor rotor inertia 035 oz in sec is rotating at 1500 rpm the stored energy is 3 87 10 035 15002 3 0 joules If all this energy is transferred to a 6800 mf capacitor initially charged to 70 volts the voltage on the capacitor after the transfer is equal to 76 volts Note This exceeds the volt maximum specification of the 6420 drive In practice most or all the kinetic energy is dissipated in the motor windings or in the drive power circuitry so that voltage pump up is often not a problem However in systems running at high speeds and having large load inertia the voltage might be pumped up significantly and circuitry must be added to insure that the 75 volt limit is never exceeded Note Regeneration effects should be considered in the presence of high line conditions To find out if regenerative energy is a problem run the system while monitoring the supply voltage with a storage oscilloscope Alternatively a simple peak detector made form a diode and a capacitor can be attached to the bus and the peak voltage measured using a digital voltmeter Start the system with slow deceleration rates and monitor the motor power supply to see if the voltage rises during deceleration Slowly increase the deceleration rate shorten the deceleration time while monitoring the voltage If regeneration causes t
61. e initiates the indexed jump when the Remote Start input is activated low Each jump executes a particular motion and then terminates returning the 6420 to immediate mode waiting for the next Remote Start activation At the end of motion either a termination byte put there by the E command or a branch to another location G instruction must occur Remember that only 16 locations are available for instructions including the program termination character or G instruction MA6420 6420 User Manual Rev B Example EO 0 Any initialization code G 2048 execute indexed jump E End of program here This is the first profile to HOME the unit where P 4 1 2 Logic 1 1 1 1 E 256 256 H 200 1 This is the 2nd profile where P 4 1 Logic 1 1 1 0 E 272 272 M 40 40 800 This is the 3rd profile where P 4 1 Logic 1 1 0 1 c 2 oa LE rM ox Lu E E 288 288 M 100 40 200 6420 User Manual Rev B MA6420 E 9 Here s another example where an AUTOSTART program waits for Port 8 to activate the program E 1600 1600 Any initialization code LoopU Loop 14 don t continue until Port 8 inactive Port 8 must now be inactive high WlowU Wlow 14 don t continue until Port 8 active low G 2048 execute indexed jump E End of program here This is the first profile to HOME the unit where P 4 1 Logic 1 1 1 1 E 256 256 H 200 1 W 0 G Loop E This is the 2nd profile where P 4 1
62. econd wait command The optic design be it a reflecting or slotted type may require some moving distance to disengage or deactivate its output The program below runs at a constant slower speed until the sensor is cleared and then loops back to the beginning This continuous running program can easily be modified to start up with an external input applied to an I O port 128 R 1200 spin the motor 131 U 140 14 jump to location 140 when stop point is detected by the optic sensor 135 G 131 continue polling Port 8 140 RO decelerate to 0 143 W 100 1 second wait in parallel to 0 146 U 146 14 loop till optics deactivated 150 G 128 back to beginning c 2 oa LE rM ox Lu E 6420 User Manual Rev B MA6420 E 7 Input Port Polling Times Using the Input Port to Select 1 of 16 Different Profiles Some applications may require estimates of branching times The program below in FAST memory takes between 200 us to 1 ms to respond to an input line The same program in SLOW memory requires approximately 1 ms to 12 ms to respond to an input line change 128 U 140 14 132 G 128 140 W 100 143 G 128 An external thumbwheel switch can be used to select 1 of 16 different motion profiles There are several different approaches to implementing this capability but the easiest approach uses the G instruction to execute an indexed jump based upon the state of the lower 4 input port lines This exampl
63. ediate Execution Purpose Sets jog speed This value is multiplied by 30 to determine speed in pulses second Acceleration is ramped Deceleration is normally not ramped except in the case of activating both JOG inputs and releasing one Jog inputs are active in idle mode that is when not in middle in entering a command and while not running a program Syntax speed Arguments 0 lt speed lt 255 6420 User Manual Rev B MA6420 7 37 Absolute Move 9 position Immediate Execution Purpose Indexes the motor to an absolute position given by the internal position counter In Fixed Resolution mode the position specifies 8 388 607 pulses So if position 200 and StepSize is set for Full steps the shaft spins 1 revolution If position 1600 and StepSize is set for 1 8 step 1600 pulses rev then the shaft also spins 1 revolution In Variable Resolution Mode the position specifies 8 388 607 99 Full steps with 0 01 step size resolution 20 000 pulses rev If position 200 00 then the shaft spins revolution Syntax position Arguments 8 388 607 lt position lt 8 388 607 In Fixed Resolution 8 388 607 99 lt position 8 388 607 99 In Variable Resolution Related M set acceleration deceleration profile Commands F set initial velocity V set final velocity I set Resolution Mode Y set StepSize Z Zero Position Counter 7 38 MA6420 6420 User Manual Rev B Programming Pr
64. figured as an output The block diagram of a single I O bit is shown below Block diagram 22K r v V V V o 5 7 V v e 5Vdc ERIS PF dz e INDEXER AAA DIRECTION M MA e lt J CONTROL PROCESSOR 74HC14 fs ee co ste a wee PT Pets ald JUMPER 39V ULN2003 Z ERES Note Inputs accept 0 30 VDC max where Vin lt 8V is a logic low and Vin 2 3 7V is a logic high All outputs are Open Collector 30 VDC 70 ma sink Vsa 1 0V All I O signals are active low Note f a bit is desired to be an input the jumper must be out and an inactive level low written to the bit using the Y command Otherwise as a consequence of the wired AND design of the indexer a logic 1 written to a bit configured as an input will always be read back as a Programs executing from non volatile memory can only output to these discrete bits reading is not allowed 2 12 MA6420 6420 User Manual Rev B J5 port The J5 connector pin designations are shown below designations Port Pin Number Jumper TO 1 J5 17 E3 Input 1 OR Output 1 2 J5 4 E4 Input 2 OR Output 2 6 3 J5 16 ES Input 3 OR Output 3 4 15 3 E6 Input 4 OR Output 4 5 5 J5 15 E7 Input 5 OR Output 5 E 6 J5 2 E8 Input 6 OR Output 6 7 J5 14 E9 Input 7 OR Output 7 8 J5 1 E10 Input 8 OR Output 8 GND J5 5 Ground return for I O GND 35 18 s
65. generated for the operands of branch to address commands The labels are then inserted in the appropriate places in the program The labels generated have the form Lxxx where the labels are sequentially generated starting with L000 Note Jf a 6420 program is written off line on the PC with labels and then downloaded when the program is uploaded the labels will take the form described above The labels used in the program prior to downloading will exist only in the original file on the PC To avoid confusion when developing 6420 programs it is recommended that the labeling scheme used by the Upload Utility be followed That is when writing a 6420 program on the PC use labels of the form Lxxx starting with L000 and progressing sequentially through the program By following this practice a program will not change labels when downloaded and then uploaded 6 10 MA6420 6420 User Manual Rev B 7 6420 Programming Instructions 5 a ED 6 5 55 In this chapter This chapter contains detailed descriptions of the 6420 commands The command and the mode of operation where it can be used is listed at the top of the page Commands are then described using the following format Purpose purpose of the instruction Syntax exact format of the command Programming guidelines pertinent information about using the command Example showing use of the instruction in a program segment 642
