Parker GT Series, Hardware Installation Manual

Page 1: ...ized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Re...

Page 2: ...V DBL L2 N L1 COMPUMOTOR DRIVE I O MOTOR FEEDBACK GT U 5 8 RS 232 485 DATA BUS OUT DATA BUS IN STEPPER MOTOR A A B B N C N L1 GT L5 8 120V 24V DC 24V RTN RELAY COM RELAY N O RS 232 485 COMPUMOTOR DRIV...

Page 3: ...he 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 hardware mentioned therein at any time without...

Page 4: ...from Configuration Steps page 21 When you configure the drive you no longer need to enter DRFLVL for the 6K to read and react to a GT fault RFS Command Recommended in Reconfiguration page 19 If you a...

Page 5: ...tibility Directive as amended by Directive 92 31 EEC These products are intended for use in Commercial Light Industrial and Industrial Environments as defined in the relevant EMC standards These produ...

Page 6: ...Detect Settings 29 Procedure for Motor Matching 30 CHAPTER 4 SPECIAL FEATURES 33 Relay Connections optional 34 24VDC Keep Alive Power Connections optional 34 Multiple Drive Installations 35 RS 232 485...

Page 7: ...6 Gemini GT Hardware Installation Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 8: ...ntroduction 7 1 Introduction IN THIS CHAPTER Gemini Product Overview Compatible Compumotor Products C H A P T E R O N E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www ar...

Page 9: ...basic motion control and sequencing capabilities and can be used in distributed control applications By using optional plug in cards they can be equipped with interfaces for SERCOS Profibus Interbus...

Page 10: ...at 170VDC L8 120VAC 8A at 170VDC U3 120 240VAC 1 3A at 170 340VDC U5 120 240VAC 1 5A at 74VDC U6 120 240VAC 1 6A at 170 340VDC U8 120 240VAC 1 8A at 74VDC U12 120 240VAC 1 12A at 170 340VDC Amperage v...

Page 11: ...software Cables See list in Appendix A Specifications Motors See information in the separate Gemini Motor Reference Manual User Guides The following items ship with the drive Gemini Quick Start Guide...

Page 12: ...pter 2 Installation 11 2 Installation IN THIS CHAPTER Checking Your Shipment Express Setup C H A P T E R T W O Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg c...

Page 13: ...ites etc are available See Appendix C Regulatory Compliance for part numbers and more information Motors You may have ordered a motor from one of the following families of Compumotor motors O Series R...

Page 14: ...mini components that you will encounter during the installation procedure DATA BUS OUT DATA BUS IN STEPPER MOTOR A A B B N C N L1 GT L5 8 120V 24V DC 24V RTN RELAY COM RELAY N O RS 232 485 COMPUMOTOR...

Page 15: ...steps in the Express Setup procedure consult Appendix A Specifications for additional information you may need The next drawing shows the components of a Compumotor system 6K Controller RS 232 485 Cab...

Page 16: ...rth 4 Connect your motor cable s phase wires A A B B to the drive s A A B B terminals respectively as shown in the drawing below WARNING The drive s barrier strip terminals are at hazardous voltages w...

Page 17: ...WARNING The drive s barrier strip terminals are at hazardous voltages when power is applied to the drive and up to 30 seconds after power is removed Reinstall the clear plastic terminal cover after y...

Page 18: ...mper between V DBL and L2 N Use insulated wire for the jumper 18 AWG 0 75 mm2 or thicker diameter keep the wire as short as possible 3 Connect 120VAC 50 60 Hz single phase power to drive s L1 and L2 N...

Page 19: ...d a 6K controller and that you have only one serial port on your PC The following procedures give instructions for moving the cable back and forth between the Gemini and 6K WARNING This procedure caus...

Page 20: ...Initialize wizard with factory defaults If you wish to keep the existing drive configuration you should upload it save it and then initialize from the editor 5 Click the Next button to proceed with th...

Page 21: ...RS 232 485 connector to the 6K s COM port 3 Restart Motion Planner and establish communications with the 6K Select File New Terminal Emulator OK Under Communications Settings select the 6K product an...

