1. Manuals
  2. Brands
  3. Pacific Scientific Manuals
  4. DC Drives
  5. MA6410
  6. Installation & hardware reference manual

Pacific Scientific MA6410 Installation & Hardware Reference Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
M A 6 4 1 0
6 4 1 0 D r i v e
Installation & Hardware Reference Manual

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MA6410 and is the answer not in the manual?

Questions and answers

Related Manuals for Pacific Scientific MA6410

Summary of Contents for Pacific Scientific MA6410

  • Page 1 M A 6 4 1 0 6 4 1 0 D r i v e Installation & Hardware Reference Manual...
  • Page 2 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.
  • Page 3 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...
  • Page 4 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...

  • Page 5: Table Of Contents

    Table of Contents ............. 1 Overview of the 6410 1.1 6410 Definition ....... 1-1 1.2 Other System Components .
  • Page 6 Appendix A Specifications Appendix B Ordering Information Appendix C Power Supply Considerations Appendix D CE Installation Index Rev E 6410 Installation & Hardware Reference Manual...

  • Page 7: Overview Of The 6410

    • Warranty information 1.1 6410 Defi ni tion Overview The Pacific Scientific 6410 converts step and direction inputs into motor winding currents to control a two-phase stepper motor. Principal features include microstepping and mid-band instability compensation for high resolution and smooth operation through both the low speed and mid-band resonance regions.
  • Page 8 Drive features Bipolar chopper drive - patented 4-phase PWM (pulse width modulation) chopping electronically controls the motor winding currents at 20 KHz frequency. This combines the best of recirculating and non-recirculating current regulation producing high back EMF rejection with low chopping ripple current. Benefits include: reduced heat dissipation, low electric noise and improved current control during motor breaking.
  • Page 9 User Motor current - sets the motor phase current to 5.0, 4.375, 3.75, adjustments 3.125, 2.5, 1.875, 1.25, or 0.625 A rms. using DIP Step size - sets the amount of shaft rotation per step (with the switch S1 decimal jumper installed). The settings are full, half, 1/5, 1/10, 1/25, 1/50, 1/125, and 1/250 steps per (micro)step.

  • Page 10: Other System Components

    Typical Typical applications for 6410 include: applications • X-Y tables and slides • Packaging machinery • Robotics • Specialty machinery • Index feed of material • Labeling machines 1.2 Other Sys tem Com po nents Overview The other components that, along with the drive, comprise a complete motor control system are: •...

  • Page 11: How To Use This Manual

    System Diagram The following diagram shows an installation of the drive in a typical system. Note: Your installation may vary from this configuration. 1.3 How to Use this Man ual 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 installation and power up instructions contained in Chapter 2 and Chapter 3.

  • Page 12: Warranty

    1.4 War ranty The Pacific Scientific 6410 drives have 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 settings, and so on, are exempt from the warranty plan.

  • Page 13: Installing The 6410

    2 Installing the 6410 In this chapter This chapter explains how to install the 6410 stepper motor drive. Topics covered are: • Unpacking and inspecting the 6410 • Installing and using the 6410 unit safely • Selecting other system components •...

  • Page 14: Installing And Using The 6410

    As the user or person applying this unit, you are responsible for responsibility determining the suitability of this product for any application you intend. In no event will Pacific Scientific Company be responsible or liable for indirect or consequential damage resulting from the misuse of this product.

  • Page 15: Selecting Other System Components

    300 rpm, an indexer that can ramp the step frequency is required. Selecting a The 6410 is designed for use with Pacific Scientific’s line of motor hybrid stepper motors or most other 2 phase stepper motors. The drive works with either the standard line or the enhanced high performance line of stepper motors.

  • Page 16: Mounting The 6410 Unit

    2.4 Mount ing the 6410 Unit Cooling plate For optimal thermal performance and minimum panel usage, mounting mount the 6410 bookcase style to a cooling plate (typically an Aluminum plate or heatsink with enough thickness and surface area to maintain the 6410’s chassis below 60°C ) using two M4 or 6-32 screws inserted through the mounting slots on the back of the unit.
  • Page 17 If a cooling plate is not provided, the optional heatsink available mounting from Pacific Scientific can be mounted to the side of the 6410 and the combined unit mounted to a panel using the slots on the back of the 6410 as described above (bookcase mounting). With a...
  • Page 18 Mounting When mounting the 6410, please refer to the dimensions below: dimensions 2 - 6 6410 Installation and Hardware Reference Manual - Rev E...

