Parker Gemini GT6 Series Manual

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Effective: December 17, 1999
p/n 88-018374-01 A
Gemini GT6 Hardware
Installation Guide
Automation
STEPPER
+24V DC
24V RTN
RELAY COM
RELAY N.O.
MOTOR
A+
A–
B+
B–
V DBL
L2/N
L1
C
O
M
P
U
M
O
T
O
R
DRIVE I/O MOTOR FEEDBACK
GT-U5/8
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
O
M
P
U
M
O
T
O
R
DRIVE I/O MOTOR FEEDBACK
DATA BUS OUT
DATA BUS IN
Gemini GT6 Series
Digital Stepper Controller/Drives
GT6-L5
GT6-L8
GT6-U5
GT6-U8

North America and Asia:
Compumotor Division of Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
FaxBack: [phone] or [phone]
e-mail: [email protected]
Internet: http://www.compumotor.com
Europe (non-German speaking) :
Parker Digiplan
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: [phone]
Fax: [phone]
Germany, Austria, Switzerland:
HAUSER Elektronik GmbH
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
Technical Assistance
Contact your local automation technology center (ATC) or distributor, or ...
Automation
[email protected]
Technical Support Email
Gemini Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and
may not be copied, disclosed, or used 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
hardware mentioned therein at any time without notice.
In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature
whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.
© 1999, Parker Hannifin Corporation
All Rights Reserved
User Information
WARNING
Gemini Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion
system for safety under all potential conditions. Failure to do so can result
in damage to equipment and/or serious injury to personnel.
! !
Motion Planner and Pocket Motion Planner are trademarks of Parker Hannifin Corporation.
Microsoft and MS-DOS are registered trademarks, and Windows, Visual Basic, and Visual C++ are trademarks of Microsoft Corporation.

Preface 3
Table of Contents
CHAPTER 1 – INTRODUCTION.................................................................................................................................. 5
Gemini Products—Overview ..............................................................................................................................................6
Compatible Compumotor Products .....................................................................................................................................8
CHAPTER 2 – INSTALLATION ....................................................................................................................................9
CheckingYour Shipment ...................................................................................................................................................10
“Express Setup” Overview ................................................................................................................................................10
Step 1 – Connecting the Motor..........................................................................................................................................13
Step 2 – Connecting AC Power .........................................................................................................................................14
Step 3 – Configuring the Drive..........................................................................................................................................16
Step 4 – Verifying Correct System Installation .................................................................................................................18
What’s Next? .....................................................................................................................................................................19
CHAPTER 3 – CONFIGURATION ..............................................................................................................................21
Configuration.....................................................................................................................................................................22
Motor Settings ............................................................................................................................................................22
System Settings ..........................................................................................................................................................23
Input/Output (I/O) Settings ........................................................................................................................................23
Communications Settings...........................................................................................................................................24
Motor Control Settings............................................................................................................................................... 24
Procedure for ConfiguringAdvanced Features .................................................................................................................25
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 (optional) ....................................................................................................32
Multiple Drive Installations...............................................................................................................................................33
RS-232/485 Communications ...........................................................................................................................................34
Establishing Communications....................................................................................................................................34
Configuring the Serial Port.........................................................................................................................................35
RS-232 Communications ...........................................................................................................................................35
RS-232 Daisy-Chaining .............................................................................................................................................36
RS-485 Communications ...........................................................................................................................................37
RS-485 Multi-Drop ....................................................................................................................................................38
Updating the Drive’s Operating System ............................................................................................................................38
CHAPTER 5 –TROUBLESHOOTING ......................................................................................................................... 39
APPENDIX A – SPECIFICATIONS .............................................................................................................................47
Power Specifications .........................................................................................................................................................48
Interface/Communication ..................................................................................................................................................49
Inputs and Outputs.............................................................................................................................................................50
Dimensions ........................................................................................................................................................................55
Protective Circuits .............................................................................................................................................................58
Cable Specifications ..........................................................................................................................................................60
APPENDIX B – USING NON-COMPUMOTOR MOTORS .................................................................................................63
APPENDIX C – REGULATORY COMPLIANCE: UL AND CE ...........................................................................................71
INDEX ................................................................................................................................................................77

4 Gemini GT6 Hardware Installation Guide
Product Type : Gemini Family of Drives, GTn
Including, but not limited to :
GT(6)-L5, GT(6)-L8, GT(6)-U5, GT(6)-U8
When installed in accordance with this installation guide, the above products have
been demonstrated to be in compliance with the requirements 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
Environments as defined in the relevant EMC standards.
These products are compliant with the Low Voltage Directive.
• 73/23/EEC Low Voltage Directive
• 93/68/EEC CE Marking Directive
Symbols:
Protective Earth Connection
Earth (Ground) Terminal
Shield, Frame, or Chassis Terminal
Caution, Risk of Electrical Shock
Caution, Refer to Accompanying Documentation

