Parker GT6-L8-NK Manual

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Find the Parker / Compumotor Gemini GT6-L8 / GT6-L8-NK at our website: Click HERE

Effective: December 17, 1999
p/n 88-018374-01 A
Gemini GT6 Hardware
Installation Guide
Automation
STEPPER
+24V DC
24V RTN
RELAY COM
RELAY N.O.
MOTOR
A+
A–
B+
B–
V DBL
L2/N
L1
C
O
M
P
U
M
O
T
O
R
DRIVE I/O MOTOR FEEDBACK
GT-U5/8
RS-232/485
DATA BUS OUT
DATA BUS IN
STEPPER
MOTOR
A+
A–
B+
B–
N/C
N
L1
GT-L5/8
120V
+24V DC
24V RTN
RELAY COM
RELAY N.O.
RS-232/485
C
O
M
P
U
M
O
T
O
R
DRIVE I/O MOTOR FEEDBACK
DATA BUS OUT
DATA BUS IN
Gemini GT6 Series
Digital Stepper Controller/Drives
GT6-L5
GT6-L8
GT6-U5
GT6-U8

North America and Asia:
Compumotor Division of Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
FaxBack: [phone] or [phone]
e-mail: [email protected]
Internet: http://www.compumotor.com
Europe (non-German speaking) :
Parker Digiplan
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: [phone]
Fax: [phone]
Germany, Austria, Switzerland:
HAUSER Elektronik GmbH
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
Technical Assistance
Contact your local automation technology center (ATC) or distributor, or ...
Automation
[email protected]
Technical Support Email
Gemini Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and
may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and
hardware mentioned therein at any time without notice.
In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature
whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.
© 1999, Parker Hannifin Corporation
All Rights Reserved
User Information
WARNING
Gemini Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion
system for safety under all potential conditions. Failure to do so can result
in damage to equipment and/or serious injury to personnel.
! !
Motion Planner and Pocket Motion Planner are trademarks of Parker Hannifin Corporation.
Microsoft and MS-DOS are registered trademarks, and Windows, Visual Basic, and Visual C++ are trademarks of Microsoft Corporation.

Preface 3
Table of Contents
CHAPTER 1 – INTRODUCTION.................................................................................................................................. 5
Gemini Products—Overview ..............................................................................................................................................6
Compatible Compumotor Products .....................................................................................................................................8
CHAPTER 2 – INSTALLATION ....................................................................................................................................9
CheckingYour Shipment ...................................................................................................................................................10
“Express Setup” Overview ................................................................................................................................................10
Step 1 – Connecting the Motor..........................................................................................................................................13
Step 2 – Connecting AC Power ......................................................................................................................................... 14
Step 3 – Configuring the Drive..........................................................................................................................................16
Step 4 – Verifying Correct System Installation .................................................................................................................18
What’s Next? .....................................................................................................................................................................19
CHAPTER 3 – CONFIGURATION ..............................................................................................................................21
Configuration.....................................................................................................................................................................22
Motor Settings ............................................................................................................................................................22
System Settings ..........................................................................................................................................................23
Input/Output (I/O) Settings ........................................................................................................................................23
Communications Settings...........................................................................................................................................24
Motor Control Settings............................................................................................................................................... 24
Procedure for ConfiguringAdvanced Features .................................................................................................................25
Configuring Damping Settings...................................................................................................................................25
Configuring Stall Detect Settings...............................................................................................................................27
Procedure for Motor Matching ..........................................................................................................................................28
CHAPTER 4 – SPECIAL FEATURES......................................................................................................................... 31
Relay Connections (optional) ............................................................................................................................................32
+24VDC “Keep Alive” Power Connections (optional) ....................................................................................................32
Multiple Drive Installations............................................................................................................................................... 33
RS-232/485 Communications ...........................................................................................................................................34
Establishing Communications....................................................................................................................................34
Configuring the Serial Port.........................................................................................................................................35
RS-232 Communications ...........................................................................................................................................35
RS-232 Daisy-Chaining .............................................................................................................................................36
RS-485 Communications ...........................................................................................................................................37
RS-485 Multi-Drop ....................................................................................................................................................38
Updating the Drive’s Operating System ............................................................................................................................38
CHAPTER 5 –TROUBLESHOOTING ......................................................................................................................... 39
APPENDIX A – SPECIFICATIONS .............................................................................................................................47
Power Specifications .........................................................................................................................................................48
Interface/Communication ..................................................................................................................................................49
Inputs and Outputs.............................................................................................................................................................50
Dimensions ........................................................................................................................................................................55
Protective Circuits .............................................................................................................................................................58
Cable Specifications ..........................................................................................................................................................60
APPENDIX B – USING NON-COMPUMOTOR MOTORS .................................................................................................63
APPENDIX C – REGULATORY COMPLIANCE: UL AND CE ...........................................................................................71
INDEX ................................................................................................................................................................77

