Parker Gemini GV6K Hardware Installation Manual
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Parker Gemini GV6K Hardware Installation Manual

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Automation
p/n 88-019932-01 A
Gemini GV6K and
Gemini GT6K
Hardware Installation
Guide
Effective: October 15, 2001
G V
6 K
+ 2
4 V
D
2 4
V R
R E
L A
T
Y C
R E
O
L A
Y
N . O
Digital Controller/Drive

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  • Page 1 88-019932-01 A Automation Gemini GV6K and Gemini GT6K Hardware Installation Guide Effective: October 15, 2001 N . O Digital Controller/Drive...
  • Page 2 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.

  • Page 3: Table Of Contents

    Table of Contents 1 – I ..........................5 HAPTER NTRODUCTION Gemini Products—Overview .............................. 6 Compatible Compumotor Products ............................. 8 2 – I ............................9 HAPTER NSTALLATION Checking Your Shipment ..............................10 “Express Setup” Overview ..............................10 Step 1 – Connecting the Motor ............................12 Step 2 –...
  • Page 4 Product Type : Gemini GV6K and Gemini GT6K Family of Drives Including, but not limited to : GV6K-L3n, GV6K-U3n, GV6-U6n, GV6K-U12n, GV6K-H20n, GV6K-H40n, GT6K-L5, GT6K-L8, GPDM When installed in accordance with this installation guide, the above products have been demonstrated to be in compliance with the requirements of directives •...

  • Page 5: Chapter 1 - Introduction

    C H A P T E R O N E Introduction IN THIS CHAPTER • Gemini Product Overview • Compatible Compumotor Products Chapter 1 – Introduction...

  • Page 6: Gemini Products-Overview

    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.
  • Page 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 Servo Motor Drives and Controller/Drives and Controller/Drives...

  • Page 8: Compatible Compumotor Products

    Names in this Installation Guide: Gem6K = GV6K & GT6K This Hardware Installation Guide describes two product families: • Gemini GV6K Servo Controller/Drives • Gemini GT6K Stepper Controller/Drives In this Hardware Installation Guide, when we use the name Gem6K, it will apply to both products.

  • Page 9: Chapter 2 - Installation

    C H A P T E R T W O Installation IN THIS CHAPTER • Checking Your Shipment • Express Setup Chapter 2 – Installation...

  • Page 10: Checking Your Shipment

    Checking Your Shipment Inspect your shipment carefully. You should have received one or more of the following: Gemini Drives GV6K-L3n (“n” can be E or R) GT6K-L5 GV6K-U3n GT6K-L8 GV6K-U6n GV6K-U12n GV6K-H20n GV6K-H40n Ship Kit Items The following ship with the drive: Part Part Number Gem6K Quick Reference Guide...
  • Page 11 You will connect together only the components necessary to achieve basic motion—a drive, a motor (without a load connected), and cables. You will use a computer to communicate with the drive. In the express setup, we will give procedures for the following steps: Connecting the motor to the drive (with no load attached) Connecting +24VDC power to the drive Connecting AC power to the drive...

  • Page 12: Step 1 - Connecting The Motor

    System Overview In this express setup procedure, we will give instructions for a Compumotor system—Gem6K drive with 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 information you may need.
  • Page 13 Connecting the Motor Cable Connect the MS connector on the motor cable to the mating connector on the motor. (If you use a non-Compumotor motor, see Appendix B for information.) Remove the clear plastic cover from the drive terminals. Connect the motor cable’s green/yellow wire to the drive terminal with the symbol.
  • Page 14 GT6K Steppers – Motor Connections The GT6K drive is compatible with 4, 6, or 8 lead step motors designed for use with a bipolar drive. Connecting the Motor Make sure power is off before you connect the motor. Wire your motor in series or parallel. For wiring diagrams, color codes, dimensions and speed/torque curves for Compumotor motors, consult the separate Gemini Motor Reference Manual .

  • Page 15: Step 2 - Connecting +24Vdc Power

    Step 2 – Connecting +24VDC Power You must connect an external +24VDC power source to the Gem6K, as the next drawing shows. Use the removable terminal connector that is supplied with the drive. With +24VDC applied, the drive’s internal control board will remain powered when the primary AC power source is disconnected, and will maintain several important functions, including communication diagnostics, position feedback, and other logic functions.