Page 22: ...nector diagrams see Appendix A Specifications 2 Verify that the drive is enabled Left LED is illumi nated green right LED flashes yellow green during autorun 3 Verify that the motor is rotating clockw...

Page 23: ...nd CE Connect any of the drive s optional inputs and outputs you may wish to use see Appendix A Specifications for more information Reset Input VINref Voltage Input Reference Digital Inputs and CNTRL...

Page 24: ...3 Configuration IN THIS CHAPTER Configuration Damping Configuration Stall Detect Configuration Motor Matching C H A P T E R T H R E E Artisan Technology Group Quality Instrumentation Guaranteed 888 8...

Page 25: ...ns on a palm PC or Handheld Personal Computer HPC that uses Windows CE 2 0 or higher or on a PC These programs are also available on the Compumotor web site at http www compumotor com Information abou...

Page 26: ...motion at a constant one revolution per second with no pulse source connected It is used during Express Setup and for troubleshooting Load Settings Command Description Options LJRAT inertia ratio you...

Page 27: ...ited to 10V peak to peak Communications Settings The communication settings configure the drive for RS 232 485 communications RS 232 485 Command Description Options ERRLVL error level you enter a numb...

Page 28: ...for ex ample pick and place applications with varying load Velocity Command Function Range Default Required Parameters DABSD ABS Damping 0 to 0 2 rps Disabled DMTRES DMTIND motor dependent Electronic...

Page 29: ...0 ms 400 ms Time Velocity ABS Damping Electronic Viscosity Damping Performance Configuring Electronic Viscosity DELVIS 1 Enter an accurate value for the load parameter using the following command Comm...

Page 30: ...ator An external feedback device is not required to detect stalls Some machine safety regulations require that external hardware feedback be used Do not use the Gemini s stall detect function as a rep...

Page 31: ...to read and react to a GT fault enter the command DRFEN1 for each axis 4 Run the system for an extended period of time to verify that no false stalls are detected Configuring Fault on Stall Mode 1 If...

Page 32: ...ting speed Varying the speed makes resonance more noticeable You can find the resonant speed by touching the motor lightly with your fingertips as you vary the speed When you notice the strongest vibr...

Page 33: ...32 Gemini GT Hardware Installation Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 34: ...ER Relay Connections 24VDC Keep Alive Power Connections Multiple Drive Installations RS 232 485 Communications Updating the Drive s Operating System C H A P T E R F O U R Artisan Technology Group Qual...

Page 35: ...Closed Faulted Open No AC power or not enabled Open 24VDC power does not affect the relay With 24VDC applied the relay will be open if AC power is not applied Relay Specifications Relay Type Dry cont...

Page 36: ...bit see TASX command indicates keep alive is active CAUTION Do not exceed 28 8VDC input voltage Multiple Drive Installations Safety Earth Connections For multiple drive installations we recommend a s...

Page 37: ...Multi Drop Establishing Communications The drive s configuration port is a 9 pin D connector You can use it for either RS 232 or four wire RS 485 communications as shown in the next drawing 2 1 3 4 5...

Page 38: ...switch between RS 232 and RS 485 mode depending on which connections in the port s 9 pin D connector are active See wiring diagrams Some RS 232 cables use hardware handshake signals that are used by...

Page 39: ...ini daisy chaining can work in all error levels except error level 0 see ERRLVL command To set the drive error levels to your preferred state you can address each drive individually or send a global c...

Page 40: ...led RD B 4 Tx also called TD B 5 GND logic ground 7 Rx also called RD A 8 Tx also called TD A Maximum RS 485 cable length is 4000 feet 1220 meters To establish unique addresses for multi drop units us...

Page 41: ...ther error level 2 or error level 0 in multi drop mode This can be done as follows Commands 1_ERRLVL2 Set error level to 2 for unit 1 2_ERRLVL2 Set error level to 2 for unit 2 3_ERRLVL2 Set error leve...

Page 42: ...ubleshooting 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 Artisan Technology Group Quality Instrumentation Guarante...

Page 43: ...arnings 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 two LEDs The LED on th...

