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© 1998-2005 Parker Hannifin Corporation

All Rights Reserved

Technical Assistance

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Europe (non-German speaking) Italy

Technical Support E-mail

Table of Contents
About this Guide...........................................................................................iv

Change Summary .........................................................................................vi

Chapter 1. Installation ...................................................................................1

Chapter 2. Troubleshooting........................................................................36

Appendix A. VM25 Installation ...................................................................44

Appendix B. EVM32 Installation.................................................................45
Appendix C. Servo Tuning ..........................................................................59

About this Guide

6K Series Programmer’s Guide 6K Series
Command Reference

What You Should Know

Related Publications
6K Series Command Reference

6K Series Programmer’s Guide

Ethernet Networking for 6K and Gem6K

COM6srvr for the 6K and Gemini Series

Motion Control Systems

The National Electric Code Handbook (Third Edition).
Important User Information

Warning
Change Summary

Revision B Changes

Topic Description
 CHAPTER ONE

Installation

Chapter 1. Installation
Before You Begin

Warning

Recommended Installation Process

6K Series
Programmer’s Guide 6K Series Command Reference

Electrical Noise Guidelines

2
6K Series Controller Ship Kit

Part Name Part Number

6K Series Hardware Installation Guide

6K Series Command Reference
6K Series Programmer’s Guide

NOTE:

Optional Accessories
Part Name Part Number

3
6K Series General Specifications
Parameter Specification
Power (DC input)

Performance

Communication Interface

ADDR
BAUD

NTADDR
Onboard Inputs

WARNING: ENABLE INPUT ACTIVE

Onboard Outputs

PULSE

4
RS-485 Setup (Optional)
READ THIS FIRST

Caution —

DIP Switch RS-485 2- RS-485 4- RS-232

Wire Wire

Reserved

5
6K Series Dimensions & Mounting

Dimensions

6K2 & 6K4

6K6 & 6K8

6
Mounting

Environmental Considerations
Temperature

Humidity

Airborne Contaminants, Liquids

Mounting Option — DIN Rail

Mounting Option — Brackets (brackets provided in ship kit)

7
6K Series Electrical Connections

Auxiliary Connections

must be connected to GND to allow motion

8
Enable Input

9
Drives: Servo ( 10V) Drives (“DRIVES” connectors)

Internal Schematics

Drive Cable

10
 Pin Outs & Specifications — Servo Drives Only (15-Pin “Drive” Connectors)
Pin * Name In/Out 71-017003-10 Description
Cable Colors ***

DRFLVL
DRFEN1

DRIVE1

DRIVEØ

DRIVE1

DRIVE1

DRIVEØ

DRIVE1

CONNECTIONS TO THE APEX SERIES DRIVE

APEX Drive Connections 6K Connections

Signal Name Signal Name Connector Pin

11
CONNECTIONS TO THE ARIES SERIES DRIVE

Aries Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

CONNECTIONS TO THE BD-E DRIVE

BD-E Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

NOTE

12
CONNECTIONS TO THE COMPAX3 DRIVE

Compax3 Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

CONNECTIONS TO THE DYNASERV DRIVE

Dynaserv Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

NOTE

13
CONNECTIONS TO THE DYNASERV GE DRIVE

Dynaserv GE Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

CONNECTIONS TO THE LINEARSERV DRIVE

Linearserv Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

NOTE

14
CONNECTIONS TO THE OEM670T & OEM675T DRIVE

OEM67x Drive Connections 6K Connections

Signal Name Pin Signal Name Connector Pin

CONNECTIONS TO THE SV DRIVE

SV Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

DRIVE1

NOTE:

