Parker Gemini GT6 Series, Hardware Installation Manual

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...MOTOR A A B B 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 C...

Page 3: ...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 4: ...Configuring Damping Settings 25 Configuring Stall Detect Settings 27 Procedure for Motor Matching 28 CHAPTER 4 SPECIAL FEATURES 31 Relay Connections optional 32 24VDC Keep Alive Power Connections opti...

Page 5: ...EEC Electromagnetic Compatibility 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...

Page 6: ...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 7: ...different programming modes These drives have basic motion control and sequencing capabilities and can be used in distributed control applications By using optional plug in cards they can be equipped...

Page 8: ...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 H20 208 24...

Page 9: ...otion Architect or X Language software Cables Motors etc See list at beginning of Chapter 2 Installation in Appendix A Specifications and in the separate Gemini Motor Reference Manual User Guides The...

Page 10: ...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 11: ...cifica tions for cable and accessory information Cable clamps EMC filters ferrites etc are available See Appendix C Regulatory Compliance for part numbers and more information Motors You may have orde...

Page 12: ...ames of the Gemini components that you will encounter during the installation procedure 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 DRIVE I O M...

Page 13: ...Compumotor motor and Compumotor cables If you use non Compumotor equipment try to follow along and perform the steps in the Express Setup procedure consult Appendix A Specifications for additional inf...

Page 14: ...ve conductor terminal to the drive s safety earth 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 barri...

Page 15: ...should flow through the safety earth connection 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 Rei...

Page 16: ...otective conductor terminal 2 Connect a short jumper 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...

Page 17: ...in the Gemini Programmer s Reference Establishing Communications We assume you are using a Gemini GT6 drive and that you have only one serial port on your PC WARNING This procedure causes the motor s...

Page 18: ...ndow click on the Gemini button at the top of the window to launch the setup wizard 4 Select Express Setup and select Initialize wizard with factory defaults If you wish to keep the existing drive con...

Page 19: ...he motor The motor is turning because earlier you configured the drive for autorun Proceed to Commanding Motion Under Program Control Commanding Motion Under Program Control In this procedure you will...

Page 20: ...pendix C Regulatory Compliance UL and 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...

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Page 22: ...Chapter 3 Configuration 21 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...

Page 23: ...personal computer PC Pocket Motion Planner runs 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 si...

Page 24: ...with no program control It is used during Express Setup and for troubleshooting Load Settings Command Description Options LJRAT inertia ratio you enter a number Fault Settings Command Description Opt...

Page 25: ...or output is scalable from 2000 to 2000 but is limited to 10V peak to peak Communications Settings The communication settings configure the drive for RS 232 485 communications RS 232 485 Command Descr...

Page 26: ...that require minimal zero speed settling time 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 Dis...

Page 27: ...iscosity and without damping Undamped 40 ms 100 ms 400 ms Time Velocity ABS Damping Electronic Viscosity Damping Performance Configuring Electronic Viscosity DELVIS 1 Enter an accurate value for the l...

Page 28: ...he motor s rotor loses synchronism with the stator An external feedback device is not required to detect stalls Some machine safety regulations require that external hardware feedback be used Do not u...

Page 29: ...e the DSTALL value If Bit 17 is set after the stall occurs increase the DSTALL value 4 Run the system for an extended period of time to verify that no false stalls are detected Configuring Fault on St...

Page 30: ...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 vibrations and increased noise the motor is runn...

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Page 32: ...l Features 31 4 Special Features IN THIS CHAPTER Relay Connections 24VDC Keep Alive Power Connections Multiple Drive Installations RS 232 485 Communications Updating the Drive s Operating System C H A...

Page 33: ...ed 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 contact mechanica...

Page 34: ...ons diagnostics motor feedback Software status bit see TASX command indicates keep alive is active CAUTION Do not exceed 28 8VDC input voltage Multiple Drive Installations Safety Earth Connections For...

Page 35: ...32 Daisy Chaining RS 485 Communications RS 485 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 communi...

Page 36: ...uni cation The Gemini drive will automatically 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 us...

Page 37: ...address is set when in RS 232 mode In the Gemini 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 addr...

Page 38: ...5 Communications Pin Description 1 Rx also called 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 esta...

Page 39: ...al command you must configure the drives for either 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...

Page 40: ...Chapter 5 Troubleshooting 39 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 41: ...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 the left can be red or...

Page 42: ...TERRLG Transfer Error Log The TERRLG command displays the 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...

Page 43: ...active Not a fault indicates 24VDC power at keep alive input 25 Power dissipation fault Indicates excessive regeneration Check deceleration load inertia 28 Configuration warning Drive altered a user...

Page 44: ...may have multiple COM ports Try connecting to 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...

Page 45: ...to your PC palm PC or HPC Disconnect the other 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 t...

Page 46: ...able the drive by 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...

Page 47: ...tor has enough torque to perform the move Excessive Acceleration or Deceleration Excessive Velocity Electrical Noise Electrical noise on input or output lines can cause stop or kill inputs to activate...

