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Catalog 8000-4/USAGT Stepper DrivesGEMINIThe Gemini GTDigital Stepper DriveActive DampingTM, Electronic ViscosityTMand ABS DampingTMThe Gemini GT follows in the footsteps of Compumotor’s ZETAdrive family and offers Active DampingTM (patented) andElectronic ViscosityTM (patented). The Gemini GT goes onestep further with ABS DampingTM (patented). This dampingfeature is for speed ranges from 0 to 0.1 revs/sec. This “nofuss” feature requires no user set up and dramatically reducessettling time.Encoderless Stall DetectTMEncoderless Stall DetectTM allows detection of a motor stallwithout adding an encoder to an application. Stall conditionsresult from inequality of commanded velocity to actual velocityat the motor shaft, regardless of physical reason. The user willbe alerted to a stall condition via LED, digital output, or viaquery over the communication port. Stall sensitivity can beadjusted with a single parameter.FeaturesPerformance Two power ranges for up to 8 Amps of continuous currentStep and direction, CW/CCW, /- 10 VDC analog, andencoder tracking modes availableActive DampingTM, Electronic ViscocityTM, and ABSDampingTMEncoderless Stall DetectTMSimplified configurationVariable resolution up to 128,000 steps/rev Protection Short circuit protection – phase-to-phase and phase-togroundBrownout protection – if AC drops below 85 VACOver temperature – shutdown occurs at ambient 131 F(55 C) Physical A wide selection of stepper motors are available fromCompumotor including the OS, TS, VS and ES Series120V input powerDiagnostic LEDs for drive status, firmware download, andoptional keep alive mode Gemini Family Features 24V Keep Alive (not required) – keeps logic alive if ACpower is removedError Log – records 10 most recent errors with time stampApprovals: UL Recognition, cUL, CE (LVD), and CE (EMC)Configurable via RS232/485 using Compumotor’s MotionPlannerTM on a PC or Pocket Motion PlannerTM on aWindows CETM-based Palm PC When do I need to use servo motor technology? Applications with . . . Speeds over 50 revs/secDynamic load conditionsVery high accelerations195AutomationMechanical resonanceImmediate feedback requirementsParker Hannifin CorporationCompumotor Divisioncompumotor.comBThe Gemini GT is the digital stepper drive member of theGemini Family. The Gemini GT is easily configurable andprogrammable via RS232/485 using Compumotor’s MotionPlannerTM on a PC or Pocket Motion PlannerTM on a Window’sCETM-based palm PC. The Gemini GT is an alternative to adigital servo drive. With breakthrough techniques such asEncoderless Stall DetectTM and ABS dampingTM (patented), theGemini GT provides servo like performance with the lowermotor price of a stepper system. With the same connectivity,configurations, and family feature set as the Gemini GV, theGemini GT allows for an easy upgrade path to the Gemini GVdigital servo drive.
Catalog 8000-4/USAGT6 Stepper DrivesGEMINIThe Gemini GT6 DigitalStepper Drive with BasicController and FieldbusOptionsThe Gemini GT6 is a standalone, compact, digital stepper driveand basic motion controller in one complete package. TheGemini GT6 incorporates all of the GT digital stepper drivefeatures such as Encoderless Stall DetectTM and ABSDampingTM (patented) with the flexibility of a simple, yetpowerful motion controller.The Gemini GT6 is easily configurable and programmable viaRS232/485 using Compumotor’s Motion PlannerTM on a PC orPocket Motion PlannerTM on a Window’s CETM-based palm PC.The Gemini GT6 also offers