Parker Hannifin OEM6250 User Manual

OEM6250 Servo Controller

Installation Guide

Compumotor Division

Compumotor

Parker Hannifin Corporation
p/n 88-016524-01B March 1998

User Information

! !

WARNING

6000 Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion
system for safety under all potential conditions. Failure to do so can result
in damage to equipment and/or serious injury to personnel.

6000 Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and
may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.

Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and
hardware mentioned therein at any time without notice.

In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature
whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.

© 1991-7, Parker Hannifin Corporation
All Rights Reserved

Motion Architect is a registered trademark of Parker Hannifin Corporation.
Motion Builder, Motion OCX, Servo Tuner, CompuCAM and DDE6000 are trademarks of Parker Hannifin Corporation.
Microsoft and MS-DOS are registered trademarks, and Windows, DDE and NetDDE are trademarks of Microsoft Corporation.
Motion Toolbox is a trademark of Snider Consultants, Inc.
LabVIEW is a registered trademark of National Instruments Corporation.

Technical Assistance

North America and Asia:

Compumotor Division of Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
FaxBack: [phone] or [phone]
BBS: [phone]
e-mail: [e-mail]
Internet: http://www.compumotor.com

Automation

Contact your local automation technology center (ATC) or distributor, or ...

Europe

Parker Digiplan
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: [phone]
Fax: [phone]

(non-German speaking)

:

Germany, Austria, Switzerland:

HAUSER Elektronik GmbH
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]

Product Feedback Welcome

E-mail: [e-mail]

Change Summary

OEM6250 Installation Guide

The following is a summary of the primary technical changes to this document.

This book, p/n 88-016524-01B, supersedes 88-016524-01A.

Topic Description

Error Correction:

DFT Input Circuit

Revision A incorrectly stated that the drive fault input (DFT pin on the DRIVE connectors)
shared the same circuit design as the limit inputs and trigger inputs. DFT

the AUX-P pullup terminal and

Rev B

March 1998

is not controlled by

is not affected by the R45 resistor. The DFT input circuit is:

Clarification:

BD-E Drive Connections

SHLD
COM
SHTNC
SHTNO
DFT
AGND

+5VDC

6.8 KW

47 KW

74HCxx

RSVD

CMD–
CMD+

With a BD-E drive connected as illustrated in revision A, the motor has a tendency to lunge for
several revolutions at full torque when power is removed simultaneously from the OEM6250 and
the BD-E drive (as would be the case in a power outage). The correction is to connect the
OEM6250’s SHTNC terminal to the BD-E’s GND terminal (pin 4).

Added connection
to prevent lunge.

BD-E Drive

V2 (pin 1)
V1 (pin 2)

GND (pin 4)

RST (pin 5)

+15V (pin 6)

FT (pin 9)
AOP (pin 10)
AOP (pin 11)
BOP (pin 12)
BOP (pin 13)
ZOP (pin 14)
ZOP (pin 15)

«

«

«

«

«

«

«

«

«

«

«

«

OEM6250

CMD–
CMD+
GND
COM
SHTNO
DFT
A–
A+
B+
B–
Z+
Z–

BD-E Drive

User I/O Connector

815

9

1

NOTE: These connections will work only if
BD-E jumper LK2 is set to position B
(not the factory default position).

OEM6250

DRIVE 1

SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMDÐ
CMD+

ENCODER 1

+5V
A+
AÐ
B+
BÐ
Z+
ZÐ
GND
SHLD

ABOUT THIS GUIDE

Chapter 1. Installation

What You Should Have (ship kit)........................................................... 2

Before You Begin..................................................................................... 2

Recommended Installation Process............................................. 2

Electrical Noise Guidelines........................................................... 2

General Specifications............................................................................ 3

Mounting the OEM6250........................................................................... 4

Electrical Connections............................................................................ 5

Grounding System.......................................................................... 5

Serial Communication................................................................... 6

Motor Drivers................................................................................. 7

ANI Analog Input........................................................................... 11

Enable (ENBL) Input — Emergency Stop Switch...................... 11

End-of-Travel and Home Limit Inputs......................................... 12

Encoder......................................................................................... 13

Joystick & Analog Inputs ............................................................. 14

Trigger Inputs................................................................................ 15

General-Purpose Programmable Inputs & Outputs................... 16

RP240 Remote Operator Panel................................................... 20

Input Power................................................................................... 20

Lengthening I/O Cables................................................................ 21

Testing the Installation........................................................................... 22

Tuning the OEM6250............................................................................. 24

What’s Next?......................................................................................... 25

Program Your Motion Control Functions.................................... 25

Chapter 2. Troubleshooting

Troubleshooting Basics......................................................................... 28

Reducing Electrical Noise........................................................... 28

Diagnostic LEDs........................................................................... 28

Test Options.................................................................................. 28

Technical Support......................................................................... 28

Common Problems & Solutions........................................................... 29

Troubleshooting Serial Communication Problems............................. 30

Product Return Procedure.................................................................... 32

Appendix A:
Appendix B:

Index.................................................................................................. 51

Tuning

EMC Installation Guidelines

................................................................... 33

Purpose of This Guide

This document is designed to help you install and troubleshoot your OEM6250 hardware
system. Programming related issues are covered in the 6000 Series Programmer’s Guide and
the 6000 Series Software Reference. (These reference documents are available by ordering the
“OEM6250 MANUALS” ship kit add-on, or they can be downloaded from Compumotor’s web
site at http://www.compumotor.com).