4 Gemini GT6 Hardware Installation Guide
Product Type : Gemini Family of Drives, GTn
Including, but not limited to :
GT(6)-L5, GT(6)-L8, GT(6)-U5, GT(6)-U8
When installed in accordance with this installation guide, the above products have
been demonstrated to be in compliance with the requirements of directives
• 89/336/EEC Electromagnetic Compatibility Directive
as amended by Directive 92/31/EEC
These products are intended for use in Commercial, Light Industrial and Industrial
Environments as defined in the relevant EMC standards.
These products are compliant with the Low Voltage Directive.
• 73/23/EEC Low Voltage Directive
• 93/68/EEC CE Marking Directive
Symbols:
Protective Earth Connection
Earth (Ground) Terminal
Shield, Frame, or ChassisTerminal
Caution, Risk of Electrical Shock
Caution, Refer to Accompanying Documentation

Chapter 1 – Introduction 5
1
Introduction
IN THIS CHAPTER
• Gemini Product Overview
• Compatible Compumotor Products
CHAPTER ONE

6 Gemini GT6 Hardware Installation Guide
Gemini Products—Overview
The Gemini Series is a family of high performance digital drives. The family
contains drives for both stepper and servo motors. With many models and options
available, the user can choose the precise level of power and control for the
application’s motion requirements.
Gemini Product Descriptions
Gemini GT and GV
Gemini GT Stepper Drives and GV Servo Drives are the basic Gemini products.
They are controlled with standard command interfaces of step/direction or ±10V,
and can be used with standard indexers or controllers.
The drives are configured over RS-232/485 with either Motion Planner on a
personal computer (PC), or Pocket Motion Planner on a palm PC. Many advanced
features are standard in the drives, such as sensorless stall detect and ABS damp-
ing in the GT, and digital tuning and notch filters in the GV.
Gemini GT6 and GV6
The Gemini GT6 and GV6 are controller/drives available with several different
programming modes. These drives have basic motion control and sequencing
capabilities, and can be used in distributed control applications. By using optional
plug-in cards, they can be equipped with interfaces for SERCOS, Profibus,
Interbus-S, and other industry standard fieldbus networks.
The GT6 and GV6 are configured and programmed over RS-232/485, either with
Motion Planner on a PC, or Pocket Motion Planner on a palm PC.
GT6 or GV6 drives are also available with an optional SERCOS interface. These
drives can be configured via the acyclic channels of the motion bus, or via the RS-
232/485 port using the tools mentioned above.
Gemini GT6K and GV6K
The Gemini GT6K and GV6K are single axis packaged controller/drives that offer
full 6K Series controller functionality and programmability for complex distrib-
uted control applications. Key features include: complex program capabilities such
as math, variables, and logic control; flexible and expandable serial I/O modules;
and Ethernet compatibility for PC bus access. The user programs these devices
over an RS-232/485 communication port; a second port is available for use with a
full-time operator interface.

