6210 Installation-Manual en-US RevA

Danaher Motion Pacific Scientific
Microstep Translator Drive
6210 Installation Manual
Part Number: MA6210

Document Number: M-MD-610-0101
Record of Manual Revisions
ISSUE NO. DATE BRIEF DESCRIPTION OF REVISION
1 10/31/02 Initial release
Copyright 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 under
written agreement. All rights are reserved. No part of this book shall be reproduced, stored in
retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or
otherwise without the written permission from the publisher. While every precaution has been taken
in 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 contained
herein.
This document is proprietary information of Danaher Motion Pacific Scientific Company that is
furnished for customer use ONLY. No other uses are authorized without written permission of
Pacific Scientific Company. Information in this document is subject to change without notice and
does not represent a commitment on the part the Pacific Scientific Company. Therefore, information
contained in this manual may be updated from time-to-time due to product improvements, etc., and
may not conform in every respect to former issues.
Limited Warranty
Includes software provided by Pacific Scientific
Seller warrants that the Goods sold hereunder are free from defects in material and workmanship for
the 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 of
original 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’s
designs or specifications
This express warranty is in lieu of and exclude all other warranties, express or implied, by operation
or law or otherwise including THE WARRANTY OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE (WHETHER KNOWN TO SELLER OR NOT), all other such
warranties 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 the
schedule below, and within thirty (30) days from the date any such defect is first discovered.
Product Warranty Schedules

Brand Products Warranty Period
Pacific Scientific All Products 24 months from date of manufacture
Superior All Products 12 months from date of manufacture
Kollmorgen Standard Brush-type Motors, 12 months from date of manufacture
Electronics and Accessories
Kollmorgen Standard Brushless Motors, 24 months from date of manufacture
Electronics and Accessories
Kollmorgen Standard Step Motors, Stepper 12 months from date of manufacture
Controls and Accessories
Kollmorgen Custom Motion Systems or To be negotiated on a case-by-case
components of any type basis, and set forth in the order.
The Good or parts claimed to be defective must be returned to Seller, accompanied by a Return
Material Authorization (RMA) issued by Seller’s facility responsible for supplying Goods, with
transportation 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 the
defective 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 of
Seller’s Goods from Buyer’s equipment or re-installation into Buyer's equipment.
NO PERSON, INCLUDING ANY AGENT, DISTRIBUTOR, OR REPRESENTATIVE OF SELLER, IS
AUTHORIZED TO MAKE ANY REPRESENTATION OR WARRANTY ON BEHALF OF SELLER
CONCERNING ANY GOODS MANUFACTURED BY SELLER, EXCEPT TO REFER
PURCHASERS TO THIS WARRANTY.
SAFETY
The equipment described herein has been developed, produced, tested and documented in
accordance with the corresponding standards. During use conforming with requirements,
the equipment is not dangerous for people or equipment. Use conforming with
requirements means that the safety recommendations and warnings detailed in this
manual are complied with and applicable regulations for safety (machine directives, etc.)
and noise suppression (EMC Directives) are observed while operating the drive. At the
end 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 having
a 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 qualified
personnel having a broad knowledge of electronics and motion control technology.
As the user or person applying this unit, you are responsible for determining the
suitability of this product for the application. In no event is the Pacific Scientific
Company responsible or liable for indirect or consequential damage resulting from the
misuse 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 Scientific Table of Contents
Contents
1. INTRODUCTION............................................................................................... 1-1
1.1. BEFORE YOU BEGIN ...................................................................................... 1-1
1.2. 6210 PRODUCT FEATURES ............................................................................ 1-1
1.3. EXPRESS START-UP PROCEDURE ................................................................... 1-2
2. INSTALLATION GUIDELINES ...................................................................... 2-1
2.1. TERMINAL LOCATIONS AND ASSIGNMENTS ................................................... 2-2
2.1.1. Terminal Locations ............................................................................ 2-2
2.1.2. Motor Connections............................................................................. 2-3
2.1.2.1. Motor Wiring Configurations ......................................................... 2-4
2.1.2.1.1. P2H, P21, M21, P22, M22 ........................................................ 2-4
2.1.2.1.2. N3x / K3x / T2x ........................................................................ 2-5
2.1.2.2. Power Input..................................................................................... 2-9
2.1.2.3. Typical Power Supply for a Single Drive Application.................... 2-9
3. SPECIFICATIONS............................................................................................. 3-1
3.1. MECHANICAL................................................................................................ 3-1
3.2. ELECTRICAL ................................................................................................. 3-1
3.3. ENVIRONMENTAL .......................................................................................... 3-1
3.4. CURRENT SETTINGS ...................................................................................... 3-1
3.5. AUTOMATIC CURRENT REDUCTION ............................................................... 3-2
3.6. STEP RESOLUTION......................................................................................... 3-2
3.6.1. Switches for Setting Current Level and Step Resolution ...................... 3-2
3.7. SIGNAL SPECIFICATIONS ............................................................................... 3-2
3.7.1. Terminal Assignments .......................................................................... 3-2
3.7.2. Signal Descriptions .............................................................................. 3-3
3.7.3. Level Requirements .............................................................................. 3-3
3.7.4. Timing Requirements............................................................................ 3-3
3.8. SUGGESTED METHODS FOR CONTROL INTERFACE ......................................... 3-4
3.9. INDICATOR LIGHTS ....................................................................................... 3-4
4. TORQUE VS. SPEED ........................................................................................ 4-1
4.1. MOTOR COMPATIBILITY ................................................................................ 4-1
4.1.1. Motors for Use with the 6210 Translator/Drive................................... 4-2
4.1.1.1. Std. Ltr. Winding, Connection, Drive Amps, Rated Motor Current,
Phase Resistance by Motor Type .................................................... 4-2
4.1.1.2. Phase Inductance, Holding Torque, Rotor Inertia, and Detent Torque
by Motor Type ................................................................................ 4-4
4.2. MOTOR PERFORMANCE ................................................................................. 4-6
4.3. TYPICAL TORQUE VS. SPEED CURVES ........................................................... 4-7
4.3.1. P2H, 24 V............................................................................................. 4-7
4.3.2. P2H, 36 V............................................................................................. 4-8
4.3.3. P21, 24 V.............................................................................................. 4-9
6210 Installation Manual i

