Pacific Scientific MA6410, Installation & Hardware Reference Manual

Page 1: ...M A 6 4 1 0 6 4 1 0 D r i v e Installation Hardware Reference Manual S t o c k C h e c k c o m...

Page 2: ...ompany 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...

Page 3: ...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 Motio...

Page 4: ...IAL 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 ANT...

Page 5: ...nnections 2 9 2 5 2 J2 Power Connector 2 17 2 5 3 J1 Signal Interface Connector 2 20 3 Powering Up the 6410 Drive 3 1 3 1 Setting Switch S1 Jumper J6 3 1 3 1 1 Step Size 3 3 3 1 2 Digital Electronic D...

Page 6: ...Specifications A 1 Appendix B Ordering Information B 1 Appendix C Power Supply Considerations C 1 Appendix D CE Installation D 1 Index Rev E 6410 Installation Hardware Reference Manual S t o c k C h e...

Page 7: ...for high resolution and smooth operation through both the low speed and mid band resonance regions The output current of the 6410 is dip switch selectable from 5A rms 7 1 A peak in microstep mode to 0...

Page 8: ...all open loop stepper applications Short circuit protection circuitry disables the drive if a short circuit occurs on the motor outputs The drive must be power cycled to clear fault MOSFET power devi...

Page 9: ...ronic magnetic and mechanical characteristics of a stepping motor system The compensation circuit damps mid range oscillations by advancing or delaying switching of the output current relative to the...

Page 10: ...ther System Components Overview The other components that along with the drive comprise a complete motor control system are Indexer or step source Single power supply 24 75 volts Motor Installation gu...

Page 11: ...3 How to Use this Manual This manual contains information and procedures to install setup and troubleshoot the 6410 stepper motor drive The most effective way to use this manual is to follow the insta...

Page 12: ...ts in material and assembly Products that have been modified by the customer physically mishandled or otherwise abused through miswiring incorrect switch settings and so on are exempt from the warrant...

Page 13: ...cking list A label located inside the chassis of the unit identifies the unit by model number serial number and date code Inspection procedure Inspect the unit for any physical damage that may have be...

Page 14: ...henever you are working with the 6410 unit Do not operate the drive without the motor case tied to earth ground Note This is normally done by connecting the motor s case to J3 5 of the 6410 and connec...

Page 15: ...the output current of the drive package Refer to the Torque Speed Curves in the Pacific Scientific Motion Control Solutions Catalog or contact your local Pacific Scientific distributor for sizing and...

Page 16: ...aph of 6410 power dissipation vs current setting shown below may be used to design the cooling plate or direct measurements can be taken during normal operations and adjustments made to plate area or...

Page 17: ...direct measurement with a temperature probe during system operation Any difference between the ambient temperature during the measurement and the worst case should be added to the measured chassis tem...

Page 18: ...Mounting dimensions When mounting the 6410 please refer to the dimensions below 2 6 6410 Installation and Hardware Reference Manual Rev E S t o c k C h e c k c o m...

Page 19: ...hock Minimum unobstructed space of 4 inches 10 cm above and below the unit Maximum ambient temperature of 50 C and maximum 6410 chassis temperature of 60 C 2 5 Connecting to the 6410 Introduction The...

Page 20: ...Connection diagram 2 8 6410 Installation and Hardware Reference Manual Rev E S t o c k C h e c k c o m...

Page 21: ...ed below This precaution reduces electrical noise Shock hazard reduction Refer to section 2 2 for safety information that must be followed to reduce shock hazard 2 5 1 J3 Motor Connections Introductio...

Page 22: ...iagram If you are using Pacific Scientific motor cable with the mating connectors already attached install as follows Note All wires are 16 AWG 2 10 6410 Installation and Hardware Reference Manual Rev...

Page 23: ...5 pin PCD screw cable connector The mating cable connector is type ELVP05100 Cable requirements The mating connector terminals will accept 16 to 28 AWG wire However use 16 AWG or heavier for motor ph...

Page 24: ...tach wires to connector as indicated in the diagram Note Make sure the screws on the PCD connector are tightened down firmly on the wiring Caution Do not solder the tips of the cables before insertion...

Page 25: ...ic Scientific motors having flying leads Connections are shown for 4 lead motors 8 lead motors with paralleled windings and 8 lead motors with series windings Wire nuts may be used for the winding con...

Page 26: ...nector J3 and Pacific Scientific stepper motors having a terminal board in the rear end bell Connections are shown for 4 lead motors 8 lead motors with paralleled windings and 8 lead motors with serie...