66. h command are given on the page indicated in Chapter 7 Command Description Mode Page steps Incremental move Immediate Execution 7 40 steps Incremental move Immediate Execution 7 42 axis Selective Termination Immediate 7 54 addr data Write Non volatile Memory Immediate 7 49 polarity Limit Polarity Immediate 7 53 gt addr size Read Non volatile Memory Immediate 7 48 position Absolute move Immediate Execution 7 38 step size Stepsize VelScale Immediate Execution 7 44 E Read Moving Status Immediate 7 50 speed Set Jog Speed Immediate Execution 7 37 C Software Reset Immediate 7 47 nextpos port Special Trip Execution 7 51 A opcode Clear and Restore Immediate 7 2 B addr cntr Jump inner loop Execution 7 13 C arg Read Position Counter Immediate 7 4 E addr Program Mode Immediate 7 5 ESC Abort or Terminate Immediate 7 46 F vel Initial Velocity Immediate Execution 7 6 G addr trace Go Immediate Execution 7 8 H speed dir Home Immediate Execution 7 10 6420 User Manual Rev B MA6420 Table cont d Command Description Mode Page I mode Resolution Mode Immediate 7 12 J addr cntr Jump outer loop Execution 7 13 K Read Input Port Immediate 7 15 L addr List program Immediate 7 16 M accel decel Ramp Slope Immediate Execution 7 17 O pos
67. he supply voltage to exceed 75 V dc peak a clamping circuit is required Note Be sure to consider the effect of high line voltage when evaluating this test MA6420 6420 User Manual Rev B Clamping Circuit If a clamp is required a power zener diode can be used as shown in the figure The maximum zener clamp voltage must not exceed 75 volts Caution If a clamp is required the transformer secondary voltage must be re checked to insure that the minimum clamp voltage is not exceeded under high line and low load conditions when there is no regeneration Otherwise the zener might overheat and fail To determine the required diode power rating start with a 5W device and monitor the zener current with a current probe Power in watts is the average current in amps times the zener voltage Estimate the average current from the oscilloscope trace and compute the power Select a zener rated slightly higher than the gt 2 measured power 5 ios 25 If the average power is too high to be conveniently dissipated in a E zener diode the active voltage clamp circuit shown below be used instead Power is dissipated in the 250 30W resistor if the 2 o Motor Power Supply voltage exceeds 75 volts 5 Active clamp circuit MOTOR POWER SUPPLY 4 12 2 49 9K t 250 30W 2 4 02K 4002 64 9K 4 02K ons 7 0 01 uF 1 T 220 100V
68. ignals GND J5 20 Note The Discrete I O connector has its own ground points completely isolated from the unit s bus power The minimum requirement to operate the unit is to enable motor current by connecting J5 7 ENABLE to one of the three J5 ground points J5 5 J5 18 or J5 20 6420 User Manual Rev B MA6420 2 13 2 3 4 1 Dedicated Discrete Input Output Lines Introduction Input Outputs INPUT NN fp o_o VV V e f The 6420 s operation is controlled by several input lines These lines are active low Input lines are RC filtered and passed to a 74HC14 Schmidt Trigger The block diagram of input and output lines are shown below 22K AAA 5 7 V e 5VDC 470 pF INDEXER 7 PROCESSOR max 100K 74HC14 INPUT VOLTAGE Note Inputs accept 0 30 VDC max where Vin 8V is a logic low and Vin gt 3 7V is a logic high The 6420 s outputs are open collector Darlington ULN2003 drives Inductive kick back protection is provided by the built in diode and 39 V Zener diode OUTPUT e 0 6 lt INDEXER E PROCESSOR 39 V ULN2003 za c N Note All outputs are Open Collector 30 VDC 70 ma sink lt 1 0V All IYO signals are active low 2 14 MA6420 6420 User Manual Rev B 2 3 4 2 Dedicated Input Output Pin Designations J 5 Introduction The pin definitions for all 6420 control lines are sho
69. ined by the current StepSize So if vel 1000 and the step resolution is set for Full Steps 200 pulses rev then the shaft spins at 1000 full steps sec or 300 RPM If vel 1000 and the step resolution is set for 1 8 Steps 1600 pulses rev then the shaft spins at 125 full steps sec 37 5 RPM In Variable Resolution Mode the speed is determined by the VelScale factor So if VelScale has been set by issuing 0 the nominal value and vel 1000 then the shaft spins at 1000 full steps sec or 300 RPM If VelScale has been set by issuing 2 and vel 1000 then the shaft spins at 250 full steps sec or 75 RPM Note In Variable Resolution Mode direction is determined by the sign of velocity R vel 20 lt lvell 19 000 M set acceleration deceleration factors MA6420 6420 User Manual Rev B Programming guidelines Program line M 10 10 F 300 R 100 W 1000 R 100 W 1000 RO 6420 User Manual Rev B MA6420 Explanation set accel decel factors set initial velocity accelerate to 100 steps sec CW wait for 10 seconds accelerate to 100 steps sec CCW wait for 10 seconds ramp down to 0 steps sec S Stop S arg Immediate Execution Purpose Stops motion with ramping deceleration specified by the M instruction If the Indexer is currently running a program in execution mode or a motion command motion will cease with ramping deceleration If embedded in a program an optional
70. it Serial Port menu after making changes to any parameters type Enter after the last parameter in the menu Any changes made to the parameters are saved to a disk file in the current directory after exiting the Init Serial Port menu and thus are used as the default settings upon the next invocation of 6420 Dialogue These default settings are stored in a binary data file named PORT CFG 3 o amp a Q 6420 User Manual Rev B MA6420 6 7 6 4 Indexer Language for the 6420 Series Introduction Pacific Scientific Indexer Language is a modified form of the program language of the Pacific Scientific Model 5240 Stepping Motor Indexer Drive The language for the 6420 has been modified so that symbolic labels can be used as the operand for branch to address commands for example J the JUMP command Syntax checking is done on the Indexer Language and labels are translated to their target address by the Syntax Checker before a program is downloaded When a program is uploaded labels are generated for the operands of branch to address commands 6 4 1 Use of Symbolic Labels in Programming A line of program code has this format LABEL COMMAND OPERANDI OPERAND2 where LABEL is optional and OPERAND2 exists for some commands One or more blanks must be used between a label and a command or between operands but blanks are not necessary between the command and OPERANDI Tabs may be used in place
71. ition vaddr Trip Point Execution 7 19 P Store Parameters Immediate 7 21 Q Examine Parameters Immediate 7 22 R vel Run at constant velocity Immediate Execution 7 24 S arg Stop Immediate Execution 7 26 T enb Master Slave Control Immediate Execution 7 27 U addr cnd Loop on Port Immediate Execution 7 29 V vel Final Velocity Immediate Execution 7 31 W period Wait Immediate Execution 7 32 X arg Read Limits Immediate 7 33 Y port Write Output Port Immediate Execution 7 34 Z Zero Origin Immediate Execution 7 36 C 2 MA6420 6420 User Manual Rev B Appendix D Ramp Algorithm amp Lookup Table Introduction The 6420 Indexer Drive uses a lookup table to determine the number of steps in the velocity ramp that occur from the initial start stop speed velocity to the final velocity The lookup table contents are included at the end of this appendix The velocity profile is a quantized linear ramp with discrete velocities stored in a lookup table The velocity commands are in pulses per second The algorithm begins at the exact start stop velocity entered then runs at the next highest velocity in the lookup table The velocity increments until it reaches the value immediately before the final velocity entered The next velocity will be the final velocity The number of pulses output at each velocity is determined by the M slope command The M value sets the number of pulses at each velocity For example M5 F300 V3000 The start s