Page 48: ...Appendix A Specifications 47 A Specifications IN THIS APPENDIX Gemini Drive Specifications Input Output Specifications Dimensions Protective Circuits Cable Specifications A P P E N D I X A...

Page 49: ...TION Do not operate GT6 U5 8 in the 132VAC 190VAC range or the drive will be permanently damaged CAUTION You must connect V DBL to L2 N on GT6 U5 8 to enable the voltage doubler for 120VAC operations...

Page 50: ...ing point from same direction Hysteresis Less than 2 arc min 0 0334 unloaded bidirectional Resolution User definable integer value between 200 and 128 000 steps per revolution Waveform 20 through 10 0...

Page 51: ...eserved Reserved Analog Output B Analog Output A Digital Ground Reserved Reserved Direction Out Direction Out Step Out Step Out Reserved Reserved Reserved Reserved Reserved Reserved Digital Ground Dig...

Page 52: ...mended 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 shows To reset the drive temporarily connect th...

Page 53: ...1 K 20 0 K 18 2 K 12 0 K 33 0 K 33 0 K Same circuit design as CNTRL P 1 3 Inputs internally pulled up to 24V unless you connect an external 5 24VDC supply to the VINref terminal Inputs are sourcing at...

Page 54: ...300mA sink capability Do not apply more than 30VDC Same circuit design as Output 1 Outputs You can use the OUTLVL command to configure each of the outputs as active high or active low Step Direction O...

Page 55: ...mands in Chapter 3 Configuration and the Gemini Programmer s Reference for more information WARNING Do not use Analog Monitors as control signals Because of offsets limited resolu tion and accuracy us...

Page 56: ...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 NOTE Provide prop...

Page 57: ...13 79 4 0 38 9 5 GT6 L5 3 75 95 3 1 00 25 4 GT6 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...

Page 58: ...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 Dimensions Taller Encl...

Page 59: ...e circuitry works automatically Inrush Current Current limiter bypassed Drive Limiter ohms with shorting relay GT6 L5 5 yes GT6 L8 5 yes GT6 U5 5 no GT6 U8 5 no GT6 L5 8 drives have a shorting relay t...

Page 60: ...tput is activated Latched fault Regeneration Protection The Gemini drive s regeneration circuit protects it from regenerated energy excess energy from the load during deceleration NOTE Regeneration fo...

Page 61: ...en Gray Orange Blue Red Blue Orange Gray Pink White Pink Orange Black White Black Blue Yellow Blue Yellow Orange Blue Yellow Violet White Black Red Yellow Black White Black Yellow Blue Black Green Red...

Page 62: ...tor The 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 P...

Page 63: ...CAUTION Connect wires to the GC 50 before installing it in the Gemini drive This will avoid damage that may be caused by wiring the GC 50 while it is attached to the drive Dimensions in inches millime...

Page 64: ...B Non Compumotor Motors 63 B Using Non Compumotor 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...

Page 65: ...ts We recommend that you use Compumotor motors 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...

Page 66: ...the ohmmeter verify that the remaining three 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...

Page 67: ...1 Connect A2 A3 together and relabel this common 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...

Page 68: ...ni drive s MOTOR connector according to the following 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 Gem...

Page 69: ...use the DMTIC com mand to 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...

Page 70: ...correct bipolar rating Unipolar Current 0 707 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...

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Page 72: ...Appendix C Regulatory Compliance UL and CE 71 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...

Page 73: ...ers with easy to integrate motion control products that meet global require ments The following constitutes what is typically required to install the Gemini drives into a CE compliant system Additiona...

Page 74: ...E Motors may bear the CE mark This mark indicates the motor meets the requirements of construction and safety not EMC compliance Motors with shielded cabling or pipe thread style cabling options allow...

Page 75: ...munity standards See the EMC Installation drawing at the end of this appendix Additional Measures Some installations may require that you take additional EMC measures To further increase product immun...

Page 76: ...coverage minimum which must be RF earth bonded as shown above Panel Mounting the Gemini Drive The mounting panel must be properly earthed and paint must be removed from drive mounting locations Gemin...

Page 77: ...clamp or bulkhead clamshell clamp See 360 bonding drawing I O Limits Varistor 3 places GEM VM50 Breakout Module enclosure mounted or not accessible to user RS 232 485 Cable Drive I O Cable Gemini Driv...

Page 78: ...tions 6 digital inputs 52 53 dimensions 55 download procedures 38 drive configuration 16 22 drive dimensions 56 Drive I O connector 50 E electromagnetic compatibility 72 electronic viscosity 25 EMC 50...

Page 79: ...oting 43 RS 232 485 communications 34 RS 485 communications 37 RS 485 multi drop 38 S serial port 35 ship kit 10 shock 49 short circuit protection 58 software commands 41 software for configuration 16...

Page 80: ...als A A B B Earth Motor Wires GT6 L5 8 GT6 U5 8 95 132VAC V DBL L2 N L1 95 132VAC Fuses Connect jumper for 120VAC operations N C N L1 Fuses Drive terminals 8 M4 Mating terminals spade fork 0 325 maxim...

Page 81: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...