Table of Contents Danaher Motion Pacific Scientific
4.3.4. P21/M21, 36 V ................................................................................... 4-10

4.3.5. P22/M22, 24 V ................................................................................... 4-11
4.3.6. P22/M22, 36 V ................................................................................... 4-12
4.3.7. T2H, 24 V........................................................................................... 4-13
4.3.8. T20, 36 V............................................................................................ 4-14
4.3.9. T21, 24 V............................................................................................ 4-15
4.3.10. T21, 36 V.......................................................................................... 4-16
4.3.11. T22, 24 V.......................................................................................... 4-17
4.3.12. T22, 36 V.......................................................................................... 4-18
4.3.13. T23, 24 V.......................................................................................... 4-19
4.3.14. T23, 36 V.......................................................................................... 4-20
4.3.15. N31/K31, 36 V.................................................................................. 4-21
4.3.16. N32/K32, 36 V.................................................................................. 4-22
5. TROUBLESHOOTING ..................................................................................... 5-1
5.1. IN GENERAL ................................................................................................. 5-1
5.2. SPECIFICALLY ............................................................................................... 5-1
5.3. ELECTRICAL INTERFERENCE PROBLEMS ........................................................ 5-2
5.4. CUSTOMER SUPPORT/CONTACT INFORMATION .............................................. 5-2
ii 6210 Installation Manual

Danaher Motion Pacific Scientific Introduction
1. INTRODUCTION
1.1. Before You Begin
Only qualified personnel should install or perform servicing procedures on
this equipment.
Before performing any work on the unit, allow at least five minutes for the
capacitors 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 (see
Electrical Specifications).
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
mode at up to 20,000 microsteps per revolution. The maximum running speed is
3,000 rpm. To reduce the chances of electrical noise problems, the control signals
are optically isolated from the drive circuit. Features include:
Switch selectable current levels of 1.0 through 3.5 amperes
Full short-circuit protection (phase-to-phase and phase-to-ground)
Undervoltage and transient overvoltage protection
Efficient thermal design
Optically isolated inputs
Windings Off capability
Automatic current reduction
Switch selectable step resolution
Compact size
Sturdy all-aluminum mounting base
6210 Installation Manual 1-1

