Parker Gemini GV6K Series Hardware Installation Manual Download

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+ 24V D

24V RT

RELAY CO

RELAY N.O

RS-232/485

DRIVE I/O

RS-232

EXPANSION I/O

MASTER ENCODER

MOTOR FEEDBACK

GV6K

Gemini

Servo

ETHERNET

Effective: October 15, 2001

p/n 88-019932-01 A

Gemini GV6K and
Gemini GT6K
Hardware Installation
Guide

Automation

Digital Controller/Drive

GV6K-U3 Drive shown

Summary of Contents for Gemini GV6K Series

Page 1: ...DRIVE I O RS 232 EXPANSION I O MASTER ENCODER MOTOR FEEDBACK GV6K Gemini Servo ETHERNET Effective October 15 2001 p n 88 019932 01 A Gemini GV6K and Gemini GT6K Hardware Installation Guide Automation...

Page 2: ...for any purpose not expressly authorized by the owner thereof Since Parker Hannifin constantly strives to improve all of its products we reserve the right to change this user guide and software and h...

Page 3: ...uring Damping Settings 32 Configuring Encoderless Stall Detect Settings 34 Procedure for Motor Matching GT6K 36 CHAPTER 4 SPECIAL FEATURES 39 Relay Connections optional 40 Multiple Drive Installations...

Page 4: ...rements of directives 89 336 EEC Electromagnetic Compatibility Directive as amended by Directive 92 31 EEC These products are intended for use in Commercial Light Industrial and Industrial Environment...

Page 5: ...Chapter 1 Introduction 5 1 Introduction IN THIS CHAPTER Gemini Product Overview Compatible Compumotor Products C H A P T E R O N E...

Page 6: ...nd notch filters in the GV Gemini GT6 and GV6 The Gemini GT6 and GV6 are controller drives available with several different programming modes These drives have basic motion control and sequencing capa...

Page 7: ...ase 3A continuous 7 5A peak at 170 340VDC U6 120 240VAC single phase 6A continuous 15A peak at 170 340VDC U12 120 240VAC single phase 12A continuous 30A peak at 170 340VDC H20 208 240VAC three phase 2...

Page 8: ...e will specifically call the product by its full name GV6K or GT6K Compatible Compumotor Products Software Motion Planner EVM32 II EVM32 I O Module Cables Motors etc See list at beginning of Chapter 2...

Page 9: ...Chapter 2 Installation 9 2 Installation IN THIS CHAPTER Checking Your Shipment Express Setup C H A P T E R T W O...

Page 10: ...GPDM Gemini Power Dissipation Module GPDM Drive Only no accompanying manuals NK Cables various cables breakout modules etc are available See Appendix A Specifica tions for cable and accessory informa...

Page 11: ...next drawing shows locations and names of the Gemini components that you will encounter during the installation procedure 24V D 24V RT RELAY CO RELAY N O RS 232 485 DRIVE I O RS 232 EXPANSION I O MAST...

Page 12: ...next drawing shows the components of a Compumotor system RS 232 485 Cable Motor Feedback Cable optional for GT6K Motor Cable Gem6K Drive Motor AC Power 24VDC Power Input Compumotor System Step 1 Conne...

Page 13: ...e GV6K H20n H40n R Clamp on heatsink Make the loop of cable between saddle clamp and drive terminals as short as possible Connecting the Motor Feedback Cable Compumotor s motor feedback cable with the...

Page 14: ...rive s safety earth 4 Connect your motor cable s phase wires A A B B to the drive s A A B and B terminals respectively as shown in the drawing below WARNING The drive s barrier strip terminals are at...

Page 15: ...diagnostics position feedback and other logic functions DRIVE POWER SUPPLY VDC VDC 24V DC 24V RTN RELAY COM RELAY N O Use twisted pair wiring 24VDC Power Input 24VDC Specifications Input voltage rang...

Page 16: ...conds after power is removed Lower voltages may still be present for several minutes after power is removed Reinstall the clear plastic terminal cover after you make connections Fuse Information Gem6K...