Chapter 1 – Introduction 7
Gemini Product Names
The following table lists the meanings of letters and numbers in Gemini product
names. Notice that “T” is associated with step motor products (“sTep”), and “V” is
associated with servo motor products (“serVo”).
Control Level:
Step Motor Drives and Drive/Indexers Servo Motor Drives and Controller/Drives
GT Step Motor Drive GV Servo Motor Drive
GT6 6000-based Step Motor Indexer GV6 6000-based Servo Controller
GT6K 6K-based Step Motor Indexer GV6K 6K-based Servo Controller
Power Level:
Step Motor Power Levels Servo Motor Drives and Controller/Drives
L5 120VAC, 5A at 170VDC L3 120VAC, 3A at 170VDC
L8 120VAC, 8A at 170VDC U3 120/240VAC 1 Ø, 3A at 170/340VDC
U5 120/240VAC 1 Ø, 5A at 74VDC U6 120/240VAC 1 Ø, 6A at 170/340VDC
U8 120/240VAC 1 Ø, 8A at 74VDC U12 120/240VAC 1 Ø, 12A at 170/340VDC
H20 208/240VAC 3 Ø, 20A at 294/340VDC
(1 Ø, 16A at 294/340VDC)
Amperage values represent continuous current, peak of the sine wave.
“L” = “Low” voltage input (120VAC)
“U” = “Universal” voltage input (120/240VAC)
“H” = “High” voltage input (208/240VAC)
Options:
Data Bus (-db) Option (for GT6 and GV6 only):
IS Interbus
PB Profibus
SC SERCOS
Feedback (-fb) Option (for Servos only):
E Encoder/Hall
R Resolver
Ship Kit Options:
NK No Kit
Format:
Gemini
V or T
6, 6K or Blank
L, H or U
GT = 5, 8; GV = 3, 6, 12, 20
E, R, or Blank
IS, PB, SC or Blank
-NK or Blank
Drive:
Type:
Control:
Input Voltage Level:
Output Motor Current:
Feedback Option:
Data Bus:
Ship Kit Option:
GT6-L5 -SC-NK
Format Example

8 Gemini GT6 Hardware Installation Guide
Compatible Compumotor Products
GT-nn Stepper 6K or other Compumotor indexer
GV-nnn Servo ±10V mode: 6K or other Compumotor controller
Step/Direction mode: 6K or other Compumotor indexer
Software Motion Planner
Pocket Motion Planner (version 1.2 or higher)
Note: Gemini drives are not compatible with ASCII communication
programs such as Motion Architect or X Language software.
Cables, Motors, etc.: See list at beginning of Chapter 2 Installation , in Appendix A
Specifications , and in the separate Gemini Motor Reference
Manual .
User Guides
The following items ship with the drive:
Gemini Quick Start Guide
Gemini Hardware Installation Guide
Gemini Programmer’s Reference
Gemini Motor Reference Manual
Motion Planner CD-ROM
You can also order the drive only, with none of the above items. Specify
the -NK option (“No Kit”).
Motor Information
Information about Compumotor motors is in the separate Gemini Motor Reference
Manual.

Chapter 2 – Installation 9
2
Installation
IN THIS CHAPTER
• CheckingYour Shipment
• Express Setup
CHAPTER TWO

10 Gemini GT6 Hardware Installation Guide
CheckingYour Shipment
Inspect your shipment carefully. You should have received one or more of the
following:
Gemini Drives
GT6-U5
GT6-U8
GT6-L5
GT6-L8
Ship Kit Items
The following ship with the drive:
Part Part Number
Gemini GT6 Quick Reference Guide 88-018375-01
Gemini GT6 Hardware Installation Guide 88-018374-01
Gemini Programmer's Reference 88-017778-01
Gemini Motor Reference Manual 88-017790-01
Motion Planner CD-ROM 95-017633-01
Options and Accessories
You may have ordered one or more of the following options or accessories.
Part Part Number
Drive Only (no accompanying manuals) -NK
Cables: various cables, breakout modules, etc., are available. See Appendix A Specifica-
tions for cable and accessory information.
Cable clamps, EMC filters, ferrites, etc., are available. See Appendix C Regulatory
Compliance for part numbers and more information.
Motors
You may have ordered a motor from one of the following families of Compumotor
motors:
O Series R Series T Series E Series*
*E Series motors are similar to S and ZETA Series motors. If you use one of these
motors, during configuration select the same size E Series motor from the configuration
software’s menu.
“Express Setup” Overview
This chapter gives instructions for performing an express setup. The purpose of the
express setup is to verify that the drive, cables, and motor work properly as a
system. It will also verify serial communications.
You will connect together only the components necessary to achieve basic
motion—a drive, a motor (without a load connected), and cables. You will use a
computer to communicate with the drive.