connectivity to several field busesincluding Profibus and DeviceNet.Similar to the digital stepper drive, the Gemini GT6 providesservo performance for the package price of a stepper system.It also allows the flexibility of an upgrade path to the GeminiGV6, due to its equivalent connectivity, programmability, andfamily feature set. For applications requiring stepper motorcontrols and basic motion control functionality, the Gemini GT6is today’s industry technology leader.Features Daisy chain up to 99 units8 programmable inputs and 6 programmable outputsProtection Short-circuit protection – phase-to-phase and phase-togroundBrownout protection – if AC drops below 85 VACOver temperature – shutdown occurs at 131 F (55 C)Physical A wide selection of stepper motors are available fromCompumotor including the OS, RS, TS, VS and ES Series120V input powerDiagnostic LEDs for drive status, firmware download, andoptional keep alive modeConnectivityPerformance Performance, continuedProvides 5 or 8 Amps of continuous currentActive DampingTM, Electronic ViscocityTM, and ABSDampingTMEncoderless Stall DetectTMSimplified configurationVariable resolution up to 128,000 steps/revStandalone controller and drive in one small packageFull ASCII connection capabilityProgram Storage: 32 programs or 190 lines of programcodeControl features such as registration, motion profiles,S-curve velocity profiling and conditional statements Gemini Family Features 196AutomationRS232/485 serial connectivity (ASCII)Profibus DP (optional)DeviceNet (optional)24V Keep Alive (not required) – keeps logic alive if ACpower is removedError Log – records 10 most recent errors with time stampApprovals: UL Recognition, cUL, CE (LVD), and CE (EMC)Configurable/Programmable via RS232/485 usingCompumotor’s Motion PlannerTM on a PC or pocketMotion PlannerTM on a Windows CETM-based Palm PCParker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGT6K Stepper DrivesGEMINIThe Gemini GT6K DigitalStepper Drive with FullFeature ControllerFeaturesProtection Physical Combines the powerful features of the 6K Controller withthe Gemini GT digital microstepper drive for a completestandalone stepper solution in one small packageFull ASCII communication capability and Ethernet communicationControl features such as following, registration,multitasking, PLC scan, electronic cam profiling, S-curveprofiling, scaling, high-level math functionality and moreProgram storage: 300KB standard (battery backed)Daisy chaining of up to 99 unitsSimplified configuration and tuning8 programmable inputs and 6 programmable outputs(expandable up to 256 I/O points)A wide selection of stepper motors are available fromCompumotor including the OS, TS, VS and ES Series120V input powerDiagnostic LEDs for drive status, firmware download and24VDC control power activeConnectivityPerformance Short-circuit protection – phase-to-phase and phase-togroundBrownout protection – if AC drops below 85 VACOver temperature – shutdown occurs at ambient 131 F(55 C) Two serial communications ports: one RS232 port (3wire), one RS232/RS485 port (2- or 4-wire)Ethernet communication port (TCP/IP, 10 Mbps twistedpairEmbedded Ethernet Client for use with ABTM PLCs, OPTO22TM SNAP I/O, DVTTM Vision Systems, etc.Master Encoder port for reading external encoder inputsignalsExpandable I/O (up to 256 discrete I/O points and/or 192Ethernet I/O points)Gemini Family Features 24V Keep Alive (24VDC supply required) – keeps logicalive if AC power is removedError Log—records 10 most recent errors with time