72. l Rev B Example The transformer used to supply three 6420 drive modules each set for 5 Amps rms should have a rated secondary rms current of 1 8 5 5 5 27 amps or greater Note It is generally not advisable to significantly oversize the transformer because this will increase rectifier surge current during turn on as well as capacitor ripple current G 1 2 Rectifier Diode Selection Voltage rating Current Rating For the bridge rectifier configuration shown the peak inverse voltage PIV equals 1 414 times the secondary rms voltage For example a 40 Vrms secondary will develop 1 414 40 56 6 PIV across the rectifier diodes To allow for line variation and spiking allow at least a 50 safety factor in the diode rating Therefore the PIV rating of the rectifier diodes should be at least twice the rated secondary rms voltage gt o L o gt Considerations Since each diode conducts only on alternate cycles the average diode current will be half the supply s average DC current load on the supply When power is first applied there is a surge of current to charge the capacitor s which must be less than the diode s peak one cycle surge current Ipsm rating Typically diodes are chosen with an average current rating of at least twice the average current load of the supply It is often advisable to select diodes with an even greater average current rating because they have lower thermal
73. l 6420s cannot initiate transfers back to the host Only the host is the bus master As in other configurations an individual 6420 can also control a slave 6410 RS 485 Upto 32 Independent Axis Host PC or PLC Power Supply c 2 oa LE Oo 5 ox Lu lt Motor 6420 User Manual Rev B MA6420 E 3 E 4 PLC Based Control This configuration is similar to the others described above with the PLC acting as the host computer The PLC can interface to the parallel port lines via a RS 232 RS 422 or RS 485 interface RS 232 RS 422 RS 485 User Discrete I O Step Direction Moving Fault Limit Switches Step Direction Moving Motor Power Supply E 4 MA6420 6420 User Manual Rev B sss EEE E 5 6420 Dispensing Product onto Conveyer Belt This example shows the 6420 Indexer Drive and motor dispensing products onto a conveyor belt and into a shipping container The stepper motor supplies start stop motion to a paddlewheel ejector to dispense the product An optic sensor is used to advance the paddlewheel to the starting point An external Start signal initiates motion to eject the product the motion continues for one revolution until the paddlewheel is aligned for the next cycle A host computer or an on board non volatile program sets the acceleration deceleration and velocity parameters and the 6420 executes the motion Product to be
74. le actual shaft speed arg The resolution settings also depend on the drive settings which for this instruction select either binary or decimal step sizes The factory default is binary step sizes Fixed Binary Fixed Decimal VR Speed 0 Full Not allowed Full speed 1 1 2 Full 1 2 2 1 4 1 2 1 4 3 1 8 1 5 1 8 4 1 16 1 10 1 16 5 1 32 1 25 1 32 6 1 64 1 50 1 64 7 1 128 1 125 1 128 8 1 256 1 250 1 256 MA6420 6420 User Manual Rev B Programming In the following program assume the unit is set for Fixed guidelines Resolution Mode Program line Explanation EO V0 Full steps 200 steps rev 1000 spin CW 5 revolutions WO 10 W 100 13 V Quarter steps 800 steps rev 15 1200 spin CCW 1 5 revolutions 20 WO 23 W50 In Variable Resolution Mode 0 Full speed 2 1000 spin CW 5 revolutions 7 WO 10 W 100 VQ 1 4 speed 15 1200 spin CCW 6 revolutions 20 WO 23 W50 6420 User Manual Rev B MA6420 7 45 ESC Abort ESC Immediate Purpose Terminates any active operation and returns Indexer to the immediate or idle mode If motor is in motion it will be immediately stopped without ramping deceleration Output ports will not be affected In RS 485 multi unit mode motion on all axes is stopped Syntax Arguments None 7 46 MA6420 6420 User Manual Rev B C Software Reset C Immediate Purpose Stops all axes loads default
75. ly use a MS style connector at the motor end The cable assembly using standard Pacific Scientific stepper motor color coding is shown below 27 in C mm 27 in 7 mm To Drive B Red E 27 in 7 mm NI 27 in 7 mm 0200900 27 in 7 mm MA6420 6420 User Manual Rev B Procedure 1 Strip the wires to 0 27 inch 7 mm 2 Attach the wire to the connector as indicated in the diagram Note Make sure the screws on the PCD connector are tightened down firmly to the wiring Caution connector This can result in a loose connection Do not pre tin solder the tops of the cables going into the PCD 3 Remove power from the 6420 Warning the unit The motor terminals have high voltage present when Always remove power before making or removing connections to the 6420 is On 4 5 6 7 Switch On the 6420 Plug the mating connector firmly into the 6420 Connect the cable shield to 6420 ground if applicable Plug the other mating connector into the motor 6420 User Manual Rev B MA6420 2 S 7 2 3 1 2 8 Lead Motor Series Connected Introduction For an 8 lead motor to be wired in series build and install the cable as follows Building an 8 lead The connector assembly using standard Pacific Scientific series motor cable stepper motor color coding is shown below
76. n using a terminal emulator Program execution can be interrupted by Remote Stop ESC or the S key After interruption of an AUTOSTART program the sign on procedure must be carried out 6420 User Manual Rev B MA6420 7 5 F Initial Velocity F vel Immediate Execution Purpose Example Example Syntax Arguments Related Commands Sets the initial velocity to ve pulses second In Fixed Resolution Mode the actual speed in steps per second is determined by the current step size If vel 1000 and the step resolution is set for Full Steps 200 pulses rev then the shaft spins at 1 000 full steps sec or 300 RPM If vel 1 000 and the step resolution is set for 1 8 Steps 1 600 pulses rev then the shaft spins at 125 full steps sec 37 5 RPM In Variable Resolution Mode the speed is determined by the VelScale factor If VelScale has been set by issuing V O the nominal value and vel 1000 then the shaft spins at 1 000 full steps sec 300 RPM If VelScale has been set by issuing 2 and vel 1000 then the shaft spins at 250 full steps sec 300 RPM 25 75 RPM F vel 0 vel 19 000 V Set final velocity MA6420 6420 User Manual Rev B Programming guidelines Program line Explanation F 300 set the initial velocity V 3000 6420 User Manual Rev B MA6420 7 7 G Go G addr trace Immediate Execution Purpose Executes a user program at a specified addr The optional tra
77. ng in many applications Fault protection Line to line and line to neutral shorts Internal power supply under voltage Bus overvoltage Small size Only 7 5 square inches of panel space UL Recognized 508C Type R File E 137798 This also complies with CSA Standard for Process Control Equipment C22 2 No 142 M1987 Vibration IEC Standard 68 2 6 6420 User Manual Rev B MA6420 1 3 Indexer features Simple mnemonic command set may be executed from internal NVRAM or from a more powerful host Serial port communications supporting RS 232 RS 422 and RS 485 multi drop Multi axis Single 6420 can control two independent or synchronous axes with an additional drive and no glue logic Input Output ports Eight general purpose bi directional user programmable input output ports Internal Memory Approximately 1792 bytes of non volatile memory are available for user programs 1 2 System Components 1 3 Warranty The other components that along with the drive comprise a complete motor control system are Single Power Supply 24 75 Vdc Motor Installation guidelines for these components are described in Chapter 2 Installing the 6420 Indexer Drive The Pacific Scientific 6420 Indexer Drive has a two year warranty against defects in material and assembly Products that have been modified by the customer physically mishandled or otherwise abused through miswiring incorrect switch setti