Chapter 2 – Installation 11
In the express setup, we will give procedures for the following steps:
1. Connecting the motor to the drive (without a load connected)
2. Connecting AC power to the drive
3. Establishing communications and configuring the drive for autorun
4. Enabling the drive and observing the motor turn
Information you may need for final installation will be presented in Chapter 3
Configuration, in Chapter 4 Special Features, in Appendix A Specifications, and in
the separate Gemini Motor Reference Manual.
The next drawing shows locations and names of the Gemini components that you
will encounter during the installation procedure.
STEPPER
MOTOR
A+
A–
B+
B–
N/C
N
L1
GT-L5/8
120V
+24V DC
24V RTN
RELAY COM
RELAY N.O.
RS-232/485
C
O
M
P
U
M
O
T
O
R
DRIVE I/O MOTOR FEEDBACK
DATA BUS OUT
DATA BUS IN
RS-232/485
Relay
Keep Alive Power
Motor Power
AC Power
I/O Connections
Data Bus I/O
+24V DC
24V RTN
RELAY COM
RELAY N.O.
COMPUMOTOR
DATA BUS OUT DRIVE I/O MOTOR FEEDBACKDATA BUS IN
RS-232/485
GT-L5/8
STEPPER
A+
A–
B+
B–
N/C
N
L1
MOTOR
120V
Component Locations
Illustrations in this Installation Guide
We will usually show the Gemini GT6-L5 Drive in illustrations. Other Gemini
drives have similar features. In cases where we need to illustrate differences
between drives, we will show relevant drawings for each drive.

12 Gemini GT6 Hardware Installation Guide
System Overview
In this express setup procedure, we will give instructions for a Compumotor
system—Gemini drive with Compumotor motor, and Compumotor cables.
If you use non-Compumotor equipment, try to follow along and perform the steps
in the Express Setup procedure; consult Appendix A Specifications for additional
information you may need.
The next drawing shows the components of a Compumotor system.
RS-232/485
Cable
Motor
Cable
Gemini
Drive
Motor
AC
Power
Compumotor System

Chapter 2 – Installation 13
Step 1 – Connecting the Motor
The Gemini drive is compatible with 4, 6, or 8 lead step motors designed for use
with a bipolar drive.
Connecting the Motor
Make sure power is off before you connect the motor.
1. Wire your motor in series or parallel.
For wiring diagrams, color codes, dimensions and speed/torque curves for
Compumotor motors, consult the separate Gemini Motor Reference Manual .
If you use a non-Compumotor motor, see Appendix B Using Non-Compumotor
Motors for instructions on preparing your motor for connection to the Gemini drive.
2. Prepare four motor phase wires to connect to the Gemini drive, and identify them as
A+, A-, B+, and B-.
3. Remove the clear plastic cover from the drive terminals. Connect the motor cable’s
earth wire to the drive terminal with the symbol. This connects the motor’s
protective conductor terminal to the drive’s safety earth.
4. Connect your motor cable’s phase wires (A+, A-, B+, B-) to the drive’s A+, A-, B+,
B- terminals, respectively, as shown in the drawing below.
WARNING
The drive’s barrier strip terminals are at hazardous voltages when power is
applied to the drive, and up to 30 seconds after power is removed.
Reinstall the clear plastic terminal cover after you make connections.
5. Secure the motor cable to the drive by placing the exposed cable shield in the
saddle clamp on the bottom of the drive. Make the loop of cable between the saddle
clamp and the drive terminals as short as possible.
6. Clamp the motor securely in place during this Express Setup procedure, if your
motor is not permanently mounted.
The next drawing illustrates these connections.
A+
A–
B+
B–
Motor Cable
DRIVE
TERMINALS
A+
A–
B+
B–
Earth
MOTOR
WIRES
Motor
Cable
Place exposed braid in
saddle clamp on bottom
of drive. Make loop as short
as possible.
Drive terminals: #8 (M4).
Mating terminals: spade fork, 0.325"
maximum width.
Motor
Motor Wiring – Typical