Page 27: ...he 6410 J3 connector and Pacific Scientific stepper motors having MS connectors Connections are shown for 4 lead motors 8 lead motors with paralleled windings and 8 lead motors with series windings 64...

Page 28: ...ions required between the 6410 and Pacific Scientific Power Max Motors Power Max motors have an eight pin connector and can be configured with either parallel or series windings 2 16 6410 Installation...

Page 29: ...DC and DC should be run from the power supply s capacitor to the 6410 as a twisted pair no longer than 3 feet in length shielding with the shield connected to earth ground can reduce noise emissions A...

Page 30: ...able requirements Use 16 AWG for the power supply cable Use cable twisted at about 3 to 4 turns per inch 1 to 1 5 turns per centimeter 2 18 6410 Installation and Hardware Reference Manual Rev E S t o...

Page 31: ...not solder the tips of the cables going into the PCD connector This can result in a loose connection 2 5 3 J1 Signal Interface Connection Introduction The J1 signal interface accepts step direction a...

Page 32: ...on ENABLE J1 3 Input used to enable or disable the 6410 s power stage With the J6 5 6 jumper out factory default the power stage is enabled if the opto current is zero and disabled if the opto is driv...

Page 33: ...bled if the opto current is zero and disabled if the opto is driven Inserting the jumper reverses this functionality See figure at the end of the table for circuit information There is a delay of appr...

Page 34: ...Interface diagram 2 22 6410 Installation and Hardware Reference Manual Rev E S t o c k C h e c k c o m...

Page 35: ...n below Values for several common supply voltages are given in the following table If the drives have open collector outputs pull up resistors R3 should be added as shown A typical value of R3 is 2 7K...

Page 36: ...erface connector is 9 contact female D connector The mating cable connector is an ITT Cannon DE 9P with ITT Cannon DE110963 Hood and D20419 Clamp Kit 2 24 6410 Installation and Hardware Reference Manu...

Page 37: ...ntended to familiarize the 6410 user with the hardware adjustments and settings required to power up and operate the 6410 drive 3 1 Setting Switch S1 Jumper J6 Introduction DIP switch S1 and Jumper J6...

Page 38: ...Location of S1 3 2 6410 Installation and Hardware Reference Manual Rev E S t o c k C h e c k c o m...

Page 39: ...steps per rotation using the following table Decimal Binary Full 200 Half 400 Half 400 1 4 800 1 5 1 000 1 8 1 600 1 10 2 000 1 16 3 200 1 25 5 000 1 32 6 400 1 50 10 000 1 64 12 800 1 125 25 000 1 1...

Page 40: ...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...

Page 41: ...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 50 when no step comma...

Page 42: ...enable input With the J6 5 6 jumper installed the enable input must be driven current in opto for the 6410 power stage to be enabled 3 1 6 Step Bandwidth Adjustment A digital filter can be enabled wh...

Page 43: ...ge could result in undesired motor motion Be prepared to remove power if excessive motion occurs Connections test 1 Check all wiring and mounting to verify correct installation 2 With the power Off ch...

Page 44: ...s test 1 Verify that the motor has holding torque by attempting to rotate the motor shaft The energized motor shaft is either immovable or is resistant to rotation 2 Input a step command and verify th...

Page 45: ...ust and dirt build up Procedure Remove superficial dust and dirt from the unit using clean dry low pressure air 4 2 Troubleshooting the 6410 Drive Introduction The 6410 has an enabled output which is...

Page 46: ...he Applications Engineering Department Simple circuit diagram IMPORTANT NOTE If you suspect that the 6410 drive has been damaged DO NOT simply replace it with another and apply power Re check the powe...

Page 47: ...tor produces torque but does not turn Make sure that the STEP input is switching and meets specified electrical and timing requirements Motor rotates in the wrong direction Check polarity of the DIREC...

Page 48: ...oper packaging or shipment 3 Ship the drive to Pacific Scientific Motion Technology Division 110 Fordham Road Wilmington MA 01887 Attn Repair Department RMA _________ Note Do not ship Pacific Scientif...

Page 49: ...Setting 5 A 5A 0 25A 4 375 4 375 0 2A 3 75 3 75 0 2 A 3 125 3 125 0 15 A 2 5 2 5 0 15 A 1 875 1 875 0 125 1 25 1 25 0 125 0 625 0 625 0 1 A Drive circuit Two phase bipolar chopper current regulated Ch...

Page 50: ...ted Inputs Input Min Input Current Opto ON Max Input Current Max Reverse Voltage Input to J1 9 J1 1 J1 6 Step 5 5 mA 10 mA 5 volts J1 2 J1 7 Direction 3 0 mA 4 5 mA 5 volts J1 3 J1 7 Enable 3 0 mA 4 5...