78. ngs and so on are exempt from the warranty plan MA6420 6420 User Manual Rev B 2 Installing the 6420 Indexer Drive In this chapter This chapter explains how to install the 6420 Indexer Drive Topics covered are Unpacking and inspecting the 6420 Installation of motor power discrete I O and serial communications cables Configuration of drive and Indexer jumpers and DIP switch Attention to details such as heat sink requirements and power supply filter capacitor S 7 2 1 Unpacking and Inspecting the 6420 Unpacking 1 Remove the 6420 from the shipping carton Make sure all procedure packing materials are removed from the unit 2 Check the items against the packing list A label located on the unit identifies the unit by model number serial number and date code Inspection Check items for any damage If you find damage either procedure concealed or obvious promptly contact your buyer to make a claim with the shipper Storing the unit Store the 6420 in a clean dry place preferably in the original shipping carton 6420 User Manual Rev B MA6420 2 1 LLLLLLLLLLQLLLUGIEEAIRA UBQBS 455408 MT 2 2 Mounting the 6420 in Your Installation Cabinet Select a standard 8 inch 205 mm deep NEMA National selection Electrical Manufacturers Association enclosure appropriate for industrial applications Caution The
79. not displayed Toggles editor display from 128 ASCII characters to 256 IBM characters default ASCII characters Reformats a paragraph Moves cursor up a line Moves cursor down a line Moves cursor left a space Moves cursor right a space Move cursor one word to the left Move cursor one word to the right Delete line cursor is on Scroll up a line Scroll down a line Move cursor to beginning of line Move cursor to the end of line Previous Page Move to top of screen Move to bottom of screen Move to beginning of file Move to end of file Tab MA6420 6420 User Manual Rev B ALT M Begin marking a block of text use cursor arrows to mark rest of block ALT C Copy marked block to scrap ALT X Cut marked block to scrap ALT P Paste scrap at cursor position ALT S Search for pattern target starts search cancels search 6 3 6 Init Serial Port After selecting this utility the serial port parameters can be initialized or changed If the parameters do not need to be changed then type Esc Typing lt Esc gt at any point in the Init Serial Port menu will exit without saving any changes to the parameters The parameters are selected by using the up or down arrow keys As each parameter is highlighted its sub menu displays the list of each parameter s values The choices can be selected with the Up and Down keys A parameter and its value are entered with a Enter To exit the In
80. ntax Arguments Related Commands Programming guidelines Writes to user defined I O ports where the port specifies a binary weighted port selection bit The port bits are active LOW e g Y 1 activates Port 1 Y port 0 port 255 Y 0 deactivates all bits producing Logic HIGHs Y 255 activates all bits producing Logic LOWs K Read Input Port To program an I O bit as an output the respective jumper must be inserted Ports to Port 8 are configured by jumpers to E10 respectively The bit weightings are as follows Port 1 21 Port 5 16 Port 222 Port 6 2 32 Port 3 4 Port 7 64 Port 4 8 Port 8 128 Note Avoid driving a port configured as an output by a low impedance input MA6420 6420 User Manual Rev B Program line Explanation YO Port 1 to 8 outputs off open pulled up Y2 Port 2 output ON sinking to ground 6420 User Manual Rev B MA6420 7 35 Z Zero Origin Z Immediate Execution Purpose Syntax Arguments Related Commands Programming guidelines Zeros position counter This is normally done before a sequence of absolute moves and or trip sequences None Absoloute Indexes Program line Explanation 0 Z Zero origin 1 Q 200 index 1 revolution 6 WO wait till done 9 W100 wait 1 second 12 0 index back to position 0 17 WO 20 GO loop MA6420 6420 User Manual Rev B El TC Cy Set Jog Speed speed Imm
81. ocity of 100 steps per second clockwise Type R 100 lt enter gt This will change the direction of the motor rotation Type S enter The motor should stop rotating If the controller passes all of the above then you may start exercising the unit on your own If the 6420 does not pass all of the above steps refer to Section 4 2 Troubleshooting MA6420 6420 User Manual Rev B 4 Maintaining Troubleshooting In this chapter This chapter covers maintenance and troubleshooting of the 6420 4 1 Maintaining the 6420 Introduction Procedure The 6420 module is designed for minimum maintenance The following cleaning procedure as needed will minimize problems due to dust and dirt build up Remove superficial dust and dirt from the module using clean dry low pressure air 4 2 Troubleshooting the 6420 Introduction Use the following table to diagnose and correct most problems If you are unable to achieve satisfactory operation contact your local Pacific Scientific distributor or Applications Engineering Dept Symptom Corrective Action No RS 232 Verify that the 6420 E11 jumper is OUT placing the 6420 into Communication single unit RS 232 RS 422 mode Verify that the transmit of the host terminal is wired to the 6420 receive and vice versa Normally DTE Data Terminal Equipment devices transmit data on pin 2 and receive data on pin 3 Verify the serial port settings to be 9600
82. ogram line Explanation guidelines M 10 10 F 300 V 1000 Z Zero the position counter 2000 index to position 2000 WO wait till index done W 150 wait 1 5 seconds Y1 activate Port 1 output LOW Q0 index back to initial position W 150 wait 1 5 seconds YO de activate Port 1 output HIGH 6420 User Manual Rev B MA6420 7 39 Positive Incremental Move steps Immediate Execution Purpose Moves the motor a total of steps in the CW direction with a trapezoidal velocity profile shown below In Fixed Resolution mode the steps specifies 8 388 607 pulses So if steps 200 and StepSize is set for Full steps the shaft spins 1 revolution If steps 1600 and StepSize is set for 1 8 step 1600 pulses rev then the shaft also spins 1 revolution In Variable Resolution Mode the steps specifies 8 388 607 99 Full steps with 0 01 step size resolution 20 000 pulses rev If steps 200 00 then the shaft spins 1 revolution Final Vel Initial Vel Syntax steps Arguments 0 lt steps 8 388 607 Fixed Resolution 0 00 lt steps 8 388 607 99 Variable Resolution 7 40 MA6420 Related M set accel decel Commands F set initial velocity V set final velocity I set resolution mode V set StepSize Programming guidelines Program line Explanation M 10 10 set accel decel factors F 300 set initial velocity V 1000 set final velocity 1000 52 index 1000 52 steps 642
83. ommand with enb 1 enables step pulses to the master and disables the slave Issuing T with enb 0 disables the master and enables slave Note Do not insert both E12 and E13 at the same time J5 J1 6420 6410 Indexer Drive Drive Note All slave 6410 jumpers and DIP switches must be properly set See the 6410 Data Sheet for additional information 2 18 MA6420 6420 User Manual Rev B 2 5 Factory Default Settings Introduction The 6420 unit is a two board assembly incorporating a drive and an Indexer card set With the cover removed the topmost visible board is the Indexer The Indexer mounts on the drive board and is separated by standoffs Drive The drive has an eight position DIP switch S1 and a group of four jumpers J6 controlling drive current digital electronic damping idle current reduction and binary or decimal step size The DIP switch S1 is easily accessible without removing the Indexer card The default factory set jumpers are usually suitable for most applications but can be modified if necessary The jumpers J6 may be removed using needle nose pliers To reinstall the jumper loosen the screws on the indexer board If the indexer board must be removed it must be re aligned properly before tightening the screws Warning When installing the indexer board make sure the 20 pin connector is aligned properly Misalignment will seriously damge the drive Indexer The Indexer has thirteen pl