14 Gemini GT6 Hardware Installation Guide
Step 2 – Connecting AC Power
GT6-L5 and GT6-L8 can be operated only at 120VAC.
GT6-U5 and GT6-U8 can be operated at 120VAC or single phase 240VAC.
Acceptable ranges of AC input voltage are listed below:
Drive AC Input Range
GT6-L5 95VAC – 132VAC
GT6-L8 95VAC – 132VAC
GT6-U5 95VAC – 132VAC and 190VAC – 264VAC
GT6-U8 95VAC – 132VAC and 190VAC – 264VAC
CAUTION
You must connect V DBL to L2/N on GT6-U5 and GT6-U8 to enable the voltage
doubler for 120VAC operation.
WARNING
You must connect the drive’s protective conductor terminal, marked with the
symbol, to a reliable system safety earth. Make the connection directly, by means
of a low impedance path less than or equal to 0.1 ohm (no fuses, etc.). Under
normal operation, no current should flow through the safety earth connection.
WARNING
The drive’s barrier strip terminals are at hazardous voltages when power is applied
to the drive, and up to 30 seconds after power is removed. Reinstall the clear
plastic terminal cover after you make connections.
Fuse Information
Gemini drives have no internal fuses. For safety, you must provide a fuse in each
of the AC input lines. Recommended fuse types and sizes are:
GT6-L5/GT6-L8 (120VAC) GT6-U5/GT6-U8 (120VAC) GT6-U5/GT6-U8 (240VAC)
125VAC Time Delay 125VAC Time Delay 125VAC Time Delay
10 amp 10 amp 10 amp
Type RK5 or better Type RK5 or better Type RK5 or better
The next table lists part numbers for suitable fuses, from several manufacturers:
Amps: Bussman: Gould: Littelfuse: Grainger:
10 FRNR10 TR10R FLNR10 1A693
GT6-L5 and GT6-L8 AC Power Connections
Connections are illustrated in the next drawing, on the left.
CAUTION
Do not operate GT6-L5/8 above 132VAC, or the drive will be
permanently damaged.

Chapter 2 – Installation 15
120VAC Operations:
1. Connect power system’s safety earth to drive’s protective conductor terminal,
marked with the symbol. Do not fuse the protective conductor terminal.
2. Connect 120VAC, 50/60 Hz, single phase power line to drive’s L1 and N terminals.
3. Reinstall the clear plastic terminal cover after you make connections.
GT6-L5/8 GT6-U5/8
95 – 132VAC
V DBL
L2/N
L1
95 – 132VAC
Fuses
Connect jumper for
120VAC operations
N/C
N
L1
Fuses
Drive terminals: #8 (M4).
Mating terminals: spade fork, 0.325" maximum width.
V DBL
L2/N
L1
190 – 264VAC
Fuses
Power Connections
GT6-U5 and GT6-U8 AC Power Connections
Connections are illustrated in the drawing above, on the right.
CAUTION
Do not operate GT6-U5/8 in the 132VAC – 190VAC range, or the drive will be
permanently damaged.
120VAC Operations:
1. Connect power system’s safety earth to drive’s protective conductor terminal,
marked with the symbol. Do not fuse the protective conductor terminal.
2. Connect a short jumper between V DBL and L2/N. Use insulated wire for the
jumper, 18 AWG (0.75 mm2) or thicker diameter; keep the wire as short as possible.
3. Connect 120VAC, 50/60 Hz, single phase power to drive’s L1 and L2/N terminals
4. Reinstall the clear plastic terminal cover after you make connections.
240VAC Operations:
1. Connect power system’s safety earth to drive’s protective conductor terminal,
marked with the symbol. Do not fuse the protective conductor terminal.
2. Verify there is no jumper between V DBL and L2/N.
3. Connect 240VAC, 50/60 Hz, single phase power to drive’s L1 and L2/N terminals.
4. Reinstall the clear plastic terminal cover after you make connections.
Applying Power
1. Verify that the load is not connected to the motor, and that the motor is clamped
securely in place.
2. Verify that a cable is not attached to the DRIVE I/O connector.
3. Apply power to the drive. The LEDs should display the following states:
Left LED Right LED Indicated State
red off initial power applied
off yellow drive initializing
red off drive ready, not enabled
Proceed to Configuring the Drive.