Page 17: ...als spade fork 0 325 maximum width Tightening torque 20 in lbs nominal 24 in lbs max Power Connections GT6K and GV6K L3 U3 U6 U12 GV6K U3n 6n 12n Connecting AC Power Connections are illustrated in the...

Page 18: ...rk 0 325 maximum width Tightening torque 20 in lbs nominal 24 in lbs max GV6K H40 10 M5 ring terminal 0 25 I D 0 50 O D 20 in lbs nominal 24 in lbs max Power Connections GV6K H20n H40n GV6K H20n H40n...

Page 19: ...ee Appendix A Specifications for more information It is not necessary to turn off power before you plug in an RS 232 cable however connect RS 485 cables before applying power Proceed to Configuring th...

Page 20: ...e setup is complete All of the setup parameters command values are stored in the Gem6K s battery backed RAM and are automatically recalled when you cycle power or reset the drive 9 Click the Terminal...

Page 21: ...red the drive for autorun Proceed to Commanding Motion Under Program Control Commanding Motion Under Program Control In this procedure you will use the Gem6K command language to make the motor turn Th...

Page 22: ...et Input VINref Voltage Input Reference Digital Inputs and CNTRL P Digital Outputs Analog Monitor Encoder Output GV6K only Step Direction Output GT6K only Connect any of the drive s special features y...

Page 23: ...Configuration 23 3 Configuration IN THIS CHAPTER Configuration Tuning Procedures GV6K Only Damping Configuration GT6K Only Stall Detect Configuration GT6K Only Motor Matching GT6K Only C H A P T E R...

Page 24: ...otion Planner a software program is located on the Motion Planner CD ROM It runs on a personal computer PC This program is also available on the Compumotor web site at http www compumotor com Informat...

Page 25: ...gain DIGNC current loop gain DIGND current loop gain System Settings The system settings configure the drive s mode of operation resolution fault modes and inertia ratio Drive Settings GV6K Command D...

Page 26: ...be turned on or off DMTAMB motor ambient temperature you enter a number KDRIVE disable drive on kill can be turned on or off Fault Settings GT6K Command Description Options FLTDSB fault on disable can...

Page 27: ...oint actual position DMONAV analog monitor A variable GT6K Options unused turn off output drive temperature velocity setpoint acceleration setpoint phase A commanded current phase A actual current pha...

Page 28: ...notch filter A depth you enter a number DNOTAQ notch filter A quality factor you enter a number DNOTBF notch filter B frequency you enter a number DNOTBD notch filter B depth you enter a number DNOTB...

Page 29: ...LJRAT If your system has significant mechanical damping you will also want to adjust the LDAMP setting which specifies system damping provided by the load If you know that you have significant damping...

Page 30: ...elocity of your move is well below the rated speed of your drive motor combination 3 Configure ANALOG MONITOR A to show position error DMONAV3 4 Connect one channel of your oscilloscope to the drive s...

Page 31: ...figure the analog monitor to show q axis current DMONAV19 2 Configure the drive for position tuning mode DMODE17 3 Configure DMTLIM to approximately 1 3 of the default value for your Compumotor motor...

Page 32: ...ing mode s step input 4 Choose a value for the lead filter DNOTLD that improves system performance This value will typically be higher in frequency than the lag filter setting 5 You must choose a valu...

Page 33: ...rps2 This allows full motor torque to be used during acceleration Use the following procedures to configure the damping settings You can usually find the best setting by using touch or sound If this...

Page 34: ...the load parameter using the following command Command Parameter LJRAT system load to rotor inertia ratio 2 If you use a Parker motor the following parameters are automatically set when you use Motion...

Page 35: ...e default setting is disabled DSTALL0 NOTE Match the motor to the load see the procedure on the following pages before you configure stall detect settings 1 Enter an accurate value for LJRAT The LJRAT...

Page 36: ...tor combination 5 Before beginning the Motor Matching procedure you must use Motion Planner to configure the drive for your motor See Step 4 of Chapter 2 Installation for instruc tions 6 Apply AC powe...