84. on commences One exception to this would be if the specified duration of the index in steps were not long enough to allow the motor to reach the Final Velocity then the profile would top out at some intermediate point followed by the deceleration interval 6420 User Manual Rev B MA6420 D 3 Ramp E D Profile Generator Look up Table 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 3126 3225 3348 3461 3582 3690 3804 3925 4028 4137 4251 4342 4468 4568 4672 4744 4856 4974 5056 5141 5273 5365 5461 5560 5610 5715 5823 5936 5994 6113 6174 6301 6366 6433 6501 6606 6678 6788 6864 6942 7021 7271 7358 7447 7538 7585 7680 7777 7826 7927 7979 8084 8137 8246 8302 8416 8474 8533 8593 8714 8777 8840 8904 8969 9035 9170 9239 9309 9380 9452 9525 9600 9675 9752 9752 9830 9909 9990 10072 10155 10240 10240 10326 10413 10502 10593 10593 10685 10778 10778 10874 10971 10971 11070 11170 11170 11273 11377 11377 11592 11702 11702 11815 11815 11930 11930 12047 12166 12166 12288 12288 12412 12412 12538 12538 12538 12668 12668 12800 12800 12934 12934 13072 13072 13072 13212 13212 13356 13356 13356 13503 13503 13653 13653 13653 13806 13806 13806 13963 13963 14124 14124 14124 14288 14288 14288 14456 14456
85. or was made by entering E error address followed by CR If you want to selectively change only the line where the error was made enter the new command followed by CR as you normally would do but leave the edit mode by pressing the ESC key instead of E CR If you inadvertently enter the E CR combination the next command in the program will be over written with an invisible program termination code and you will have to go back and selectively replace this line If you want to continue editing the program from this point on continue to do so and conclude editing with E CR You can test the program by using the G address command to execute the code The program will continue to execute until it completes or you press the ESC key If the 6420 is configured for multi unit RS 485 communication no sign on message will appear Commands are sent to individual units based on a pre assigned node address assigned in single unit mode as described in the Serial Communications Port J4 section followed by the command terminated by a line feed lt LF gt character Once a unit recognizes it s single letter node address that address character and commands entered up to the lt LF gt will be echoed back to the user MA6420 6420 User Manual Rev B 5 1 2 Execution Mode Once the program starts it will continue to execute until it is done aborted with the SO command embedded in the program is aborted by the ESC or S key
86. ory If the user selects a filename that already exists then it will be overwritten thus it is good practice to use a different extension or filename for the uploaded file In particular the filename ext of the source file that was downloaded should not have the same filename ext as the uploaded file or the source file contents will be replaced with the uploaded file When choosing extensions for filenames the use of LST should be avoided The LST extension is used by the 6420 Dialogue program for the listing files created by the Syntax Checker Note The Upload Utility will not function properly if voids empty addresses exist between sections of code in the memory Contact the factory for additional information After a file has been successfully uploaded the message Upload completed is displayed If the lt Path gt filename ext is unacceptable then the message Couldn t open file is displayed When uploading a file labels will be generated for any branch to address command Note that for a program that has been downloaded the symbolic labels and references are stripped out and replaced with numeric addresses At uploading these have been replaced with numeric sequential labels It is good practice to use a different extension or filename for uploaded files Label generation for Pacific Scientific Indexer Language is covered in Section 6 7 Upload Utility 6 3 3 Download Utility After selecting this utility the u
87. ote Do not ship Pacific Scientific motors to the above address The correct address for motors is Pacific Scientific Motor Products Division 4301 Kishwaukee Street Rockford IL 61105 Attn Repair Department RMA Shipment of your drive or motor to Pacific Scientific constitutes authorization to repair the unit Refer to Pacific Scientific s repair policy for standard repair charges Your repaired unit will be shipped via UPS Ground delivery If another means of shipping is desired please specify this at the time of receiving an RMA 6420 User Manual Rev B MA6420 o c o 5 Programming Overview and Instruction Set Description 5 1 Modes of Operation Introduction The 6420 can operate in Immediate or Execution Mode Immediate Mode is an interactive command line mode where commands are entered and immediately executed Immediate Mode is used during program development or when controlling the unit with a host computer Execution Mode is used when the 6420 is executing a program out of its non volatile memory usually when used as a standalone Indexer During power up if the AUTOSTART program is found at location 1600 in non volatile memory execution will begin at 1600 If the REMOTE START line is activated LOW in Immediate Mode the unit will start executing the program at location 0 in memory 5 1 1 Immediate Mode After power up providing that neither REMOTE START nor the AUTOST
88. paragraph for the motor cable For additional information please contact the factory to request Application Note 106 Reducing Motor Drive Line Noise Application Note 107 Reducing Motor Drive Radiated Emissions MA6420 6420 User Manual Rev B Connection Diagram SERIAL PORT TO HOST PC OR PLC USER S CONTROL ELECTRONICS REMOTE START DIRECTION REMOTE STOP A 5V RTN TXD 232 RXD 232 N C COMMON IXD 485 __ 485 RXD 485 RXD 485 Qoo c Port 8 Port 6 Port 4 Port 2 GND STEP ENABLE LIMIT HOME JOG FAULT 5 7 Vde PORT 7 5 PORTS PORT 1 GND GND LIMIT JOG MOVING OMONOaTRWN PaciFic SCIENTIFIC 6420 INDEXER DRIVE c CONDUARWND J2 NOT USED DC DC Case GND Phase A Unregulated 24 Vdc to 75 Vdc Phase A Phase B Phase B Case Gnd CHASSIS gt o L gt Considerations 2 Phase Stepper Motor 6420 User Manual Rev B MA6420 Mechanical Outline CLEARANCE FOR M4 or 6 32 SCREW 0 04 e 4 30 109 2 mm
89. parameter values zeros origin executes any user program AUTOPROGRAM at location 1600 Indexer will wait for the spacebar sign on or external REMOTE START or JOG or JOG inputs Syntax Arguments None 6420 User Manual Rev B MA6420 7 47 Read Memory addr size Immediate Purpose Displays a specified block of non volatile memory starting at addr returning a total of size bytes The value of addr must be in the range of 0 to 2047 and block size 0 255 Displayed values are in decimal format Syntax gt addr size Arguments 0 lt addr lt 2047 and 0 lt size lt 255 7 48 MA6420 6420 User Manual Rev B Write Memory addr data Immediate Purpose Writes a data byte to an address specified by addr in non volatile memory The addr must be in range of 0 to 2047 and data must be in range of 0 to 255 Syntax addr data Arguments 0 addr 2047 and 0 lt size lt 255 6420 User Manual Rev B MA6420 7 49 Read Moving Status Immediate Purpose Returns an integer number representing the current move status Bit weights 1 gt Indexing 2 gt Constant Speed 128 gt Drive Fault Syntax Arguments None 7 50 MA6420 6420 User Manual Rev B Trip and Output nextpos port Execution Purpose Syntax Arguments This instruction is designed to be used within a Trip Point Service Routine TPSR and provides the capability of setting or clearing user I
90. round rail 6420 User Manual Rev B MA6420 H 3 gt o L gt Considerations Safety Drive mounting Cable Routing In addition to the safety guidelines given in Section 2 2 observe the following Electronic drives contain electrostatic sensitive devices which can be damaged when handled improperly Qualified personnel must follow ESD protection measures For example wear grounded heel and wrist straps when contacting drive Follow IEC 536 2 and IEC 1140 for installation protection against electric shock Installation shall be performed in accordance with local electric codes local accident prevention rules and EN 61800 3 All covers shall be closed during operation Braided cable shields should be connected to protective earth ground Mount the drive to a conductive surface of the machine chassis to ensure a good high frequency ground If the chassis is painted or coated with another nonconductive coating remove the coating from the mounting location prior to mounting the drive To avoid the risk of crosstalk motor and command I O cables should be kept away from sensitive signal cables such as telephone and intercommunication lines MA6420 6420 User Manual Rev B Cable shielding following information is not required for CE compliance of a and grounding single axis installation When planning a multi axis installation or if extra high frequency noise reduction is
