20
Gemini GT Hardware Installation Guide
Step 4 – Connecting the 6K Controller
Connecting the 6K Controller and Enabling the Drive
In this section of Express Setup, you will use the 6K to enable the Gemini drive.
When you issue the DRIVE1 command in Step 7, the 6K will connect the
Gemini’s enable input to ground, thus enabling the drive.
NOTE: If you are not using a 6K controller, proceed to Verifying Correct System
Operations Without a 6K Controller, on the next page.
We assume below that you will connect the Gemini drive to Axis 1 on the 6K. If
you use a different axis, modify the following commands accordingly.
NOTE: Pocket Motion Planner can not be used to communicate with the 6K. Only
use Motion Planner to communicate with the 6K.
1.
In Motion Planner, end the session with the Gemini drive by exiting the program.
Save changes. (Exiting the program stops
binary communications with the drive.)
2.
Move the null modem cable from the drive’s RS-232/485 connector to the 6K’s
COM port.
3.
Restart Motion Planner and establish communications with the 6K:
• Select File/New/Terminal Emulator/OK.
• Under Communications/Settings, select the 6K product and COM port
you are using. (When you select a 6K product, Motion Planner begins
ASCII communications with that 6K product.)
4.
From Motion Planner, issue the following commands to the 6K:
• DRIVE0
(ensures the drive is disabled)
• CMDDIR0
(ensures clockwise is the positive direction)
5.
Configure the 6K axis by sending the following command:
• AXSDEF0
(configures axis 1 for step and direction)
6.
Connect the 6K’s Axis 1 to the Gemini’s DRIVE I/O connector.
• Use the Step & Direction Command Cable.
Tighten the jackscrews on the cable. It is not necessary to turn off AC power before
you plug in the cable. (Because you issued a DRIVE0 command above, the drive
should not enable when you connect the cable.)
7.
From Motion Planner, issue the following command to the 6K:
• DRIVE1
(enables the drive)
The motor should begin turning.
Proceed to Verifying Correct System Operations.
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