Chapter 1 – Introduction 5
1
Introduction
IN THIS CHAPTER
• Gemini Product Overview
• Compatible Compumotor Products
CHAPTER ONE

6 Gemini GT6 Hardware Installation Guide
Gemini Products—Overview
The Gemini Series is a family of high performance digital drives. The family
contains drives for both stepper and servo motors. With many models and options
available, the user can choose the precise level of power and control for the
application’s motion requirements.
Gemini Product Descriptions
Gemini GT and GV
Gemini GT Stepper Drives and GV Servo Drives are the basic Gemini products.
They are controlled with standard command interfaces of step/direction or ±10V,
and can be used with standard indexers or controllers.
The drives are configured over RS-232/485 with either Motion Planner on a
personal computer (PC), or Pocket Motion Planner on a palm PC. Many advanced
features are standard in the drives, such as sensorless stall detect and ABS damp-
ing in the GT, and digital tuning and 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
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-S, and other industry standard fieldbus networks.
The GT6 and GV6 are configured and programmed over RS-232/485, either with
Motion Planner on a PC, or Pocket Motion Planner on a palm PC.
GT6 or GV6 drives are also available with an optional SERCOS interface. These
drives can be configured via the acyclic channels of the motion bus, or via the RS-
232/485 port using the tools mentioned above.
Gemini GT6K and GV6K
The Gemini GT6K and GV6K are single axis packaged controller/drives that offer
full 6K Series controller functionality and programmability for complex distrib-
uted control applications. Key features include: complex program capabilities such
as math, variables, and logic control; flexible and expandable serial I/O modules;
and Ethernet compatibility for PC bus access. The user programs these devices
over an RS-232/485 communication port; a second port is available for use with a
full-time operator interface.

Chapter 1 – Introduction 7
Gemini Product Names
The following table lists the meanings of letters and numbers in Gemini product
names. Notice that “T” is associated with step motor products (“sTep”), and “V” is
associated with servo motor products (“serVo”).
Control Level:
Step Motor Drives and Drive/Indexers Servo Motor Drives and Controller/Drives
GT Step Motor Drive GV Servo Motor Drive
GT6 6000-based Step Motor Indexer GV6 6000-based Servo Controller
GT6K 6K-based Step Motor Indexer GV6K 6K-based Servo Controller
Power Level:
Step Motor Power Levels Servo Motor Drives and Controller/Drives
L5 120VAC, 5A at 170VDC L3 120VAC, 3A at 170VDC
L8 120VAC, 8A at 170VDC U3 120/240VAC 1 Ø, 3A at 170/340VDC
U5 120/240VAC 1 Ø, 5A at 74VDC U6 120/240VAC 1 Ø, 6A at 170/340VDC
U8 120/240VAC 1 Ø, 8A at 74VDC U12 120/240VAC 1 Ø, 12A at 170/340VDC
H20 208/240VAC 3 Ø, 20A at 294/340VDC
(1 Ø, 16A at 294/340VDC)
Amperage values represent continuous current, peak of the sine wave.
“L” = “Low” voltage input (120VAC)
“U” = “Universal” voltage input (120/240VAC)
“H” = “High” voltage input (208/240VAC)
Options:
Data Bus (-db) Option (for GT6 and GV6 only):
IS Interbus
PB Profibus
SC SERCOS
Feedback (-fb) Option (for Servos only):
E Encoder/Hall
R Resolver
Ship Kit Options:
NK No Kit
Format:
Gemini
V or T
6, 6K or Blank
L, H or U
GT = 5, 8; GV = 3, 6, 12, 20
E, R, or Blank
IS, PB, SC or Blank
-NK or Blank
Drive:
Type:
Control:
Input Voltage Level:
Output Motor Current:
Feedback Option:
Data Bus:
Ship Kit Option:
GT6-L5 -SC-NK
Format Example

8 Gemini GT6 Hardware Installation Guide
Compatible Compumotor Products
GT-nn Stepper 6K or other Compumotor indexer
GV-nnn Servo ±10V mode: 6K or other Compumotor controller
Step/Direction mode: 6K or other Compumotor indexer
Software Motion Planner
Pocket Motion Planner (version 1.2 or higher)
Note: Gemini drives are not compatible with ASCII communication
programs such as Motion 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 following items ship with the drive:
Gemini Quick Start Guide
Gemini Hardware Installation Guide
Gemini Programmer’s Reference
Gemini Motor Reference Manual
Motion Planner CD-ROM
You can also order the drive only, with none of the above items. Specify
the -NK option (“No Kit”).
Motor Information
Information about Compumotor motors is in the separate Gemini Motor Reference
Manual.

Chapter 2 – Installation 9
2
Installation
IN THIS CHAPTER
• CheckingYour Shipment
• Express Setup
CHAPTER TWO