Parker Gemini GV Series User manual

Compumotor
GEMINI
H40
U
V
W
VBUS+
VBUS-
L3
L2
L1
SERVO
MOTOR
MAINS 3Ø 240 VAC
RS-232/485
WARNING:Hazardous voltagemay
to8 minutesafter power
+24VDC
24VRtn
RELAY COM
RELAY N.O.
DATA BUS OUT
DATA BUS IN
GV-H20
SERVO
U
V
W
VBUS+
VBUS–
L3
L2
L1
MOTOR
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
+24VD
C
24VRTN
RELAYCOM
RELAY N.O.
C
O
M
P
U
M
O
T
O
R
DRIVE I/O MOTOR FEEDBACK
RS-232/485
DATA BUS OUT
DATA BUS IN
Servo
+24VDC
24VRTN
RELAY COM
RELAY N.O.
RS-232/485
U
V
W
VBUS+
VBUS-
L2/N
L1
C
O
M
P
U
M
O
T
O
R
DRIVE I/O MOTOR FEEDBACK
GV-U3/6/12
MOTOR
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
Effective: December 1, 2001
p/n 88-017791-01 E
Gemini GV Hardware
Installation Guide
Automation
Gemini GV Series
Digital Servo Drives
GV-H40 Drive shown
GV-H20 Drive shown
GV-U3 Drive shown
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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.
© 2001 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.
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Preface 3
Table of Contents
CHANGE SUMMARY ................................................................................................................................................5
CHAPTER 1 – INTRODUCTION.................................................................................................................................. 7
Gemini Products—Overview ..............................................................................................................................................8
Compatible Compumotor Products ...................................................................................................................................10
CHAPTER 2 – INSTALLATION ..................................................................................................................................11
CheckingYour Shipment ...................................................................................................................................................12
“Express Setup” Overview ................................................................................................................................................12
Step 1 – Connecting the Motor..........................................................................................................................................14
Step 2 – Connecting AC Power .........................................................................................................................................16
Step 3 – Configuring the Drive..........................................................................................................................................18
Step 4 – Connecting the 6K Controller .............................................................................................................................20
What’s Next? .....................................................................................................................................................................22
CHAPTER 3 – CONFIGURATION ..............................................................................................................................23
Configuration..................................................................................................................................................................... 24
Tuning Procedures ............................................................................................................................................................. 28
Torque Mode Tuning ..................................................................................................................................................28
Velocity Mode Tuning ................................................................................................................................................30
Position Mode Tuning ................................................................................................................................................31
Filter Adjustments ......................................................................................................................................................33
CHAPTER 4 – SPECIAL FEATURES......................................................................................................................... 35
Relay Connections (optional) ............................................................................................................................................36
+24VDC “KeepAlive” Power Connections (optional) ....................................................................................................36
Multiple Drive Installations (optional) ..............................................................................................................................37
Regeneration Protection ....................................................................................................................................................38
Aligning the Resolver (optional) .......................................................................................................................................42
RS-232/485 Communications ...........................................................................................................................................44
Establishing Communications....................................................................................................................................44
Configuring the Serial Port.........................................................................................................................................44
RS-232 Communications ...........................................................................................................................................45
RS-232 Daisy-Chaining ............................................................................................................................................. 45
RS-485 Communications ...........................................................................................................................................47
RS-485 Multi-Drop ....................................................................................................................................................47
Updating the Drive’s Operating System ............................................................................................................................ 48
CHAPTER 5 –TROUBLESHOOTING ......................................................................................................................... 49
APPENDIX A – SPECIFICATIONS .............................................................................................................................57
Power Specifications .........................................................................................................................................................58
Interface/Communication ..................................................................................................................................................59
Inputs and Outputs.............................................................................................................................................................60
Feedback Devices ..............................................................................................................................................................66
Dimensions ........................................................................................................................................................................69
Protective Circuits .............................................................................................................................................................74
Cable Specifications ..........................................................................................................................................................76
APPENDIX B – USING NON-COMPUMOTOR MOTORS .................................................................................................81
APPENDIX C – REGULATORY COMPLIANCE: UL AND CE ...........................................................................................85
INDEX ................................................................................................................................................................93
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4 Gemini GV Hardware Installation Guide
Product Type : Gemini Family of Drives, GV-nnnn
Including, but not limited to :
GV-L3n, GV-U3n, GV-U6n, GV-U12n, GV-H20n, GV-H40n ,
GPDM
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
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Preface 5
Change Summary
Gemini GV Hardware Installation Guide
Revision E
December 1, 2001
The following is a summary of the primary technical changes to this document
since the previous version was released.
This document, part number 88-017791-01E, supersedes 88-017791-01D.
GV-H40 Drive Added to Gemini Product Line
Information about the Gemini GV-H40 Drive has been added throughout this
Hardware Installation Guide.