Introduction Danaher Motion Pacific Scientific
1.3. Express Start-Up Procedure

The following instructions define the minimum steps necessary to make your
Translator/Drive operational:
Always disconnect the power to the unit before connecting or
disconnecting the motor leads. FAILURE TO DO SO WILL
RESULT IN A SHOCK HAZARD AND MAY DAMAGE THE
DRIVE.
Always operate the unit with the motor and drive enclosure
GROUNDED. Be sure to twist together the wires for each motor
phase 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 instructions
in Section 4.5. Heat sinking may be required to maintain case
temperature below +70 °C (+158 °F).
3. Select the appropriate step resolution and set the switches as described in
Switches for Setting Current Level and Step Resolution.
4. Wire the motor per the Motor Wiring Configurations.
5. Connect the power source to the DC input terminal strip. Be sure to follow
the instructions for connecting the filter capacitor as described in the
Power Input section.
If the motor operates erratically, refer to the Torque vs. Speed

section.
Clockwise and counter-clockwise directions are properly

oriented when viewing the motor from the end opposite the
mounting flange.
1-2 6210 Installation Manual

Danaher Motion Pacific Scientific Installation Guidelines
2. INSTALLATION GUIDELINES
The 6210 drive is mounted by fastening its mounting brackets to a flat surface.
Dimensions are shown in the figure below. If the drive assembly is mounted against
a bulkhead, be sure to apply a thin coating of thermal compound between the drive
and the mounting surface before fastening the unit in place.
Do not use too much thermal compound. It is better to

use too little than too much.
Case temperature must not exceed +70 °C (+158 °F).
When selecting a mounting location, it is important to leave at least two inches (51 mm)
of space around the top, bottom, and sides of the unit to allow proper airflow for cooling.
It is also important to keep the drive away from obvious noise sources. If possible, locate
the drive in its own metal enclosure the shield it and its wiring from electrical noise
sources. If this cannot be done, keep the drive at least three feet (0.9 m) from any noise
sources.

Installation Guidelines Danaher Motion Pacific Scientific
2.1. Terminal Locations and Assignments
2.1.1. Terminal Locations
I/O Connector (J1)
Motor and Power Supply Connector (J2)

2.1.2. Motor Connections

All motor connections are made via the 6-terminal strip. Terminal assignments
are given below. Motor connections are shown in the next figure.
J2 Pin Assignment
1 M1 (Phase A+)
2 M3 (Phase A-)
3 M4 (Phase B+)
4 M5 (Phase B-)
Motor Phase A is M1 and M3. Motor Phase B is M4 and

M5. The motor frame must be grounded.

2.1.2.1. MOTOR W IRING CONFIGURATIONS
2.1.2.1.1. P2H, P21, M21, P22, M22

Phase sequencing direction of rotation as viewed from mounting end of
motor.
YEL
PARALLEL
3
WHT/
YEL
7
WHT/
RED
4
8
RED
B
6
1
WHT/ORG
4-Lead motor (Bipolar)

WHT/BLK
ORG
BLK
A
YEL
B
3
WHT/ WHT/
YEL
SERIES
7
RED
4
8
B
RED
6
ORG
WHT/BLK
BLK
A
8-Lead motor (reference)

3
YEL
PHASE B
WHT/YEL
7
WHT/RED
4
RED
8
6
1
ORG
BLK
WHT/ORG
WHT/BLK
PHASE A

DRIVE CONNECTION
CCW STEP A B C D
1 GND O GND O
2 O GND GND O
3 O GND O GND CW
4 GND O O GND
1 GND O GND O
DRIVE CONNECTION
CCW STEP A B
+ +
1  
+ +
2  
+ + CW
3  
+ +
4  
+ +
1  
O = off or open GND = ground

