Parker Gemini GV6K Series Manual

+ 24V D
24V RT
RELAY CO
RELAY N.O
RS-232/485
DRIVE I/O
RS-232 EXPANSION I/O MASTER ENCODER
MOTOR FEEDBACK
GV6K
Gemini
Servo
ETHERNET
Effective: October 15, 2001
p/n 88-019932-01 A
Gemini GV6K and
Gemini GT6K
Hardware Installation
Guide
Automation
Digital Controller/Drive
GV6K-U3 Drive shown

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.
© 2001, 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
Checking Your Shipment ................................................................................................................................................... 10
“Express Setup” Overview ................................................................................................................................................ 10
Step 1 – Connecting the Motor .......................................................................................................................................... 12
Step 2 – Connecting +24VDC Power................................................................................................................................ 15
Step 3 – Connecting AC Power ......................................................................................................................................... 16
Step 4 – Configuring the Drive .......................................................................................................................................... 19
Step 5 – Verifying Correct System Installation ................................................................................................................. 21
What’s Next? ..................................................................................................................................................................... 22
CHAPTER 3 – CONFIGURATION ..............................................................................................................................23
Configuration ..................................................................................................................................................................... 24
Tuning Procedures – GV6K Servo .................................................................................................................................... 29
Procedure for Configuring Advanced Features – GT6K ................................................................................................... 32
Configuring Damping Settings................................................................................................................................... 32
Configuring Encoderless Stall Detect Settings .......................................................................................................... 34
Procedure for Motor Matching – GT6K............................................................................................................................ 36
CHAPTER 4 – SPECIAL FEATURES ......................................................................................................................... 39
Relay Connections (optional) ............................................................................................................................................ 40
Multiple Drive Installations (optional) .............................................................................................................................. 40
Regeneration Protection .................................................................................................................................................... 42
Aligning the Resolver – GV6K Servos (optional)............................................................................................................. 46
RS-232/485 Communications ........................................................................................................................................... 48
Ethernet.............................................................................................................................................................................. 53
Master Encoder .................................................................................................................................................................. 54
Expansion I/O .................................................................................................................................................................... 54
Updating the Drive’s Operating System ............................................................................................................................ 55
CHAPTER 5 – TROUBLESHOOTING ......................................................................................................................... 57
APPENDIX A – SPECIFICATIONS .............................................................................................................................65
Power Specifications ......................................................................................................................................................... 66
Interface/Communication .................................................................................................................................................. 68
Inputs and Outputs ............................................................................................................................................................. 69
Feedback Devices .............................................................................................................................................................. 76
Dimensions ........................................................................................................................................................................ 79
Protective Circuits ............................................................................................................................................................. 84
Cable Specifications .......................................................................................................................................................... 86
APPENDIX B – USING NON-COMPUMOTOR MOTORS .................................................................................................89
APPENDIX C – REGULATORY COMPLIANCE: UL AND CE ...........................................................................................99
INDEX ............................................................................................................................................................. 109