  • Page 16: Step 3 - Connecting Ac Power

    Step 3 – Connecting AC Power Power Requirements Acceptable ranges of AC input voltage are listed below for each drive : Drive AC Input Range GT6K-L5/L8 95 – 132VAC GV6K-L3n 95 – 132VAC GV6K-U3n/U6n/U12n 95 – 264VAC GV6K-H20n 165 – 264VAC [single phase (1∅) or three phase power (3∅)] GV6K-H40n 165 –...
  • Page 17 AC Power Connections GT6K-L5/L8 and GV6K-L3n: Connecting AC Power CAUTION Do not operate GV6K-L3n above 132VAC, or the drive will be permanently dam- aged. 120VAC Operations: Connect power system’s safety earth to drive’s protective conductor terminal, marked with the symbol. Do not fuse the protective conductor terminal. Connect 120VAC, 50/60 Hz, single phase power line to drive’s L1 and N terminals.
  • Page 18 GV6K-H20n: Connecting Single Phase AC Power Single Phase 208/240VAC Operations: Connect power system’s safety earth to drive’s protective conductor terminal, marked with the symbol. Do not fuse the protective conductor terminal. Connect 208/240VAC, 1∅, 50/60 Hz power to drive’s L1 and L2 terminals. Reinstall the clear plastic terminal cover after you make connections.

  • Page 19: Step 4 - Configuring The Drive

    Step 4 – Configuring the Drive Gem6K drives have no DIP switches or potentiometers for configuration. You will use Motion Planner, a software program, to communicate with the drive, configure drive settings, and load your application program. Configuration Software Motion Planner is located on the Motion Planner CD-ROM. This program is also available on the Compumotor web site at http://www.compumotor.com.
  • Page 20 Select “Express Setup”, and select “Initialize wizard with factory defaults”. Click the “Next” button to proceed with the wizard. Fill in the wizard dialogs as prompted, including choosing a motor series, frame size, and part number. At the end of the wizard, click the “finish” button; this creates the setup code and places it in the Editor window.

  • Page 21: Step 5 - Verifying Correct System Installation

    Step 5 – Verifying Correct System Installation Commanding Motion in Autorun Mode In this procedure you will enable the drive; the motor will then rotate in autorun mode. This will verify correct system wiring and drive configuration. Connect a jumper wire between Pin 1 and Pin 2 on the 50 pin DRIVE I/O connector. (For connector diagrams, cable color codes, and breakout module information see Appendix A Specifications .) Issue the following command to the drive:...

  • Page 22: What's Next

    What’s Next? This chapter has given you information and instructions for performing an Express Setup. The following list explains the steps you should take to complete your installation, and indicates where to find additional information for each of those steps. Mount the drive.

  • Page 23: Chapter 3 - Configuration

    C H A P T E R T H R E E Configuration IN THIS CHAPTER • Configuration • Tuning Procedures (GV6K Only) • Damping Configuration (GT6K Only) • Stall Detect Configuration (GT6K Only) • Motor Matching (GT6K Only) Chapter 3 – Configuration...

  • Page 24: Configuration

    This chapter will give an overview of all software commands that configure drive settings. For more in depth descriptions about these commands, see the separate Gemini GV6K/GT6K Command Reference. GV6K: At the end of this chapter are procedures you can use to configure the GV6K’s tuning settings.
  • Page 25 DPOLE number of pole pairs DMTW rated speed DMTIP peak current DMTLMN minimum line-to-line inductance DMTLMX maximum line-to-line inductance DMTD motor damping DMTRWC motor thermal resistance (winding to case) DMTTCM motor case (and heatsink) thermal time constant DMTTCW motor winding thermal time constant DPWM PWM switching frequency DMTMAX...
  • Page 26 DRES motor step resolution you enter a number ORES step/dir output resolution you enter a number DAUTOS auto standby enable you enter a number DMVLIM velocity limit you enter a number Autorun mode commands motion with no program control. It is used during Express Setup , and for troubleshooting.
  • Page 27 Digital Outputs Command Description Options: Output Definition and Sense configure up to 7 onboard outputs Analog Monitors Command Description Options: DMONAV analog monitor A variable GV6K Options: unused/turn off output motor temperature drive temperature position error velocity setpoint actual velocity acceleration setpoint torque/force setpoint actual (electrical) torque...
  • Page 28 Tuning Settings – GV6K Tuning settings are divided into two groups: primary and advanced. Tuning can be done in torque, velocity, or position mode. Tuning procedures for each of these modes are presented later in this chapter. Relevant commands are: Primary Tuning Command Description Options:...