+ = positive current flow - = negative currrent flow
2.1.2.1.2. N3x / K3x / T2x

Power Connections: 8 flying leads or 8 terminals. The 8-lead motor is
the most versatile configuration. It may be connected by you in a choice of
8-lead or 4-lead (series or parallel).
T2x is offered only with flying leads.
BLK 3 4
6
8
BLK/ORG
WHT/ORG
5 1 2 7
ORG
RED YEL Terminal Board

WHT/RED WHT/YEL N3x/K3x
8-Lead Configuration

DRIVER
CONNECTION CONNECTION LEAD COLOR TERMINAL
#
4-Lead Bipolar A Black (BLK) 1
Series Orange (ORG) 3
B Red (RED) 2
Yellow (YEL) 4
None WHT/BLK & 6&5
WHT/ORG
None WHT/RED & 8&7
WHT/YEL
4-Lead Bipolar A BLK & 1&5
WHT/ORG
Parallel ORG & 3&6
WHT/BLK
B RED & 2&7
WHT/YEL
YEL & 4&8
WHT/RED
8-Lead Unipolar A Black (BLK) 1
B Orange (ORG) 3
C Red (RED) 2
D Yellow (YEL) 4
+V WHT/ORG 5
+V WHT/BLK 6
+V WHT/YEL 7
+V WHT/RED 8
GND Green/Yellow
See Phase Sequencing Tables.

Power Connections: 4 flying leads or 4 terminals or MS connector. The 4-

lead motor is used with bipolar drives.
MS Connector
B
N3x/K3x
C
A
D
E
Terminal Board
8
N3x/K3x
2
4
3
1
6
4-Lead Configuration
YEL
RED
ORG
BLK
DRIVER
CONNECTION CONNECTION LEAD COLOR TERMINAL # MS PIN
OUT
4-Lead Bipolar A Black (BLK) 1 A
Series Orange (ORG) 3 B
B Red (RED) 2 C
Yellow (YEL) 4 D
GND Green/Yellow E
Terminals 7 & 8 are not used. See Phase Sequencing

Tables.

Phase Sequencing Tables

BIPOLAR HALF STEP
DRIVE CONNECTION
CCW STEP A B
1 +  0 0
2 +  + 
3 0 0 + 
4  + +  CW
5  + 0 0
6  +  +
7 0 0  +
8 +   +
BIPOLAR FULL STEP
DRIVE CONNECTION
CCW STEP A B
+ +
1  
+ +
2  
+ +
3  
+ +
4   CW
+ +
1  
O = off or open GND = ground

+ = positive current flow - = negative currrent flow

2.1.2.2. POWER INPUT

The DC input power is connected to terminals 5 and 6 of the terminal
strip. Terminal 5 [Vm(+)] is the power supply plus (+) connection and pin
6 [Vom(-)] is the power supply minus (-) connection.
An unregulated supply is similar to that shown below and is
preferable. If a regulated supply is used, it must be capable of
operating with the added filter capacitor. A switching regulated
supply may not be suitable for use with this drive. It is important that
the capacitor (C1) be connected within three feet (0.9 m) of the input
terminals. The capacitor must be of the correct value and have the
proper current and voltage parameters (see list of components on
page 11).
It is recommended that the power supply leads be twisted together using
approximately six twists per foot (0.3m).
If the power supply is grounded, it must only be
grounded on the negative side or the short circuit
protection will not operate properly.
2.1.2.3. TYPICAL POWER SUPPLY FOR A SINGLE DRIVE

APPLICATION
The cable between the filter capacitor (C1) and the drive
should be twisted using approximately six twists per foot
(0.3m). Maximum wire length is three feet. Use #16 AWG
or larger wire.