91. s Program s will when delivered conform to the specifications therefore set forth in Pacific Scientific s specifications manual Customer however acknowledges that these Programs are of such complexity and that the Programs are used in such diverse equipment and operating environments that defects unknown to Pacific Scientific may be discovered only after the Programs have been used by Customer Customer agrees that as Pacific Scientific s sole liability and as Customer s sole remedy Pacific Scientific will correct documented failures of the Programs to conform to Pacific Scientific s specifications manual PACIFIC SCIENTIFIC DOES NOT SEPARATELY WARRANT THE RESULTS OF ANY SUCH CORRECTION OR WARRANT THAT ANY OR ALL FAILURES OR ERRORS WILL BE CORRECTED OR WARRANT THAT THE FUNCTIONS CONTAINED IN PACIFIC SCIENTIFIC S PROGRAMS WILL MEET CUSTOMER S REQUIREMENTS OR WILL OPERATE IN THE COMBINATIONS SELECTED BY CUSTOMER This warranty for Programs is contingent upon proper use of the Programs and shall not apply to defects or failure due to 1 accident neglect or misuse ii failure of Customer s equipment iii the use of software or hardware not provided by Pacific Scientific iv unusual stress caused by Customer s equipment or v any party other than Pacific Scientific who modifies adjusts repairs adds to deletes from or services the Programs This warranty for Programs is valid for a period of ninety 90 days from the date Pacific Scien
92. s or by the REMOTE STOP line 5 1 3 The AUTOSTART Program During power up if a program is found at location 1600 in non volatile memory that program the AUTOSTART program will be executed This program can be aborted by pressing the ESC or S keys both forcing the unit back to the power up state waiting for the ESC and space character sign on sequence 5 2 Instruction Overview Introduction The 6420 offers a variety of instructions for motion and program control in addition to several utility instructions instructions can be entered on a command line basis in immediate mode with many but not all available for use within programs executed from on board non volatile memory The instruction categories include Motion Control Incremental and absolute indexes run at constant velocity and home to a known position All the motion commands immediately echo lt CR gt lt LF gt and carry out their motion in the background The incremental and absolute indexes execute a trapezoidal velocity profile accelerating from the initial velocity accelerating to the final velocity decelerating back to the initial velocity ending at zero velocity Program Control Such as P for program mode G for executing programs and jumping within a program J and B for executing interative loops U for conditional branches based in the input ports 2 3E 2 D gt Parameter Such as F to set the initial velocity V to set the fin
93. se the Step and Direction outputs to control additional drives such as 6410s The 6420 is designed to directly drive another 6410 drive with no glue logic However if desired the user can implement external logic controlled by any number of the user bi directional I O lines to control more than one drive MA6420 6420 User Manual Rev B Programming Electrical The 6420 is programmed with a simple mnemonic programming language The unit operates in Immediate and Execution Modes In Immediate command line entry mode the user can interactively specify motor commands read back status information or enter programs with an ASCII terminal or terminal emulator The host can also read back the status of both dedicated and user defined I O lines connected to external switches and sensors In Execution Mode previously entered programs may be executed on the 6420 to control the motor On board non volatile memory offers approximately 1792 bytes for user programs Program mnemonics vary from 1 to 5 bytes in length Within the 1792 range there exists a 64 byte region from 128 to 191 designated as FAST memory for time critical code sections o o o Input Power Output Motor Phase Current Discrete Input Voltage Discrete Output Voltage Electrical isolation 24 Vdc to 75 Vdc Current is motor and load dependent usually less than motor phase current Note A 2000 uf capacitor mounted
94. ser is prompted for a lt Path gt filename ext which can be typed in or selected from the current directory list If the download is successful the message Download completed is displayed 6 4 MA6420 6420 User Manual Rev B 6 3 4 Syntax Checker By using the Syntax Checker programs can be checked for syntax validity prior to downloading or running Syntax Checker creates a listing file with the extension LST given to the file that was sent to Syntax Checker or sent to the Download Utility which automatically calls the Syntax Checker If the syntax check is successful the message No syntax error s detected is displayed and the listing file with the message NO ERRORS FOUND is sent to the display If errors are found then the message Syntax error s detected is displayed and the listing file containing the program code and syntax error messages is displayed The Editor can be used to review the syntax errors listed in the LST file The syntax checking for Pacific Scientific Indexer Language is discussed in Section 6 4 To reposition the syntax error dialog box press F2 and then use the arrow keys to move to the desired position Once the dialog box is positioned press F2 or Enter to see errors To edit a line you must return to the editor 6 3 5 Editor After selecting this utility the user is prompted for a lt Path gt filename ext which can be typed in or selected from the current director
95. st 5 amps rms and a working voltage of at least 1 3 70 91 volts The bus capacitor should be connected to the 6420 using a twisted pair no longer than 3 feet in length MA6420 6420 User Manual Rev B ee G 1 4 Fuse Selection The BUS MDA 10 slow blow fuse or equivalent is recommended when the 6420 is set for 5 Amps Fuses from the same family but with proportionally lower current rating can be used with lower current settings G 1 5 Regeneration Considerations The motor power supply voltage can be pumped up when the motor and load are decelerated by the drive In effect the motor becomes a generator converting mechanical energy stored in the spinning motor and load inertia into electrical energy If the mechanical energy is less than the losses in the drive and motor the supply voltage does not increase If the mechanical energy is greater than these losses the supply voltage will increase be pumped up The mechanical energy of a spinning inertia is given by E 3 87 10 J S where E kinetic energy joules gt o L o gt Considerations J inertia in oz in sec S speed in rpm Final voltage If this energy is converted to electrical energy in the form of charge on the bus capacitor s the voltage will be V vo 4 2E C where V is the final voltage after energy transferred to capacitor s Vo is the initial voltage C is the total capacitance in fara
96. t connections 2 8 Powering up 3 1 Power Supply G 1 Q 7 22 Quick Reference C 1 R vel 7 24 Ramp Algorithm D 1 Rectifier Diode Selection G 5 Regeneration G 7 Regulated suply G 10 Return procedure 4 3 RS 232 Connection 2 10 RS 422 Connection 2 10 RS 485 Connection 2 11 Safety H 4 Serial Port Connection 2 8 Mating connector 2 8 Port connections 2 8 Shielding H 5 6420 User Manual Rev B 6420 Dialogue 6 1 U Download Utility 6 4 6 10 U addr cond 7 29 Editor 6 5 Unpacking 2 1 Indexer Language 6 8 Init Serial Port 6 7 V Installing 6420 Dialogue 6 2 V vel 7 31 Keyboard Commands 6 3 Variable Resolution Mode 1 3 A 2 Serial Port Connections 6 3 Symbolic Labels 6 8 W period 7 32 Syntax Checker 6 5 6 9 Warranty 1 45 Terminal Emulator 6 3 Upload Utility 6 4 6 10 Specifications A 1 X arg 7 33 Speed Accuracy D 4 Storage temperature A 4 Storing unit 2 1 Y Switch Settings 2 20 Y port 7 34 Synchronous Operation 2 18 2 22 System components 1 4 Z Z 1 36 T enb 7 27 Testing the Installation 3 1 Troubleshooting 4 1 6420 User Manual Rev B MA6420
