Chapter 1. Installation
27
End-of-Travel and Home Limit Inputs
NOTES
• Motion will not occur until you do one of the following:
- Install end-of-travel (POS & NEG) limit switches
- Disable the limits with the LHØ command (recommended only if load is not coupled)
- Change the active level of the limits with the LHLVL command
• Refer to the
Basic Operations Setup
chapter in the
6000 Series Programmer's Guide
for
in-depth discussions about using end-of-travel limits and homing.
WARNING
If a
runaway
occurs (motor starts moving, usually at the fastest possible velocity, due to
servo instability), the APEX615n will shut down power output to the motor if the maximum
position error (set with the SMPER command) is exceeded before an end-of-travel limit
(either hardware of software) is encountered. However, if the maximum position error is
not exceeded by the time the limit is encountered, the APEX615n may not be able to
stop the servo mechanism.
CONNECTIONS & INTERNAL SCHEMATICS
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 servo mechanism comes
to a halt. The actual stopping distance depends on the load's speed
and the hard limit deceleration (LHADA and/or LHAD) setting. The
servo mechanism 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 servo mechanism 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. The
encoder's Z channel pulse can be used in conjunction with
the home switch to determine the home position (when
enabled with the HOMZ command).
+5V connected to AUX-P and V_I/O
(sourcing current).
Provides +5V power to the POS, NEG, and HOM input pull-up resistors.
As an alternative, you can connect AUX-P to an external power supply of up to +24VDC.
POS, NEG, and HOM input switching voltage levels are determined by V_I/O.
{Low≤[1/3 x (V_I/O)] volts, High≥[2/3 x (V_I/O) ]volts } If V_I/O is connected to a +5V power
supply (internal or external), AUX-P can be connected to a supply of up to +24VDC. If V_I/O is
connected to an external +24VDC power supply, then AUX-P must also be at +24VDC (or at Iso GND).
NOTE: AUX-P is also the pull-up for the TRG inputs.
SINKING CURRENT: To make the limit inputs (as well as the TRG inputs) sink current,
connect AUX-P to Iso GND.
CAUTION: Disconnect jumper to +5V before connecting external power supply to either IN-P, OUT-P, AUX-P, or V_I/O.
Chassis Ground
Iso GND
HOM
NEG
POS
Isolated Ground
SHLD
Iso GND
Z-
Z+
B-
B+
A-
A+
+5V
AUXILIARY Connector
LIMITS Connector
ENCODER Connector
Similar circuits for NEG & POS inputs.
6
.
8 KΩ
10
.
0 KΩ
12
.
1 KΩ
18
.
2 KΩ
20
.
0 KΩ
LM 339
Isolated
Ground
+
-
ANI+
ANI-
TRG-A
TRG-B
OUT-A
Iso GND
+5V
OUT-P
IN-P
AUX-P
V_I/O
31
.
6 KΩ
+5VDC
PIN OUTS & SPECIFICATIONS
(4-pin LIMITS Connector)
Name In/Out Description
Iso GND
HOM
NEG
POS
—
IN
IN
IN
Isolated ground.
Home limit input.
Negative-direction end-of-travel
limit input.
Positive-direction end-of-travel
limit input.
Specification for all limit inputs
Switching voltage levels determined by V_I/O. Low ≤ 1/3 (V_I/O) volts, High ≥ 2/3 (V_I/O)
volts; internal 6.8 KΩ pull-ups to AUX-P terminal ; voltage range is 0-24V.
Active level for HOM is set with the HOMLVL command (default is active low, requiring
normally-open switch).
Active level for POS & NEG is set with the LHLVL command (default is active low,
requiring normally-closed switch).
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