stampApprovals: UL Recognition, cUL, CE (LVD), and CE (EMC)Configurable/Programmable via RS232/485 usingCompumotor’s Motion PlannerTMSee Servo Drive section for the full line of Gemini servo drives and drive/controllers.197AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.comBCompumotor's new premier microstepping drive/controller, theGemini GT6K is the most powerful addition to the Geministepper family lineup. This full-feature, standalone drive/controller offers a complete motion control solution in oneeconomical, compact package. The GT6K comes completewith the same features, connectivity and front-end softwaretools as the Gemini GT and Gemini GT6. In addition to offeringmany of the drive features of the Gemini GT and controlfeatures of the Gemini GT6, the GT6K incorporates the flexibilityand control functionality of Compumotor's 6K Controller toallow highly advanced motion control and sequencing capabilities for unrivaled flexibility in many distributed-control applications. The GT6K is easily configured/programmed via RS232/485 using Compumotor’s Windows-based Motion PlannerTMsoftware package. The GT6K also offers connectivity to anyASCII-based serial device, including HMI panels and PLC ASCIImodules. Products such as OPTO 22TM SNAP I/O, DVTTMVision Systems and ABTM SLC 5/05 PLC platforms can also beused for data chaining using the GT6K's Ethernet Clientfeature.
Catalog 8000-4/USAGT6K Stepper DrivesGEMINISoftware and Standard Control FeaturesI/O Capabilities Gemini Family SummaryCE, UL Recognition GVOnboard I/O: 8 digital inputs (3 programmable limits, 5programmable), 6 digital outputs, 1 analog input, 2 D/Amonitor outputs, 1 relay outputSoftware selectable onboard input/output functionalityExpandable I/O of up to 256 additional discrete digital I/Opoints, 64 analog I/O points or a combination of bothdigital and analog pointsExpandable Ethernet I/O of up to 192 additional digital oranalog I/O points using Ethernet Client with OPTO 22 SNAP modulesRegistration input capabilitySoftware selectable I/O high/low active level5-24VDC selectable input reference voltageInputs: selectable as sinking or sourcing; outputs: opencollector (sinking)GV6ServoGV6KGVRS232/485CE, UL RecognitionEncoderless Stall DetectRS232/485EtherEncoderless Stall DetectProfibusnetEtherGEMINI FAMILY FEATURES Complied motionFloating point, integer and binary variables with high-levelmath functionalityComprehensive program monitoring300KB memory storage, battery backedFull-feature 6K Language command setComplete position-based following and electronic camprofilingPLC Scan ModeMultitasking (up to 10 individual programs simultaneously)Full scaling functionalityCompatible with platforms such as VisualBasicTM, VisualC TM and NI iceNetus10VviceNetCommand InputDeStep/Direction,CW/CCW 10V CommandInput Command InputEncoderSignal InputStep/Direction,CW/CCW Command InputOnboardEncoderI/OSignal InputOnboard I/OExpandabExpandable I/ORegistration & DiagnosticsRegistrStatusSystemSystem Status & wingMultitaskingMultitaskingCompiled MotionCompiled MotionFull FunctionalityFull FunctionalityLimited FunctionalityLimited Functionality198AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGT/GT6 Common SpecificationsGEMINIGT/GT6 Common -132 VAC1Ø50/60 Hz24 VDC /- 20%95-132 VAC1Ø50/60 Hz24 VDC /- 20%170 VDC20kHz5 Amps170 VDC20kHz8 AmpsInput PowerVoltagePhaseFrequency24V Keep Alive (Optional)Output PowerBus VoltageSwitching FrequencyCurrent (Apk)PerformanceAccuracy /-5 arc min (0.0833 ) unloaded bi-directional with Compumotor motors /- 1 arc min (0.0167 ) loaded in addition to unloaded accuracy /- 5 arc sec (0.0014 ), typical unloadedLess than 2 arc min (0.0334 ) unloadedUser defined integer value between 200 and 128,000 stepsUser defined, pure sine, -20% to 10%, continuously variable 3rd ommand Inputs - GTPosition ModeVelocity ModeStep and Direction/CW & CCW/Encoder Tracking12 bit, /- 10 input voltageInputs – GTEnable, Reset, User FaultNeg/Pos Limits5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold8 Program., Enable, Reset1 AnalogBInputs – GT65-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold12 bit, /- 10 VDC input voltage (1 ms update)Outputs – GTFault, At Limit, StallAnalog MonitorsStep & DirectionRelayOpen collector, 300mA sink capability /- 10 V scalable, 8 bit (not to be used as control functions)Programmable up to 128,000 counts/revNormally open, dry contactOutputs – GT66 ProgrammableAnalog MonitorsStep & DirectionRelayOpen collector, 300mA sink capability /- 10 V scalable, 8 bit (not to be used as control functions)Programmable up to 128,000 counts/revNormally open, dry contactCommunicationsTypeBaud RateDaisy Chain – GT6Fieldbus - GT6RS232/RS485 (4-wire), ASCII or 8-bit binary protocolFixed at 9600Up to 99Profibus (optional), DeviceNet brationStill air: 113 F(45 C), moving air: 122 F (50 C)0-95%, non-condensingShock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 HzProtectionShort CircuitBrownoutOver TemperatureStandardsPhase-to-phase, phase-to-groundAC drops below 85 VACShutdown fault at 131 F (55 C)UL, cUL, CE (LVD), CE ( EMC)PhysicalCompumotor motorsNon-Compumotor motorsInductanceConnectorsSerialMotor and powerCommand and I/O 24VDC/RelaySee Servo DriveOS, TS, VS and ES Series motors4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8 0.5mH minimum; 5 to 50 mH recommended, 100mH max9-pin D-shell (male)Barrier screw terminal50-pin High density Amp Champ - .050 Series II (with screw attachment)4-pin removableterminalsectionfor thefullblockline of Gemini servo drives and199Automationdrive/controllers.Parker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGT6K Common SpecificationsGEMINIGT6K Common SpecificationsSpecificationsGT6K-L5GT6K-L8Input PowerVoltagePhaseFrequency24V Keep Alive (Required)Output PowerBus VoltageSwitching FrequencyCurrent (Apk)95-132 VAC1Ø50/60 Hz24 VDC /- 20%95-132 VAC1Ø50/60 Hz24 VDC /- 20%170 VDC20kHz5 Amps170 VDC20kHz8 AmpsPerformanceAccuracy /- 5 arc min (0.0833 ) unloaded bi-directional with Compumotor motors /- 1 arc min (0.0167 ) loaded in addition to unloaded accuracy /- 5 arc sec (0.0014 ), typical unloadedLess than 2 arc min (0.0334 ) unloadedUser defined integer value between 200 and 128,000 stepsUser defined, pure sine, -20% to 10%, continuously variable 3rd nputs – Onboard8 Program., Enable, Reset1 AnalogInputs – Expansion (optional)5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold12 bit, /- 10VDC input voltage (2 ms update)Serial:Up to 256 digital inputs (2 ms update)Up to 64 analog inputs ( /- 10VDC input voltage)Ethernet: Up to 192 digital or analog Ethernet inputs via Ethernet Client with OPTO 22 SNAP I/O moduleOutputs – Onboard6 ProgrammableAnalog MonitorsStep & DirectionRelayOpen collector, 300mA sink capability /- 10 V scalable, 8 bit (not to be used as control functions)Programmable up to 128,000 counts/revNormally open, dry contactOutputs – Expansion (optional)Serial:Up to 256 digital outputs (2 ms update)Up to 64 12-bit analog outputs ( /- 10VDC input voltage)Ethernet: Up to 192 digital or analog Ethernet outputs via