|Gemini Feedback Connector||Option 1 Resolver Cable (170-24xxx)***|
|Function||Pin#||Pin Letter||Function||Wire Color***|
|Cos -||26||G||COS GND||Black|
|Ref 1 +||19||E||REF||Red/White|
|Ref 1 -||20||R||REF GND||Yellow/White|
|Connector Housing*||*||D||RES SHLD||Drain|
*The shield connections of the feedback cable should be connected to the Gemini Feedback header's metal housing (if possible).
***The wire colors may not apply to your cable. Option 1 resolver cable wire colors can vary, however, the wire function should be consistent among all cables. If your cable wire marker (labels) are no longer present or readable, please contact Parker.
|Gemini Motor Power Screw Terminals||Option 1 Motor Power Cable|
|Function||Phase||Pin Letter||Function||Wire Color|
|Phase U||U||A||Phase R||Red|
|Phase V||V||B||Phase S||Black|
|Phase W||W||C||Phase T||Blue|
MXPLUS command - For GV/GV6 you must have Gemini OS ver. 2.12 or greater. GV6 You must have ASCII translator ver. 1.46 or greater. For GV6K, you must have OS ver. 6.4.2 or greater. You must have Com6SRVR.exe ver. 188.8.131.52 or greater. Because the MaxPlus motor's commutation cycle is different than the legacy Compumotor series motors, the MXPLUS command compensates for this through software. It does the following: 1)Adjusts the resolver offset to -120 degrees (TSROFF still reports 0) 2) Inverts the commanded direction inside the drive similar to CMDDIR1.
Resolver/Encoder Out Polarity - the resolver will still count positive when the motor shaft rotates clockwise. However, unlike a Gemini connected to a MaxPlus encoder motor,which has the encoder output signals (DRIVE I/O connector pins 14-19) inverted (Clockwise motor direction = negative encoder counts out of the Gemini), the Gemini connected to a MaxPlus resolver motor has the standard feedback polarity (Clockwise motor direction = positive encoder counts out of the Gemini).
6K Controller connection - the encoder output (DRIVE I/O pin 14-19) counts properly from the Gemini, so we need to set ENCPOL0 (default), for each servo axis.
ACR Controller connection - the encoder output (DRIVE I/O pin 14-19) counts properly from the Gemini, so we need to set MULT to a positive value for each servo axis.
DMODE13 (Autorun) - the motor turns counter-clockwise with MXPLUS1.