Page 37: ...ing the terminal emulator set the motor speed to one fourth the speed found in Step 5 Vary the motor speed about this setting and find the most resonant operating speed Return to Interactive Motor Mat...

Page 38: ...38 Gem6K Hardware Installation Guide...

Page 39: ...lay Connections Multiple Drive Installations V BUS GV6K Only Regeneration and the GPDM GV6K Only Aligning the Resolver GV6K Only RS 232 485 and Ethernet Communications RP240 Master Encoder and Expansi...

Page 40: ...y closed If the drive faults or is disabled the relay will open Relay Operation Drive Condition Relay State Enabled Closed Faulted Open No AC power or not enabled Open 24VDC power does not affect the...

Page 41: ...rminals With the buses connected in parallel regenerated energy from one drive will be used by the other drives Do not connect GV6 H20n drives in parallel to each other or to other GemK or Gemini driv...

Page 42: ...Power Dissipation Module is also described Regeneration with GV6K L3n H20n H40n GT6K L5 L8 GV6K L3n GV6K H20n GV6K H40n and all GT6K drives have internal circuitry to protect them from regeneration e...

Page 43: ...is then dissipated as heat in the GPDM s resistors When the DC bus voltage decreases to 380VDC the GPDM disconnects its resistors If the motor continues to regenerate energy and the bus again rises to...

Page 44: ...hot Avoid contact WARNING V BUS and V BUS terminals are at hazardous voltages when power is applied and for up to 30 seconds after power is removed Lower voltages may still be present for several minu...

Page 45: ...12n GV6K U3n 6n 12n GV6K U3n 6n 12n Use a single point safety earth 30A fuses VBUS VBUS Connect 2nd GPDM if necessary VBUS VBUS GPDM Connections The next figure shows GPDM dimensions 6 0 152 5 4 138...

Page 46: ...lver speed is loaded from the motor configuration file Resolver Alignment Procedures There are three methods to align the resolver Method 1 Enter a known resolver offset angle Method 2 Find an unknown...

Page 47: ...te the resolver to a specific offset angle usually zero degrees 1 Disconnect the load from the motor shaft The shaft should be free to rotate 2 Verify correct motor wiring See the Gemini Motor Referen...

Page 48: ...1 RS 485 Rx RD B 2 RS 232 Receive 3 RS 232 Transmit 4 RS 485 Tx TD B 5 Ground 6 No connection 7 RS 485 Rx RD A 8 RS 485 Tx TD A 9 No connection Pin Assignments RS 485 Connections RS 232 485 Connector...

Page 49: ...eck E Enable Serial Communication ECHO Enable Communication Echo BOT Beginning of Transmission Characters BAUD Serial Communication Baud Rate EOT End of Transmission Characters EOL End of Line Termina...

Page 50: ...the master controller in the chain the other uses a Gem6K as the master controller Follow the steps below to implement daisy chaining with a terminal as the master See the Programmer s Guide for deta...

Page 51: ...d output 1 on unit 4 To receive data from one particular unit on the chain prefix the command with the appropriate unit s device address and an underline Example Commands 2_ERES Request drive resoluti...

Page 52: ...ecommended cable Belden 9842 Refer to the diagram below for connection information RS 232 485 connector Long cable runs may require termination resistors Master Unit Tx Tx Rx Rx 120 120 Shield Unit 1...

Page 53: ...ceive data from a multi drop unit You should now verify that you can access each unit on the multi drop Now that you have verified that the multi drop is set up properly you can use the various Motion...

Page 54: ...sories to the Gem6K The EVM32 II provides more I O than the Gem6K offers onboard Up to eight DIN rail mountable EVM32 II bricks can be connected in a serial chain to the Gem6K Each EVM32 II brick can...

Page 55: ...rom the state when it was disconnected If an existing SIM slot is changed different SIM vacant SIM slot or jumper setting the drive will set the digital input SIMs and digital output SIMs to factory d...