4 Gem6K Hardware Installation Guide
Product Type : Gemini GV6K and Gemini GT6K Family of Drives
Including, but not limited to :
GV6K-L3n, GV6K-U3n, GV6-U6n, GV6K-U12n,
GV6K-H20n, GV6K-H40n,
GT6K-L5, GT6K-L8,
GPDM
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 Chassis Terminal
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 Gem6K 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 RS232/485 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 Profibus or DeviceNet.
The GT6 and GV6 are configured and programmed over RS232/485, either with
Motion Planner on a PC, or Pocket Motion Planner on a palm PC.
Gemini GT6K and GV6K
The GT6K and GV6K are single axis packaged controller/drives in the Gemini
family that offer full 6K Series controller functionality and programmability for
complex distributed 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 RS232/485 communication port or Ethernet; 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 Servo Motor Drives
and Controller/Drives and Controller/Drives
GT Step Motor Drive GV Servo Motor Drive
GT6 6000-based Step Motor Controller GV6 6000-based Servo Controller
GT6K 6K-based Step Motor Controller GV6K 6K-based Servo Controller
Power Level:
Step Motor Drives and Controller Drives
L5 120VAC, 5A at 170VDC
L8 120VAC, 8A at 170VDC
Servo Motor Drives and Controller/Drives
L3 120VAC, 3A continuous, 7.5A peak at 170VDC
U3 120/240VAC, single phase, 3A continuous, 7.5A peak at 170/340VDC
U6 120/240VAC, single phase, 6A continuous, 15A peak at 170/340VDC
U12 120/240VAC, single phase, 12A continuous, 30A peak at 170/340VDC
H20 208/240VAC, three phase, 20A continuous, 50A peak at 294/340VDC
(single phase: 16A continuous, 50A peak at 294/340VDC)
H40 208/240VAC, three phase, 40A continuous, 100A peak 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):
DN DeviceNet
PB Profibus
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
GV = 3, 6, 12, 20, 40
GT = 5, 8
E, R or Blank
DN, PB or Blank
-NK or Blank
Drive:
Type:
Control:
Input Voltage Level:
Output Motor Current:
Feedback Option:
Data Bus:
Ship Kit Option:
GV6-L3E-PB-NK
Format Example

8 Gem6K Hardware Installation Guide
Names in this Installation Guide: Gem6K = GV6K & GT6K
This Hardware Installation Guide describes two product families:
•Gemini GV6K Servo Controller/Drives
•Gemini GT6K Stepper Controller/Drives
In this Hardware Installation Guide, when we use the name Gem6K, it will apply
to both products. Because most features are identical for the two products, this will
usually be the case.
If we need to point out differences between the products, for features that are not
identical, we will specifically call the product by its full name—GV6K or GT6K.
Compatible Compumotor Products
Software: Motion Planner
EVM32-II, EVM32: I/O Module
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:
Gem6K Quick Start Guide
Gem6K Hardware Installation Guide
Gem6K Command Reference
Gem6K Programmer’s Guide
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
•Checking Your Shipment
•Express Setup
CHAPTER TWO

10 Gem6K Hardware Installation Guide
Checking Your Shipment
Inspect your shipment carefully. You should have received one or more of the
following:
Gemini Drives
GV6K-L3n (“n”can be E or R) GT6K-L5
GV6K-U3n GT6K-L8
GV6K-U6n
GV6K-U12n
GV6K-H20n
GV6K-H40n
Ship Kit Items
The following ship with the drive:
Part Part Number
Gem6K Quick Reference Guide 88-019930-01 (for GV6K); or
88-019931-01 (for GT6K)
Gem6K Hardware Installation Guide 88-019932-01
Gem6K Command Reference 88-019933-01
Gem6K Programmer's Guide 88-019934-01
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
EVM32-II or EVM32 Expansion I/O Module EVM32-II or EVM32
GPDM Gemini Power Dissipation Module GPDM
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:
Servo Motors:
SM Series BE Series NeoMetric Series J Series M Series Linear Series
Step Motors:
O 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.

Chapter 2 –Installation 11
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.
In the express setup, we will give procedures for the following steps:
1. Connecting the motor to the drive (with no load attached)
2. Connecting +24VDC power to the drive
3. Connecting AC power to the drive
4. Establishing communications and configuring the drive for autorun
5. 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.
+ 24V D
24V RT
RELAY CO
RELAY N.O
RS-232/485
DRIVE I/O
RS-232 EXPANSION I/O MASTER ENCODER
MOTOR FEEDBACK
GV6K
Gemini
Servo
ETHERNET
GV6K
Gemini
Servo
RS-232 EXPANSION I/O ETHERNET MASTER ENCODER
+24V DC
24V RTN
RELAY COM
RELAY N.O.
RS-232/485
COMPUMOTOR
DRIVE I/O MOTOR FEEDBACK
GV-U3/6/12
SERVO
U
V
W
VBUS+
VBUS–
L2/N
L1
MOTOR
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
Motor Power
Ethernet
I/O Connections
AC Power
Master Encoder
Motor Feedback
RS-232/485 (COM1)
Relay
+24VDC Power Input
Expansion I/O
RS-232 (COM2)
Component Locations
Illustrations in this Installation Guide
We will usually show the GV6K-U3n Drive in illustrations. Other Gem6K drives
have similar features. In cases where we need to illustrate differences between
drives, we will show relevant drawings for each drive.