Components for Power Supply
F1 1.5 A time delay, 250 volt

R1 5-Ohm surge limiter, Dale 7SS5 or equivalent
T1 130 VA, 24 VAC output
BR1 General instrument GBPC3502 or equivalent
C1 4700 µf, 5.5 A, 20 kHz, 63 V rated, United Chemicon
53D472F063HS6 or equivalent

Danaher Motion Pacific Scientific Specifications
3. SPECIFICATIONS
3.1. Mechanical
Size (inches) 1.56 H X 4.13 W x 3.25 D
(mm) 40 H x 105 W x 83 D
Weight 0.6 pounds (272 grams)
3.2. Electrical
DC Input Range 24 VDC min., 40 VDC max.
DC Current see Motor Table
Drive Power Dissipation (worse case) 35 watts
3.3. Environmental
Temperature
Operating +32 °F to 122 °F (0 °C to 50 °C) free air ambient,
Natural Convection. Maximum heat sink temperature
at 158 °F (70 °C) must be maintained. Forced-air
cooling may be required.
Storage -40 °F to +167 °F (-40 °C to + 75 °C)
Humidity 95% max. non-condensing
Altitude 10,000 feet (3048 m) max.
3.4. Current Settings

The proper current setting for each motor is shown on the individual torque vs.
speed curves. Use this current level to obtain the torque shown. Switches 1
through 5 are used to select the current level. Select the desired operating current
by setting the appropriate switch to position 1 (ON). The OFF position is labeled
"0". Only one switch should be ON. If two or more switches are ON, the one
which selects the highest current level will be the active switch. The switch
settings are:
Position Current (amperes)
None 1.0
1 1.5
2 2.0
3 2.5
4 3.0
5 3.5

Specifications Danaher Motion Pacific Scientific
3.5. Automatic Current Reduction

When switch 6 is in the OFFposition, the current at standstill goes to 50% of
the selected level. This occurs between 1 and 2 seconds after the last pulse is
received. When switch 6 is in the ON position, the current at standstill remains
at full value.
3.6. Step Resolution

The number of pulses-per-revolution is selected using positions 7 and 8 of the
switch described in Current Settings. The following chart shows the correct
switch setting for each available step resolution.
Switch Position
7 8 Step Resolution Pulses-Per-Revolution
0 (OFF) 0 (OFF) ½ 400
1 (ON) 0 (OFF) 1/10 2,000
0 (OFF) 1 (ON) 1/25 5,000
1 (ON) 1 (ON) 1/100 20,000
3.6.1. Switches for Setting Current Level and Step Resolution
3.7. Signal Specifications

3.7.1. Terminal Assignments
All connections are made via the 4-pin terminal strip.
J1 Pin Assignment
1 OPTO
2 PULSE
3 DIR
4 AWO

Danaher Motion Pacific Scientific Specifications
3.7.2. Signal Descriptions

OPTO Opto-Isolator Supply
User supplied power for the opto-isolators.
PULSE Pulse Input
A low-to-high transition on this terminal advances the motor one step. The step
size is determined by the Step Resolution switch setting.
DIR Direction Input
When this signal is high, motor rotation is clockwise. Rotation is counter-
clockwise when this signal is low.
Clockwise and counter-clockwise directions are properly
oriented when viewing the motor from the end opposite the
mounting flange.
AWO All Windings Off Input
When this signal is low, AC and DC current to the motor is zero.
There will be no holding torque when the AWO signal is low.
3.7.3. Level Requirements

OPTO
Voltage 4.5 VDC – 6.0 VDC
Current 16mA per signal used
Other Signals
Voltage
Low 0.8VDC 0.0VDC
High OPTO OPTO – 1V
Current
Low 16 mA
High 0.2 mA
3.7.4. Timing Requirements

PULSE
Max. Frequency 500 kHz
Max. Rise and Fall Times 1 µ second
Min. Pulse Width 1 µ second
Other Signals
Response Time 50 µ second

Specifications Danaher Motion Pacific Scientific
3.8. Suggested Methods for Control Interface
3.9. Indicator Lights

"Fault” LED, Red Lights to indicate over current condition. This condition is
caused by motor winding errors or a ground fault.
Recovery from overcurrent condition requires removing and
then reapplying the power.

Danaher Motion Pacific Scientific Torque vs. Speed
4. TORQUE VS. SPEED

4.1. Motor Compatibility
Motor Types Pacific Scientific
T,P, M Series Frame Sizes Pacific Scientific T & Power Max
T,K , N Series Frame Sizes Pacific Scientific T & Powerpac
Number of Connections 4 or 8
Minimum Inductance 0.5 millihenry
Maximum Resistance 0.25 x VDC Supply/I Setting
Example:
VDC = 30 I Setting = 3.5
R max. = 0.25 x 30/3.5 = 2.1 Ohms
Do not use larger frame size motor than
those listed or the drive may be damaged.
If a larger frame size motor must be used,
consult Pacific Scientific for
recommendation.
Maximum resistance is total of motor plus

cable.