Page 56: ...your Gem6K drive and select the PC s serial port to which the drive is connected then click OK 4 Click on the Terminal tab to expose the terminal emulator 5 From the Communications pull down menu sele...

Page 57: ...Chapter 5 Troubleshooting 57 5 Troubleshooting IN THIS CHAPTER LED Status Software Commands for Troubleshooting RS 232 485 Troubleshooting System Problems C H A P T E R F I V E...

Page 58: ...specific faults and warnings Look for non Drive problems problems with other parts of the system Detailed procedures for each of these topics are given in the rest of this chapter LEDs The drive has t...

Page 59: ...errors listed the first time you issue the command as this original information will be written over as subsequent errors occur You can use the CERRLG command to clear the contents of the error log T...

Page 60: ...was detected Check Hall wiring 22 Unrecognized hardware Consult factory 23 User fault Indicates user fault input was active 24 Keep Alive active Not a fault indicates 24VDC power at input 25 Power di...

Page 61: ...her applications If these steps do not solve your problem see Testing the Cable below Testing the Cable Use the following two procedures to test your null modem cable and to verify that it is working...

Page 62: ...n mode which will verify that the drive is functioning properly and is not the source of the problem 1 Disconnect the load from the motor 2 Perform these procedures from Chapter 2 Installation Connect...

Page 63: ...atures Mechanical System Shaft Coupler Verify that the shaft coupler is not slipping during acceleration or deceleration We recommend bellows or disk style couplers for servo applications helical coup...

Page 64: ...64 Gem6K Hardware Installation Guide...

Page 65: ...Appendix A Specifications 65 A Specifications IN THIS CHAPTER Gemini Drive Specifications Input Output Specifications Dimensions Protective Circuits Cable Specifications A P P E N D I X A...

Page 66: ...ls Mating terminals spade fork 0 325 max width ring terminal 0 25 I D 0 50 O D Tightening torque 20 in lbs nom 24 in lbs max 20 in lbs nom 24 in lbs max Output Power Output Current Output Voltage moto...

Page 67: ...C 113 F 35 C 95 F Moving air 50 C 122 F 40 C 104 F Minimum 0 C 32 F 0 C 32 F Storage Temperature 40 C 85 C 40 F 185 F Humidity 0 95 non condensing Shock 15g 11msec half sine Vibration 10 2000 Hz at 2...

Page 68: ...onnector 9 pin D subminiature plug RS 485 4 wire plus ground Rx Rx Tx Tx Gnd 8 data bits 1 stop bit no parity full duplex baud rate 9600 not adjustable Drive connec tor 9 pin D subminiature plug twist...

Page 69: ...20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 19 18 17 16 15 14 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29...

Page 70: ...h recommended for manual disable Enable Input and Reset Input Reset Input optional The reset and enable inputs use the same circuit design as the drawing above indicates To reset the drive temporarily...

Page 71: ...Input 1 37 Trigger B Input 2 38 Master Trigger Input 5 35 Use the INFNC command to make these assignments Internal Connections Same circuit design as Input 1 VINref Input Limit Ground Input 1 Trig A...

Page 72: ...ne the function of any of the limits See the Gemini GV6K GT6K Command Reference for more information By default these are 24VDC sourcing inputs You can use VINref pin 26 to change the switching voltag...

Page 73: ...puts 4000 counts per revolution post quadrature Clockwise Rotation Channel A leads Channel B Counterclockwise Rotation Channel B leads Channel A The encoder outputs operate in one of two modes Pseudo...

Page 74: ...ORES command to configure the encoder outputs Step Direction Output GT6K Steppers Only optional Pins 14 17 are step and direction outputs The outputs are based on calculated position Step Direction Ou...

Page 75: ...Chapter 3 Configuration and the Gemini GV6K GT6K Command Reference for more information WARNING Do not use Analog Monitors as control signals Because of offsets limited resolu tion and accuracy use t...