  • Page 29: Tuning Procedures - Gv6K Servo

    Command Description Options: DACTDP active damping gain you enter a number DDAMPA damping during acceleration can be turned on or off DELVIS electronic viscosity can be turned on or off DABSD ABS damping can be turned on or off Tuning Procedures – GV6K Servo During the Express Setup procedure in Chapter 2 Installation, the drive uses default values for tuning parameters, based upon the motor information you entered.
  • Page 30 Position Mode Tuning Procedure Primary Tuning Procedure Disable the drive. Configure the drive for position tuning mode (DMODE17). In this mode, the drive commands an alternating 1/4 revolution step change in position at a one second repetition rate. Enable the drive and observe your system’s response. (If necessary, you can connect an oscilloscope as described in Advanced Tuning below.) Ringing or an oscillating response indicates that the position loop bandwidth is too high.
  • Page 31 If ringing or oscillations persist, and do not seem to be affected by the above adjustments, you may need to use notch filters or lead/lag filters. See the Filter Adjustments procedure below. Filter Adjustments If the previous tuning procedures did not eliminate ringing or oscillations, then mechanical resonances may be causing problems with your system’s response.

  • Page 32: Procedure For Configuring Advanced Features - Gt6K

    Lag Filter Adjustment Procedure The lag filter can act as a low pass filter, and reduce the effects of electrical noise on the commanded torque. (It can also reduce the effects of resonance at low frequencies— below 60 Hz—where the notch filters are not effective.) As described in Steps 2 –...
  • Page 33 To turn ABS damping on , use the DABSD command. (DABSD1) If you use a Parker motor, the following parameters are automatically set when you use Motion Planner to select a motor. You do not need to enter values for them now.

  • Page 34: Configuring Encoderless Stall Detect Settings

    Parameter: LJRAT system load-to-rotor inertia ratio If you use a Parker motor, the following parameters are automatically set when you use Motion Planner to select a motor. You do not need to enter values for them now. If you use a non-Parker motor, use the following commands to enter accurate...
  • Page 35 aggressive accelerations are possible during which the motor may skip poles (lose position). This loss of position can be less than 50 milliseconds; if so, it will not be recognized as a stall. Because the command velocity must be in the 3 – 37 rps range for stall detect to be active, the drive will not recognize static loss of position as a stall.

  • Page 36: Procedure For Motor Matching - Gt6K

    Procedure for Motor Matching – GT6K Due to slight manufacturing variations, each motor has its own particular charac- teristics. The drive has three settings—phase offset, balance and waveform—that can be adjusted to match the drive to a specific motor. The factory settings for these parameters will be acceptable in most applications.
  • Page 37 Select the PHASE B BALANCE button. 10. Using the terminal emulator, set the motor speed to one half the speed found in Step 5 . Vary the motor speed about this setting, and find the most resonant operating speed. Return to Interactive Motor Matching . 11.
  • Page 38 Gem6K Hardware Installation Guide...

  • Page 39: Chapter 4 - Special Features

    C H A P T E R F O U R Special Features IN THIS CHAPTER • Relay Connections • Multiple Drive Installations • V BUS± (GV6K Only) • Regeneration and the GPDM (GV6K Only) • Aligning the Resolver (GV6K Only) •...

  • Page 40: Relay Connections (Optional)

    Dry contact mechanical relay Normally open Relay Rating: 5 amps at 24VDC or 120VAC See the OUTFNC and OUTLVL commands in the Gemini GV6K/GT6K Command Reference for more information on configuring the relay. Multiple Drive Installations (optional) Safety Earth Connections For multiple drive installations, we recommend a single point or “star”...
  • Page 41 Gem6K Drive Gem6K Drive Gem6K Drive For multiple drives, use a single point safety earth Multiple Drives: Single Point Safety Earth Under normal operation, no current should flow through the safety earth connec- tion. ± Connecting V Bus : Sharing the Power Bus (optional) (GV6K-U3n/6n/12n/H40n only) You can connect the power buses of GV6K-U3n/6n/12n/H40n drives in parallel, through the V BUS+ and V BUS- terminals.