Torque vs. Speed Danaher Motion Pacific Scientific
4.1.1. Motors for Use with the 6210 Translator/Drive
4.1.1.1. STD. LTR. W INDING, CONNECTION, DRIVE AMPS,

RATED MOTOR CURRENT, PHASE RESISTANCE BY
MOTOR TYPE
Connection Rated Motor Phase
STD. LTR. Drive Amps I
Motor Type S= Series Current Ic Resistance
WINDING (rms)
P=Parallel (Amps) OHMS @25C
P2H C Series 1.0 1.2 3.35

P2H C Parallel 2.5 2.5 0.84
P2H F Parallel 1.0 1.6 1.92
P2H H Parallel 2.5 5.2 0.22
P21 A Series 2.5 2.8 0.91
P21 B Parallel 2.5 4.6 0.32
P21 C Parallel 3.5 3.5 0.53
P21 D Parallel 1.0 1.5 2.61
M21 C Parallel 3.5 3.5 0.53
P22 A Series 2.5 3.3 0.85
P22 B Parallel 3.5 4.6 0.38
P22 C Series 1.0 1.6 3.1
P22 D Parallel 2.5 2.5 1.22
P22 G Parrallel 1.0 1.0 7.35
M22 D Parallel 2.5 2.5 1.22
M22 G Parallel 1.0 1.0 7.35
T2H D Parallel 1 1.220 3.540
T2H G Parallel 2.5 3.000 0.580
T2H H Parallel 3.5 4.700 0.250
T21 E Parallel 1 1.540 2.930

Connection Rated Motor Phase

STD. LTR. Drive Amps I
Motor Type S= Series Current Ic Resistance
WINDING (rms)
P=Parallel (Amps) OHMS @25C
T21 G Parallel 2.5 3.000 0.800
T21 H Parallel 3.5 4.800 0.320
T22 E Parallel 1 1.740 2.880
T22 G Parallel 2.5 2.700 1.210
T22 H Parallel 2.5 3.600 0.680
T22 J Parallel 3.5 4.400 0.460
T23 E Parallel 1 1.670 3.820
T23 H Parallel 3 3.300 0.970
T23 K Parallel 3.5 6.700 0.260
N31 K Series 2.5 3.3 1.16
N31 J Series 2.5 2.7 1.69
N31 J Parallel 3.5 5.5 0.42
K31 L Series 3.5 4.3 0.72
N32 L Series 2.5 4.1 1.03
N32 L Series 3.5 4.1 1.03
N32 M Series 3.5 5.0 0.7
K32 L Series 3.5 4.1 1.03

4.1.1.2. PHASE INDUCTANCE, HOLDING TORQUE, ROTOR

INERTIA, AND DETENT TORQUE BY MOTOR TYPE
Phase Holding Detent
Motor Rotor Inertia Jm
Inductance Lp Totque Th Torque Td
Type (OZ*IN*S^2)
(mH) (OZ*IN) (OZ*IN)
P2H 9.1 61 0.00096 2.5
P2H 2.3 61 0.00096 2.5
P2H 5.1 60 0.00096 2.5
P2H 0.5 59 0.00096 2.5
P21 3.4 114 0.00168 4
P21 1.1 111 0.00168 4
P21 2.3 116 0.00168 4
P21 10.3 109 0.00168 4
M21 2 144 0.00168 9.4
P22 3.3 197 0.00357 7
P22 2.1 214 0.00357 7
P22 15.4 203 0.00357 7
P22 6.2 203 0.00357 7
P22 37.4 200 0.00357 7
M22 5 238 0.00357 17
M22 30 235 0.00357 17
T2H 13.600 78.852 0.002 2.000

T2H 2.200 78.901 0.002 2.000
T2H 1.000 80.123 0.002 2.000
T21 15.500 189.532 0.003 3.000
T21 4.500 194.501 0.003 3.000
T21 1.700 192.945 0.003 3.000
T22 16.400 304.536 0.006 6.000