Ethernet Client or OPTO 22 SNAP I/O moduleCommunicationsSerialBaud RateDaisy Chain – GT6EthernetProtocols SupportedRS232/RS485 (4-wire), ASCIISelectable up to 115200Up to 99Type: 10BaseT (10 Mbps twisted pair)TCP/IP and UDP, Modbus/TCP, AB Ethernet and ASCII over ationStill air: 113 F(45 C), moving air: 122 F (50 C)0-95%, non-condensingShock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 HzProtectionShort CircuitBrownoutOver TemperatureStandardsPhase-to-phase, phase-to-groundAC drops below 85 VACShutdown fault at 131 F (55 C)UL, cUL, CE (LVD), CE ( EMC)PhysicalCompumotor motorsNon-Compumotor motorsInductanceConnectorsSerial (Com1/Com2)EthernetMotor and PowerCommand, Onboard I/OFeedbackMaster EncoderExpandable I/O 24VDC/RelayOS, TS, VS and ES Series motors4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8 0.5mH minimum; 5 to 50 mH recommended, 100mH max9-pin D-shell (male)RJ45 connector for 10 Base-TBarrier screw terminal50-pin High density Amp Champ - .050 Series II (with screw attachment)26-pin High density Amp Champ - .050 Series II (with screw attachment)9-pin D shell (female)15-pin D shell (female)4-pin removable terminal block200AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGemini ConnectionsGEMINIGemini GT and GT6 Connections and LEDsLEDsRS232/485Green/Red Yellow/GreenRS-485 ConnectionsRx Tx Gnd(RD B)(TD B)123456789RS-232 ConnectionsRx TxGnd1MalePins23456789LED Color:LeftOffRed (flash)Green (flash)RedGreenGreenRedRightYellowOffYellow (flash)GrnGrn (flash)Yellow/Green (flash)OffGreenOffIndicated State*InitializationAwaiting flash downloadProgramming flash memoryKeep alive modeIncoming steps (variable rate)Autorun modeDrive not enabledDrive faultedDrive readyRx- Tx(RD A) (TD A)See Servo 24VDC - provides logic keep alive to thedrive Relay – 5A at 24 VDC or 120 VAC Relay opens when drive is disabled/faultedSectionRS-232/48524VDC/Relay (not required)Gemini GT 24V DC24V RTNRELAY COM 24V DCCOMPUMOTOR24V RTNSTEPPERRELAY COMA RELAY N.O.DRIVE I/OMOTORA—B B—Motor Output ConnectionsTerminals: #8 (M4)Mating Terminals: spade fork, 0.325” maxwidthFor Gemini GT6 I/Oinformation, please referto Gemini GT6 HardwareInstallation GuideN/CNL1MOTOR FEEDBACK 120V reservedreservedreservedOutput GroundOutput 4Output 3Output GroundOutput 2Output GroundreservedInput GroundreservedreservedreservedInput GroundreservedreservedreservedInput GroundInput 3Input GroundInput 2Input 54321Analog Ground–10V Vel Cmd–10V Vel Cmd Analog Output BAnalog Output ADigital GroundreservedreservedDirection— OutDirection OutStep— OutStep OutReservedReservedDir-/CCW-/BX—Dir /CW /BX Step-/CCW-/AX—Step /CW /AX Digital GroundDigital GroundReservedReservedResetDigital GroundEnableGT-L5/8Gemini GT6Motor FeedbackConnectorNot available in theGemini GT or GT6AC Input Connections Terminals: #8 (M4)Mating Terminals: spade fork, 0.325” maxwidthFor Gemini GT6 I/Oinformation, please referto Gemini GT6 HardwareInstallation GuideOutput GroundOutput 6Output 5Output GroundOutput 4Output 3Output GroundOutput 2Output GroundOutput 1Input GroundInput 8Input 7Input 6Input GroundInput 5Input 4Pullup-Inputs 4,5,6,7Input GroundInput 3Input GroundInput 2Input 1Pullup-Inputs 21Analog Ground–10V Input–10V Input Analog Output BAnalog Output ADigital GroundreservedreservedDirection— OutDirection OutStep— OutStep OutReservedReservedDir-/CCW-/BX—Dir /CW /BX Step-/CCW-/AX—Step /CW /AX Digital GroundDigital GroundReservedReservedResetDigital GroundEnableSee Servo Drive section for the full line of Gemini servo drives and drive/controllers.201AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.comBRELAY N.O.