  • Page 19: Connecting To The 6410

    Mounting Your installation should meet the following guidelines: guidelines • Vertical orientation for the unit. • Flat, solid surface capable of supporting the approximate 1.0 lb. weight (0.5 kg. mass) of the unit. • Free of excessive vibration or shock. •...
  • Page 20 Connection diagram 2 - 8 6410 Installation and Hardware Reference Manual - Rev E...

  • Page 21: J3 Motor Connections

    Pacific Scientific Pacific Scientific makes cables that connect directly from J3 to our cable system motors. To order the cable from Pacific Scientific, use the order number SPC-xxx-6410, where “xxx” is the length, in feet (one-foot increments) up to 50 feet.
  • Page 22 Pacific Scientific If you are using Pacific Scientific motor cable, with the mating cabling diagram connectors already attached, install as follows: Note: All wires are #16 AWG. 2 - 10 6410 Installation and Hardware Reference Manual - Rev E...
  • Page 23 (twisted pair) can be individually shielded as in the Pacific Scientific cables. Connect shields to pin 5 of the mating connector. 6410 Installation and Hardware Reference Manual - Rev E...
  • Page 24 Cabling diagram - J3 motor Note: The colors in the diagram follow the Pacific Scientific stepper motor cable color code. Procedure 1. Strip the wires to 0.27 in (7mm). 2. Attach wires to connector as indicated in the diagram. Note: Make sure the screws on the PCD connector are tightened down firmly on the wiring.
  • Page 25 The figure below shows the connections required between the Connection 6410 connector J3 and Pacific 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.
  • Page 26 The figure below shows the connections required between the connections 6410 connector 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 series windings.
  • Page 27 The figure below shows the connections required between the connection 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.
  • Page 28 Power Max motor The figure below shows the connections required between the connections 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...

  • Page 29: J2 Power Connector

    2.5.2 J2 Power Con nec tor Introduction The J2 power cable connects the 6410 to the power supply. Please refer to Appendix C for additional information on power supply considerations. J2 power table Input Explanation DC - J2-1 +24 to +75 Vdc max at 5 amps The negative side of the power supply DC + J2-2...
  • Page 30 Connection diagram Cable Use #16 AWG for the power supply cable. Use cable twisted at requirements about 3 to 4 turns per inch (1 to 1.5 turns per centimeter). 2 - 18 6410 Installation and Hardware Reference Manual - Rev E...

  • Page 31: J1 Signal Interface Connector

    Cable diagram - J2 power cable Procedure 1. Strip the wires 0.27 inch (7mm). 2. Attach the wires to the 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 going into the PCD connector.
  • Page 32 J1 signal table Note: All inputs and outputs are optically isolated. Input/Output Explanation STEP + J1-1 Input used to command motor rotation. See figure at the end of the table for circuit and timing information. DIR + J1-2 Input that determines the direction of motor rotation. If standard motor wiring is followed, the motor will turn clockwise if the opto current is zero.
  • Page 33 Table cont’d Input/Output Explanation DIR - J1-7 Input that determines the direction of motor rotation. If standard motor wiring is followed, the motor will turn clockwise if the opto current is zero. The sense of the DIR + input can be reversed by reversing the connection of either (but not both) motor phase connectors (i.e.
  • Page 34 Interface diagram 2 - 22 6410 Installation and Hardware Reference Manual - Rev E...
  • Page 35 Higher voltage Voltages up to 30 volts can be used for the opto power input to interface the 6410 drive. However, a resistor must be put in series with the command inputs as shown 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.
  • Page 36 Mating The J1 signal interface connector is 9 contact female D connector. 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 Manual - Rev E...

  • Page 37: Powering Up The 6410 Drive

    3 Powering Up the 6410 Drive In this chapter This chapter explains how to power up the 6410 drive after installation. Topics covered are: • Setting up functions using switch S1 and Jumper J6 • Testing the installation This section is intended to familiarize the 6410 user with the hardware adjustments and settings required to power up and operate the 6410 drive.
  • Page 38 Location of S1 3 - 2 6410 Installation and Hardware Reference Manual - Rev E...

  • Page 39: Step Size

    The step size sets the amount of rotation per input step. Fifteen step sizes are available using Jumper J6 position 3-4 and DIP switch S1 positions 1-3 as shown. For all Pacific Scientific stepper motors and all 1.8° step motors, step size can be converted...