12 Gem6K Hardware Installation Guide
System Overview
In this express setup procedure, we will give instructions for a Compumotor
system—Gem6K 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 Feedback
Cable (optional for GT6K)
Motor
Cable
Gem6K Drive
Motor
AC
Power
+24VDC Power
Input
Compumotor System
Step 1 –Connecting the Motor
GV6K Servos –Motor Connections
Compumotor’s motor cable with the GS or GB option has an MS connector on one
end. The other end has three black wires with identifying white numbers (1, 2,
or 3), and one green/yellow wire. (See the separate Gemini Motor Reference
Manual for motor specifications, dimensions, speed/torque curves, and wiring
diagrams for your particular motor.)

Chapter 2 –Installation 13
Connecting the Motor Cable
1. Connect the MS connector on the motor cable to the mating connector on the
motor. (If you use a non-Compumotor motor, see Appendix B for information.)
2. Remove the clear plastic cover from the drive terminals. Connect the motor cable’s
green/yellow wire to the drive terminal with the symbol. This connects the
motor’s protective conductor terminal to the drive’s safety earth.
3. Connect your motor cable’s phase wires 1, 2, and 3 to the drive’s U, V, W 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. Lower
voltages may still be present for several minutes after power is removed.
Reinstall the clear plastic terminal cover after you make connections.
4. Secure the cable to the drive by placing the exposed cable shield in the saddle
clamp on the bottom of the drive (GV6K-H20n/H40n: R-Clamp on heatsink). Make
the loop of cable between saddle clamp and drive terminals as short as possible.
Connecting the Motor Feedback Cable
Compumotor’s motor feedback cable with the GS or GB option has an MS
connector on one end, and a 26 pin connector on the other end.
1. Connect the MS connector on the motor cable to the mating connector on the
motor.
2. Connect the 26 pin connector on the motor cable to the drive’s MOTOR FEED-
BACK connector.
3. Tighten the jack screws on the connector housing to secure the connector to
the drive.
Secure the Motor
1. If your motor is not permanently mounted, clamp it securely in place during this
Express Setup procedure.
The next drawing illustrates these connections.
U
V
W
Motor Cable
DRIVECompumotor Cable
Color Code:
Motor Feedback
Cable
Motor
Cable
Place exposed braid in
saddle clamp. Make loop
as short as possible.
GV6K-L3/U3/U6/U12/H20:
Drive terminals: #8 (M4).
Mating terminals: spade fork, 0.325"
maximum width.
Tightening torque: 20 in-lbs nominal,
24 in-lbs max.
GV6K-H40:
#10 (M5).
ring terminal,
0.25" I.D., 0.50" O.D.
20 in-lbs nominal,
24 in-lbs max.
Motor
Black #1
Black #2
Black #3
Grn/Yel
Motor Wiring with GV6K –Typical

14 Gem6K Hardware Installation Guide
GT6K Steppers –Motor Connections
The GT6K 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 GT6K.
2. Prepare four motor phase wires to connect to the GT6K 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+, and 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.
Motor
Drive terminals: #8 (M4).
Mating terminals: spade fork, 0.325"
maximum width.
Tightening torque: 20 in-lbs nominal,
24 in-lbs max.
Motor Wiring with GT6K –Typical