......................... 47

What You Should Know

To install and troubleshoot the OEM6250, you should have a fundamental understanding of:

• Electronics concepts, such as voltage, current, switches.

• Mechanical motion control concepts, such as inertia, torque, velocity, distance, force.

• Serial communication and terminal emulator experience: RS-232C

Related Publications

• 6000 Series Software Reference, Parker Hannifin Corporation, Compumotor Division;
part number 88-012966-01

• 6000 Series Programmer’s Guide, Parker Hannifin Corporation, Compumotor Division;
part number 88-014540-01

• Current Parker Compumotor Motion Control Catalog

• Schram, Peter (editor). The National Electric Code Handbook (Third Edition). Quincy,
MA: National Fire Protection Association

EMC Installation Guidelines

The OEM6250 is sold as a complex component to professional assemblers. As a component,
it is not required to be compliant with Electromagnetic Compatibility Directive 89/336/EEC.
However, Appendix B provides guidelines on how to install the OEM6250 in a manner most
likely to minimize the OEM6250’s emissions and to maximize the OEM6250’s immunity to
externally generated electromagnetic interference.

Online Manuals

This manual (in Acrobat PDF format) is available from our web site: http://www.compumotor.com

CHAPTER ONE

Installation

1

IN THIS CHAPTER

• Product ship kit list

• Things to consider before you install the OEM6250

• General specifications table

• Mounting the OEM6250

• Connecting all electrical components (includes specifications)

• Testing the installation

• Tuning the OEM6250 (refer to Servo Tuner User Guide or to Appendix A)

• Preparing for what to do next

Appendix B provides guidelines on how to install the OEM6250 in a manner most likely
to minimize the OEM6250’s emissions and to maximize the OEM6250’s immunity to
externally generated electromagnetic interference.

What You Should Have

Part Name Part Number

If an item is missing,

call the factory (see

phone numbers on

inside front cover).

One of the following line items:

OEM6250 standard product (with ship kit).............................. OEM6250

OEM6250 product with ANI input board (with ship kit)........... OEM6250-ANI

Ship kit: This manual (

Motion Architect response card ** ............................... 88-013715-01

If you order “OEM6250 MANUALS”, the ship kit would also include:

6000 Series Software Reference
6000 Series Programmer’s Guide

* These manuals are available in electronic form (Adobe Acrobat PDF files)

from our web site — http://www.compumotor.com.

** Motion Architect may be downloaded from our web site.

Before You Begin

The OEM6250 is used to control your system's electrical and mechanical components.
Therefore, you should test your system for safety under all potential conditions. Failure to do
so can result in damage to equipment and/or serious injury to personnel.

(ship kit)

OEM6250 Installation Guide

) * ............. 88-016524-01

* .............................. 88-012966-01

* ............................ 88-014540-01

WARNINGS

¬

The ANI input board
provides two ±10V,
14-bit analog inputs.
To order the ANI input
board separately,
order part number
OPT-OEM6250-A.

Always remove power to the OEM6250 before:

• Connecting any electrical device (e.g., drive, encoder, inputs, outputs, etc.)

• Adjusting the DIP switches or other internal components

Recommended Installation Process

This chapter is

organized

sequentially to best

approximate a typical

installation process.

1. Review the general specifications.

2. Mount the OEM6250.

3. Connect all electrical system components.

4. Test the installation.

5. Mount the motor and couple the load.

6. Tune the OEM6250 for optimum performance. If you are using Servo Tuner, refer to the
instructions in the Servo Tuner User Guide; otherwise, refer to Appendix A (page 33).

7. Program your motion control functions. Programming instructions are provided in the
6000 Series Programmer's Guide and the 6000 Series Software Reference. We recommend
using the programming tools provided in Motion Architect for Windows. You can also
benefit from the optional iconic programming interface called Motion Builder (sold
separately). For information on support software, refer to page 25.

Electrical Noise Guidelines

• Do not route high-voltage wires and low-level signals in the same conduit.

• Ensure that all components are properly grounded.

• Ensure that all wiring is properly shielded.

• Noise suppression guidelines for I/O cables are provided on page 21.

• Appendix B (page 47) provides guidelines on how to install the OEM6250 in a manner
most likely to minimize the OEM6250’s emissions and to maximize the OEM6250’s
immunity to externally generated electromagnetic interference.

