GV6K
Gemini
Servo
RS-232
EXP
ANSION I/O
ETHERNET
MASTER ENCODER
+24V DC
24V RTN
RELAY COM
RELAY N.O.
RS-232/485
COMPUMOTOR
DRIVE I/O
MO
T
OR FEEDB
A
C
K
GV-U3/6/12
SERVO
U
V
W
VBUS+
VBUS–
L2/N
L1
MO
T
O
R
W
ARNING:
Hazardous v
oltage ma
y e
xist f
or up to
30 seconds after po
w
e
r is remo
v
ed.
Male
Pins
To configure drive parameters, connect a PC to this port.
Use Motion Planner for drive configuration.
Enabling Ethernet will disable the COM1 port.
Re24VDC input.
19.2 – 28.8 VDC,
500 mA maximum.
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.)
Motor Output Connections – see page 12
AC Input Connections– see page 16
RS-232/485 Connector – COM1 – Port 1: see page 48
50 Pin DRIVE I/O Connector – see page 69
Expansion I/O Connector: see page 54
26 Pin MOTOR FEEDBACK Connector – see page 76
+24VDC/Relay Connector – see page 15, 40
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
Male
Pins
Connect an RP240, or use this port for RS-232.
Download OS through this port only.
Ethernet and COM2 can both be active at the same time.
RS-232 Connector – COM2 – Port 2: see page 48
Connect as many as eight EVM32-II I/O modules in series,
for up to 256 additional I/O points.
Ethernet Connector: see page 53
RJ-45 connector for 10Base-T (10Mbps twisted pair) TCP/IP
protocol. Default address is 192.168.10.30.
Green LED on = Connection OK; Red LED on = Transmitting
Master Encoder Connector: see page 54
Connect an encoder for Following. Not for servo feedback or
stepper stall detect.
6
7
8
9
2
1
3
4
5
Rx Tx
Gnd
+5VDC
RS-232 Connections
+24V DC
24V RTN
RELAY COM
RELAY N.O.
U
V
W
Motor Cable
DRIVE
GV6K
Compumotor
Servo Cable
Color Code:
Black #1
Black #2
Black #3
Grn/Yel
Gem6K
Digital Controller/Drive
✵
✵
Operating Temperature
Still Air:
45
°
C (113
°
F)
Moving Air: 50
°
C (122
°
F)
Storage Temperature:
-40
°
C – 85
°
C (-40
°
F – 185
°
F)
Humidity:
0 – 95%, non-condensing
Environmental Specifications – see page 67
Short Circuit Protection
Inrush Current Protection
Drive Overtemperature Protection
Motor Overtemperature Protection
Undervoltage Protection
Overvoltage Protection
Current Foldback
Regeneration Protection
Protective Circuits – see page 84
LED Color:
Left
Right
Indicated State
Red
Grn
+24VDC only
Red
Yel
AC only
Grn
Grn (flash)
Motion in progress
Grn
Yel/Grn (flash) Autorun mode
Red
Off
Drive not enabled; or
Drive faulted
Off
Yel
Initializing
Grn
Off
Drive ready
Yellow/Green
Green/Red
LEDs – see page 58
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
Troubleshooting – see page 57
GT6K-L5/8, GV6K-L3n
at 120VAC
95 – 132VAC
GV6K-U3n/6n/12n
at 120/240VAC
VBUS–
L2/N
L1
95 – 264VAC
Fuses
N/C
N
L1
Fuses
GV6K-H20n at 208/
240VAC 1-phase
165 – 264VAC,
1-phase
Fuses
L3
L2
L1
GV6K-H20n/H40n at
208/240VAC 3-phase
165VAC –
264VAC
3-phase
L3
L2
L1
Fuses
Output Ground
Output 6
Output 5
Output Ground
Output 4
Output 3
Output Ground
Output 2
Output Ground
Output 1
Input/Limit Ground
Input 3
(Trig B) Input 2
(Trig A) Input 1
Input/Limit Ground
(Master Trig) Input 5
Input 4
CNTRL-P: Inputs 1 – 5
Input/Limit Ground
(Home) Limit 3
Input/Limit Ground
(Neg) Limit 2
(Pos) Limit 1
CNTRL-P: Lim 1 – 3
VINref
Analog Ground
Analog Input–
Analog Input+
Analog Output B
Analog Output A
Digital Ground
Enc Out Z– (GV6K only)
Enc Out Z+ (GV6K only)
Enc Out B– /Dir– Out
Enc Out B+ /Dir+ Out
Enc Out A– /Step– Out
Enc Out A+ /Step+ Out
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Digital Ground
Digital Ground
Reserved
Reserved
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
A+
A–
B+
B–
Motor Cable
DRIVE
TERMINALS
GT6K
A+
A–
B+
B–
Earth
MOTOR
WIRES