Chapter 2 –Installation 15
Step 2 –Connecting +24VDC Power
You must connect an external +24VDC power source to the Gem6K, as the next
drawing shows. Use the removable terminal connector that is supplied with the
drive.
With +24VDC applied, the drive’s internal control board will remain powered
when the primary AC power source is disconnected, and will maintain several
important functions, including communication diagnostics, position feedback, and
other logic functions.
DRIVE
POWER SUPPLY
VDC+
VDC–
+24V DC
24V RTN
RELAY COM
RELAY N.O.
Use twisted pair wiring
+24VDC Power Input
+24VDC Specifications:
Input voltage range: 19.2 –28.8 VDC
Input current: 500 mA (maximum)
Functions available under +24VDC only: position information (encoder or motor
position counters in drive)
communications
diagnostics
motor feedback
program execution not involving motion
(e.g., error programs, etc.)
Software status bit (see TASX command): indicates “keep alive”is active: +24VDC
power only (AC power is disconnected)
CAUTION
Do not exceed 28.8VDC input voltage

16 Gem6K Hardware Installation Guide
Step 3 –Connecting AC Power
Power Requirements
Acceptable ranges of AC input voltage are listed below for each drive :
Drive AC Input Range
GT6K-L5/L8 95 –132VAC
GV6K-L3n 95 –132VAC
GV6K-U3n/U6n/U12n 95 –264VAC
GV6K-H20n 165 –264VAC [single phase (1∅) or three phase power (3∅)]
GV6K-H40n 165 –264VAC [three phase power (3∅) only]
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. Lower voltages may still
be present for several minutes after power is removed. Reinstall the clear plastic
terminal cover after you make connections.
Fuse Information
Gem6K 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:
Drive Type Fuse Style Rating Fuse Type
GT6K-L5/L8 (120VAC) 125VAC Time Delay 10 amp Type RK5 or better
GV6K-L3n (120VAC) 125VAC Time Delay 10 amp Type RK5 or better
GV6K-U3n/6n/12n (120VAC) 125VAC Time Delay 30 amp Type RK5 or better
GV6K-U3n/6n/12n (240VAC) 250VAC Time Delay 30 amp Type RK5 or better
GV6K-H20n (208/240VAC, 1∅/3∅) 250VAC Time Delay 30 amp Type RK5 or better
GV6K-H40n (208/240VAC, 3∅) 250VAC Time Delay 60 amp Type RK5 or better
The next table lists part numbers for suitable fuses, from several manufacturers:
Amps Bussmann Gould Littelfuse Grainger
10 FRN-R-10 TR10R FLNR10 1A693
30 FRN-R-30 TR30R FLNR30 1A698
60 FRN-R-60 TR60R FLNR060 1A700

Chapter 2 –Installation 17
AC Power Connections
GT6K-L5/L8 and
GV6K-L3n: Connecting AC Power
CAUTION
Do not operate GV6K-L3n above 132VAC, or the drive will be permanently dam-
aged.
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.
Connections are illustrated in the next drawing.
GT6K-L5/L8;
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
Drive terminals: #8 (M4).
Mating terminals: spade fork, 0.325"
maximum width.
Tightening torque: 20 in-lbs nominal,
24 in-lbs max.
Power Connections –GT6K and GV6K-L3/U3/U6/U12
GV6K-U3n/6n/12n: Connecting AC Power
Connections are illustrated in the drawing above.
208/240VAC 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. Connect 208/240VAC, 50/60 Hz, single phase power to drive’s L1 and L2/N
terminals.
3. Reinstall the clear plastic terminal cover after you make connections.
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 terminal.
3. Connect neutral to drive’s L2/N terminal.
4. Reinstall the clear plastic terminal cover after you make connections.