2

OEM6250 Installation Guide

General Specifications

Parameter Specification

Power

DC input.................................................................... 5VDC ±5%, 4A minimum

Status LEDs/fault detection...................................... Refer to

Environmental

Operating Temperature .......................................... 32 to 122°F (0 to 50°C)

Storage Temperature............................................... -22 to 185°F (-30 to 85°C)

Humidity................................................................... 0 to 95% non-condensing

Performance

Position Range & Accuracy..................................... Position range: ±2,147,483,648 counts;

Velocity Range, Accuracy, & Repeatability............ Range: 1-2,000,000 counts/sec;

(commanded velocity) Accuracy: ±0.02% of maximum rate;

Acceleration Range.................................................. 1-24,999,975 counts/sec

Motion Trajectory Update Rate............................... See SSFR command description in the

Servo Sampling Update Rate.................................. See SSFR command description in the

Serial Communication

Connection Options.................................................. RS-232C, 3-wire (Rx, Tx & GND on the AUX connector).

Maximum units in daisy-chain................................ 99 (use DIP switch or ADDR command to set individual addresses for each unit)

Communication Parameters................................... 9600 baud (range is 9600-1200—see

Inputs

HOM, POS, NEG, TRG-A, TRG-B, & ENBL ............... HCMOS compatible* with internal 6.8 KW pull-up resistor to AUX-P terminal. Voltage range

DFT ........................................................................... HCMOS compatible* with internal 6.8 KW pull-up resistor to +5VDC. Voltage range for

Joystick inputs: Axes Select, Velocity Select, ...... HCMOS compatible* with internal 6.8 KW pull-ups to +5V; voltage range is 0-24V.

Trigger, Release, and Auxiliary

Encoder..................................................................... Differential comparator accepts two-phase quadrature incremental encoders with differential

16 General-Purpose Programmable Inputs .......... HCMOS compatible* with internal 6.8 KW pull-up resistor to IN-P terminal. As shipped from

(PROGRAMMABLE INPUT/OUTPUT connector)............. the factory, IN-P is internally connected to +5V via resistor R12 (inputs sinking current). To

Analog input channels (JOYSTICK connector)....... Voltage range = 0-2.5VDC; 8-bit A/D converter. Input voltage must not exceed 5V.

Analog Inputs (optional ANI input board)................ Voltage range = ± 10V, 14-bit A/D (OEM6250-ANI or OPT-OEM6250-A product only)

Outputs

8 Programmable Outputs ....................................... Open-collector output with internal 4.7 KW pull-up resistor to OUT-P terminal. Shipped from

(PROGRAMMABLE INPUT/OUTPUT connector)............. factory with these outputs internally pulled up to +5V through a zero ohm resistor – R13. If

+5V Output................................................................ Internally supplied +5VDC. +5V terminals are available on multiple connectors. The amount

Command Out (CMD).............................................. ±10V analog output. 12-bit DAC. Load should be > 2KW impedance.

Shutdown (SHTNO, SHTNC, and COM)................... Shutdown relay output. Max. rating: 175VDC, 0.25A, 3W.

* HCMOS-compatible switching voltage levels: Low £ 1.00V, High ³ 3.25V.

TTL-compatible switching voltage levels: Low £ 0.4V, High ³ 2.4V.

(current requirements depend on the type and amount of I/O used – see page 20).

Diagnostic LEDs

Accuracy: ±0 counts from preset total

Repeatability: ±0.02% of set rate

on page 28

2

6000 Series Software Reference
6000 Series Software Reference

RS-232: Full duplex; XON/XOFF enabled.

AutoBaud

for these inputs is 0-24V. As shipped from the factory, AUX-P is internally connected to +5V
via resistor R45 (input is sinking current). To make the input sink current to a supply other
than +5V, first remove R45 and then connect an external 5-24V supply to the AUX-P terminal.

To source current, first remove R45 and then connect the AUX-P terminal to the GND
terminal. CAUTION: Failure to remove R45 before connecting AUX-P to an external supply,
or to the GND terminal, or to the +5V terminal will damage the OEM6250.

NOTE: As shipped from the factory, the ENBL (enable) input is connected to ground via zero­ohm resistor R25, thereby allowing motion. To control the ENBL input with an external switch
(i.e., to use it as an emergency stop input), remove R25.

these inputs is 0-24V.

(recommended) or single-ended outputs.
Maximum voltage = 5VDC. Switching levels (TTL-compatible): Low £ 0.4V, High ³ 2.4V.
Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.

make the inputs sink current to a supply other than +5V, first remove R12 and then connect an
external 5-24V supply to the IN-P terminal. (IN-P can handle 0-24V with max. current of

100 mA.) To source current, first remove R12 and then connect the IN-P terminal to the GND
terminal. CAUTION: Failure to remove R12 before connecting IN-P to an external supply, or
to the GND terminal, or to the +5V terminal will damage the OEM6250. Voltage range = 0-24V.

you remove resistor R13 first, you can pull up these outputs by connecting OUT-P to the +5V
terminal or to an external 5-24V power source. Max. voltage in the OFF state (not sinking

current) = 24V; max. current in the ON state (sinking) = 30mA.
of current available depends on the current that you supply to the +5V terminal on the input

power connector (see page 20).

, page 6), 8 data bits, 1 stop bit, no parity;

Chapter 1. Installation

3

Mounting the OEM6250

Mini

NOTE: The drawing below illustrates the dimensions of the OEM6250 printed circuit board. The

board is shipped from the factory attached to sheet metal which allows either flat mounting or side
mounting of the OEM6250. This board will fit in a 6U rack (if you remove the PCB from the sheet metal).

