Parker Gemini GV6K Series User manual

Operatin
g
Temperature:
S
till Air: 4
5
°
C
°
F
)
M
ov
i
n
g
Ai
r:
50
°
C
°
F
)
Stora
g
e Temperature: -4
0
°
–
°
C
°
F
–
1
85
°
F
)
Humidit
y
:
0
–
S
hock: 15
g
, 11 msec half sin
e
Vi
b
r
a
ti
o
n: 1
0
–
2000 Hz at 2
g
S
hort
C
ircuit Protection
Inrush
C
urrent Protectio
n
Drive Overtem
p
erature Protectio
n
Motor Overtemperature Protection
Undervoltage Protection
Overvoltage Protection
Current Foldback
Re
g
eneration Protection
Quick Reference
Guide
Gemini GV6K Series
Digital Servo
Controller/Drives
Environmental S
p
ecification
s
Protective
C
ircuit
s
Troubleshootin
g
Gemini 50-Pin Connector to Flyin
g
Leads Cabl
e
Compumotor Division
Parker Hannifin Corporation
p/n 88-019930-01 A (effective October 15, 2001)
✵
✵
✵✵
Commonl
y
used status commands (binar
y
status bits are
numbered 1 to n, from left to ri
g
ht)
:
TERRLG Error log reports the last 10 error conditions (cleared
with CERRLG).
TASF General report, including fault conditions.
TASXF Additional report of conditions not covered with TAS.
T
CS
If TASX bit #7 or bit #28 is set, you can identify the
cause with TCS.
TIN
O
F Bit 6 shows status of Enable input; 1 = OK for motion.
TIN
Status of digital inputs.
TLIM
Status of home and end-of-travel limits.
TI
O
Status of expansion I/O.
T
OU
T Status of digital outputs.
T
SS
F Report of system status bits.
T
S
TAT Report of system statistics.
You must confi
g
ure all motor parameters. Be sure to follow the
drive confi
g
uration procedure (se
e
Hardware Installation Guide).
The drive can not be enabled (DRIVE1) unless the Enable input
is grounded and the Reset input is not grounded.
Use one of these methods to reset the drive/controller:
•RESET command (resets drive & internal controller).
•DRESET command (resets drive, but not controller).
•Momentarily close the Reset input.
•Cycle power to the drive.
C
able Part Number: 71-
0
1
69
4
3
-1
0
50
Pin
C
onnecto
r
S
hiel
d
White
/
Viole
t
White/Gra
y
Red
/
Blac
k
White/Black/Orange
White/Black/Green
Green/Black
Yellow/Red
Gray/Blue
Yellow/Green
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
Gray/Green
Gray/White
Yellow/White
Blue/White
Gra
y
/Brow
n
Yellow
/
Brow
n
Red 1
6
AW
G
Black 1
6
AW
G
Black
White/Black
Red
White/Red
Green
White/Green
Orange
White/Orange
Blue
White/Blue
Yellow
White/Yellow
Brown
White/Brown
Black
White/Black
Red
White/Red
Green
White/Green
Orange
White/Orange
Blue
White/Blue
Yellow
White/Yellow
Brown
White/Brown
1
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
4
9
En
ab
l
e
Di
g
ital Groun
d
R
eset
r
ese
rv
ed
r
ese
rv
ed
Di
g
ital Groun
d
Digital Ground
reserved
reserved
reserved
reserved
reserved
reserved
Encoder Out A+
Encoder Out A–
Encoder Out B+
Encoder Out B–
Encoder Out Z+
Encoder Out Z–
Digital Ground
Analog Output A
Analog Output B
Analog Input+
Analog Input–
Analog Ground
VINref
CNTRL-P: Lim 1-3
(Pos) Limit 1
(Neg) Limit 2
In/Lim Ground
(Home) Limit 3
In/Lim Ground
CNTRL-P: In 1-5
Input 4
(TRG M) Input 5
In/Lim Ground
(TRG A) Input 1
(TRG B) Input 2
Input 3
In/Lim Ground
Output 1
Output Ground
Output 2
Output Ground
Output 3
Output 4
Output Ground
Out
p
ut
5
Out
p
ut
6
Out
p
ut Groun
d

GV6K
Gemini
Servo
R
S
-23
2
ETHERNET
+24V DC
Motor Out
p
ut Connection
s
AC In
p
ut Connection
s
26 Pin MOTOR FEEDBACK Connector
+24VDC/Rela
y
Connecto
r
U
V
W
Motor Cable
DRIVECompumotor Cable
Color Code:
#8 (M4)
spade fork,
0.325"
max. width
Drive terminals:
Mating terminals:
GV6K-H40:
#10 (M5)
ring terminal,
0.25" I.D.