15
CONNECTIONS TO THE TQ10 DRIVE

TQ Drive Connections 6K Connections

Signal Name Pin Signal Name Connector Pin

CONNECTIONS TO THE Vix DRIVE

Vix Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

16
Drives: Step & Direction Drives (“DRIVES” connectors)

INTERNAL SCHEMATICS

Drive Cable

17
 PIN OUTS & SPECIFICATIONS — STEPPER DRIVES ONLY (15-pin “DRIVE” connectors)
Pin * Name In/Out Description

DRFLVL
DRFEN1

CONNECTIONS TO THE ARIES SERIES DRIVE

Aries Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

18
CONNECTIONS TO THE COMPAX3 DRIVE

Compax3 Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

CONNECTIONS TO THE DYNASERV DRIVE

Dynaserv Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

NOTE

19
CONNECTIONS TO THE DYNASERV GE DRIVE

Dynaserv GE Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

CONNECTIONS TO THE EAC, EDC, OEM750, S, PDS, and ZETA DRIVES

Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

NOTES PULSE
PULSE1.0

20
CONNECTIONS TO THE LINEARSERV DRIVE

Linearserv Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

NOTE

CONNECTIONS TO THE OEM670SD DRIVE

OEM670SD Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

CONNECTIONS TO THE PKH130M DRIVE

PKH130 Drive Connections 6K Connections

Signal Name Pin Signal Name Connector Pin

NOTE PULSE PULSE8.0

21
CONNECTIONS TO THE VIX DRIVE

Vix Drive Connections 6K Connections

Signal Name Connector Pin Signal Name Connector Pin

22
Encoders (“ENCODERS” and “MASTER ENCODER” connectors)

NOTE

23
Limit Inputs (“LIMITS/HOME” connectors)

NOTES

LHØ
LIMLVL

LHAD

HOM

6K Series Programmer’s Guide

PIN OUTS & SPECIFICATIONS

Pin # In/Out Axes 1-4 Axes 5-8 Description (input functions programmed by LIMFNC) Specification for limit inputs

TLIM LIM
LIMLVL

24
Onboard Programmable Inputs and Outputs

PIN OUTS & SPECIFICATIONS

Pin #* In/Out Description (axes 1-4) Description (axes 5-8) Specs for Trigger Inputs Specs for GP Outputs

TOUT OUT

OUTFNC

OUTFNCi-H
TIN IN
OUTLVL
INFNC

INFNCi-H

INLVL

25
Trigger Input Connections

Programming Tip: INLVL INLVL0

INLVL INLVL1
TIN IN 1

26
Programmable Output Connections

Programming Tip: OUTLVL

OUTLVL1 OUTLVL
OUTLVL0
TOUT OUT 1

27
Communication Interface

Communication Interface Options

RS-232

Ethernet

RS-232/485

Using Multiple Ports

28
RS-232 Communication
RS-232 Connector Pin Outs for RS-232 Communication

Pin Description

BAUD

ADDR

Ethernet Communication
NOTES

NTADDR TNTMAC

Direct PC to 6K Connection Network Hub Connection

NOTE: NOTE:

29
RS-485 Communication
RS-232 Connector Pin Outs for RS-485 Communication
Pin Description

ADDR

30
31
RP240 Remote Operator Panel
RS-232 Connector NOTE for RS-485 Users

NOTE:

PORT1
DRPCHK1

NOTE: Model RP240 User Guide

Expansion I/O

32
24 VDC Power Input

Guide to Power Requirements

33
Testing the Installation

Warning

Test Setup

Connections Test Procedure Response Format (left to right)

NOTE @LHØ TLIM

@LH3

TLIM *TLIM11Ø_11Ø_11Ø

TLIM *TLIMØØ1_ØØ1_ØØ1

TLIM *TLIM11Ø_11Ø_11Ø

ENCCNT1 TPE
L TPE T.3 LN

^K

TIN
TIN
*TINØØØØ_ØØØØ_Ø *TINØØØØ_ØØØØ_ØØØØ_ØØØØ_Ø

TIN
*TIN1111_1111_1 *TIN1111_1111_1111_1111_1

@OUT1 TOUT

TOUT *TOUT1111 *TOUT1111_1111

@OUTØ

TOUT *TOUTØØØØ *TOUTØØØØ_ØØØØ

ASSUMPTIONS

*RP24Ø
CONNECTED

*NO REMOTE PANEL

PORT2
DRPCHK

*DRPCHK3
!!!!"#$%&$#'#(!)*+!"#,'(#--.(
!!(&,!!!/#0!!1'2'&1!3(45.!!341%-26!!.'"