Max.

Component

Height

1.48

(37.59)

11.00

(279.40)

10.10

(256.54)

9.19

(233.43)

10.01

(254.25)

9.67

(245.62)

6 5 4 3 2 1

0.50

(12.70)

Inches (Millimeters)

Environmental
Considerations

4

1.00

(25.40)

Temperature. Operate the OEM6250 in ambient
temperatures between 32°F (0°C) and 122°F (50°C).

minimum of 2 inches (50.8 mm) of unrestricted air-flow space
around the OEM6250 (see illustration). Fan cooling may be
necessary if adequate air flow is not provided.

Humidity. Keep below 95%, non-condensing.
Airborne Contaminants, Liquids. Particulate

contaminants, especially electrically conductive material,
such as metal shavings and grinding dust, can damage the
OEM6250. Do not allow liquids or fluids to come in contact
with the OEM6250 or its cables.

OEM6250 Installation Guide

0.70

(17.78)

1.00

(25.40)

ANI Option Board

If you ordered the “OEM6250-ANI”
product, this option board is factory
installed. If you ordered the board
separately (p/n “OPT-OEM6250-A”),
install it now. Allow 0.91 (23.11)
mimimum for component height

8.00

(203.20)

Provide a

2.0

(50.8)

Provision for #10
Mounting Screws

(6 Plcs.)

mum Airfow Space = 2 inches

2.0

(50.8)

2.0

(50.8)

2.0

(50.8)

Electrical Connections

Appendix B (page 47) provides guidelines on how to install the OEM6250
in a manner most likely to minimize the OEM6250’s emissions and to
maximize the OEM6250’s immunity to externally generated
electromagnetic interference.

Grounding System

ANALOG

GROUND

SHLD Terminal

SHLD Terminal
SHLD Terminal

SHLD Terminal

SHLD Terminal

SHLD Terminals
SHLD Pin (#8)

Shield Screw

1

AGND Terminals

9

DRIVE 1

DRIVE 2

1

9

1

7
1

9

TH1

SHLD
COM
SHTNC
SHTNO
DFT
AGND

RSVD

CMD­CMD+

SHLD
COM
SHTNC
SHTNO
DFT
AGND

RSVD

CMD­CMD+

Rx
Tx
GND
SHLD
+5V
OUT-P
IN-P

TRG-A
TRG-B
GND
OUT-A
OUT-B
GND
ENBL
+5V
AUX-P

9

+5V
A+
A­B+
B­Z+
Z­GND
SHLD

1

ENCODER 1

ENCODER 2

9

+5V
A+
A­B+
B­Z+
Z­GND
SHLD

1

LIMITSAUX

9

1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD

1

RP240

5

SHLD
Tx

13 1

Rx
GND
+5V

1

25 14

49

50

PROGRAMMABLE INPUT/OUTPUT

JOYSTICK

GND Terminal

GND Terminal

GND Terminals

GND Pin (#14)

DSBL2 DSBL1 STATUS

GND Terminal

1

2

POWER

15

+15V NC -15V GND +5V

GND Pins
(even numbered pins)

EARTH

This connection is critical for providing adequate shielding.

Chapter 1. Installation

DIGITAL

GROUND

5

Serial Communication

RS-232C Connections

Tx
Rx
GND

Serial Port Connection

25-Pin COM Port:9-Pin COM Port:

Pin 2 (Rx)
Pin 3 (Tx)
Pin 5 (GND)

NOTE: Max. cable length is 50 ft (15.25 m)

Rx
Tx
GND

Pin 2 (Tx)
Pin 3 (Rx)
Pin 7 (GND)

Rx
Tx
GND

9

1

7
1

9

AUX

Rx
Tx
GND
SHLD

1

9

1

5

1

LIMITS

RP240

49

50

Changing the address and baud rate (OPTIONAL)

Factory Settings
May Be Sufficient

• Device address is
set to zero (if you
are connecting
multiple units in a
daisy-chain, you
can automatically
establish the device
address by using
the ADDR
command).

• Factory default
baud rate is 9600.

DIP Switch

Factory Default Setting Shown

OEM6250

N

O

1234

RS-232C Daisy-Chain Connections *

Unit 0 Unit 1 Unit 2

Rx
Tx
GND

Tx
Rx
GND

Daisy Chain to a Computer or Terminal

Stand-Alone Daisy Chain

Be sure to set unique devices addresses for each unit.

*

To set the address, use the DIP switch (see below),
or use the ADDR command (see

ADDRESS

Switch #1 Switch #2 Switch #3 Device Address

OFF OFF OFF Ø (default)
ON OFF OFF 1
OFF ON OFF 2
ON ON OFF 3
OFF OFF ON 4
ON OFF ON 5
OFF ON ON 6
ON ON ON 7

* Device address is checked upon power up or reset.

AUTO BAUD

Switch #4 ON = Auto Baud Enabled
Switch #4 OFF = Auto Baud Disabled (default)

To implement the Auto Baud feature:

The default baud rate is 9600. As an alternative, you can use
this procedure to automatically match your terminal's speed
of 1200, 2400, 4800, or 9600 baud.