Page 76: ...er Thermal Switch Motor Feedback Connector Connector Specifications Mating Connector Gem6K Drive not provided see note Manufacturer AMP AMP Connector Model CHAMP 050 Series II CHAMP 050 Series II AMP...

Page 77: ...4 Connect two wires in your encoder cable to the 5VDC pins and connect two wires to the encoder ground pins We recommend that you splice each pair of wires to a larger diameter wire as shown in the n...

Page 78: ...rvo motor does not have a thermal switch short pins 12 and 13 together The drive will experience a motor fault if neither a thermal switch nor a jumper wire is attached to pins 12 and 13 Hall Effects...

Page 79: ...14 3 1 00 25 4 GV6K U6n 4 50 114 3 1 00 25 4 GV6K U12n OW 3 50 88 9 1 38 35 0 FH 7 0 177 8 7 75 196 9 8 0 203 2 1 00 25 4 0 88 22 2 Product OW Overall Width inches mm FH Fin Height inches mm 3 88 98 6...

Page 80: ...Installation Guide 6 00 153 0 5 40 138 0 5 75 146 1 3 50 88 9 1 38 35 0 2 25 57 2 8 9 226 1 9 63 244 5 9 9 251 5 3x clearance for 8 or M4 mounting screws 1 00 25 4 0 88 22 2 Dimensions in inches mm Di...

Page 81: ...0 63 5 1 190 30 23 Back of flange masked from paint Back of flange masked from paint 3 82 97 1 5 69 144 6 2 44 62 3x clearance for 8 or M4 mounting screws Dimensions in inches mm Dimensions GV6K G40 D...

Page 82: ...Clearance 0 50 12 7 Minimum Clearance 1 00 25 4 Minimum Clearance NOTE Provide proper spacing to maintain minimum clearance between drives NOTE Provide proper spacing to maintain minimum clearance be...

Page 83: ...mum Clearance NOTE Provide proper spacing to maintain minimum clearance between drives NOTE Provide proper spacing to maintain minimum clearance between drives NOTE Vertical spacing between drives 8 i...

Page 84: ...yes GT6K L8 5 yes The shorting relay removes the inrush current limiter after drive startup This allows maximum bus voltage during high acceleration peak torque maximum speed applications Inrush curr...

Page 85: ...el Threshold Voltage GV6K L3n 212VDC GV6K U3n 6n 12n H20n H40n 410VDC Results of Fault Power to motor is turned OFF LEDs Left illuminated RED Right off Fault output is activated Latched fault CAUTION...

Page 86: ...olet White Black Red Yellow Black White Black Yellow Blue Black Green Red Gray Green Gray White Yellow White Blue White Gray Brown Yellow Brown Red 16 AWG Black 16 AWG Black White Black Red White Red...

Page 87: ...he GEM VM50 includes the cable above Description Part Number 50 pin Breakout Module with Cable GEM VM50 50 pin Breakout Module without cable 01 016986 01 Null Modem Cable 9 Pin D Connector to 9 Pin D...

Page 88: ...connector while attached to the drive Dimensions in inches millimeters GC 50 1 2 4 19 18 20 21 22 30 24 23 26 25 28 27 29 34 32 31 33 13 12 10 11 17 16 14 15 9 5 3 8 6 7 35 37 36 39 38 47 41 40 43 42...

Page 89: ...Compumotor Motors IN THIS APPENDIX Commands for Motor Configuration Motor Requirements Hall Sensor Configuration and Troubleshooting GV6K Wiring and Connections 4 6 and 8 lead motors GT6K Setting Moto...

Page 90: ...minutes DMTTCW motor winding thermal time constant minutes DPWM PWM switching frequency DMTMAX motor maximum temperature Use Motion Planner to enter these command settings into the drive s memory See...

Page 91: ...to the Gem6K 1 Randomly connect two motor wires and slowly apply a positive voltage with respect to the third See the next drawing WARNING This procedure could damage the motor Slowly increase the vo...

Page 92: ...LL does not report a value of 3 change Hall wires B and C If THALL reports a value of 3 the wires are connected correctly The following table summarizes phase voltages and their corresponding Hall sta...

