6210 Installation Manual - Kollmorgen

Danaher Motion Pacific ScientificMicrostep Translator Drive6210 Installation ManualPart Number: MA6210Document Number: M-MD-610-0101

Record of Manual RevisionsISSUE NO.1DATE10/31/02BRIEF DESCRIPTION OF REVISIONInitial releaseCopyright Information Copyright 2002 Danaher Motion Pacific Scientific - All rights reserved.Printed in the United States of America.NOTICE:Not for use or disclosure outside of Danaher Motion Pacific Scientific Company except underwritten agreement. All rights are reserved. No part of this book shall be reproduced, stored inretrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, orotherwise without the written permission from the publisher. While every precaution has been takenin the preparation of the book, the publisher assumes no responsibility for errors or omissions.Neither is any liability assumed for damages resulting from the use of the information containedherein.This document is proprietary information of Danaher Motion Pacific Scientific Company that isfurnished for customer use ONLY. No other uses are authorized without written permission ofPacific Scientific Company. Information in this document is subject to change without notice anddoes not represent a commitment on the part the Pacific Scientific Company. Therefore, informationcontained in this manual may be updated from time-to-time due to product improvements, etc., andmay not conform in every respect to former issues.

Limited WarrantyIncludes software provided by Pacific ScientificSeller warrants that the Goods sold hereunder are free from defects in material and workmanship forthe product warranty period of each item of Goods (Product Warranty Periods are listed below).Seller warrants its Good(s) only to the original purchaser (the “Customer”), and in the case oforiginal equipment manufacturers or distributors, only to their original consumer (the “Customer”).There are no warranties whatsoever on Goods built or acquired, wholly or partially, to a buyer’sdesigns or specificationsThis express warranty is in lieu of and exclude all other warranties, express or implied, by operationor law or otherwise including THE WARRANTY OF MERCHANTABILITY AND FITNESS FORA PARTICULAR PURPOSE (WHETHER KNOWN TO SELLER OR NOT), all other suchwarranties being hereby expressly disclaimed by Seller and waived by Buyer.Written notice of claimed defects shall have been given to Seller within the period set forth in theschedule below, and within thirty (30) days from the date any such defect is first discovered.Product Warranty SchedulesProductsBrandWarranty PeriodPacific ScientificAll Products24 months from date of manufactureSuperiorAll Products12 months from date of manufactureKollmorgenStandard Brush-type Motors,Electronics and Accessories12 months from date of manufactureKollmorgenStandard Brushless Motors,Electronics and Accessories24 months from date of manufactureKollmorgenStandard Step Motors, StepperControls and Accessories12 months from date of manufactureKollmorgenCustom Motion Systems orcomponents of any typeTo be negotiated on a case-by-casebasis, and set forth in the order.The Good or parts claimed to be defective must be returned to Seller, accompanied by a ReturnMaterial Authorization (RMA) issued by Seller’s facility responsible for supplying Goods, withtransportation prepaid by Customer, with written specifications of the claimed defect.If a warranty claim is valid, Seller shall pay reasonable one-way costs of transportation of thedefective Goods from either the original destination or the location where defect occurred,whichever is closest to Seller’s facility. Under no circumstances shall Seller be liable for removal ofSeller’s Goods from Buyer’s equipment or re-installation into Buyer's equipment.NO PERSON, INCLUDING ANY AGENT, DISTRIBUTOR, OR REPRESENTATIVE OF SELLER, ISAUTHORIZED TO MAKE ANY REPRESENTATION OR WARRANTY ON BEHALF OF SELLERCONCERNING ANY GOODS MANUFACTURED BY SELLER, EXCEPT TO REFERPURCHASERS TO THIS WARRANTY.

SAFETYThe equipment described herein has been developed, produced, tested and documented inaccordance with the corresponding standards. During use conforming with requirements,the equipment is not dangerous for people or equipment. Use conforming withrequirements means that the safety recommendations and warnings detailed in thismanual are complied with and applicable regulations for safety (machine directives, etc.)and noise suppression (EMC Directives) are observed while operating the drive. At theend of its lifetime, dispose of or recycle the drive according to the applicable regulations.Installation and wiring of the drive must be completed only by qualified personnel havinga basic knowledge of electronics, installation of electronic and mechanical components,and all applicable wiring regulations.Commissioning of the machine utilizing the drives must be done only by qualifiedpersonnel having a broad knowledge of electronics and motion control technology.As the user or person applying this unit, you are responsible for determining thesuitability of this product for the application. In no event is the Pacific ScientificCompany responsible or liable for indirect or consequential damage resulting from themisuse of this product.Read this manual completely to effectively and safely operate the 6210.Comply with the applicable European standards and Directives.