16 Gemini GT6 Hardware Installation Guide
Step 3 – Configuring the Drive
Gemini drives have no DIP switches or potentiometers for configuration. You will
use software tools to communicate with the drive and configure drive settings.
Configuration Software
Two software programs are located on the Motion Planner CD-ROM. Motion
Planner runs on a personal computer (PC). Pocket Motion Planner runs on a palm
PC or Handheld Personal Computer (HPC) that uses Windows CE 2.0 or higher,
or on a PC. These programs are also available on the Compumotor web site at
http://www.compumotor.com.
Information about installing and using each of these software tools can be found in
the Gemini Programmer's Reference.
Establishing Communications
We assume you are using a Gemini GT6 drive and that you have only one serial
port on your PC.
WARNING
This procedure causes the motor shaft to move. Do not connect a load to the shaft.
1. Verify that a load is not connected to the motor, and that the motor is clamped
securely in place.
2. Verify that a cable is not attached to the DRIVE I/O connector.
3. Using a null modem cable, connect the drive’s RS-232/485 connector to the serial
port on your PC, palm PC, or HPC. (A null modem cable is available from Compu-
motor. See Appendix A Specifications for more information.) It is not necessary to
turn off AC power before you plug in an RS-232 cable; however, connect RS-485
cables before applying AC power.
4. Install and launch Motion Planner or Pocket Motion Planner.
Proceed to Configuring the Drive.

Chapter 2 – Installation 17
Using Pocket Motion Planner
to Configure the Gemini Drive
1. Install and launch Pocket Motion Planner.
2. Select “Tools/Config Tool”.
3. Select “Edit Current Configuration” for factory defaults.
(If you wish to keep the existing drive configuration,
you should upload it, save it, and then select “Edit
Current Configuration”.)
4. Select drive type by choosing “Auto Detect”. The
software will identify the drive type, and automatically
use settings for your specific drive type. If the
message “Auto Detect Failed” appears, see RS-232
Communication Problems in Chapter 5 Troubleshoot-
ing .
5. Select “Express Configuration”.
6. Choose a motor series, frame size, and part number.
7. Save your configuration file.
8. Download the configuration file to the Gemini drive;
choose to “Reset” the drive.
Drive setup is complete. All of the setup parameters
(command values) are stored in the Gemini drive’s
EEPROM and are automatically recalled when you
cycle power or reset the drive.
9. Enter terminal mode.
10. Issue a DMODE13 command. This configures the
drive for autorun mode, in which the motor runs in the
clockwise direction at 1 rps. (The motor will not begin
turning, though, because you have not yet enabled the
drive.)
Proceed to Step 4 – Verifying Correct System
Installation on the next page.
Using Motion Planner
to Configure the Gemini Drive
1. Install and launch Motion Planner
2. When the product selection dialog appears, select a
GT6 drive and select the COM port to which the
Gemini is connected.
3. In the Editor window, click on the Gemini button at the
top of the window to launch the setup wizard.
4. Select “Express Setup”, and select “Initialize wizard
with factory defaults”. (If you wish to keep the existing
drive configuration, you should upload it, save it, and
then initialize from the editor.)
5. Click the “Next” button to proceed with the wizard. Fill
in the wizard dialogs as prompted, including choosing
a motor series, frame size, and part number. At the
end of the wizard, click the “finish” button; this creates
the setup code and places it in the Editor window.
6. Select File/Save to save the setup code to a file (*.prg)
on your hard drive.
7. Select Communications/Download to download the
setup code (contents of the Editor window) to the
Gemini drive. When the download is complete, choose
to “Reset” the drive.
Drive setup is complete. All of the setup parameters
(command values) are stored in the Gemini drive’s
EEPROM and are automatically recalled when you
cycle power or reset the drive.
8. Click the “Terminal” tab on the bottom of the screen to
enter terminal mode.
9. Issue a DMODE13 command. This configures the
drive for autorun mode, in which the motor runs in the
clockwise direction at 1 rps. (The motor will not begin
turning, though, because you have not yet enabled the
drive.)
Proceed to Step 4 – Verifying Correct System
Installation on the next page.
Configuring the Drive
Choose one of the columns below, based upon which software program you are using—Motion Planner, or
Pocket Motion Planner—and follow the procedure to configure your drive.
NOTE: If this is not the first time the drive has been configured, issue an RFS command (Return to Factory
Settings) from the terminal emulator, before performing the following procedures.