Page 44: ...last ten error conditions It is updated every time an error occurs you may want to make a note of the errors listed the first time you issue the command as this original information will be written o...

Page 45: ...t keep alive input 25 Power dissipation fault Indicates excessive regeneration Check deceleration load inertia 28 Configuration warning Drive altered a user entered value See TCS command Warning only...

Page 46: ...a different port Check to see if another application is busy using the COM port Close all other applications 4 Under Communications Settings Port you can also select Communications Test If the test fa...

Page 47: ...end of the cable from the drive 2 With no data being transmitted measure the voltage on the RS 232 cable s transmit pin should be pin 2 The voltage on the transmit pin should be in the range 3VDC to...

Page 48: ...y connecting Pin 1 to Pin 2 on the drive s 50 pin DRIVE I O connector NOTE connecting pin 1 to pin 2 may require that you use a breakout module such as Compumotor s GEM VM50 4 Apply AC power 5 The mot...

Page 49: ...ocity Electrical Noise Electrical noise on input or output lines can cause stop or kill inputs to activate unexpectedly See Appendix C Regulatory Compliance for installation guidelines on reducing ele...

Page 50: ...tions IN THIS APPENDIX Gemini Drive Specifications Input Output Specifications Dimensions Protective Circuits Cable Specifications A P P E N D I X A Artisan Technology Group Quality Instrumentation Gu...

Page 51: ...VAC range or the drive will be permanently damaged CAUTION You must connect V DBL to L2 N on GT U5 8 to enable the voltage doubler for 120VAC operations CAUTION Do not operate GT L5 8 above 132VAC or...

Page 52: ...than 2 arc min 0 0334 unloaded bi directional Resolution User definable integer value between 200 and 128 000 steps per revolution Waveform 20 through 10 0 01 resolution continuously variable 3rd harm...

Page 53: ...gital Ground reserved reserved Direction Out Direction Out Step Out Step Out ZX ZX Dir CCW BX Dir CCW BX Step CW AX Step CW AX Digital Ground Digital Ground Encoder 5V Encoder 5V Reset Digital Ground...

Page 54: ...the drive s pulse inputs use differential receivers without opto couplers For best performance follow these instructions Connection Instructions for Pulse inputs 1 Connect your control s logic ground...

Page 55: ...t Reset Input optional The reset and enable inputs use the same circuit design as the drawing above shows To reset the drive temporarily connect the reset input pin 3 to digital ground pin 2 Reset beg...

Page 56: ...nal Inputs are sourcing at 24V unless you connect CNTRL P to ground then inputs will be sinking inputs Input voltage range 0 24VDC Switching Levels Low 1 3 VINref voltage High 2 3 VINref voltage 10 K...

Page 57: ...each of the outputs as active high or active low Step Direction Output optional Pins 14 17 are step and direction outputs They are derived from incoming command pulses step direction CW CCW or encoder...

Page 58: ...analog outputs to monitor many different variables such as current velocity temperature etc You can also scale the outputs See the DMON commands in Chapter 3 Configuration and the Gemini Programmer s...

Page 59: ...4 GT L8 OW 2 75 70 1 38 35 FH 7 0 177 8 7 75 196 9 8 0 203 2 3x clearance for 8 or M4 mounting screws Dimensions in inches mm 1 00 25 4 0 88 22 2 Product OW Overall Width inches mm FH Fin Height inch...

Page 60: ...Overall Width inches mm FH Fin Height inches mm OW 2 75 70 1 38 35 FH 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 Drive Dimensi...

Page 61: ...MUM CLEARANCE 1 00 25 4 MINIMUM CLEARANCE 1 00 25 4 MINIMUM CLEARANCE 0 50 25 4 MINIMUM CLEARANCE 1 00 25 4 MINIMUM CLEARANCE NOTE Provide proper spacing to maintain minimum clearance between drives N...

Page 62: ...rent limiter bypassed Drive Limiter ohms with shorting relay GT L5 5 yes GT L8 5 yes GT U5 5 no GT U8 5 no GT L5 8 drives have a shorting relay that removes the inrush current limiter after drive star...