  • Page 42: Regeneration Protection

    GV6K-U3/U6/U12/H40* GV6K-U3/U6/U12/H40* GV6K-U3/U6/U12/H40* VBUS+ VBUS+ VBUS+ Connect to GPDM, VBUS– VBUS– VBUS– if necessary L2/N L2/N L2/N Fuses Not shown: 3-phase AC connections for GV6K-H40 Use a single point safety earth Sharing the Power Bus If excess regenerated energy causes an overvoltage or regeneration fault, you can connect the Gemini Power Dissipation Module (GPDM) to the drive’s V BUS±...
  • Page 43 Regeneration with GV6K-U3n/U6n/U12n GV6K-U3n/U6n/U12n drives do not have internal regeneration circuitry. Conse- quently, they cannot cause a regeneration fault. The drives can absorb the follow- ing amounts of regenerated energy in their internal capacitors: Absorb Drive (joules): (from 340 – 410VDC: 1680 µF) GV6K-U3n 44 J (from 340 –...
  • Page 44 GPDM Specifications Activation Conditions: Turn on: 398VDC Turn off: 380VDC Resistance: Six 100 ohm resistors in parallel (16.7 ohm equivalent) Continuous Dissipation: 300W in 25°C internal ambient Maximum Dissipation: Maximum Pulse Energy: 13KJ (pulse rating of resistors, repeatable, not to exceed continuous rating) Weight: 3.1 pounds (1.4 kg)
  • Page 45 The next figure shows a typical installation. GV6K-U3n/6n/12n GV6K-U3n/6n/12n GV6K-U3n/6n/12n VBUS+ VBUS+ VBUS+ VBUS+ VBUS+ VBUS– VBUS– VBUS– VBUS– VBUS– L2/N L2/N L2/N fuses Connect 2nd GPDM, if necessary Use a single point safety earth GPDM Connections The next figure shows GPDM dimensions. 2.75 (70) (152)

  • Page 46: Aligning The Resolver - Gv6K Servos (Optional)

    Aligning the Resolver – GV6K Servos (optional) Resolvers on Compumotor motors are aligned at the factory. Ordinarily, no further alignment is required. However, you may wish to align the resolver if you suspect the resolver is misaligned, or if you are using a non-Compumotor motor. A Note About Resolver Speed Resolver speed describes the relationship between resolver electrical revolutions and shaft mechanical revolutions.
  • Page 47 Method 2 – Finding an Unknown Offset Angle Use this method if you do not know your resolver’s offset angle. Disconnect the load from the motor shaft. The shaft should be free to rotate. Verify correct motor wiring. See the Gemini Motor Reference Manual for wiring information for Compumotor motors.

  • Page 48: Rs-232/485 Communications

    RS-232/485 Communications The Gem6K uses an ASCII language for communication. Gem6K drives can be connected together in RS-232 Daisy Chains and RS-485 Multi-Drop configura- tions. In this section: • Establishing Communications • Configuring the Serial Ports • RS-232 Communications • RS-232 Daisy Chaining •...
  • Page 49 ; Selects the RS-232 connector (COM2) The following commands can be used to configure the Gem6K serial ports and the terminals used by Motion Planner. Complete descriptions of these commands can be found in the Gemini GV6K/GT6K Command Reference. DRPCHK RP240 Check...
  • Page 50 RS-232 Communications Pin Out for RS-232 Communication: Pin Description Rx (receive). Connect to Tx on your computer. Tx (transmit). Connect to Rx on your computer. GND (logic ground). Connect to GND on your computer • Maximum RS-232 cable length is 50 feet (15.25 meters) •...
  • Page 51 Step 2 The error level must be set to 1 for all units on the daisy chain (ERRLVL1). When the error level is not set to 1, the unit sends ERROK or ERRBAD prompts after each command, which makes daisy chaining impossible. Send the ERRLVL1 command to each unit in the chain.
  • Page 52 RS-485 Communications (COM1 Only) Pin Out for 4-Wire RS-485 Communications: Pin Description (also called RD B) (also called TD B) (logic ground) (also called RD A) (also called TD A) • Maximum RS-485 cable length is 4000 feet (1220 meters). •...

  • Page 53: Ethernet

    Connect the unit that is to be unit #1 and transmit the Ø_ADDR1 command to it. Connect the unit that is to be unit #2 and transmit the Ø_ADDR2 command to it. Connect the unit that is to be unit #3 and transmit the Ø_ADDR3 command to it. Connect the unit that is to be unit #4 and transmit the Ø_ADDR4 command to it.

  • Page 54: Master Encoder

    Master Encoder The master encoder is used for Following only—not for servo feedback or stepper stall detect. The pinout for the 9 pin D-connector is shown below. MASTER ENCODER Connector Internal Connections +5VDC Output MASTER ENCODER 681Ω 681Ω Connector Channel A+ Channel A–...

  • Page 55: Updating The Drive's Operating System

    Connect to the Gem6K's "EXPANSION I/O" connector EVM32-II Brick #1, cover removed (1st unit in serial chain) EVM32-II Brick #2 cover removed (2nd unit in serial chain) SIM Boards are 2-Foot (0.61m) cable is ordered separately provided with the baseboard from the baseboard Baseboard (EVM32-II-BASE) EVM32-II Connections...
  • Page 56 Web Site Download The operating system file is located in the software download section of the Compumotor Online web site (http://www.compumotor.com). For example, the operating system file for version 6.0 is called 6kos6p0.ops. Download the file to the Motion Planner directory on your hard drive. Update Procedure Using the Gem6K’s RS-232 connector (COM2), connect to your computer’s RS-232 serial communication port.