Phase Holding Detent

Motor Rotor Inertia Jm
Inductance Lp Totque Th Torque Td
Type (OZ*IN*S^2)
(mH) (OZ*IN) (OZ*IN)
T22 7.100 309.160 0.006 6.000
T22 3.500 297.244 0.006 6.000
T22 2.500 304.015 0.006 6.000
T23 23.100 413.562 0.008 7.000
T23 5.800 413.562 0.008 7.000
T23 1.400 414.092 0.008 7.000
N31 10.3 661 0.0202 18
N31 14 643 0.0202 18
N31 3.5 643 0.0202 18
K31 4.7 829 0.0202 25
N32 4.7 1199 .03798 36
N32 10.3 1199 0.03798 36
N32 7 1213 0.03798 36
K32 8.1 1512 0.03798 50
Power supply currents shown are measured at the output of the rectifier bridge. Pacific
Scientific motor reference. Motors with windings other than those listed can be used as
long as the current ratings listed on the motors are not exceeded. All Pacific Scientific
motors listed have 8 leads.

4.2. Motor Performance

All stepper motors exhibit instability at their natural frequency and harmonics of
that frequency. Typically, this instability occurs at speeds between 50 and 1000
full steps per second and, depending on the dynamic motor load parameters, can
cause excessive velocity modulation or improper positioning. This type of
instability is represented by the open area at the low end of each Torque vs. Speed
curve.
There are also other instabilities that may cause a loss of torque at stepping rates
outside the range of natural resonance frequencies. One such instability is broadly
defined as mid-range instability. Usually, the damping of the system and
acceleration/deceleration through the resonance areas aid in reducing the
instability to a level that provides smooth shaft velocity and accurate positioning.
If instability does cause unacceptable performance under actual operating
conditions, the following techniques can be used to reduce velocity modulation.
1. Avoid constant speed operation at the motor's unstable frequencies. Select a
base speed above the motor's resonant frequencies and adjust acceleration
and deceleration to move the motor through unstable regions quickly.
2. The motor winding current can be reduced as described in Current Settings.
Lowering the current reduces torque proportionally. The reduced energy
delivered to the motor can decrease velocity modulation.
3. Using another step resolution may provide smoother operation and reduce
the effects of mid-range instability.
Microstepping changes the shaft speed for a given pulse
input rate.

4.3. Typical Torque Vs. Speed Curves

The test conditions used when obtaining the torque vs. speed
data are listed in the lower left-hand corner of each curve.
4.3.1. P2H, 24 V

4.3.2. P2H, 36 V

4.3.3. P21, 24 V

4.3.4. P21/M21, 36 V

4.3.5. P22/M22, 24 V

4.3.6. P22/M22, 36 V

4.3.7. T2H, 24 V

4.3.8. T20, 36 V

4.3.9. T21, 24 V

4.3.10. T21, 36 V

4.3.11. T22, 24 V

4.3.12. T22, 36 V

4.3.13. T23, 24 V

4.3.14. T23, 36 V

4.3.15. N31/K31, 36 V

4.3.16. N32/K32, 36 V

Danaher Motion Pacific Scientific Troubleshooting
5. TROUBLESHOOTING
Motors connected to this drive can develop high torque and
large amounts of mechanical energy.
Keep clear of the motor shaft and all parts mechanically
linked to the motor shaft.
Turn off all power to the drive before performing work on
parts mechanically-coupled to the motor.
5.1. In General
Check all installation wiring carefully for wiring errors or poor connections.
Check to see that the proper voltage levels are being supplied to the unit.
Be sure that the motor is a correct model for use with this unit.
5.2. Specifically
If MOTOR DIRECTION is reversed, check for:
Reversed connection to the Motor Connector. Reversing the phase A or the
phase B connections will reverse the direction of the motor rotation.
If the MOTOR MOTION is Erratic, check for:
Supply voltage out of tolerance.
Improper motion parameters (low speed, acceleration/deceleration, jog
speed, home speed, and feed rate). Set parameters on controller supplying
pulse input to drive.
Filter capacitor missing or too low in value.
If TORQUE is Low, check for:
All windings OFF active
Correct current setting
Improper supply voltage
If "FAULT" Indicator is Lit, check for:
Improper motor winding
Grounded or shorted wiring to the motor or shorted motor
Improper motor type or incorrect Current Select switch setting.
If a malfunction occurs that cannot be corrected by making the preceding checks,
contact Danaher Motion Customer Support.