TINO
TINO *TINOØØØØ_ØØØØ

TINO *TINOØØØØ_Ø1ØØ

34
What’s Next?

Next

And Finally
6K Series Programmer’s
Guide
6K Series Command Reference

35
 CHAPTER TWO

Troubleshooting

Chapter 2. Troubleshooting
Troubleshooting Basics

Technical Support

Technical Support

37
Solutions to Common Problems

Note:

Problem Cause Solution

6K Programmer’s
Guide

NOTE: E1

PORT2 DRPCHKØ

ADDR

CMDDIR1

TPE

CMDDIR1

ENCPOL1

38
Problem Cause Solution

DRES DRES

ERES ERES

ERES

ERES4000
ERES2048

ERES2000
ERES4000

ERES507904
ERES614400
ERES819200
ERES278528
ERES425894
ERES655360
ERES1024000
ERES655360
PULSE

SCALE1 SCLA SCLD SCLV

SCLMAS

INFNCi-M

39
Problem Cause Solution

All other LED states indicate hardware

conditions; refer to your product's
Installation Guide for details.

RESET

DRIVE1
DRIVE0
KDRIVE1 TAS TASF

DRIVE1

SMPER

LHØ

LSPOS LSNEG

PULSE

DRFLVL

Torque, loss of

SMPER TAS TASF DRIVE1

TAS TASF
DRFLVL

STARTP STARTP
STARTP STARTP

40
Problem Cause Solution

DRIVE1

41
Resolving Serial Communication Problems

General Notes

Test the Interface

*PARKER HANNIFIN 6K MOTION CONTROLLER

>TREV
*TREV92-016740-01-5.0 6K

Problem Remedy (based on the possible causes)

PORT1 DRPCHKØ
PORT2 DRPCHKØ
PORT2 DRPCHKØ
E1
ECHO1

STARTP
PORT1
ECHO3
PORT2
ECHO2

TREV
!K <ctrl>K

42
Product Return Procedure

Technical Assistance

43
Appendix A. VM25 Installation
Appendix B. EVM32 Installation

EVM32 Description

Product (p/n) Description

EVM32 Specifications
Parameter Specification
Power (DC input)

Environmental

Dimensions
Digital Inputs

INLVL

TIO

Reed Relay Outputs

TIO
Digital Outputs

NOTE

46
 mA
Graph data is applicable to an EVM32 (cover installed) with PNP SIMs at 50 degrees C.
350
Operation above 300mA is not recommended.
300 300

Load Current (mA)

250
240
Limit to Number of
200 Simultaneously Active Outputs
Contiguous * Alternately Staggered * 180

150 up to 2 up to 10
up to 8 up to 16
up to 32 up to 32
100
* "Contiguous" means sequentially numbered I/O points on the EVM32
50 (for example: 1, 2, 3, 4, 5, 6, 7, 8, 9 ... ).
"Alternately Staggered" means alternate even or odd numbered I/O points
(for example: 1, 3, 5, 7, 9, 11, 13, 15 ... or 2, 4, 6, 8, 10, 12, 14 ... )
0
0 10 20 30 40 50 60 70 80 90 100
% Duty Cycle
OUTLVL
OUTLVL0 OUTLVL1

TIO
OUTLVL OUT
Solid State Relay

TIO

High Current Relay

TIO

Analog Inputs
ANIRNG

ANIEN
TIO
Analog Outputs

TIO TANO

47
EVM32 Dimensions

48
EVM32-ll Dimensions

49
Installing the SIM Boards
Step 1: Remove the Cover
Caution

Step 2: Install the SIM boards

SIM #1 (I/O points 1-8)
SIM #2 (I/O points 9-16)
Snap
SIM #3 (I/O points 17-24)
into
place SIM #4 (I/O points 25-32)

Notch

Notch

SIM Slot

50
Step 3: (SIM8-IN-EVM32 only) Set the jumpers to select sinking or sourcing

Step 4: Replace the cover and label the SIM locations

SIM Board Color Label

51
Electrical Connections
Caution

Connecting the 6K controller and EVM32 I/O bricks

TER TERF ER

INEN OUTLVL

OUTLVL
OUTLVL0 OUTLVL1

TIO

52
Jumpers

24 VDC power input

53
Reed Relay Outputs (SIM8-OUT-RLY10)
&'%()"*+,-$##+.
/01,%2,134567
8 9

!,-./ !"#$%&'()$
48
*#+)$#
K0,>?5

!<2
>?5 J$%#$%
62""(B%@2" !"#$%

?EJE

L&5 :(%$)"