18 Gemini GT6 Hardware Installation Guide
Step 4 – Verifying Correct System Installation
Commanding Motion in Autorun Mode
In this procedure you will enable the drive; the motor will then rotate in autorun
mode. This will verify correct system wiring and drive configuration.
1. Connect a jumper wire between Pin 1 and Pin 2 on the 50 pin DRIVE I/O connector.
(For connector diagrams, cable color codes, and breakout module information see
Appendix A Specifications .)
2. Issue the following command to the drive:
DRIVE1 (enables the drive)
3. Verify that the drive is enabled. (Left LED is illuminated green; right LED flashes
yellow/green during autorun.)
4 Verify that the motor is rotating clockwise at approximately one revolution per
second, as viewed from the shaft end of the motor. (The motor is turning because
earlier you configured the drive for autorun.)
Proceed to Commanding Motion Under Program Control.
Commanding Motion Under Program Control
In this procedure you will use the Gemini command language to make the motor
turn. This will verify that your system is installed correctly.
1. Issue the following commands to change the drive mode and verify correct
resolution:
DRIVEØ (disables the drive and stops motion)
DMODE12 (changes mode from autorun to controller/drive mode)
DRIVE1 (enables the drive)
2. Issue the following commands to the drive to make the motor turn:
LHØ (disables limits)
MAØ (enables incremental positioning mode; disables absolute mode)
MCØ (enables incremental positioning mode; disables continuous mode)
A10 (sets acceleration to 10)
V1 (sets velocity to 1)
D25000 (sets distance to 1 rev (if DRES = 25000) )
GO (initiates motion)
3. Verify that the motor rotates one revolution and then stops.
This completes the Express Setup procedure.

Chapter 2 – Installation 19
What’s Next?
This chapter has given you information and instructions for performing an Express
Setup. The following list explains the steps you should take to complete your
installation, and indicates where to find additional information for each of those
steps.
1. Mount the drive. For information on drive dimensions, environmental specifica-
tions, airflow and cooling, etc., see Appendix A Specifications .
2. Mount the motor. For information on motor dimensions, motor cables, encoders,
speed/torque curves, etc., see the separate Gemini Motor Reference Manual .
3. Make System Connections. Information about Compumotor cables is in
Appendix A Specifications . For information on cabling practices to reduce electrical
noise, see Appendix C Regulatory Compliance: UL and CE .
Connect any of the drive’s optional inputs and outputs you may wish to use (see
Appendix A Specifications for more information):
• Reset Input
• VINref – Voltage Input Reference
• Digital Inputs (and CNTRL-P)
• Digital Outputs
• Step & Direction Output
• Analog Monitor
Connect any of the drive’s special features you may wish to use (see Chapter 4
Special Features for more information):
• Relay, and how to control a Motor Brake
• +24VDC “Keep Alive” Power
• Multiple Drive Installations
• RS-232 Daisy Chain
• RS-485 Multi-Drop
4. Connect the Load.
5. Configure Your Drive. After completing your hardware installation in Steps 1 – 4
above, proceed to Chapter 3 Configuration for information about additional drive
configuration options, including:
• Advanced Features Configuration – Configure settings for Active Damping,
Electronic Viscosity, ABS Damping, and encoderless stall detect.
• Motor Matching – Match your drive to your particular motor.