Troubleshooting Danaher Motion Pacific Scientific
5.3. Electrical Interference Problems

Electrical interference problems are common with today's computer-based
controls. Such problems are often difficult to diagnose and cure. If such a
problem occurs with your system, the following checks should be made to locate
the cause of the problem.
1. Check the quality of the AC line voltage using an oscilloscope and a line
monitor. If line voltage problems exist, use appropriate line conditioning,
such as line filters or isolation transformers.
2. Be certain proper wiring practices are followed for location, grounding,
wiring, and relay suppression.
3. Double-check the grounding connections to be sure they are good electrical
connections and are as short and direct as possible.
4. Try operating the drive with all suspected noise sources switched off. If the
drive functions properly, switch the noise sources on again, one at a time,
and isolate the one(s) causing the interference problems. When a noise
source is located, try rerouting wiring, suppressing relays or other measures
to eliminate the problem.
5.4. Customer Support/Contact Information

Danaher Motion Pacific Scientific technical documentation is updated
periodically and may be changed without notice. The latest documentation can be
found on our website.
For information on this product or where to purchase near you, contact: your local
distributor.
Danaher Motion Customer Support
Phone: (815) 226-2222
Fax: (815) 226-3080
Email: [email protected]
Website: www.danahermotion.com

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Danaher Motion Pacific Scientific

Microstep Translator Drive

6210 Installation Manual

Part Number: MA6210

Product Warranty Schedules

6210 Installation Manual i

4.3.4. P21/M21, 36 V ................................................................................... 4-10

ii 6210 Installation Manual

Reconfiguration of the circuit not shown in this manual voids the

1.2. 6210 Product Features

6210 Installation Manual 1-1

1.3. Express Start-Up Procedure

If the motor operates erratically, refer to the Torque vs. Speed

Clockwise and counter-clockwise directions are properly

1-2 6210 Installation Manual

Do not use too much thermal compound. It is better to

Case temperature must not exceed +70 °C (+158 °F).

6210 Installation Manual 2-1

2.1. Terminal Locations and Assignments

2.1.1. Terminal Locations

I/O Connector (J1)

Motor and Power Supply Connector (J2)

2-2 6210 Installation Manual

2.1.2. Motor Connections

Motor Phase A is M1 and M3. Motor Phase B is M4 and

6210 Installation Manual 2-3

2.1.2.1. MOTOR W IRING CONFIGURATIONS

2.1.2.1.1. P2H, P21, M21, P22, M22

4-Lead motor (Bipolar)

8-Lead motor (reference)

2-4 6210 Installation Manual

O = off or open GND = ground

2.1.2.1.2. N3x / K3x / T2x

T2x is offered only with flying leads.

RED YEL Terminal Board

6210 Installation Manual 2-5

See Phase Sequencing Tables.

2-6 6210 Installation Manual

Power Connections: 4 flying leads or 4 terminals or MS connector. The 4-

Terminals 7 & 8 are not used. See Phase Sequencing

6210 Installation Manual 2-7

Phase Sequencing Tables

BIPOLAR FULL STEP

O = off or open GND = ground

2-8 6210 Installation Manual

2.1.2.2. POWER INPUT

2.1.2.3. TYPICAL POWER SUPPLY FOR A SINGLE DRIVE

6210 Installation Manual 2-9

Components for Power Supply

F1 1.5 A time delay, 250 volt

2-10 6210 Installation Manual

3.4. Current Settings

6210 Installation Manual 3-1

3.5. Automatic Current Reduction

3.6. Step Resolution

3.6.1. Switches for Setting Current Level and Step Resolution

3.7. Signal Specifications

3-2 6210 Installation Manual

3.7.2. Signal Descriptions

3.7.3. Level Requirements