97. t in lower acceleration rates The current accel and decel values can be saved in non volatile memory by issuing the P store Parameters command accel lt 255 1 decel 255 F Set Initial Velocity V Set Final Velocity 6420 User Manual Rev B MA6420 7 17 Programming guidelines Program line Explanation M 100 50 accel factor 100 decel factor 50 7 18 MA6420 6420 User Manual Rev B O Trip Point O position vaddr Execution Purpose Syntax Arguments Related Commands 6420 User Manual Allows program to vector to the location specified by vaddr when the position counter equals the specified position value The vaddr must be in the range of 0 to 255 and position in range of 8 388 607 The position must be a whole integer value in both Fixed and Variable Resolution modes Trip Point service routines generally contain I O instructions and new trip point specifications and should not contain index wait or other time consuming instructions A position 0 disables this function For the trip to occur the main program must be still actively running and not in idle mode O position vaddr 8 388 607 lt position lt 8 388 607 0 vaddr lt 255 T Set Trip Point Rev B MA6420 7 19 Programming Program line Explanation guidelines EO 0 Z O 5000 128 Trip at position 5000 to location 128 6 18000 11 WO 14 GO Program still running E E128 128 Y1 Activate LOW 130 7 20
98. t step command and current reduction can be set to 50 ms 0 1 seconds or 1 0 second using DIP switch S1 position 5 and Jumper J6 position 7 8 With the jumper installed factory default ICR is disabled when DIP Switch S1 position 5 is in the closed position and enabled with a delay of 0 1 second current is reduced by 5096 when no step command is received for 0 1 second when the switch is open With the jumper removed ICR is enabled and the delay can be set to 0 05 second or 1 0 second by placing DIP Switch S1 position 5 in the closed or open position respectively Note When ICR is active both the holding torque generated by the motor and the motor stiffness around the holding position are reduced by approximately 50 Benefits The ICR function Reduces motor and drive heating during stand by operation 3 1 3 Setting Motor Current Motor current can be set using DIP Switch S1 positions 6 7 and 8 as shown on page 3 2 Current should be compatible with motor current ratings 2 22 MA6420 6420 User Manual Rev B 2 5 2 Indexer Board Settings Indexer The Indexer has thirteen plug on jumpers E1 through E13 controlling RS Communications Synchronous or Alternating Operation and I O Configuration J umper location S 7 2 5 2 1 J umper Settings El and E2 Configuration E1 E2 IN OUT Note These jumpers should NOT be modified by user
99. tific first delivers the Programs to Customer THE FOREGOING WARRANTIES ARE IN LIEU OF ALL OTHER WARRANTIES EXCEPT AS TO TITLE WHETHER EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION ANY WARRANTY OF MERCHANTABILITY OR OF FITNESS FOR ANY PARTICULAR PURPOSE AND ARE IN LIEU OF ALL OTHER OBLIGATIONS OR LIABILITIES ON THE PART OF PACIFIC SCIENTIFIC PACIFIC SCIENTIFIC S MAXIMUM LIABILITY WITH RESPECT TO THESE WARRANTIES ARISING FROM ANY CAUSE WHATSOEVER INCLUDING WITHOUT LIMITATION BREACH OF CONTRACT NEGLIGENCE STRICT LIABILITY TORT WARRANTY PATENT OR COPYRIGHT INFRINGEMENT SHALL NOT EXCEED THE PRICE SPECIFIED OF THE PRODUCTS OR PROGRAMS GIVING RISE TO THE CLAIM AND IN NO EVENT SHALL PACIFIC SCIENTIFIC BE LIABLE UNDER THESE WARRANTIES OR OTHERWISE EVEN IF PACIFIC SCIENTIFIC HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING WITHOUT LIMITATION DAMAGE OR LOSS RESULTING FROM INABILITY TO USE THE PRODUCTS OR PROGRAMS INCREASED OPERATING COSTS RESULTING FROM A LOSS OF THE PRODUCTS OR PROGRAMS LOSS OF ANTICIPATED PROFITS OR OTHER SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER SIMILAR OR DISSIMILAR OF ANY NATURE ARISING OR RESULTING FROM THE PURCHASE INSTALLATION REMOVAL REPAIR OPERATION USE OR BREAKDOWN OF THE PRODUCTS OR PROGRAMS OR ANY OTHER CAUSE WHATSOEVER INCLUDING NEGLIGENCE The foregoing shall also apply to Products Programs or parts for the same
100. tion selected by Step Size command V A mode value of 1 selects Variable Resolution Mode Step resolution is automatically adjusted during an index dependent upon Initial and Final Velocity parameters Step resolution is 20 000 pulses rev The Q command displays the resulting Initial and Final Velocity parameters and range of step sizes to be used in subsequent absolute and incremental indexes Syntax I Arguments mode 0 selects Fixed Resolution Mode mode 1 selects Variable Resolution Mode Programming Note Normally a preset operating parameter Should not be guidelines incorporated into a non volatile memory based program Issue the P command to save changes to the operating mode 7 12 MA6420 6420 User Manual Rev B J B Jump Loop Nested J addr cntr B addr cntr Execution Purpose These two commands allow implementation of a doubly nested loop structure The primary J command and secondary command can be nested However J is for jump outer loop while B is for jump inner loop The addr specifies the loop s destination address The cntr value plus 1 is the actual number of iterations Therefore cntr value must be set to the desired iterations minus 1 Either command can be used if only a single loop is required Syntax J addr cntr B addr cntr Arguments 0 addr 1791 0 cntr 255 for 1 to 256 iterations 6420 User Manual Rev B MA6420 7 13 Programming
101. to discharge the bus capacitor when AC power is removed it is recommended that a bleed resistor be placed across each bus capacitor as shown MA6420 6420 User Manual Rev B Example If for example the secondary rms voltage is 40 Vac the peak bus voltage will be 1 414 40 1 5 2 55 volts A transformer with 115 Vac primary and 40 Vac secondary would produce 55 volts peak bus voltage under nominal line conditions and at rated loading However if the line voltage increases 1096 the peak bus voltage increases to 1 414 1 1 40 1 5 60 7 volts at rated transformer loading Load regulation must also be accounted for when selecting the transformer Transformers are designed to produce their specified secondary voltage when loaded by their rated current For currents less than rated the secondary voltage will increase 2c Signal Transformer gives the following load regulation data for 29 its line of rectifier transformers 530 z O VA Rating Load Regulation 2 D 1 100 10 26 100 350 8 gt 500 5 or less This means that the secondary voltage of a 100 VA transformer will increase 10 over the specified voltage if the load current is reduced from rated current to zero Since the stepper drive s might sometimes be disabled the full regulation effect as well as maximum line voltage should be considered when selecting the transformer 1 The VA product is
102. top velocity and table velocities are Ramp E D 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 Five pulses will be generated at each of these rates as set by the M 5 command The total ramp time from initial to final velocity is given by the sum of the times at each velocity during ramp up 6420 User Manual Rev B MA6420 D 1 Divide command V Last table entry before final velocity Ramp time M X DA V start stop velocity For example ramp time for the above is NE E 1 1 1 1 1 1 1 Ramp time 5 55 562 t 3 tex 1 1227 1407 t sat 1745 1 ds b xh ut 1 1 2736 zii 1 1 1 1 1 2058 2190 2340 2472 2620 The divide command W be used to modify the ramp profile The divide command allows you to add more points to the velocity ramp resulting in smaller velocity increments and smoother ramping All commanded velocities are divided by the n command When using the 2 command with the previous example the actual output pulse rate would be divided by 2 The initial velocity Fnn will be 150 pulses per second and the final velocity Vnn will be 1500 pulses per second The new modified ramp time will be 1 T 1 1 1 1 sh 1227 1407 1581 1742 562 820 1036 Ramp time 5 57 1 1 1 1 1 1 1 1905 29 2190 2340 2472 F 2620 2736 zi