  • Page 40: Digital Electronic Damping Control

    3.1.2 Digi tal Elec tronic Damp ing Con trol 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.

  • Page 41: Idle Current Reduction

    3.1.3 Idle Cur rent Re duc tion 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.

  • Page 42: Setting Motor Current

    3.1.4 Set ting Mo tor Cur rent Motor current can be set using DIP Switch S1 positions 6, 7, and 8 as shown. Current should be compatible with motor current ratings. Note: Power dissipation in the 6410 drive increases as the output current is increased, so that more cooling is required at high motor currents.

  • Page 43: Testing The Installation

    3.2 Test ing the In stal la tion Background The following procedure verifies that the 6410 is installed properly and that it was not damaged during shipment. Procedure After installing the 6410 as described in Chapter 2, test your installation as follows. Warning Perform this initial power up with the motor shaft disconnected from the load.
  • Page 44 Procedure cont’d Warning Make sure power is removed before proceeding. 3. Check that Jumper J6 is set as follows: These settings reflect the following: - Idle Current Reduction Enabled (0.1 second delay) - 6410 enabled without enable input driven - Decimal step size selected - Step input filter enabled 4.

  • Page 45: Maintaining/Troubleshooting

    4 Maintaining/Troubleshooting In this chapter This chapter covers maintenance and troubleshooting of the 6410 unit. 4.1 Main tain ing the 6410 Drive Introduction The 6410 drives are designed for minimum maintenance. The following cleaning procedure, performed as needed, will minimize problems due to dust and dirt build-up.
  • Page 46 Use the troubleshooting table and the simple circuit shown below to diagnose and correct most problems. If you are unable to achieve satisfactory operation, contact your local Pacific Scientific Distributor or the 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.
  • Page 47 Corrective action table SYMPTOM CORRECTIVE ACTION Motor produces Ensure that the J6 5-6 jumper is out, or if in, that the enable input no torque, Meter opto is driven with at least 3 mA. read high. Disconnect the motor cable and cycle the J2 power supply Off and On.
  • Page 48 Pacific Scientific for repair or replacement. Return procedure 1. Call Pacific Scientific at (815) 226-3100 from 8am to 6pm Eastern Standard Time to get a Returned Materials Authorization Number (RMA#). Note: Do not attempt to return the 6410 or any other equipment without a valid RMA#.
  • Page 49 Appendix A Specifications Elec tri cal Input power 24 - 75 Vdc @ 5.0 Amps supply Rated drive Setting current (motor phase current) 5A ± 0.25A 4.375 ± 0.2A 4.375 3.75 ± 0.2 A 3.75 3.125 ± 0.15 A 3.125 2.5 ±...
  • Page 50 Step size Switch settable Steps/motor revolution (1.8 stepper motor) Full (1/2) 200 (400) 1/2 (1/4) 400 (800) 1/5 (1/8) 1000 (1600) 1/10 (1/16) 2000 (3200) 1/25 (1/32) 5000 (6400) 1/50 (1/64) 10000 (12800) 1/125 (1/128) 25000 (25600) 1/250 (1/256) 50000 (51200) Signal input (See circuit diagram, Section 2.5.3) requirements...
  • Page 51 Maximum step 2 MHz with step filter disabled rate 500 KHz with step filter enabled Step/Direction The figure below show the required timing relationship between timing the STEP and DIRECTION inputs: requirements Minimum ramp 50 milliseconds (This restriction only applies with mid-band time for step rate stability control circuit enabled.
  • Page 52 En vi ron men tal Operating Full rated current 0 to 50° C ambient air with or without cover Temperature provided chassis properly mounted so as not to exceed 60° C. Storage C to +70 temperature Maximum chassis 60° C temperature Note: For optimal thermal performance, mount the 6410 chassis (back or side) to a cooling plate or heatsink.
  • Page 53 Figure 1 Me chani cal Dimensions Refer to Section 2.4 Weight 1.0 lb nominal Connectors Power Supply PCD ELVH0310 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.
  • Page 55 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.
  • Page 56 How to order Contact Pacific Scientific to order these parts. Call 815-226-3100 from 8am to 6pm Eastern Standard Time. Write Pacific Scientific Customer Support 4301 Kishwaukee Street Rockford, IL 61105 (815) 226-3048 B - 2 6410 Installation & Hardware Reference Manual - Rev E...
  • Page 57 Appendix C Power Supply Considerations C.1 Bridge, Ca paci tor Power Sup ply The figure below shows the full-wave-bridge, capacitor-input configuration most commonly used to power one or more 6410 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.
  • Page 58 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 6410.