1. Set switch 4 to ON.

2. Connect the OEM6250 to the terminal.

3. Power up the terminal.

4. Cycle power to the OEM6250 and immediately press the
space bar several times.

5. The OEM6250 should send a message with the baud rate
on the first line of the response. If no baud rate message
is displayed, verify steps 1-3 and repeat step 4.

6. Change switch 4 to OFF.

7. Cycle power to the OEM6250. This stores the baud rate
in non-volatile memory.

NOTE: If Auto Baud is enabled, the OEM6250 performs its
auto baud routine every time it is powered up or reset. The
OEM6250 is only capable of matching 1200, 2400, 4800, and
9600 baud. Once the baud rate has been determined, the
OEM6250 stores that baud rate in non-volatile memory;
therefore, Switch #4 should be set to the OFF position after
the baud rate has been determined.

SHLD

Unit 0 Unit 1 Unit 2

Rx
Tx
GND
SHLD

6000 Series Software Reference

Rx
Tx
GND
SHLD

Rx
Tx
GND
SHLD

Rx
Tx
GND
SHLD

Rx
Tx
GND
SHLD

).

6

OEM6250 Installation Guide

Motor Drivers

WARNING

REMOVE DC POWER FIRST before connecting or disconnecting the drive.

CONNECTIONS & INTERNAL SCHEMATICS

Drive

Motor

Maximum recommended cable
length is 15 feet (4.56 m).
Use 22 AWG wire.

DRIVE Connector

OEM6250

DRIVE 1
DRIVE 2

AUX

SHLD
COM
SHTNC
SHTNO
DFT
AGND

RSVD

CMD–
CMD+

Chassis Ground

Analog Ground
(AGND)

Internal Schematics

Solid State Relay

Closed if DRIVE¯
Open if DRIVE1

Open if DRIVE¯
Closed if DRIVE1

47 KW

6.8 KW

+5VDC

74HCxx

AGND

-

+

DFT (Drive Fault) input:
HCMOS compatible switching: low £ 1.00V, high ³ 3.25V.
Voltage range = 0-24V.

AGND

Command +

Chapter 1. Installation

7

PIN OUTS & SPECIFICATIONS

(9-pin DRIVE Connector)

Name In/Out Description and Specifications

SHLD — Shield—Internally connected to chassis (earth) ground.
COM — Signal common for shutdown. Not connected to any ground or other COM.
SHTNC OUT Shutdown relay output to drives that require a closed contact to disable the drive. The shutdown relay is active (disabling the

drive) when no power is applied to the OEM6250. When the OEM6250 is powered up, the shutdown relay remains active until
you issue the DRIVE11 command. Max. rating: 175VDC, 0.25A, 3W.

Shutdown active (DRIVE¯¯): this output is internally connected to COM (see schematic above).
Shutdown inactive (DRIVE11): this output is disconnected from COM (see schematic above).

SHTNO OUT Shutdown relay output to drives that require an open contact to disable the drive. The shutdown relay is active (disabling the

drive) when no power is applied to the OEM6250. When the OEM6250 is powered up, the shutdown relay remains active until
you issue the DRIVE11 command. Max. rating: 175VDC, 0.25A, 3W.

Shutdown active (DRIVE¯¯): this output is disconnected from COM (see schematic above).
Shutdown inactive (DRIVE11): this output is internally connected to COM (see schematic above).

DFT IN Drive fault input. Set active level with the DRFLVL command. The drive fault input will not be recognized until you enable the

input functions with the INFEN1 command. HCMOS compatible (Low £ 1.00V, High ³ 3.25V) with internal 6.8 KW pull-up

resistor to internal +5VDC supply.
AGND — Analog ground.
RSVD —

reserved

CMD– IN Command signal return.
CMD+ OUT Command output signal. ±10V analog output. 12-bit DAC. Load should be > 2KW impedance.

CONNECTIONS TO SPECIFIC DRIVES

APEX Series Drives

APEX Series Drive

Enable In

Fault Out

Gnd
Command+
Command–

CHA+
CHA–
CHB+
CHB–
CHZ+
CHZ–

Gnd

Apex Series CHA+ connected to OEM6250’s A–
Apex Series CHA– connected to OEM6250’s A+

«

«

«

«

«

«

«

«

«

«

«

«

NOTE:

OEM6250

SHTNO
DFT
AGND
CMD+
CMD–
A–
A+
B+
B–
Z+
Z–
GND

Vel Int Enable

Enable In

Command+
CommandÐ

Tach Output

APEX Series

Drive

Reset

Gnd

Fault Out

Gnd

Gnd

+15V

Gnd

-15V

CHA+
CHAÐ
CHB+
CHBÐ
CHZ+
CHZÐ

Gnd

OEM6250

SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD­CMD+

ENCODER 1

DRIVE 1

+5V
A+
AÐ
B+
BÐ
Z+
ZÐ
GND
SHLD

8

OEM6250 Installation Guide

BD-E Drive

BD-E Drive

V2 (pin 1)
V1 (pin 2)

GND (pin 4)

RST (pin 5)

+15V (pin 6)

