The following is a table for the MaxPlus (MPM) Encoder Option 1 Termination to Gemini Connections:
Feedback Connections | ||||
Gemini Feedback Connector | Option 1 Encoder Cable (175-0xxx)*** | |||
Wire Function | Pin# | Pin Letter | Function | Wire Color*** |
Encoder Ground | 3 or 4 | T | GND | Black |
Encoder +5VDC | 1 or 2 | K | +5VDC | Red |
Encoder A+ | 5 | B | CH A | Blue/White |
Encoder A- | 6 | C | CH A\ | Black/White |
Encoder B+ | 7 | N | CH B | Blue |
Encoder B- | 8 | P | CH B\ | Yellow |
Encoder Z+ | 9 | M | CH Z | Yellow/White |
Encoder Z- | 10 | U | CH Z\ | Red/White |
Hall A | 16 | E | CH U | Pink |
None* | N.C.* | R | CH U\ | Tan |
Hall B | 17 | F | CH V | White |
None* | N.C.* | S | CH U\ | Green |
Hall C | 18 | G | CH W | Brown/White |
None* | N.C.* | H | CH W\ | Orange/White |
Connector Housing** | ** | D | Gnd/Cable | Drain |
Thermal Switch | 12 | A | THERM | Orange |
Thermal Switch | 13 | L | THERM | Brown |
Connector Housing** | ** | J | SHLD | Black |
*The Hall signals on the MPM motors are diffential, therefore, you do not need to connect the negative signals of each hall state to the single-ended Gemini Hall signals.
**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 encoder 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.
Motor Power Connections
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 |
Ground | GND | D | PE GND | Green/Yellow |
Phase | Hall State | Direction | ||
|---|---|---|---|---|
U Terminal | V Terminal | W Terminal | # | Clockwise** |
+ | - | + | 3 | | |
+ | - | - | 2 | | |
+ | + | - | 6 | | |
- | + | - | 4 | | |
- | + | + | 5 | | |
- | - | + | 1 | V |
*Please refer to Appendix B - Non-Compumotor Motors section of the Gemini GV/6/6K Hardware Installation Guide for further information.
This chart applies only if CMDDIR0, ENCPOL0, & SHALL0 (all defaults) are set properly. The encoder counts positive when the motor shaft rotates clockwise.
**Clockwise rotation with respect to the motor shaft extended towards the operator.Notes:
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. 3.3.2.4 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)Switches Hall Signals A and B, 2) Inverts the level of all the signals like SHALL1, 3) Inverts the commanded direction and encoder feedback polarity internally similar to CMDDIR1 (see Encoder Polarity below).
Encoder Polarity - the encoder will still count positive when the motor shaft rotates clockwise. However, the encoder output signals on the DRIVE I/O connector, pins 14 -19, will now count in the opposite direction. Therefore, a clockwise rotation of the shaft will increase encoder counts when TPE is queried on the drive, but will decrease the encoder counts sent out of the drive to an external device connected to DRIVE I/O.
6K Controller connection - the encoder output (DRIVE I/O pins 14-19) now counts opposite to a positive commanded input because of MXPLUS1, the encoder polarity on the 6K Controller MUST be set to invert, ENCPOL1, direction for each servo axis.
ACR Controller connection - the encoder output (DRIVE I/O pins 14-19) now counts opposite to a positive commanded input because of MXPLUS1, the encoder polarity on the ACR Controller MUST be set to invert, MULT to a negative value, direction for each servo axis.
DMODE13 (Autorun) - the motor turns counter-clockwise with MXPLUS1.
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