Gemini MaxPlus (MPM) Resolver Option 1 Connection

Owned by Jack Degrano
Last updated: Aug 05, 2024 by Eric Rojas (Unlicensed)
2 min read

The following is a table for the MaxPlus (MPM) Resolver Option 1 Termination to Gemini Connections:

Gemini Feedback Connector

Option 1 Resolver Cable (170-24xxx)***

Gemini Feedback Connector

Option 1 Resolver Cable (170-24xxx)***

Function

Pin#

Pin Letter

Function

Wire Color***

Thermal Switch

12

N

THERM

Blue/White

Thermal Switch

13

U

THERM

Black/White

Sin+

23

H

SIN

Yellow

Sin-

24

F

SIN GND

Blue

Cos +

25

S

COS

Red

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.

image-20240202-231416.png

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)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.

Â