  • Page 57: Chapter 5 - Troubleshooting

    C H A P T E R F I V E Troubleshooting IN THIS CHAPTER • LED Status • Software Commands for Troubleshooting • RS-232/485 Troubleshooting • System Problems Chapter 5 – Troubleshooting...
  • Page 58 Planner. (See Chapter 2 Installation for detailed instructions on establishing communications. Information about installing and Motion Planner can be found in the Gemini GV6K/GT6K Command Reference.) If you are unable to establish communications, see RS-232/485 Communication Problems later in this chapter.
  • Page 59 Four software commands are very useful for identifying problems. This section provides guidelines and tips for using these commands. For full command descrip- tions and tables of error codes, see the Gemini GV6K/GT6K Command Reference. TERRLG – Transfer Error Log The TERRLG command displays the last ten error conditions.
  • Page 60 If fault reoccurs after several minutes, it may be due to restricted airflow over the drive’s heatsink.) See the Gemini GV6K/GT6K Command Reference for the complete list of status conditions.
  • Page 61 RS-232/485 Communication Problems If you cannot establish RS-232 or RS-485 communications, the next sections give instructions for procedures to help isolate problems. Testing the COM Ports Install and launch Motion Planner. See Chapter 2 Installation for information about using this software tool. RS-232 communications require that you use a null modem cable.
  • Page 62 RS-232 Daisy Chain and RS-485 Multi-Drop Problems For more information about RS-232 daisy chain and RS-485 multi-drop problems, see RS-232/485 Communications in Chapter 4 – Special Features. System Problems If your Gem6K drive is functioning properly, other parts of your system may be causing problems.
  • Page 63 Motor Problems Verify that the drive is configured properly for the motor you are using. The motor series, frame size, and part number information on a Compumotor motor’s name plate should match the settings stored in the drive’s memory. Motor Brake If you are using a motor with a brake, verify that the brake is connected properly, and that it is functioning as intended.
  • Page 64 Gem6K Hardware Installation Guide...

  • Page 65: Appendixa - Specifications

    A P P E N D I X A Specifications IN THIS CHAPTER • Gemini Drive Specifications • Input/Output Specifications • Dimensions • Protective Circuits • Cable Specifications Appendix A – Specifications...

  • Page 66: Power Specifications

    Power Specifications +24VDC Input Power Input voltage range: 19.2 – 28.8 VDC Input current: 500 mA (maximum) AC Input Power Drive AC Input Voltage GT6K-L5 95VAC – 132VAC, 1-phase, 50/60 Hz GT6K-L8 95VAC – 132VAC, 1-phase, 50/60 Hz GV6K-L3n 95VAC – 132VAC, 1-phase, 50/60 Hz GV6K-U3n 95VAC –...
  • Page 67 Amplifier Type – GV6K Servos: GV6K-L3n: 40 kHz PWM; 3 phases GV6K-U3n: 8 kHz PWM; 3 phases GV6K-U6n/U12n: 8, 16, 20 kHz PWM; 3 phases GV6K-H20n: 8, 16, 20 kHz PWM; 3 phases GV6K-H40n: 8, 16, 20 kHz PWM; 3 phases Type –...

  • Page 68: Interface/Communication

    Standards UL, cUL 508C CE for LVD 72/23/EEC BS EN61010-1:1993/A2:1995 (ie includes 1995 amendment AMD 8961) Safety requirements for electrical equipment for measurement, control, and laboratory use Part 1. General requirements CE for EMC 89/336/EEC BS EN61800-3: 1997 Adjustable speed electric power drive systems Part 3.

