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TGAIN
Transfer Active Gains
Type
Transfer
Syntax
<a_><!>TGAIN
Units
n/a
Range
n/a
Default
n/a
Response
(list of all gain values)
See Also
SGENB, SGSET, TSGSET, (see list below)
This command allows you to display the value of each of the gains presently in effect (see list below). Each
time an individual gain is entered, the
with the
command, the present value of each gain is set to the values saved in that particular gain
SGENB
set.
• DIBW (current loop bandwidth)
• DMTLIM (torque/force limit)
• DMVLIM (velocity limit)
• DNOTAD (notch filter A depth)
• DNOTAF (notch filter A frequency)
• DNOTAQ (notch filter A quality factor)
• DNOTBD (notch filter B depth)
• DNOTBF (notch filter B frequency)
• DNOTBQ (notch filter A quality factor)
• DNOTLD (notch lead filter break frequency)
• DNOTLG (notch lag filter break frequency)
THALL
Transfer Hall Sensor Values
Type
Transfer
Syntax
<a_><!>THALL
Units
n/a
Range
1-6 (0 or 7 is a fault condition – see TASX bit #21)
Default
n/a
Response
THALL:
*THALL6
See Also
SHALL, TASX
Encoder Motors (with
SFB1
distinct Hall states, from 1 to 6. Rotating the motor shaft clockwise, the Hall state order should be
,
,
,
,
,
,
,
(and so on).
4
6
2
3
1
5
4
6
values
and
are invalid and will fault the drive and set
THALL
0
7
the Hall wiring or grounding/noise conditions).
For a complete description on how to troubleshoot Hall sensors, especially for non-Compumotor motors,
refer to the Hardware Installation Guide section on using non-Compumotor motors.
Resolver Motors (with
SFB4
register is updated accordingly. When a gain set is enabled
TGAIN
• DPBW (position loop bandwidth)
• LDAMP (load damping)
• LJRAT (load-to-rotor inertia ratio or load-to-force mass ratio)
• SGAF (acceleration feedforward gain)
• SGINTE (integrator enable)
• SGIRAT (current damping ratio)
• SGPRAT (position loop ratio)
• SGPSIG (velocity/position bandwidth ratio)
• SGVF (velocity feedforward gain)
• SGVRAT (velocity damping ratio)
): The
command reports the present Hall sensor value. There are six
THALL
): If you use a resolver motor,
www.comoso.com
bit #21 (in case of this fault, check
TASX
will always report a value of 7.
THALL
Command Descriptions
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
,
,
,
,
,
6
2
3
1
5
295
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