103. ucted line noise EN 61800 3 also puts the responsibility of filtering on the machine builder For additional information please see the Assessment of Compatability section in EN 61800 3 9 5 CE Declaration of Conformity This is to certify that Pacific Scientific Motion Technology Division 110 Fordham Road Wilmington MA 01887 USA Declares that the product s Designation STEPPER DRIVE Type 6410 6415 6420 comply with the following relevant regulations CE Guideline 59 336 EEC EMC Directive Applied harmonized standards EN 61800 3 1996 Manufacturer s Contact Peter Deneault Compliance Engineer Issued By Pacific Scientific Motion Technology Division President William T Fejes Place Date Wilmington MA USA 10 29 98 Legally binding Ld SECO Egip Signature H 2 MA6420 6420 User Manual Rev B CE Test Set Up 6420 was determined to be the noisiest configuration for the 64xx family Therefore it was used for all EMC testing Motor EE N32 HCHJ LNK NS 00 All mounting surfaces are free of paint Metal Plate Motor Cable SPC 020 6410 All other cables accordance with Chapter 2 of this manual All D Sub connectors have metallic hoods EX Wire to Earth Ground Rail 75 VDC AWG 3 0 or larger Power To Earth To Mains G
104. ug on jumpers E1 through E13 controlling RS Communications Synchronous or Alternating Operation and I O Configuration 6420 User Manual Rev B MA6420 2 19 S 7 2 5 1 Drive Board Settings Switch S1 amp Jumper J 6 Drive switch Note Default settings are in bold settings JMPR 5 6 ENABLE SENSE JMPR 3 4 DECIMAL BINARY STEPS IN LOW ENABLE OUT BINARY STEPS OUT HIGH ENABLE IN DECIMAL STEPS JMPR 1 2 OUT FOR 6420 Indexer Board r JMPR Swi Side View 6420 JMPR SW1 IDLE CURRENT POSITION 5 REDUCTION IN CLOSED DISABLED IN OPEN 0 1 SEC DELAY OUT CLOSED 0 05 SEC DELAY OUT OPEN 1 0 SEC DELAY SW1 POSITIONS 1 3 OPEN ON 6420 SW1 POSITION Motor Current 6 7 8 Amps RMS CLOSED CLOSED OPEN OPEN 5 1 DIGITAL ELECTRONIC CLOSED POSITION 4 DAMPING CONTROL CLOSED DISABLED OPEN OPEN ENABLED OPEN 2 20 MA6420 6420 User Manual Rev B 2 5 1 1 Digital Electronic Damping Control Definition Mid speed instability and the resulting loss of torque occurs in any step motor drive system due to the motor back EMF modulating the motor winding currents at certain speeds Mid speed instability can be explained as a region of potential instability that occurs as a result of the electronic magnetic and mechanical characteristics of any stepping motor system The circuitry used to control this phenomenon does so by advan
105. ution If more versatility is required the user can write a custom program running on a host computer issuing immediate motion commands to the 6420 6420 User Manual Rev B MA6420 1 1 8 Discrete I O Block JOG JOG m HOM s EK DC DC Unregulated REMORE START 9 LL 24 Vdc to 75 Vdc REMOTE STOP 60 uu ENABLE Drive FAULT EM MOVING Indexer A PESER 5 STEP lt Isolation D DIRECTION 5 7 Vdc RS232 TX RX k RS 422 RS 485 9 DIFF TX RX The 6420 can communicate with RS 232 RS 422 or RS 485 serial protocols Discrete I O lines provide external start stop and motor enable control home and limit switch testing motor jogging slave drive interface and eight programmable bi directional discrete I O lines The eight programmable bi directional discrete I O lines are individually jumper configurable for input or output Immediate command line instructions can read back and write all eight bits Fixed resolution unit operates in of two modes either Fixed mode Resolution Mode or Variable Resolution Mode In Fixed Resolution Mode with binary steps the resolution can be set from 200 steps rev to 51 200 steps rev and with decimal resolution 200 steps rev to 50 000 steps rev The minimum and maximum step rate range in value from 0 08 to 19 000 steps sec and vary depending on the
106. wn below Input Output Pin Number Description Remote Start J5 8 This input activates program at location zero Remote Stop J5 21 This input halts 6420 program and motion LIMIT LIMIT J5 9 J5 22 Activation of Limit prohibits motion in CW direction Activation of Limit prohibits motion in CCW direction Home J5 10 A transition at this input defines the electrical home position JOG JOG J5 11 5 23 These inputs manually step the motor in the CW and CCW direction ENABLE J5 7 This input is an active low motor drive enable STEP J5 6 This output is an active low step pulse to slave drive approximately 400 600 ns in duration Only in Fixed Resolution Mode DIR J5 19 This output provides direction to slave drive CCW is a logic low CW is a logic high Only in Fixed Resolution Mode 35 7 V J5 13 This output provides power for slave STEP and DIR when used with a 6410 drive FAULT J5 12 The output is an active low fault indicator It must be cleared by powering down MOVING 15 24 This output is an active low motion indicator GND J5 20 Indexer ground isolated from drive ground 6420 User Manual Rev B MA6420 2 15 S 7 2 3 4 3 Input Interface Suggestions These are examples of driving regular inputs and I O pins configured as inputs The input lines pull down to ground and the internal 22k ohm resistor through a 1N914 diode pulls up to 5 7 Vdc The input is
107. y or hard disk drive 3 Download Utility The Download Utility allows files to be taken from the PC s disk drive and transferred into the position controller s memory 4 Syntax Checker The Syntax Checker allows programs to be checked for errors before transferring them to the controller 5 Editor The Editor allows the creation and editing of programs Programs can be created and edited without the controller being connected to the PC i e off line The resulting program can be stored on the PC s disk drive for downloading to the controller at a convenient time Also programs can be read from the hardware using the Upload Utility and be modified using the Editor 6 Init Serial Port The Init Serial Port option allows the user to select a COM Port for serial communication 6420 Dialogue is contained on a single 3 1 2 inch diskette 6420 User Manual Rev B MA6420 6 1 3 o amp a Q 6 2 Getting Started 6420 Dialogue can be executed directly from the 6420 Dialogue disk supplied or it can be installed on the PC s hard disk If 6420 Dialogue is to be executed directly off the disk supplied it is recommended that a backup copy be made and stored in a safe place 6 2 1 Using the 6420 Dialogue Floppy Disk Follow the steps below to use the 6420 Dialogue floppy disk 1 Boot up the PC 2 Set the PC to directory A 3 Insert the 6420 Dialogue floppy disk into drive A 4 Type 6420 enter
108. y s file listing If the filename does not exist the user is prompted with Create to which the response is Y yes or N no If answering the system responds with the message can t load file it doesn t exist after which a Enter returns to the Main Menu level If answering yes to the prompt the user is put into the Editor When exiting the Editor typing Esc the user is prompted with the question Save file y n Answering n Enter returns to the Main Menu without saving the file and any edits are lost Answering y Enter will bring up a prompt for the filename The current file being edited can then be saved under the existing filename by typing lt Enter gt or the name can be changed by typing over the current filename followed with Enter 3 o amp a Q 6420 User Manual Rev B MA6420 6 5 While using the Editor many operations such as justify cut paste etc are available These operations are assigned to various keys ESC INSERT F7 F8 F9 F10 UP ARROW DOWN ARROW LEFT ARROW RIGHT ARROW CTRL A CTRL F CTRL Y CTRL Z CTRL W HOME END PGUP PGDN CTRL END CTRL PGUP CTRL PGDN TAB Exit the Editor Toggles insert and typeover mode default typeover mode Attach file to the end of current file default off Toggles whether hard and soft carriage returns are symbolically displayed in the edit window default

2 Installing the 6420 Indexer/Drive

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