  • Page 69: Inputs And Outputs

    Inputs and Outputs This section describes all inputs and outputs (I/O) located on the 50 pin DRIVE I/O connector. The connector pinout is shown in the next drawing. Connector Pinout GV6K & GT6K GV6K & GT6K (GT6K differences below) Output Ground Analog Ground Output 6 Analog Input–...
  • Page 70 Enable Input (required) To enable the drive and energize the motor, you must connect the enable input (pin 1) to digital ground (pin 2), and issue a DRIVE1 command. The next drawing shows the internal circuit. DRIVE I/O Connector Internal Connections Inputs internally pulled up to +24V, unless you connect an external 5 –...
  • Page 71 By default, all inputs are configured as general purpose inputs. Use the INFNC command to redefine the function of any of the inputs. For more informa- tion, see the Gemini GV6K/GT6K Command Reference. By default, these are +24VDC sourcing inputs. You can use VINref (pin 26) to change the switching voltage level.
  • Page 72 The Gem6K drive has three limit inputs. All connections are shown in the next drawing. Defaults are shown in parentheses, but you can use the LIMFNC command to redefine the function of any of the limits. See the Gemini GV6K/ GT6K Command Reference for more information.
  • Page 73 The Gem6K drive has six digital outputs. All connections are shown in the next drawing. Default function is general purpose, but you can use the OUTFNC command to redefine the function of any of the outputs. See the Gemini GV6K/ GT6K Command Reference for more information.
  • Page 74 The encoder output circuit is shown in the next drawing. Internal Connections DRIVE I/O Connector AM26LS31 From DSP 14 Encoder Out A+ (or passed through if required conditions met) 15 Encoder Out A- AM26LS31 16 Encoder Out B+ From DSP 17 Encoder Out B- (or passed through if 18 Encoder Out Z+...
  • Page 75 Internal Connections 20KΩ 95KΩ Analog Input+ (±10V) Analog Input- (±10V) Analog Ground 95KΩ 20KΩ Analog Input See the ANI, TANI and VARI commands in the Gemini GV6K/GT6K Command Reference for more information about using the analog input. Appendix A – Specifications...

  • Page 76: Feedback Devices

    Feedback Devices This section describes inputs for encoder feedback, resolver feedback, motor thermal switch, and Hall effects located on the drive’s 26 pin MOTOR FEED- BACK connector. The next drawing shows the pinout of the connector. Connector Pinout Cos– Thermal Switch Thermal Switch Cos+ Thermal Switch...
  • Page 77 Encoder If you use a motor with encoder feedback, connect your encoder to pins 1 – 10, as shown in the next figure. (NOTE: The MASTER ENCODER connector is used for Following. See Chapter 4 Special Features for master encoder connections.) MOTOR FEEDBACK Connector Internal Connections 250 mA maximum:...
  • Page 78 Motor Thermal Switch – GV6K Servos Only (optional) Connect your motor’s thermal switch wires to pins 12 and 13 on the MOTOR FEEDBACK connector. The drive checks for electrical continuity between pins 12 and 13. This continuity is usually provided by a normally-closed thermal switch mounted on the motor. If the motor overheats and the thermal switch opens, the loss of continuity triggers protection circuitry in the drive.

  • Page 79: Dimensions

    Dimensions Drive Dimensions 3.50 6.00 (88.9) (153.0) 3x clearance 1.38 for #8 or M4 5.40 (35.0) mounting screws (138.0) (203.2) 7.75 (196.9) (177.8) Dimensions in inches (mm) 1.00 0.88 (25.4 ) (22.2) Fin Height Product Overall Width inches (mm) inches (mm) GV6K-L3n 3.88 (98.6) 0.38 (9.5)
  • Page 80 5.75 (146.1) 3.50 6.00 (88.9) (153.0) 3x clearance 1.38 2.25 for #8 or M4 5.40 (35.0) (57.2) mounting screws (138.0) (251.5) 9.63 (244.5) (226.1) Dimensions in inches (mm) 1.00 0.88 (25.4 ) (22.2) Dimensions – GV6K-H20 Gem6K Hardware Installation Guide...
  • Page 81 5.69 8.49 3x clearance (144.6) (215.7) for #8 or M4 3.82 mounting screws (97.1) 7.68 2.44 0.60 0.22 (195) (62) (15.2) (5.6) 6.53 Back of (165.7) flange masked from paint 12.50 (317.5) 12.125 (307.98) 11.40 (289.6) Back of flange Dimensions in inches (mm) 2.50 1.190 masked from paint...
  • Page 82 Panel Layout Dimensions NOTE: Provide proper spacing to maintain minimum clearance between drives. Panel Layout: 1.00 GV6K-L3n (25.4 ) GV6K-U3n Minimum Clearance GV6K-U6n GV6K-U12n 1.00 (25.4 ) GT6K-U5 Minimum GT6K-U8 Clearance 1.00 (25.4 ) Minimum Clearance 1.00 1.00 0.50 (25.4 ) (25.4 ) (12.7) Minimum...
  • Page 83 Panel Layout: GV6K-H20n GV6K-H40n NOTE: Provide proper spacing to maintain minimum clearance between drives. NOTE: Vertical spacing between drives: 0.50 8 in. (200 mm) for GV6K-H40 (12.7) operating at full power; Minimum Clearance 4 in (100 mm) otherwise. 1.00 (25.4 ) Minimum Clearance 2.00...