Page 51: ...band stability control circuit enabled Drive state generator transition delay relative to input step 1 With mid band stability control circuit enabled at pulse frequencies less than 500 full steps se...

Page 52: ...hermal pad or grease if surface is irregular A fan or idle current reduction may be employed to keep chassis below 60 C Humidity Range 10 to 90 non condensing Convection Cooling 6410 not mounted on co...

Page 53: ...10 connector Mating connector PCD ELVP03100 Signal 9 contact female D connector Mating connector ITT Cannon DE 9P with ITT Cannon DE110963 Hood and D20419 Clamp Kit Motor PCD ELVH0510 connector Mating...

Page 54: ...S t o c k C h e c k c o m...

Page 55: ...1 9 pin D connector 5 pin PCD 3 pin PCD Installation and Hardware Manual MA6410 MA6410 Motor Cable SPC xxx 6410 xxx represents length in feet for example SPC 005 is a cable 5 feet long For lengths ove...

Page 56: ...these parts Call 815 226 3100 from 8am to 6pm Eastern Standard Time Write Pacific Scientific Customer Support 4301 Kishwaukee Street Rockford IL 61105 Fax 815 226 3048 B 2 6410 Installation Hardware...

Page 57: ...tifier 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 6410...

Page 58: ...and winding failure Secondary voltage rating 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 voltag...

Page 59: ...ary voltage will increase Signal Transformer gives the following load regulation data for its line of rectifier transformers 1 VA Rating Load Regulation 1 100 10 100 350 8 500 5 or less This means tha...

Page 60: ...MS assume the maximum average power supply current is 5 amps The average transformer secondary current equals the sum of the average currents for all 6410s powered by the supply Because the transforme...

Page 61: ...upply 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 IFSM ra...

Page 62: ...ng The bus capacitor s 120 Hz ripple current rating should equal or exceed the 6410 s current setting The capacitor s working voltage rating must exceed the maximum bus voltage under all line load and...

Page 63: ...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...

Page 64: ...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 t...

Page 65: ...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 osci...

Page 66: ...supply and 6410 Ideally this capacitor is located close to the 6410 drive but it can be located near the power supply and connected to the 6410 with a twisted pair no longer than 3 feet in length The...

Page 67: ...illustrates powering the 6410 from a regulated supply where both an external capacitor and regenerated power dump circuit are required The recommended fusing is also shown 6410 Installation Hardware R...

Page 68: ...S t o c k C h e c k c o m...

Page 69: ...formation 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 6410...

Page 70: ...61800 3 19956 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...

Page 71: ...Set Up The 6420 was determined to be the noisiest configuration for the 64xx family Therefore it was used for all EMC testing 6410 Installation Hardware Reference Manual Rev E D 3 S t o c k C h e c k...

Page 72: ...ocal accident prevention rules and EN 61800 3 All covers shall be closed during operation Braided cable shields should be connected to protective earth ground Drive mounting Mount the drive to a condu...

Page 73: ...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...

Page 74: ...ield the signal interface cable should be grounded in accordance with the instructions given in the previous paragraph for the motor cable For additional information please contact the factory to requ...

Page 75: ...Connection Diagram 6410 Installation Hardware Reference Manual Rev E D 7 S t o c k C h e c k c o m...

Page 76: ...Mechanical Outline D 8 6410 Installation Hardware Reference Manual Rev E S t o c k C h e c k c o m...

Page 77: ...15 2 16 series 2 13 2 14 2 15 2 16 testing 3 7 Connectors A 5 J3 2 11 J1 2 23 Current input 2 3 motor C 4 output 1 1 rating A 1 C 4 C 5 D Damage 2 1 Date code 2 1 Declaration of Conformity D 2 Defecti...

Page 78: ...ram 2 8 Inputs 2 7 Inspecting 2 1 Installation 2 2 2 4 Interface high voltage 2 23 typical 2 21 J J3 Motor 2 9 cable making your own 2 11 connector 2 11 diagram 2 12 PacSci cable 2 9 procedure 2 12 sa...

Page 79: ...otor 2 17 C 1 Power up 3 1 Problems Solutions 4 2 R Ramp time A 3 Rectifier diode selection C 5 Regeneration C 7 Regulated supply C 10 Repair procedure 4 4 Return procedure 4 4 S S1 switch location 3...

Page 80: ...5 2 8 T Temperature operating 2 4 A 4 storage 2 1 A 4 Testing 3 7 connections 3 7 procedure 3 7 signals 3 8 Troubleshooting 4 1 U Unpacking 2 1 V Ventilation 2 7 Voltage motor supply 1 1 2 17 A 1 C 1...