Parker Gemini GV6 Quick Reference Manual

S

hort Circuit Protection

Inrush

C

urrent Protectio

n

Drive Overtemperature Protectio

n

Motor Overtemperature Protectio

n

Undervoltage Protection
Overvolta

g

e Protection

C

urrent Foldbac

k

Regeneration Protection

Quick Reference

Guide

Gemini GV6 Series
Digital Servo
Controller/Drives

Protective Circuit

s

Troubleshootin

g

Gemini 50-Pin Connector to Flying Leads Cabl

e

Compumotor Division
Parker Hannifin Corporation
p/n 88-018365-01 B

(effective February 1, 2002)

✵

✵

✵

✵

C

ommonly used status commands (binary status bits are

numbered 1 to n, from left to ri

g

ht)

:

TERRLGError log reports the last 10 error conditions (cleared

with CERRLG

).

TAS General report, including fault conditions.
TA

S

X 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

Bit #6 indicates status of Enable input ("1" = OK to

enable drive).
Status of digital inputs, including end-of-travel inputs.

T

OU

T Status of digital outputs.

You must configure all motor parameters. Be sure to follow the
drive configuration procedure (see Chapter 2 Installation).

Any fault condition causes the drive to shut down.
The drive can not be enabled (DRIVE1) unless the Enable input

is grounded and the Reset input is not grounded.
Use one of three methods to reset the drive (all command

settings are remembered after reset):
Issue the RESET command.
Momentarily close the Reset input.
Cycle power to the drive.

50

Pin Connecto

r

Operating Temperature
Storage Temperature: -4

0

F

)

Humidity: 0 – 95%, non-condensing
Shock: 15g, 11msec half sine
Vibration: 10 – 2000 Hz at 2g

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

Gray/Brown

Yellow/Brown

Red 1

6

AW

G

Black 16 AWG

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

3

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
49
50

CE C

ABLE: 71-016943-1

0

Non-CE CABLE: 71-019861-04; -1

0

Drain & Brai

d

* 20, 30,
31 shown out of sequenc

e

Viol

et

Whit

e

R

ed

Bl

ack

R

ed

Orange
Black
Blue
Black
White
Red
White
Green
Black
Orange
White
Blue
White
Yellow
White
Green
Brown
Orange
Black
Green
White
Yellow
Brown
Brown
White
Gray
White
Brown
Orange
Yellow
Black
Blue
Brown
Violet
Brown
Violet
Black
Brown
Black
Gray
Brown
Black
Gray
Red
Brown

3

*2

0

4
5
6
7
8

9
10
11
12
13
14
15
16
17
18
19
21
22
23
24
25

*31

26
27
28

*30

29
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50

Enabl

e

Digital Groun

d

R

eset

+5VDC Outpu

t

+5VDC Output

Digital Ground
Digital Ground

Step+/CW+/AX+

Step-/CW-/AX–

Dir+/CCW+/BX+

Dir-/CCW-/BX–

ZX+

ZX–
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

Input 1
Input 2

Input Ground

Input 3

Input Ground

reserved
reserved
reserved

Input Ground

reserved
reserved
reserved

Input Ground

reserved

Output Ground

Output 2

Output Ground

Output 3
Output 4

Output Ground

reserved
reserved
reserved

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RS-232/485

DRIVE I

/O

M

O

T

O

R FEE

D

S

ERV

O

U

VBUS+

VB

US

L2

/N

T

O

R

ARNIN

G

:

GV6

Gemini
Servo

Gemini GV6
Digital Servo
Controller/Drive

✵

✵

Male
Pins

To configure all drive parameters, connect a PC or HPC to this
port. Use Motion Planner or Pocket Motion Planner for drive
configuration. (Not ASCII protocol.)

Motor Output Connection

s

AC Input Connection

s

Multiple Drive Connections

RS-232/485 Connector – Configuration Port

50 Pin DRIVEI/O Connector

26 Pin MOTOR FEEDBACK Connector

+24VDC/Relay Connecto

r

689

1

3

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

+24V D

C

RELAY

COM

RELAY N.

O.

LEDs

LED Color:
Left Right Indicated State

Off Yel Initialization
Red (flash) Off Awaiting flash download
Red (flash) Yel (flash) Programming flash memory
Red Grn Keep alive mode
Grn Grn (flash) Incoming steps (variable rate)
Grn Yel/Grn (flash) Autorun mode
Red Off Drive not enabled
Drive faulted
Grn Off Drive ready

Yellow/Green

Green/Red

VAC

N or L2/N

L1

VAC

N or L2/N

L1

VAC

N or L2/N

L1

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

Output Ground

Output 6
Output 5

Output Ground

Output 4
Output 3

Output Ground

Output 2

Output Ground

Output 1

Input Ground

Input 8
Input 7
Input 6

Input Ground

Input 5
Input 4

CNTRL-P: 4 – 8

Input Ground

Input 3

Input Ground

Input 2
Input 1

CNTRL-P: 1 – 3

VINref

Analog Ground
Analog Input–
Analog Input+
Analog Output B
Analog Output A
Digital Ground
Encoder Out Z–
Encoder Out Z+
Encoder Out B–
Encoder Out B+
Encoder Out A–
Encoder Out A+
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Digital Ground
Digital Ground
+5VDC Output
+5VDC Output
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

U
V

W

Motor Cable

DRIVECompumotor Cable

Color Code:

Black #1

Black #2

Black #3

Grn/Yel

GV6-L3n
at 120VAC

95 – 132VAC

GV6-U3n/6n/12n
at 120/240VAC

VBUS–

L2/N

L1

95 – 264VAC

Fuses

N/C

N

L1

Fuses

GV6-H20n at 208/
240VAC 1-phase

165 – 264VAC,
1-phase

Fuses

L3
L2
L1

GV6-H20n/H40n at
208/240VAC 3-phase

165VAC –
264VAC
3-phase

L3
L2
L1

Fuses

User supplies +24VDC for
"keep alive" power to drive:

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.)

GV6-L3
GV6-U3/6/12
GV6-H20
#8 (M4)
spade fork,

0.325"
max. width

Drive terminals:

Mating terminals:

GV6-H40:
#10 (M5)
ring terminal,

0.25" I.D., 0.50" O.D.
maximum width

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