  • Page 84: Protective Circuits

    Protective Circuits Short Circuit Protection The Gem6K drive has an internal circuit that protects it from short circuits between one motor terminal to another (phase to phase), or from any motor terminal to earth. A short circuit fault is a latched fault. Short circuit fault caused by: Phase to phase short circuit Phase to earth short circuit...
  • Page 85 Undervoltage Protection The Gem6K drive’s undervoltage protection circuit monitors AC input voltage. If the voltage falls below 75VAC while the drive is operating (85VAC for GV6K- H20), the drive issues an undervoltage fault and turns off power to the motor. Undervoltage protection has the following features: Threshold Voltage: Voltage falling below 75VAC trips fault...

  • Page 86: Cable Specifications

    Cable Specifications This section contains specifications for Compumotor cables and cabling accesso- ries you can use with Gem6K drives. CE Cables Many Compumotor cables are CE Cables. If installed according to instructions in Appendix C Regulatory Compliance: UL and CE, these cables are designed to aid the user in gaining European Compliance, and are thus an integral part of a CE system solution.
  • Page 87 Gem6K 50 Pin Connector to 50 Pin D-Connector Cable Use this cable to connect the Gem6K’s 50 pin DRIVE I/O connector to the 50 pin D-connector on the Gemini 50 pin breakout module (GEM-VM50). Part Number: 71-016945-03 CE Cable: Yes, if installed according to instructions in Appendix C This cable has the same pinout and color code as the flying lead cable;...
  • Page 88 Gemini GC-26 and GC-50 Connectors Two breakout modules are available that connect directly to the Gem6K’s MOTOR FEEDBACK and DRIVE I/O connectors. NOTE: These modules are recommended for system prototyping only—not for permanent installation. Description: Part Number: 50 pin Connector/Breakout Module GC-50 26 pin Connector/Breakout Module GC-26...

  • Page 89: Motors

    A P P E N D I X B Using Non-Compumotor Motors IN THIS APPENDIX • Commands for Motor Configuration • Motor Requirements • Hall Sensor Configuration and Troubleshooting – GV6K • Wiring and Connections: 4-, 6-, and 8-lead motors – GT6K •...
  • Page 90 Use Motion Planner to enter these command settings into the drive’s memory. See the Gemini GV6K/GT6K Command Reference for more information on commands. Servo Motor Requirements If you have questions about using a non-Compumotor motor with a GV6K drive, call Technical Support (see phone numbers on the inside cover of this manual).
  • Page 91 As reported by THALL, is the Hall state sequence [1, 5, 4, 6, 2, 3, 1 ... ] as the motor turns clockwise? (Clockwise means TPE is increasing; it is also the direction the motor turns in DMODE13.) IF NOT: see Problem #4, below. Does TASX report a Hall fault each time the drive is enabled (DRIVE1), even though the Hall state sequence is correct? IF YES: see Problem #4, below.
  • Page 92 Connect motor wires U and V and slowly apply a positive voltage with respect to W. See the previous drawing. WARNING This procedure could damage the motor. Slowly increase the voltage until the motor moves. Do not exceed the rated current. If THALL reports a value of 1, 2 or 4, change SHALL from either 0 to 1 or from 1 to 0.
  • Page 93 DIGND* current loop gain *See the Gemini GV6K/GT6K Command Reference for instructions on calculating DIGN values Use Motion Planner to enter these command settings into the drive’s memory. See the Gemini GV6K/GT6K Command Reference for more information on commands.
  • Page 94 Step Motor Wiring Configurations – GT6K Steppers Refer to the manufacturer’s motor specification document to determine the motor’s wiring configuration. You can also determine the wiring configuration with an ohmmeter using the procedures below (4-Lead Motor, 6-Lead Motor, 8- Lead Motor). Once you determine the correct motor wiring configuration, use the terminal connection diagram, shown at the end of this section, that applies to your configuration.
  • Page 95 Phase B Windings 8-Lead Motor – Labeling the Leads You can configure the 8-lead motor in series or parallel. Series Configuration Use the following procedure for series configurations. Connect A2 & A3 together and relabel this common point A CENTER TAP. Connect B2 &...
  • Page 96 Terminal Connections – GT6K Steppers After you determine the motor’s wiring configuration, connect the motor leads to the GT6K drive’s MOTOR connector according to the following figure. 4-Lead Motor 6-Lead Motor GT6K GT6K Terminals Terminals A-CT A– A– A– A– B–...
  • Page 97 Setting Motor Current: GT6K with Non-Compumotor Motor To set motor current for a non-Compumotor motor, refer to the formulas below that correspond to your motor (4-lead, 6-lead, 8-lead) and use the DMTIC com- mand to set the motor’s current. NOTE: GT6K drive specifications for output current are in amps peak. Most motor current specifications are in amps rms.
  • Page 98 Setting the gain terms correctly will optimize drive performance for your specific motor. See the descrip- tion of the DIGN command in the Gemini GV6K/GT6K Command Reference for instructions. Gem6K Hardware Installation Guide...