Danaher Motion Pacific ScientificTable of ContentsContents1.INTRODUCTION. 1-11.1.1.2.1.3.2.BEFORE YOU BEGIN . 1-16210 PRODUCT FEATURES . 1-1EXPRESS START-UP PROCEDURE . 1-2INSTALLATION GUIDELINES . 2-12.1.TERMINAL LOCATIONS AND ASSIGNMENTS . 2-22.1.1.Terminal Locations . 2-22.1.2.Motor Connections. 2-32.1.2.1.Motor Wiring Configurations . 2-42.1.2.1.1. P2H, P21, M21, P22, M22 . 2-42.1.2.1.2. N3x / K3x / T2x . 2-52.1.2.2.Power Input. 2-92.1.2.3.Typical Power Supply for a Single Drive Application. 2-93.SPECIFICATIONS. 3-13.1.MECHANICAL. 3-13.2.ELECTRICAL . 3-13.3.ENVIRONMENTAL . 3-13.4.CURRENT SETTINGS . 3-13.5.AUTOMATIC CURRENT REDUCTION . 3-23.6.STEP RESOLUTION. 3-23.6.1.Switches for Setting Current Level and Step Resolution . 3-23.7.SIGNAL SPECIFICATIONS . 3-23.7.1.Terminal Assignments . 3-23.7.2.Signal Descriptions . 3-33.7.3.Level Requirements . 3-33.7.4.Timing Requirements. 3-33.8.SUGGESTED METHODS FOR CONTROL INTERFACE . 3-43.9.INDICATOR LIGHTS . 3-44.TORQUE VS. SPEED . 4-14.1.MOTOR COMPATIBILITY . 4-14.1.1.Motors for Use with the 6210 Translator/Drive. 4-24.1.1.1.Std. Ltr. Winding, Connection, Drive Amps, Rated Motor Current,Phase Resistance by Motor Type . 4-24.1.1.2.Phase Inductance, Holding Torque, Rotor Inertia, and Detent Torqueby Motor Type . 4-44.2.MOTOR PERFORMANCE . 4-64.3.TYPICAL TORQUE VS. SPEED CURVES . 4-74.3.1.P2H, 24 V. 4-74.3.2.P2H, 36 V. 4-84.3.3.P21, 24 V. 4-96210 Installation Manuali

Table of 21, 36 V . 4-10P22/M22, 24 V . 4-11P22/M22, 36 V . 4-12T2H, 24 V. 4-13T20, 36 V. 4-14T21, 24 V. 4-15T21, 36 V. 4-16T22, 24 V. 4-17T22, 36 V. 4-18T23, 24 V. 4-19T23, 36 V. 4-20N31/K31, 36 V. 4-21N32/K32, 36 V. 4-22TROUBLESHOOTING . 5-15.1.5.2.5.3.5.4.iiDanaher Motion Pacific ScientificIN GENERAL . 5-1SPECIFICALLY . 5-1ELECTRICAL INTERFERENCE PROBLEMS . 5-2CUSTOMER SUPPORT/CONTACT INFORMATION . 5-26210 Installation Manual

Danaher Motion Pacific Scientific1.IntroductionINTRODUCTION1.1. Before You BeginOnly qualified personnel should install or perform servicing procedures onthis equipment.Before performing any work on the unit, allow at least five minutes for thecapacitors to fully discharge.Voltage is present on unprotected pins when the unit is operational.Motors powered by this drive may develop extremely high torque.Disconnect power to this drive before doing any mechanical work.This unit is designed only for 24-40 VDC input (seeElectrical Specifications).Reconfiguration of the circuit not shown in this manual voids theWarranty.Failure to follow the installation guidelines voids the Warranty.1.2. 6210 Product FeaturesThe 6210 Translator/Drive is a bipolar, adjustable speed, two-phase PWM drivethat uses hybrid power devices. It can be set to operate a step motor in microstepmode at up to 20,000 microsteps per revolution. The maximum running speed is3,000 rpm. To reduce the chances of electrical noise problems, the control signalsare optically isolated from the drive circuit. Features include:Switch selectable current levels of 1.0 through 3.5 amperesFull short-circuit protection (phase-to-phase and phase-to-ground)Undervoltage and transient overvoltage protectionEfficient thermal designOptically isolated inputsWindings Off capabilityAutomatic current reductionSwitch selectable step resolutionCompact sizeSturdy all-aluminum mounting base6210 Installation Manual1-1

IntroductionDanaher Motion Pacific Scientific1.3. Express Start-Up ProcedureThe following instructions define the minimum steps necessary to make yourTranslator/Drive operational:Always disconnect the power to the unit before connecting ordisconnecting the motor leads. FAILURE TO DO SO WILLRESULT IN A SHOCK HAZARD AND MAY DAMAGE THEDRIVE.Always operate the unit with the motor and drive enclosureGROUNDED. Be sure to twist together the wires for each motorphase as well as those for the DC input. Six twists per foot (0.3m)is a good guideline.1.Check to see that the motor used is compatible with the drive.2.Set the correct current level for the motor being used per the instructionsin Section 4.5. Heat sinking may be required to maintain casetemperature below 70 C ( 158 F).3.Select the appropriate step resolution and set the switches as described inSwitches for

Reconfiguration of the circuit not shown in this manual voids the Warranty. Failure to follow the installation guidelines voids the Warranty. 1.2. 6210 Product Features The 6210 Translator/Drive is a bipolar, adjustable speed, two-phase PWM drive that uses hybrid power devices. It can be set to operate a step motor in microstep