  • Page 59 Example If, for example, the secondary rms voltage is 40 Vac, the peak bus voltage will be 1.414 * 40 - 1.5 = 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.
  • Page 60 Based upon these considerations, the table below gives the highest allowable rated secondary voltage when using a line with +10% voltage tolerance: Transformer VA Maximum Rated Rating Secondary Voltage 1 - 100 44.7 Vac 100 - 350 45.5 Vac > 500 46.8 Vac Current Rating The average current load of the 6410 is a function of the motor...
  • Page 61 C.1.2 Rec ti fier Di ode Se lec tion Voltage 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.
  • Page 62 C.1.3 Ca paci tor Se lec tion The table below gives the minimum bus capacitance value for a single 6410 as a function of the current setting and bus voltage. These values give approximately 10% peak-to-peak ripple voltage with a 60 Hz line (increase capacitor values by 20% for use with a 50 Hz line).
  • Page 63 C.1.4 Fuse Se lec tion The BUS MDA 10 slow blow fuse or equivalent is recommended when the 6410 is set for 5 Amps. Fuses from the same family but with proportionally lower current rating can be used with lower current settings. C.1.5 Re gen era tion Con sid era tions The motor power supply voltage can be “pumped up”...
  • Page 64 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.
  • Page 65 Clamping If a clamp is required, a power zener diode can be used as shown Circuit 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.
  • Page 66 C.2 Pow er ing the 6410 from a Regu lated Sup ply Certain precautions should be taken when powering the 6410 drive from a regulated power supply. The 6410’s bipolar chopper output stage draws current from the DC supply in the form of pulses with fast rise and fall times.
  • Page 67 6410(s) powered The figure below illustrates powering the 6410 from a regulated by regulated supply where both an external capacitor and regenerated power supply dump circuit are required. The recommended fusing is also shown. 6410 Installation & Hardware Reference Manual - Rev E C - 11...
  • Page 69 6410 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 MA6410. Customer This appendix, supplied with all 6410 series drives, provides Responsibility detailed information on installation.
  • Page 70 EMC Directive Applied harmonized standards: EN 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 binding Signature D - 2 6410 Installation & Hardware Reference Manual - Rev E...
  • Page 71 CE Test 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...
  • Page 72 Safety In addition to the safety guidelines given in Section 2.2, observe the following: • Elec tronic drives con tain elec tro static sen si tive de vices which can be dam aged when han dled im prop erly. Quali fied per son nel must fol low ESD pro tec tion meas ures.
  • Page 73 Cable shielding The 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 required, Pacific Scientific suggests: • In 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.
  • Page 74 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 paragraph for the motor cable.
  • Page 75 Connection Diagram 6410 Installation & Hardware Reference Manual - Rev E D - 7...
  • Page 76 Mechanical Outline D - 8 6410 Installation & Hardware Reference Manual - Rev E...
  • Page 77 Index Address , 4-4, B-2 Applications, 1-4 Current, input, 2-3 motor, C-4 Bipolar chopper drive, 1-2 output, 1-1 rating, A-1, C-4, C-5 Cable CE, D-5 Damage, 2-1 J3, 2-12 Date code, 2-1 J2, 2-19 Declaration of Conformity, D-2 Capacitor, Defective unit, 4-4 external, 2-17, Definition, general drive, 1-1 motor selection, C-6...
  • Page 78 Earth ground, safety, 2-2 J3-Motor, 2-9 Enabling the drive, 3-7 cable, making your own, 2-11 External capacitor, 2-17 connector, 2-11 diagram, 2-12 PacSci, cable, 2-9 procedure, 2-12 Fuse selection, C-7 safety, 2-2 table, 2-11 J2-Power, 2-17 Getting help, 3-8 cable, 2-19 Grounding, D-5 diagram, 2-18 procedure, 2-19...
  • Page 79 Motor, 2-3 Problems/Solutions, 4-2 cable, making your own, 2-11 connector, 2-11 Flying Lead, 2-13 Ramp time, A-3 MS connectors, 2-15 Rectifier diode, selection, C-5 Power Max, 2-16 Regeneration, C-7 Terminal Board, 2-14 Regulated supply, C-10 PacSci, cable, 2-9 Repair procedure, 4-4 selection, 2-3 Return, procedure, 4-4 Mounting, 2-4...
  • Page 80 Step size set up, 3-3 benefits, 3-3 definition, 3-3 Step size, 1-3, A-2 Storage, 2-1 System components, 1-4 diagram, 1-5, 2-8 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 Unpacking, 2-1 Ventilation, 2-7 Voltage, motor supply, 1-1, 2-17, A-1, C-1...

This manual is also suitable for:

6410

Table of Contents