RS-232/485
DRIVE I
/O
M
O
T
O
R FEE
D
SERVO
U
V
W
VBUS+
VBUS
L2/N
MO
T
O
R
W
ARNIN
G
:
Hazardous v
o
ltage ma
y e
x
ist f
o
r up to
30 seconds after po
w
er is remo
v
e
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 Connections
AC Input Connections
Multiple Drive Connections
RS-232/485 Connector – Configuration Port
50 Pin DRIVEI/O Connector
26 Pin MOTOR FEEDBACK Connector
+24VDC/Relay Connector
6
7
8
9
2
1
3
4
5
Rx Tx
Gnd
RS-232 Connections
2
1
3
4
5
6
7
8
9
Rx-
(RD A)
Tx-
(TD A)
Gnd
Rx+
(RD B)
Tx+
(TD B)
RS-485 Connections
+24V DC
24V RTN
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
E5V
E5V
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
DRIVE
Compumotor 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 su24VDC 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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