Catalog 8000-4/USAGemini DimensionsGEMINIGemini GT6 with Profibus OptionProfibus LED IndicatorsLEDFB1FB2FB3FB4Steady Flash FunctionStatus-OffGreenOffRedOff-FBS bit #4 0FBS bit #4 1FBS bit #4 1FBS bit #4 0----Not usedModule is not onlineModule is onlineModule is not offlineModule is offlineNo diagnostics present1 flash/second - FBSIZE setting does notmatch network configuration4 flashes/second - hardware failureRedRedGV6GT6GeminiServo---Profibus connectorProfibus Connector Pin OutPinHousing123456789NameFunctionShieldNot connectedNot connectedB-LineRTSGND BUS 5V BUSNot connectedA-LineNot connectedProtective earth--Positive Rx/TxDRequest to send*Isolated GND*Isolated 5V*-Negative Rx/TxD--Termination switchHardware address settingsLEDsProfibus Baud RateThe GT6 will automatically detect the baud rate of the Profibus network.For a complete list of supported baud rates, see the CMTRØ9ØE.GSDfile, which accompanies the Gemini product.Gemini GT6 with DeviceNet OptionDeviceNet LED IndicatorsLED Steady Flash ---FBS bit #4 1FBS bit #5 1FBS bit #6 1FBS bit #7 1-FBS bit #8 1FBS bit #9 1FBS bit #10 1FBS bit #11 1----GreenRedGreenRed--Not usedNot powered/not onlineNetwork link is OKNetwork critical link failure1 flash/second - network link not connected1 flash/second - network connection timeoutNo powerModule device operationalUnrecoverable fault1 flash/second - module in standby1 flash/second - module minor faultNot usedDeviceNet connectorHardware address settingsDeviceNet Connector Pin OutPinNameFunction12345VCAN LSHIELDCAN HV DC ReturnCANBUS LOWProtective earthCANBUS HIGH 24 VDC Power*LEDs* 30mA in standby and 100mA in rushDeviceNet Baud RateTo configure baud rate via hardware, dip switches are provided to seta baud rate of 125, 250 or 500kb. Setting the dip switches to 0xFF(all ON) enables software configuration of baud rate.Baud rate (Bit/sec)BD1125k250k500kReservedOFFOFFONONBD2The Profibus or DeviceNetUser Guidefor complete specificationsOFFONOFFON202AutomationSee Also:Parker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGemini ConnectionsGEMINIRS-232/485 Connector – COM1RS-232 Connector – COM2Connect an RP240, or use this port for RS-232.Download OS through this port only.Ethernet and COM2 can both be active at the same time.To configure drive parameters, connect a PC to this port.Use Motion Planner for drive configuration.Enabling Ethernet will disable the COM1 port.RS-485 ConnectionsRx Tx Gnd(RD B)(TD B)123456789RS-232 ConnectionsRx TxGnd1MalePins23456789GT6KDigital Controller/DriveRS-232 ConnectionsRx TxGnd123674589MalePins 5VDCRx- Tx(RD A) (TD A)GT6KExpansion I/O ConnectorConnect as many as eight EVM32-II I/O modules in series,for up to 256 additional I/O points.EXPANSION I/O 24V DC 24V DC24V RTNRELAY COM24V RTNRELAY N.O.Relay rating: 5A at 24VDC or RELAY COM120VAC.RELAY N.O.50 Pin DRIVE I/O ConnectorCOMPUMOTORIf drive is faulted or disabled,relay will open. (Typical use:control of motor brake.)SERVOVBUS VBUS–A–L1B B B–B–MASTER ENCODERL2/NA–MOTOR FEEDBACKA GV-U3/6/12EarthMotor CableOutput Ground 50Output 6 49Output 5 48Output Ground 47Output 4 46Output 3 45Output Ground 44Output 2 43Output Ground 42Output 1 41Input/Limit Ground 40Input 3 39(Trig B) Input 2 38(Trig A) Input 1 37Input/Limit Ground 36(Master Trig) Input 5 35Input 4 34CNTRL-P: Inputs 1 — 5 33Input/Limit Ground 32(Home) Limit 3 31Input/Limit Ground 30(Neg) Limit 2 29(Pos) Limit 1 28CNTRL-P: Lim 1 — 3 27VINref 2625242322212019181716151413121110987654321Analog