Page 93: ...or Requirements We recommend that you use Compumotor step motors with the GT6K drive If you use a non Compumotor motor it must meet the following requirements Inductance minimum 0 5 mH recommended 5 0...

Page 94: ...t the ohmmeter range to the 100 ohm scale approximately 6 Connect the ohmmeter s negative lead to one of the motor leads labeled A Alternately measure the resistance to the two remaining motor leads a...

Page 95: ...int B CENTER TAP 3 Relabel the A1 lead A 4 Relabel the A4 lead A 5 Relabel the B1 lead B 6 Relabel the B4 lead B 7 Proceed to the Terminal Connections section below Parallel Configuration Use the foll...

Page 96: ...Rotation GT6K Steppers The procedures above do not determine the direction of motor shaft rotation To find out which direction the shaft turns you must power up your system and command motion If the...

Page 97: ...Rating If the manufacturer specifies motor current as a unipolar rating Use the next formula to convert unipolar current rating to the correct bipolar rating Unipolar Current 0 707 Bipolar Current Use...

Page 98: ...non Compumotor motor you must use the DIGN command to manually set the gain terms for the stepper current loop Setting the gain terms correctly will optimize drive performance for your specific motor...

Page 99: ...Appendix C Regulatory Compliance UL and CE 99 C Regulatory Compliance UL and CE IN THIS CHAPTER Installation Instructions Installation Guidelines System Installation Techniques A P P E N D I X C...

Page 100: ...is typically required to install Gem6K drives into a CE compliant system Additional installation measures may be required at some locations The machine builder has ultimate responsibility for machine...

Page 101: ...must install varistors or other voltage surge limiting devices in order to meet the requirements of EN61000 4 5 Place a Littelfuse V275LA2 or equivalent varistor from line to line and from lines to ea...

Page 102: ...limit switches and other inputs outputs you must observe proper noise immunity standards See the EMC Installation drawing at the end of this appendix Ethernet Cables Install a ferrite ring core toroi...

Page 103: ...Remove outer jacket only Do not cut braid R Clamp Cable Enclosure Panel Bulkheak Clamshell Clamp Bulkheak Clamshell Clamp Cable Enclosure Panel 360 Bonding Techniques The following clamps and clamp k...

Page 104: ...ll cause common mode drive generated PWM current to flow where not expected If you use the GEM VM50 or other screw terminal cable breakout device be sure to properly enclose all exposed conductors to...

Page 105: ...el Use R clamp or bulkhead clamshell clamp See 360 bonding drawing I O Limits Varistor 3 places Ferrite absorbers Ferrite absorbers Ferrite absorber GEM VM50 Breakout Module enclosure mounted or not a...

Page 106: ...C Saddle clamp to bottom for mechanical strain relief if desired 24VDC Power Supply Mains Filter Mains Filter GV6K H20 L1 L2 L3 Bond braid to earthed panel Use R clamp or bulkhead clamshell clamp See...

Page 107: ...Appendix C Regulatory Compliance UL and CE 107...

Page 108: ...C VDC VDC 24VDC Power Supply Mains Filter Motor Cable Motor Motor Feedback Cable Mount to earthed metal panel Remove paint from flange and mounting locations Remove paint from flange and mounting loca...

Page 109: ...tions 6 digital outputs 71 73 dimensions 79 drive configuration 19 24 drive dimensions 79 Drive I O connector 69 drive settings 25 E electromagnetic compatibility 100 electronic viscosity 32 EMC 68 10...

Page 110: ...sipation Module GPDM 43 protective circuits 84 pseudo encoder mode 73 R regeneration 42 85 regulatory agencies 100 relay 40 repeatability 67 reset input 70 resolution 67 resolver aligning 46 connectio...

Page 111: ...C 40 F 185 F Humidity 0 95 non condensing Environmental Specifications see page 67 Short Circuit Protection Inrush Current Protection Drive Overtemperature Protection Motor Overtemperature Protection...

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