  • Page 99: Appendixc - Regulatory Compliance : Ul And Ce

    A P P E N D I X C Regulatory Compliance: UL and CE IN THIS CHAPTER • Installation Instructions • Installation Guidelines • System Installation Techniques Appendix C – Regulatory Compliance: UL and CE...
  • Page 100 Regulatory Agencies The Gem6K family of products is designed to meet the requirements of global regulatory agencies. Gem6K products have shown compliance with the requirements of the regulatory agencies in the following list. The list also shows additional steps users must take to ensure compliance.
  • Page 101 EMC Cabling For electromagnetic compatibility, you must use Parker Compumotor CE cables. NOTE: Parker Compumotor does not sell a cable for the Master Encoder connec- tor. Use a high quality braided shield cable if you make connections to the Master Encoder connector.
  • Page 102 200 ohm impedance at 100 MHz, such as: Steward Ferrite part number 28A2024 Fair-Rite part number 0443164151 (These ferrites are available from Compumotor, part number 47-015956-01) Expansion I/O For EMC-sensitive applications requiring expansion I/O, or CE compliant installa- tions, use Parker Compumotor’s EVM32-II. Gem6K Hardware Installation Guide...
  • Page 103 Enclosure Mounting the Gem6K Drive The enclosure must be properly earthed and paint must be removed from drive mounting and RF earth bonding locations. Proper shield termination of all cables entering and exiting the enclosure is required. The motor shield (braid) must be fastened to the drive using the included saddle clamp or R-Clamp.
  • Page 104 jackscrews. You must fasten the motor shield (braid) to the bottom of the drive, using the included saddle clamp. (GV6K-H20/H40: R-clamp on heatsink.) The shield must not make contact with other conductors, as this will cause common mode drive generated PWM current to flow where not expected. If you use the GEM-VM50 or other screw terminal cable breakout device, be sure to properly enclose all exposed conductors to avoid contamination and to reduce the risk of electrostatic discharge.
  • Page 105 System Installation If you mount the Gem6K drive in an enclosure, terminate cable braids (screens) at the entrance of the enclosure. However, the motor braid must be returned to the drive’s saddle clamp (GV6K-H20n/H40n: R-Clamp on heatsink), not any other location.
  • Page 106 GV6K-H20n Mount to earthed Limits metal panel. Remove Drive paint from flange and Bond braid to earthed panel. mounting locations. Use R-clamp or bulkhead clamshell clamp. (See 360° bonding drawing.) RS-232/485 Cable Ferrite VDC+ absorbers +24VDC VDC– Power Supply Ferrite Twisted at 3 twists absorber minimum per...
  • Page 107 Mount to earthed metal panel. Remove paint from flange and mounting locations. Limits Bond braid to earthed panel. Use R-clamp or bulkhead clamshell clamp. (See 360° bonding drawing.) RS-232/485 Cable Ferrite absorbers +24VDC Power Ferrite Supply absorber Twisted at 3 twists minimum per inch (25 mm) Ferrite...
  • Page 108 GT6K Mount to earthed Limits Drive metal panel. Remove Bond braid to earthed panel. paint from flange and Use R-clamp or bulkhead mounting locations. clamshell clamp. (See 360° bonding drawing.) RS-232/485 Cable Ferrite VDC+ absorbers +24VDC VDC– Power Supply Ferrite Twisted at 3 twists absorber minimum per...

  • Page 109: Index

    Index Symbols cUL 68, 100 current +24VDC keep alive power 15, 66 GC-26 26 pin connector 88 bipolar rating 97 +24VDC power input 15 GC-50 50 pin connector 88 unipolar rating 97 26 pin breakout module 88 GEM-VM50 87 current foldback 85 26 pin connector kit 88 GFB-KIT 26 pin connector kit 88 current limiter 84...
  • Page 110 Motor Feedback connector 76 RP240 connections 48 motor matching 36 RS-232 daisy chain 50, 62 mounting 103 RS-232/485 multiple drives 40 troubleshooting 61 RS-485 multi-drop 52 naming system 7 non-Compumotor motor 90, 93 notch filter 31 serial port 49 null modem cable sharing power bus 41 troubleshooting 61 short circuit protection 84...
  • Page 111 ✵ RS-232/485 Connector – COM1 – Port 1: see page 48 RS-232 Connector – COM2 – Port 2: see page 48 ✵ To configure drive parameters, connect a PC to this port. Connect an RP240, or use this port for RS-232. Use Motion Planner for drive configuration.

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