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OEM6250 Installation Guide
End-of-Travel and Home Limit Inputs
NOTES
• 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
Basic Operation Setup
chapter in the
6000 Series Programmer’s Guide
for in-depth
discussions about using end-of-travel limits and homing.
CONNECTIONS & INTERNAL SCHEMATICS
TRG-B
GND
OUT-A
OUT-B
GND
ENBL
+5V
AUX-P
6.8 KW
R45
(0 KW)
47 KW
74HCxx
Digital
GND
Internal Schematic
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
clear the limit by closing the switch (or you can disable
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).
Chassis
Ground
Digital
GND
LIMITS Connector
1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD
AUX Connector
All limit inputs share the
same circuit design.
Remove R45 before
connecting 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.
+5VDC
OEM6250
AUX
Connector
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 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
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: 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.
LIMITS
Connector
PIN OUTS & SPECIFICATIONS
(LIMITS Connector)
Pin Name In/Out Description Specification for all limit inputs
9
8
7
6
5
4
3
2
1
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).
• 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).