Any Gemini unit will work with encoder-based motors.
ie SM232AE motor with encoder will work with a GV6-U6R
The base amplifier board has an encoder input. When a Gemini with resolver is designated, a daughter-board is added on to convert the analog resolver feedback to digital encoder inputs. When an encoder is connected, it bypasses the ADC. Use the same configuration in Motion Planner software with the encoder designation as normal.
However, for an resolver input, you always have to have a Gemini resolver unit. A resolver based motor will not work with the Gemini encoder unit.
ie SM232AR motor will not work with the GV6-U6E