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Gemini GV Hardware Installation Guide
Digital Outputs (optional)
The Gemini drive has three digital outputs. Their functions are:
Output 2*
Drive Fault Output
Output 3*
At Limit
Output 4*
Position Error Output
* For compatibility with other Compumotor products, the outputs are numbered 2, 3 and 4,
rather than 1, 2 and 3.
All connections are shown in the next drawing.
Internal Connections
43 Output 2 (Drive fault)
44 Output Ground
45 Output 3 (At Limit)
46 Output 4 (Position Error)
DRIVE I/O Connector
Open Collector,
300mA sink
capability
Do not apply
more than 30VDC
Same circuit
design as
Output 2
Outputs
You can use the OUTLVL command to configure each of the outputs as active
high or active low.
Encoder Output (optional)
Pins 14 – 19 are encoder outputs.
Encoder Output Specifications:
Default Resolution:
Quadrature outputs
4000 counts per revolution, post quadrature
Clockwise Rotation:
Channel A leads Channel B
Counterclockwise Rotation:
Channel B leads Channel A
The encoder outputs operate in one of two modes:
Pseudo Encoder Mode:
Output Channels A and B are derived from position information from the load
feedback device (e.g. encoder or resolver). The outputs are
not based on calculated
or commanded position. Pseudo encoder mode is the default mode, unless all
conditions listed in the next paragraph are satisfied. There is no Channel Z output in
pseudo encoder mode.
Pass Through Encoder Mode:
When the following three conditions are satisfied, then Channels A, B, and Z are
“passed through” the drive, from the feedback device (e.g. encoder or resolver) to
the encoder outputs.
Required Conditions for Pass Through Encoder Mode
1.
ERES and ORES values are equal.
2.
Drive serial number is greater than 99072100143
3.
Gemini Operating System version is 1.01 or greater.
If any one of these conditions is not satisfied, then the outputs will operate in
pseudo encoder mode.
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