FT (pin 9)
AOP (pin 10)
AOP (pin 11)
BOP (pin 12)
BOP (pin 13)
ZOP (pin 14)
ZOP (pin 15)

«

«

«

«

«

«

«

«

«

«

«

«

Dynaserv Drives (most)

Dynaserv Drive

A+ (pin 13)
A– (pin 14)

SRVON (pin 23)

Vcc (pin 24)

B+ (pin 29)
B– (pin 30)
Z+ (pin 43)
Z– (pin 44)

VIN (pin 49)

AGND (pin 50)

Dynaserv A+ connected to OEM6250’s A–
Dynaserv A– connected to OEM6250’s A+
OEM6250 GND connected to OEM6250 COM

«

«

«

«

«

«

«

«

«

«

NOTE:

OEM6250

CMD–
CMD+
GND
COM
SHTNO
DFT
A–
A+
B+
B–
Z+
Z–

OEM6250

A–
A+
SHTNO
+5V
B+
B–
Z+
Z–
CMD+
AGND

BD-E Drive

User I/O Connector

815

9

1

NOTE: These connections will work only if
BD-E jumper LK2 is set to position B
(not the factory default position).

Dynaserv Drive

DN1

(50-pin Connector)

1

18

33

19

50

OEM6250

DRIVE 1

SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMDÐ
CMD+

ENCODER 1

OEM6250

DRIVE 1 ENCODER 1

SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD­CMD+

+5V
A+
A­B+
B­Z+
Z­GND
SHLD

+5V
A+
AÐ
B+
BÐ
Z+
ZÐ
GND
SHLD

Linearserv Drive and Dynaserv DM1004 Drive

Linearserv, DM1004

Com+ (pin 01)

Servo On– (pin 05)

A+ (pin 17)
B+ (pin 19)
Z+ (pin 21)

Agnd-TQ (pin 22)

Vin-TQ (pin 23)

Agnd-VEL (pin 24)

Vin-VEL (pin 25)

Com– (pin 26)

Ready+ (pin 31)

A– (pin 41)
B– (pin 43)
Z– (pin 45)

*

When the Linearserv is in Torque Mode,
connect Linearserv pins 23 & 22 to CMD+
& CMD-. When in the Velocity Mode,
connect pins 25 & 24 are CMD+ & CMD-.

**

Connect Linearserv A+ to OEM6250 A–.

**

Connect Linearserv A– to OEM6250 A+.

Connect OEM6250 GND to OEM6250 COM.

NOTE:

«
«
«
«
«
«
«
«
«
«
«
«
«
«

OEM6250

+5V
SHTNO
A–

**

B+
Z+
CMD-

*

CMD+

*

CMD-

*

CMD+

*

AGND
DFT
A+

**

B–
Z–

Linearserv or DM1004 Drive

CN1

(50-pin Connector)

50 25

26 1

OEM6250

DRIVE 1 ENCODER 1

*
*

SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD­CMD+

SHLD
GND
ZÐ
Z+
BÐ
B+
AÐ
A+
+5V

Chapter 1. Installation

9

OEM670 Drive

0

0

ENABLE (pin 10)

SV Drive

ENABLE GND (X10 pin 08)

+24V OUT GND (X10 pin 10)

+24V OUT (X10 pin 09)

Fault Output (X10 pin 15)

GND for +24V (X10 pin 16)

*

**

***

OEM670 Drive

CMD+ (pin 1)
CMD– (pin 2)

FAULT (pin 9)

GND (pin 11)
GND (pin 16)

SOLL1+ (X8 pin 01)

SOLL1– (X8 pin 02)

N (X13 pin 02)

B (X13 pin 03)

A (X13 pin 04)
GND (X13 pin 05)

N/ (X13 pin 09)
B/ (X13 pin 10)
A/ (X13 pin 11)

+5V (X13 pin 13)

ENABLE (X10 pin 01)

+24V IN (X10 pin 14)

Connect SV A+ (called “A”) to OEM6250 A–.
Connect SV A– (called “A/”) to OEM6250 A+.
Connect SV’s X10 pins 14 & 16 to an
external 24V power supply. Also connect
SV X10 pin 16 to OEM6250 GND.
Connect a 500½ resistor between the
OEM6250’s GND and DFT terminals.

«

«

«

«

«

«

SV Drive

NOTE:

OEM6250

CMD+
CMD–
DFT
SHTNO
COM
AGND

«
«
«
«
«
«
«
«
«
«

«
«
«

«
«

OEM6250

CMD+
CMD–
Z+
B+
A– *
GND
Z–
B–
A+ *
+5V

Short these
two terminals

COM
SHTNO
+24V **
(Ext. Supply)
DFT ***
GND **
(& Ext. Supply)

OEM670

Drive

1

13

X8

1

16

X10

1

16

14

25

SV Drive

1

8

X13

OEM625

DRIVE 1

SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMDÐ
CMD+

OEM6250

DRIVE 1 ENCODER 1

SHLD
COM

9

500

½

15

SHTNC
SHTNO
DFT
AGND
RSVD
CMD­CMD+

Power Supply

External 24V

SHLD
GND
ZÐ
Z+
BÐ
B+
AÐ
A+
+5V

+–

TQ Series Drive

ENABLE IN (pin 1)