/;<(,%=(,>?5,#@",A2),%=(
B2))(<#2"C@"D,2$%#$%,#@"E
F=(",$<@"D,%=(,:(+*.,-!GH
%=(,>?5,%()I@"*+<,*)(,"2%
@"%()"*++.,B2""(B%(C,%2D(%=()E7

54
Digital Inputs (SIM8-IN-EVM32)
Sinking AB#;&(CD/E"$$DF
G+-/#'/-H*9:I
J >

!"#$%&'()$ !,-./
*#+)$# !"#$%&
*> .
-4. 4/0!
/
?+/%89
*+
67' 0
%89
,+ 67' +2.-/0!
%89 +4. 4/0!
1.2+/0!

6($"#
!"#$"# :'((;<#='( +-. +/0!
K
>

%&'"() *>
%&'"()

+344/$5
:'((;<#='( @4. +/0!

67'
%89
67'/%89

Sourcing AB#;&(CD/E"$$DF
G+-/#'/-H*9:I
J >

!"#$%&'()$ !,-./
*#+)$# *> !"#$%&
.
LM;/'"#$"#/7M'"D)
/ -4. 4/0!
N;/CND;/#'/7=(O/C#
D;C7#/@PQ/'R/<"&&;(#. ?+/%89
0
67'
+2.-/0!
67' %&'"()
%89 +4. 4/0!
1.2+/0!

6($"#
!"#$"# :'((;<#='( +-. +/0!
K
>

*>
%&'"()
+344/$5

:'((;<#='( @4. +/0!

%&'"()
67'
%89
67'/%89

Interrelationships
Active Level * Jumper Selection * Switch Voltage at Input LED IN/TIN/TIO Report
INLVL0 0
INLVL0 1
INLVL1 1
INLVL1 0
INLVL0 1
INLVL0 0
INLVL1 0
INLVL1 1
INLVL0

55
Digital Outputs (SIM8-OUT-NPN and SIM8-OUT-PNP)
SIM-OUT-NPN &'%()"*+,-$##+.
/01,%2,134567
8 9

!,-./ !"#$%&'()$
48
*#+)$#
K0,>?5
!"# !"#$%

!<2
>?5 J$%#$%
62""(B%@2"

>)2$"C
62""(B%@2"
'()*'+,-./%-!"#$%&
!.0-12-34526%-341%&478
98:;<7=6->32>%/-?/%% !<2
>%/=&3$1324-<%82@AB
>?5

Fly-Back Diodes:

Caution:

Factory default jumper Move the jumper to the

position is "no connect" left-hand position to use
NPN (no internal diodes used). NPN internal fly-back diodes.
JU1

JU1

External Diodes

SIM8-OUT-PNP &'%()"*+,-$##+.
/01,%2,134567
8 9

!,-./ !"#$%&'()$
48
*#+)$#
K0,>?5

!<2
>?5 J$%#$%
62""(B%@2" !"#$%

>)2$"C
62""(B%@2" >)2$"C

!<2,>?5

56
Solid State Relay Outputs (SIM8-OUT-SSR)

High Current Relay Outputs (SIM8-OUT-HCR)

57
Analog Inputs (SIM8-AN-IN)

Analog Outputs (SIM8-AN-OUT)

&'%()"*+,-$##+.
//0,*12'("37
8 9

!,-./ !"#$%&'()$
48
*#+)$#
K0,>?5

!<2
>?5 M"*+2D,J$%#$%
62""(B%@2",/8NO,0P47 QIM,I*'E
/1R!-827>A
LGS13M
>)2$"C
62""(B%@2"

!<2
>?5

58
 Appendix C. Servo Tuning
setup process

To tune your servo system

setup process

st
1 Order Response
Commanded Position
(dashed line)
Position

Actual Position
(solid line)
Time
Basic Tuning Process

NOTE:
SFB

SFB

SFB

60
SFB1,1

SFB2,2

61
Tuning-Related Commands
6K Series Command Reference

SGP SFB
SGI ANIFB
SGV
SGAF Important:
SMPER PSET
SFB
SGVF
Programmer’s Guide
SGILIM ERES
SMPER
SGENB

SFB SGSET SOFFS

SGSET ERROR
ERROR.12-1

ERRORP

62
Index

See
64