GroundAnalog Input—Analog Input Analog Output BAnalog Output ADigital GroundReservedReservedDir— OutDir OutStep— OutStep dDigital GroundDigital GroundReservedReservedResetDigital GroundEnableGT6KAC Input ConnectionsFuses26 Pin MOTOR FEEDBACK ConnectorN/CN95 — 132VACL1GT6K-L5/L8at 120VACProtective CircuitsShort Circuit ProtectionInrush Current ProtectionDrive Overtemperature ProtectionMotor Overtemperature ProtectionUndervoltage ProtectionOvervoltage ProtectionCurrent FoldbackRegeneration ProtectionEnvironmental SpecificationsOperating TemperatureStorage Temperature:Humidity:Still Air:45¡C (113¡F)Moving Air: 50¡C (122¡F)-40¡C — 85¡C(-40¡F — 185¡F)0 — 95%, non-condensingLEDsGreen/Red Yellow/GreenLED Color:LeftRedRedGrnGrnRedRightGrnYelGrn (flash)Yel/Grn (flash)OffOffGrnYelOffIndicated State 24VDC onlyAC onlyMotion in progressAutorun modeDrive not enabled; orDrive faultedInitializingDrive 21ReservedReservedReservedEncoder Z—Encoder Z Encoder B—Encoder B Encoder A—Encoder A Encoder GroundEncoder GroundEncoder 5VEncoder 5VEthernet ConnectorRJ-45 connector for 10Base-T (10Mbps twisted pair) TCP/IPprotocol. Default address is 192.168.10.30. Green LED on Connection OK; Yellow LED on TransmittingMaster Encoder ConnectorConnect an encoder for Following. Not for servo feedback orstepper stall detect.See Servo Drive section for the full line of Gemini servo drives and drive/controllers.203AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.comBMOTOR DRIVEWIRES TERMINALSWETHERNETMotor Output ConnectionsVDRIVE I/OWARNING: Hazardous voltage may exist for up to30 seconds after power is removed.UMOTORWhen drive is enabled, itholds relay closed.A RS-232RS-232/485 24VDC/Relay ConnectorRequired 24VDC input.19.2 — 28.8 VDC,500 mA maximum.GeminiServo
Catalog 8000-4/USAGemini DimensionsGEMINIGemini Dimensional DrawingsGT/GT6 Dimensions in inches (mm)W2.75(70)FH6.00(153.0)3x clearancefor #8 or M4mounting screws1.38(35)5.40(138.0)ProductWWidthIN (mm)FHFIN HeightIN (mm)L53.13 (79.4)0.38 (9.5)L83.75 (95.3)1.00 (25.4)8.0(203.2)7.75(196.9)7.0(177.8)1.00(25.4 )0.88(22.2)GT6K/GT6-PB/GT6-DN Dimensions in inches (mm)OW3.50(88.9)FH6.0(153.0)Product3x clearancefor #8 or M4mounting screws1.38(35)OWOverallWidthFHFinHeightIN (mm)IN (mm)5.40(138.0)L54.50 (114.3) 0.38 (9.5)L81.00 (25.4)0.38 (9.5)8.0(203.2)204AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGemini OrderingGEMINIGemini Ordering NomenclatureGT--Control Level:(blank) - drive only6 - basic drive/controller6K - full-feature drive/controllerInputVoltage (VAC)Option:PB (Profibus - GT6 only)DN (DeviceNet - GT6 only)(blank) no fieldbusBusVoltage (VDC)ContinuousCurrent (Apk)12017051201708BStepperL5Power Levels L8(Example: GT6-L5-PB)Compatible Stepper Motors VS Series (in NEMA 17, 23 and 34 frame sizes)OS Series (in NEMA 23 frame sizes)ES Series (in NEMA 23 and 34 frame sizes)TS Series (in NEMA 34 and 42 frame sizes)Motor Cabling Options Flying lead option10' cable option10' CE(EMC&LVD) cable option (on selected motors)NPS pipe thread option (on selected motors)See Also:The Gemini Family ofDigital Servo DriveProducts in theServo SectionSee Servo Drive section for the full line of Gemini servo drives and drive/controllers.205AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGT OrderingGEMINICables and AccessoriesGemini to6K Controller(GT only)Part NumberProduct 019862-0471-019863-04Gemini to 6K Step & Direction command cable, 10', CE(LVD&EMC) (position mode)Gemini to 6K Analog command cable, 10', CE(LVD&EMC) (velocity mode)Gemini to 6K Step & Dir or Analog command cable, 10', CE(LVD&EMC) (all modes)Gemini to 6K Step & Direction command cable, 4', (non-CE) (position mode)Gemini to 6K Step & Dir or Analog command cable, 4', (non-CE) (all modes)50-PinHigh Density(Entire Family)Part NumberProduct 61-10GC-50GC-SDAGemini 50-pin screw terminal breakout board with 3' cable10' cable, 50-pin high density to flying leads, CE(LVD&EMC)4' cable, Gemini 50-pin high density to flying leads (non-CE)10' cable, Gemini 50-pin high density to flying leads (non-CE)50-pin Gemini test connector with terminal stripsGemini connector with 11-pin terminal strips (drive commands only)26-PinHighDensity(GT6K only)Part NumberProduct DescriptionGC-26GFB-KIT26-pin Gemini test connector with terminal strips26-pin Gemini connector kitAdditionalAccessories(Entire Family)Part NumberProduct Description71-016939-1010' cable, RS232/485 null modem, CE(LVD&EMC)206AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGT PerformanceGEMINIStepper Speed-Torque Performance CurvesGemini with VS motors – 17, 23 and 34 frame.2830.2120.1410.5660.42Torque (oz-in)40804020.070102030Speed (RPS)40.1400500101501.05100.7050.3503040Torque 00.7001020Speed 1020Speed (RPS)SERIES05040VS32B/Gemini3.50030Speed (RPS)5000502030Torque (Nm)20010900Torque (Nm)1.75005040.84VS31B/Gemini250Torque (Nm)Torque (oz-in)VS23B/Gemini2030Speed (RPS)1.051200Torque (oz-in)0.28150Torque (Nm).35.70Torque (Nm)50VS22B/Gemini100Torque (oz-in)VS21B/Gemini.42Torque (Nm)Torque (oz-in)VS13B/Gemini6005040Speed (RPS)PARALLELFULLBGemini with OS motors – 23 frame.2120.14100102030Speed 10.07040100Torque (oz-in)30.350102030Speed (RPS)4000500102030Torque (Nm).28OS21A/OEM750 (Series)50Torque (Nm)40Torque (oz-in)OS2HA/OEM750 (Parallel).35Torque (Nm)Torque (oz-in)OS2HA/OEM750 (Series)5005040Speed que (Nm)Torque (oz-in)OS22A/OEM750 (Series)40035030025020015010050075 VDC48 VDC24 VDCSpeed (RPS).2120.1410.0700102030Speed (RPS)4005080.5660.4240.2820.140010SERIES2030Speed (RPS)PARALLEL40050Torque 3040Torque (Nm).28OS22B/Gemini100Torque (Nm)40Torque (oz-in)OS21B/Gemini.35Torque (Nm)Torque (oz-in)OS2HB/Gemini50050Speed (RPS)FULLSee Servo Drive section for the full line of Gemini servo drives and drive/controllers.207AutomationParker Hannifin CorporationCompumotor Divisioncompumotor.com
Catalog 8000-4/USAGT PerformanceGEMINIStepper Speed-Torque Performance CurvesGemini with TS motors, 34 30Speed peed (RPS)40Torque (oz-in)500Torque 03040Torque (Nm)600TS33B/Gemini1200Torque (Nm)4.9Torque (Nm)Torque (oz-in)TS31B/Gemini700050Speed (RPS)Gemini with TS motors, size 42 orque ed 0050010Speed (RPS)203040Torque (Nm)7.01000TS43B/Gemini3500Torque (Nm)10.51500Torque (Nm)Torque (oz-in)14.0Torque (oz-in)TS41B/Gemini2000050Speed (RPS)Gemini with ES motors (previously ZETA and S Series motors), 23 frameES22B/Gemini.4240.2820.1400102030Speed (RPS)401.05150100.7050.3500500102030Speed (RPS)40Torque (oz-in)60Torque 050010203040Torque (Nm)80ES23B/Gemini200Torque (Nm).70Torque (Nm)Torque (oz-in)ES21B/Gemini100050Speed (RPS)Gemini with ES motors (previously ZETA and S Series motors), 34 frameES32B/Gemini.5640.280010203040Speed (RPS)050Torque 02.103002001.40100.700010203040Speed (RPS)SERIESPARALLEL208Automat
Stepper Drive with Basic Controller and Fieldbus Options The Gemini GT6 is a standalone, compact, digital stepper drive and basic motion controller in one complete package. The Gemini GT6 incorporates all of the GT digital stepper drive features such as Encoderless Stall DetectTM and ABS DampingTM (patented) with the flexibility of a simple, yet