,
0.50" O.D.
maximum width
Black #1
Black #2
Black #3
Grn/Yel
GV6K Servo
Quick Reference Guide
Multiple Drive Connections
For multiple drives, use a
single point safety earth
Cos–
Cos+
Sin–
Sin+
Reserved
Reserved
Ref 1–
Ref 1+
Hall C
Hall B
Hall A
Hall Ground
Hall +5V
Thermal Switch
Thermal Switch
Digital Ground
Encoder Z–
Encoder Z+
Encoder B–
Encoder B+
Encoder A–
Encoder A+
Encoder Ground
Encoder Ground
Encoder +5V
Encoder +5V
13
12
11
10
9
8
7
6
5
4
3
2
1
26
25
24
23
22
21
20
19
18
17
16
15
14
Male
Pins
To configure drive parameters, connect a PC to this port.
Use Motion Planner for drive configuration.
Enabling Ethernet will disable the COM1 port.
RS-232/485 Connector –COM1 –Port 1
6
7
8
9
21
3
4
5
Rx Tx Gnd
RS-232 Connections
21 345
6789
Rx-
(RD A)
Tx-
(TD A)
GndRx+
(RD B)
Tx+
(TD B)
RS-485 Connections
Male
Pins
Connect an RP240, or use this port for RS-232.
Download Operating System through this port only.
Ethernet and COM2 can both be active at the same time.
RS-232 Connector –COM2 –Port 2
6
7
89
2
1
3
45
Rx Tx Gnd
+
5
VD
C
RS-232 Connections
L
e
ft Right Indicated State:
R
ed
Grn +24VDC only
R
ed
Yel AC only
Grn (flash) Motion in progress
A
u
tor
u
n mo
de
Initializin
g
R
ed
O
ff
D
riv
e
not
e
n
ab
l
ed
o
r
D
riv
e
f
au
lt
ed
Yellow
/G
ree
n
G
reen
/
Re
d
LEDs
50 Pin DRIVE I/O Connector
Output Ground
Output 6
Output 5
Output Ground
Output 4
Output 3
Output Ground
Output 2
Output Ground
Output 1
Input/Limit Ground
Input 3
(Tri
g
B) Input 2
(Tri
g
A) Input 1
In
p
ut/Limit Groun
d
(Master Tri
g
) Input 5
Input 4
CNTRL-P: In
p
uts 1 –5
In
p
ut/Limit Groun
d
(
Home
)
Limit 3
In
p
ut/Limit Groun
d
(Ne
g
) Limit 2
(
Pos
)
Limit 1
C
NTRL-P: Lim 1 –3
VINref
Analog Ground
Analog Input–
Analog Input+
Analog Output B
Analog Output A
Digital Ground
Enc Out Z–
Enc Out Z+
Enc Out B–
Enc Out B+
Enc Out A–
Enc Out A+
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Digital Ground
Digital Ground
Reserved
Reserved
Reset
Digital Ground
Enable
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
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
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
GV6K-L3n
at 120VAC
95 –132VAC
GV6K-U3n/6n/12n
at 120/240VAC
VBUS–
L2/N
L1
95 –264VAC
Fuses
N/C
N
L1
Fuses
GV6K-H20n at 208/
240VAC 1-phase
165 –264VAC,
1-phase
Fuses
L3
L2
L1
GV6K-H20n/H40n at
208/240VAC 3-phase
165VAC –
264VAC
3-phase
L3
L2
L1
Fuses
Required +24VDC input.
19.2 –28.8 VDC.
500 mA minimum.
When drive is enabled, it
holds relay closed.
Relay rating: 5A at 24VDC
or 120VAC.
If drive is faulted or disabled,
relay will open. (Typical use:
control of motor brake.)
+24V D
C
24V RTN
RELAY
COM
RELAY N.
O.
Ethernet
C
onnecto
r
RJ-45 connector for 10Base-T
(
10Mb
p
s
twisted
p
air
)
TCP/IP
p
rotocol.
D
efault address is 1
9
2.1
68
.1
0
.
30.
Green LED on = Connection OK
;
Yellow LED on (flash) = Transmittin
g.
Expansion I/O Connector
Connect as many as eight EVM32-II I/O modules in series,
for up to 256 additional I/O points.
Master Encoder
C
onnecto
r
Connect an encoder for Followin
g
only;
not for servo feedback or ste
pp
er stall
de
t
ec
t
.