18 Gem6K Hardware Installation Guide
GV6K-H20n: Connecting Single Phase AC Power
Single Phase 208/240VAC 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. Connect 208/240VAC, 1∅, 50/60 Hz power to drive’s L1 and L2 terminals.
3. Reinstall the clear plastic terminal cover after you make connections.
NOTE: Default current settings are for three phase operation. For single phase, you must
modify the current settings in Step 4 –Configuring the Drive on the next page.
Connections are illustrated in the next drawing.
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
GV6K-H20n:
Drive terminals: #8 (M4).
Mating terminals: spade fork, 0.325"
maximum width.
Tightening torque: 20 in-lbs nominal,
24 in-lbs max.
GV6K-H40:
#10 (M5).
ring terminal,
0.25" I.D., 0.50" O.D.
20 in-lbs nominal,
24 in-lbs max.
Power Connections –GV6K-H20n/H40n
GV6K-H20n/H40n: Connecting Three Phase AC Power
Connections are illustrated in the drawing above.
Three Phase 208/240VAC 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. Connect 208/240VAC, 3∅, 50/60 Hz power to drive’s L1, L2 and L3 terminals.
3. 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 (both +24VDC and AC). After the power-up sequence, the
LEDs should display the following state:
Left LED Right LED Indicated State:
red off Drive ready, not enabled
Proceed to Step 4 –Configuring the Drive.

Chapter 2 –Installation 19
Step 4 –Configuring the Drive
Gem6K drives have no DIP switches or potentiometers for configuration. You will
use Motion Planner, a software program, to communicate with the drive, configure
drive settings, and load your application program.
Configuration Software
Motion Planner is located on the Motion Planner CD-ROM. This program is also
available on the Compumotor web site at http://www.compumotor.com. Motion
Planner runs on a personal computer (PC).
Information about installing and using Motion Planner can be found in the Gem6K
Programmer's Guide.
Establishing Communications
We assume you have a Gem6K drive, and at least 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. (A null modem cable is available from Compumotor. See
Appendix A Specifications for more information.) It is not necessary to turn off
power before you plug in an RS-232 cable; however, connect RS-485 cables before
applying power.
Proceed to Configuring the Drive. For more instructions on establishing communi-
cations, refer to the Communications section of Chapter 4 –Special Features.
Configuring the Drive
Use the following procedure to configure your drive.
1. Install and launch Motion Planner.
2. When the product selection dialog appears, select a Gem6K drive (GV6K or GT6K)
and select the COM port to which the drive is connected.
3. To verify communications with the drive, click the “Terminal”tab on the bottom of
the screen to enter terminal mode. Issue the following command to the drive:
TREV (transfers the drive’s revision level)
Revision level information for your drive should appear on the screen.
To solve communication problems: see RS-232/485 Communications in
Chapter 4 –Special Features .
NOTE: If this is not the first time the drive has been configured, issue an RFS
command (Return to Factory Settings), before performing the following procedures.
Click the “Editor”tab on the bottom of the screen to return to the Editor window.
4. In the Editor window, click on the Gemini button at the top of the window to launch
the setup wizard.

20 Gem6K Hardware Installation Guide
5. Select “Express Setup”, and select “Initialize wizard with factory defaults”. Click the
“Next”button to proceed with the wizard.
6. 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. (For GV6K-H20 using single
phase power, see the Note at the end of this procedure.)
7. Select File/Save to save the setup code to a file (*.prg) on your hard drive.
8. Select Communications/Download to download the setup code (contents of the
Editor window) to the Gem6K drive. When the download is complete, choose to
“DRESET”the drive.
Drive setup is complete. All of the setup parameters (command values) are stored
in the Gem6K’s battery-backed RAM and are automatically recalled when you cycle
power or reset the drive.
9. Click the “Terminal”tab on the bottom of the screen to enter terminal mode.
10. Issue a DMODE13 command. This configures the drive for autorun mode, in which
the motor runs open loop in the clockwise direction at 1 rps. (The motor will not
begin turning, though, because you have not yet enabled the drive.)
NOTE: GV6K-H20 –default current values are for three phase operation. If you use
single phase power with the GV6K-H20, you must manually modify the current values as
follows:
•Set continuous current (DMTIC) to 11.3 amps rms or less
•Set peak current (DMTIP) to 28.3 amps rms or less
Depending upon which motor you selected, your settings may already be lower than
these limits.
Proceed to Step 5 –Verifying Correct System Installation.