Page 63: ...ration Protection The Gemini drive s regeneration circuit protects it from regenerated energy excess energy from the load during deceleration NOTE Regeneration for an extended period of time can cause...

Page 64: ...t Out Ground Red Black Green White Yellow Orange Gray Brown Blue Violet Red Black Green White Yellow Orange Gray Brown Blue Violet 1 9 2 10 7 14 4 5 13 6K 8 9 10 11 1 2 46 43 44 Gemini Shield Cable St...

Page 65: ...1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Gemini Enable Digital Ground Reset Encoder 5V Encoder 5V D...

Page 66: ...on each end Shield Black Red Green Yellow Gray Brown Blue Violet Red Gray Brown Blue Violet White Orange White Orange Red N C N C N C N C N C N C N C x x x x x x x x x x Black Green Yellow 5 6 3 2 1 7...

Page 67: ...66 Gemini GT Hardware Installation Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 68: ...otor Motors IN THIS APPENDIX Commands for Motor Configuration Wiring and Connections 4 6 and 8 lead motors Setting Motor Current and Drive Gains A P P E N D I X B Artisan Technology Group Quality Inst...

Page 69: ...with the Gemini drive If you use a non Compumotor motor it must meet the following requirements Inductance minimum 0 5 mH recommended 5 0 50 0 mH maximum 100 0 mH A minimum of 500VDC high pot insulat...

Page 70: ...leads are common 4 Label the remaining three leads B 5 Set 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...

Page 71: ...on point A CENTER TAP 2 Connect B2 B3 together and relabel this common point 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 t...

Page 72: ...llowing figure 4 Lead Motor 6 Lead Motor 8 Lead Motor Series 8 Lead Motor Parallel A A CT A B B CT B Gemini Terminals A A B B Gemini Terminals A A B B Gemini Terminals A A B B Gemini Terminals A A B B...

Page 73: ...set the motor s current NOTE Gemini drive specifications for output current are in amps peak Most motor current specifications are in amps rms The DMTIC command uses amps rms do not use amps peak with...

Page 74: ...Bipolar Current If you wire the motor in series use the converted value and the DMTIC command to set the motor current If you wire the motor in parallel you must double the converted value and use th...

Page 75: ...74 Gemini GT Hardware Installation Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 76: ...5 C Regulatory Compliance UL and CE IN THIS APPENDIX Installation Instructions Installation Guidelines System Installation Techniques A P P E N D I X C Artisan Technology Group Quality Instrumentation...

Page 77: ...cts that meet global require ments The following constitutes what is typically required to install the Gemini drives into a CE compliant system Additional installation measures may be required at some...

Page 78: ...cates the motor meets the requirements of construction and safety not EMC compliance Motors with shielded cabling or pipe thread style cabling options allow the easiest integration into machines requi...

Page 79: ...ng at the end of this appendix Additional Measures Some installations may require that you take additional EMC measures To further increase product immunity and reduce product emissions you may add cl...

Page 80: ...d as shown above Panel Mounting the Gemini Drive The mounting panel must be properly earthed and paint must be removed from drive mounting locations Gemini CE cables maintain proper RF bonding with th...

Page 81: ...g I O Limits Controller Indexer Varistor 3 places GEM VM50 Breakout Module enclosure mounted or not accessible to user RS 232 485 Cable Drive I O Cable Gemini Drive HPC N or L2 N L1 Earth VAC VDC VDC...

Page 82: ...2 73 current selection non Compumotor motors 72 73 D damping configuration 27 descriptions 8 digital inputs 55 digital outputs 56 dimensions 58 download procedures 40 drive configuration 18 24 drive d...

Page 83: ...nput 54 resolution 51 RS 232 daisy chain 38 46 RS 232 485 troubleshooting 45 RS 232 485 communications 36 RS 485 communications 39 RS 485 multi drop 40 S serial port 37 ship kit 12 shock 51 short circ...

Page 84: ...1 95 132VAC Fuses Connect jumper for 120VAC operations N C N L1 Fuses Drive terminals 8 M4 Mating terminals spade fork 0 325 maximum width V DBL L2 N L1 190 264VAC Fuses reserved reserved reserved Out...

Page 85: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...