+24VDC Power Input – Current Specification (page 37)
The input current specification has been changed from 500 mA maximum to
500 mA minimum required from your power supply.
Connecting V Bus±: Fuse Each Drive (page 38)
CLARIFICATION: When connecting two or more drives through their V Bus±
terminals, fuse the AC input lines of each drive, as the drawing labeled Sharing
the Power Bus now shows.
TASX, Bit 5 – Resolver Failure (page 52
CHANGE: The TASX command’s Bit 5 indicates resolver failure (not encoder
failure).
Soldercup Connectors Specified (page 60 & 66)
NEW: Mating soldercup connectors and backshells are specified for the 50 pin
DRIVE I/O connector and the 26 pin MOTOR FEEDBACK connector.
Pulse Input Specifications (page 61)
CLARIFICATION: Specifications are listed for minimum pulse width and
maximum pulse frequency for step/direction or encoder inputs.
Panel Layout – Vertical Clearance for GV-H20 (page 73)
CHANGE: Allow 2 inches (50.8 mm) below a GV-H20 drive. If you mount
another drive above a GV-H20, allow at least 4 inches (100 mm) vertical clearance
above the GV-H20; allow 6 inches (150 mm) if operating at full power.
Non-CE Cables (pages 75 – 80)
NEW: Compumotor now offers non-CE cables.
Hall Sensors – Configuration and Troubleshooting (page 82)
NEW: Information about configuring and troubleshooting Hall sensors has been
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6 Gemini GV Hardware Installation Guide
added to Appendix B Using Non-Compumotor Motors.
Ferrite Absorbers Recommended for GV-H20 (page 88)
CHANGE: For increased product immunity and reduced product emissions,
particularly with large servo motors, we now recommend that you install two clip-
on ferrite absorbers.
Revision D
December 17, 1999
The following is a summary of the primary technical changes to this document
when part number 88-017791-01Dsuperseded 88-017791-01C.
• DRFLVL Command Removed from Configuration Steps.
• RFS Command Recommended in Reconfiguration.
• Depth Commands Added to Filter Adjustments.
Revision C
November 1, 1999
The following is a summary of the primary technical changes to this document
when part number 88-017791-01Csuperseded 88-017791-01B.
• Information for the Gemini GV-H20n Servo Drive, was added.
• Information for the Gemini Power Dissipation Module (GPDM) was added.
• Information about using resolver feedback was added.
• GC-26, GC-50, GFB-KIT were added.
• Special Features Chapter was added.
Revision B
July 30, 1999
The following is a summary of the primary technical changes that occurred in this
document when part number 88-017791-01Bsuperseded 88-017791-01A.
• Z-Channel was added to Encoder Outputs
• We recommended connecting RS-485 cables before applying power.
• Digital Outputs Drawing – minor corrections were made to the Internal Connections
section of the Digital Outputs drawing.
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Chapter 1 –Introduction 7
1
Introduction
IN THIS CHAPTER
• Gemini Product Overview
• Compatible Compumotor Products
CHAPTER ONE
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8 Gemini GV 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 (GT and
GV) or ±10V (GV only), and can be used with standard indexers or controllers.
The drives are configured over RS232/485 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 Profibus or DeviceNet.
The GT6 and GV6 are configured and programmed over RS232/485, either with
Motion Planner on a PC, or Pocket Motion Planner on a palm PC.
Gemini GT6K and GV6K
The GT6K and GV6K are single axis packaged controller/drives in the Gemini
family that offer full 6K Series controller functionality and programmability for
complex distributed 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 RS232/485 communication port or Ethernet; a
second port is available for use with a full-time operator interface.
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Chapter 1 –Introduction 9
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 Servo Motor Drives
and Controller/Drives and Controller/Drives
GT Step Motor Drive GV Servo Motor Drive
GT6 6000-based Step Motor Controller GV6 6000-based Servo Controller
GT6K 6K-based Step Motor Controller GV6K 6K-based Servo Controller
Power Level:
Step Motor Drives and Controller Drives
L5 120VAC, 5A at 170VDC
L8 120VAC, 8A at 170VDC
Servo Motor Drives and Controller/Drives
L3 120VAC, 3A continuous, 7.5A peak at 170VDC
U3 120/240VAC, single phase, 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, 20A continuous, 50A peak at 294/340VDC
(single phase: 16A continuous, 50A peak at 294/340VDC)
H40 208/240VAC, three phase, 40A continuous, 100A peak 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):
DN DeviceNet
PB Profibus
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
GV = 3, 6, 12, 20, 40
GT = 5, 8
E, R or Blank
DN, PB or Blank
-NK or Blank
Drive:
Type:
Control:
Input Voltage Level:
Output Motor Current:
Feedback Option:
Data Bus:
Ship Kit Option:
GV6-L3E-PB-NK
Format Example
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10 Gemini GV 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.
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