ENABLE GND (pin 2)

FAULT OUT+ (pin 3)
FAULT OUT– (pin 4)

COMMAND+ (pin 7)
COMMAND– (pin 8)

COMMAND SHLD (pin 9)

10

OEM6250 Installation Guide

TQ Series Drive

GND (pin 10)

OEM6250

«

SHTNO

«

COM

«

DFT

«

AGND

«

CMD+

«

CMD–

«

(cable shield)

«

AGND

TQ Series

Drive

ENABLE IN
ENABLE GND
FAULT OUT+
FAULT OUTÐ
RESET IN
RESET GND
COMMAND+
COMMANDÐ
COMMAND SHLD
GND

OEM625

DRIVE 1

SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD­CMD+

ANI Analog Input (OEM6250-ANI or OPT-OEM6250-A product only)

10V A

±

na og

Input Source

Signal Source +

Ground –

6 5 4 3 2 1

N.C.
N.C.
N.C.

ANI Option

Board

Analog Input #1
Analog Input #2
Analog Ground

(same as #1)

Analog
Ground

Analog
Ground

150 KW

¥ Each input is a ±10V analog input with a 14-bit

analog-to-digital converter.

¥ The ANI input is sampled at the servo sampling

rate (see table for SSFR command).

¥ Voltage value reported with the TANI and

ANI commands; Position value (819 counts/volt)
reported with the TPANI and PANI commands.

Internal Schematics

+15V

LF412

-15V

Enable (ENBL) Input — Emergency Stop Switch

AUX Connector

ENBL connected to GND (normally-closed switch).

—You must first remove resistor R25 before you can

(NOTE
use a switch on this input.) If this connection is opened,
motion is killed and the program in progress is terminated.

If the ENBL input is not grounded when motion is
commanded, motion will not occur and the error message
“WARNING: ENABLE INPUT ACTIVE” will be displayed in
the terminal emulator.

OEM6250

AUX

Location of resistor R25.

R45

AUX-P

Location of resistor R45.

As shipped from the factory, AUX-P is internally connected to +5V via resistor R45 (input
is sinking current). To make the ENBL input sink current to a supply other than +5V, first
remove R45 and then connect an external 5-24V supply to the AUX-P terminal. To source
current, first

CAUTION: Failure to remove R45 before connecting AUX-P to an external supply or
to the GND terminal or to the +5V terminal will damage the OEM6250.

NOTE: AUX-P (and R45) are also used by the HOM, NEG, POS, & TRG inputs.

HCMOS compatible (switching levels: low £ 1.00V, high ³ 3.25V).
Voltage range = 0-24V.

remove R45 and then connect the AUX-P terminal to the GND terminal.

+5V
OUT-P
IN-P

TRG-A
TRG-B
GND
OUT-A
OUT-B
GND
ENBL
+5V
AUX-P

+5VDC

Digital
Ground
(GND)

R25

(0 KW)

6.8 KW

R45

Remove R45 before connecting

(0 KW)

AUX-P to an external 5-24VDC
supply (sink current) or to the GND
terminal (source current). Failure

to remove R45 first will damage
the OEM6250.

To control the ENBL
input with a switch,
first remove R25 and
then wire the switch
as shown.

47 KW

Internal Schematic

74HCxx

Chapter 1. Installation

11

End-of-Travel and Home Limit Inputs

• CAUTION: As shipped from the factory, the limit inputs are pulled up to +5V through the R45 resistor. To
use a voltage reference other than +5V, first remove R45 and then use either the on-board +5V terminal

or an external power supply to power the AUX-P pull-up resistor (using both will damage the OEM6250).

• Motion will not occur on an axis until you do one of the following:

- Install end-of-travel (POS & NEG) limit switches.

- Disable the limits with the LH¯ command (recommended only if load is not coupled).

- Change the active level of the limits with the LHLVL command.

• Refer to the
discussions about using end-of-travel limits and homing.

CONNECTIONS & INTERNAL SCHEMATICS

POS & NEG connected to GND (normally-closed switches).

Mount each switch such that the load forces it to open before it
reaches the physical travel limit (leave enough room for the load to
stop). When the load opens the switch, the axis stops at the decel
value set with the LHAD command. The motor will not be able to
move in that same direction until you execute a move in the opposite
direction and
the limits with the LH¯ command, but this is recommended only if the
motor is not coupled to the load). The active level (default is active
low) can be changed with the LHLVL command.

HOM connected to GND (normally-open switch).

The home limit input is used during a homing move, which is initiated
with the HOM command. After initiating the homing move, the controller
waits for the home switch to close, indicating that the load has reached
the “home” reference position. The active level (default is active low) can
be changed with the HOMLVL command. You can also use an encoder’s
Z channel pulse, in conjunction with the home switch, to determine the
home position (this feature is enabled with the HOMZ1 command).

clear the limit by closing the switch (or you can disable

OEM6250

LIMITS

Connector

R45

AUX-P

Location of
resistor R45.

AUX

Connector

Basic Operation Setup

As shipped from the factory, AUX-P is internally connected to +5V via resistor R45 (input is sinking current).
To make the Limit inputs sink current to a supply other than +5V, first remove R45 and then connect an
external 5-24V supply to the AUX-P terminal. To source current, first
terminal to the GND terminal. CAUTION: Failure to remove R45 before connecting AUX-P to an external

supply or to the GND terminal or to the +5V terminal will damage the OEM6250.
NOTE: AUX-P (and R45) are also used by the ENBL & TRG inputs.

HCMOS compatible (switching levels: low £ 1.00V, high ³ 3.25V). Voltage range = 0-24V.

chapter in the

NOTES

6000 Series Programmer’s Guide

LIMITS Connector

AUX Connector

1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD

TRG-B
GND
OUT-A
OUT-B
GND
ENBL
+5V
AUX-P

for in-depth

Internal Schematic

All limit inputs share the
same circuit design.

Digital
GND

Chassis
Ground

Remove R45 before
connecting AUX-P to
an external 5-24VDC

Digital
GND

+5VDC

R45

(0 KW)

6.8 KW

remove R45 and then connect the AUX-P

supply (sink current)
or to the GND
terminal (source
current). Failure to

remove R45 first
will damage the
OEM6250.

47 KW

74HCxx

PIN OUTS & SPECIFICATIONS

(LIMITS Connector)

Pin Name In/Out Description Specification for all limit inputs

9
8
7
6
5
4
3
2
1

12

1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD

IN
IN
IN
—
IN
IN
IN
—
—

Positive-direction end-of-travel limit input, axis 1.
Negative-direction end-of-travel limit input, axis 1.
Home limit input, axis 1.
Digital ground.
Positive-direction end-of-travel limit input, axis 2.
Negative-direction end-of-travel limit input, axis 2.
Home limit input, axis 2.
Digital ground.
Chassis ground (earth).

OEM6250 Installation Guide

• HCMOS compatible (Low £ 1.00V, High ³ 3.25V) with internal

6.8 KW pull-up resistor to AUX-P terminal. As shipped from the
factory, AUX-P is internally connected to +5V via resistor R45.
To connect AUX-P to a supply other than +5V or to connect to
ground, first remove R45 and then connect AUX-P to an external

5-24V supply or to the GND terminal. Voltage range for these
inputs is 0-24V.

• Active level for HOM is set with HOMLVL (default is active low,
requires n.o. switch).

• Active level for POS & NEG is set with LHLVL (default is active
low, requires n.c. switch).

Encoder

CONNECTIONS & INTERNAL SCHEMATICS

Max. Cable Length is 100 feet.
Use 22 AWG wire.

Incremental

Encoder

Wire colors for Compumotor E Series encoders

ENCODER Connector

+5VDC
A Channel +
A Channel –
B Channel +
B Channel –
Z Channel +
Z Channel –
Ground
Shield

Red
Brown
Brown/White
Green
Green/White
Orange
Orange/White
Black
Shield

+5VDC

+5V
A+
A–
B+
B–

Same Circuit
as A Channel

Z+
Z­GND
SHLD

Digital Ground

ENCODER Connector

Internal Schematic

+1.8VDC

22 KW

22 KW

+5VDC

Chassis Ground

Encoder Cable

SM Motor

PIN OUTS & SPECIFICATIONS

Pin Name In/Out Description

9

+5V

8

A+

7

A–

6

B+

5

B–

4

Z+

3

Z–

2

GND

1

SHLD

OUT
IN
IN
IN
IN
IN
IN

-----

-----

+5VDC output to power the encoder.
A+ Channel quadrature signal input.
A– Channel quadrature signal input.
B+ Channel quadrature signal input.
B– Channel quadrature signal input.
Z+ Channel signal input.
Z– Channel signal input.
Digital ground.

Shield

—Internally connected to chassis ground (earth).

+5VDC
A Channel –
A Channel +
B Channel +
B Channel –
Z Channel +
Z Channel –
Ground
Shield

Wire colors

(ENCODER Connector)

Red
Yellow
White
Green
Blue
Orange
Brown
Black
Shield

+5V
A+
A–
B+
B–
Z+
Z­GND
SHLD

NOTE: Be sure to connect

the A– encoder lead (yellow)
to the A+ terminal, and
connect the A+ encoder lead
(white) to the A– terminal.

Specification for all encoder inputs

Differential comparator accepts two-phase quadrature
incremental encoders with differential (recommended) or
single-ended outputs. Max. frequency is 1.6 MHz. Minimum
time between transitions is 625 ns. TTL-compatible voltage
levels: Low £ 0.4V, High ³ 2.4V. Maximum input voltage is
5VDC.

Requirements for Non-Compumotor Encoders

• Use incremental encoders with two-phase quadrature output. An index or

Differential outputs are recommended.

• It must be a 5V (< 200mA) encoder to use the OEM6250’s +5V output. Otherwise, it must be separately
powered with TTL-compatible (low £ 0.4V, high ³ 2.4V) or open-collector outputs.

• If you are using a single-ended encoder, leave the A–, B– and Z– terminals on the OEM6250 unconnected.

Z channel

output is optional.

Chapter 1. Installation

13