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certain conditions, or if you upload the configuration file from the drive, the command values are reported
in rotary units.
Use the following table as a guide.
Command/Parameter
DMTKE (motor voltage constant)
DMTW (motor rated speed)
DMVLIM (velocity limit)
SMVER (max. allowable velocity error)
TACC (display commanded accel)
TVEL (display commanded velocity)
TVELA (display actual velocity)
TVE (display velocity error)
Velocity & Accel/Decel (e.g., V, A, AD)
DMTD (motor damping)
DMTJ (motor/forcer mass)
LDAMP (load damping)
DMTLIM (force limit)
DMTSCL (force scaling)
If you are constructing your own motor data files, use the formulas from the table below. The key
conversion parameter is r and is defined as:
General Motion Equation
Position
Velocity
Acceleration
Force / Torque
Mass / Inertia
Damping
Flux constant
76
Gemini GV6K/GT6K Command Reference
To convert rotary to linear,
multiply by:
60
DMEPIT
DMEPIT
1000
2
(
2 • π • 1000
)
2
(
)
DMEPIT
2 • π • 1000
DMEPIT
(
)
DMEPIT mm
=
r
π
⋅
2 1000
Linear Motor
=
+
F
Ma Dv
=
x
m
m
v =
sec
m
a =
2
sec
=
F
N
M =
kg
N
=
D
m
sec
V
φ φ
−
=
peak
,
K
K
e linear
_
e
m
sec
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To convert linear to rotary,
multiply by:
DMEPIT
60
1000
DMEPIT
2
(
)
DMEPIT
2
2 • π • 1000
(
)
DMEPIT
2 • π • 1000
Convert to rotary units
=
α
+
ω
T
J
B
x
θ =
=
radians
r
v
radians
ω =
=
r
sec
a
radians
α =
=
2
r
sec
=
⋅ =
T
F r
Nm
=
⋅
=
2
2
J
m r
kgm
Nm
=
⋅
=
2
B
D r
radians
sec
π
V
2 1000
= ⋅
⋅
=
peak
r K
e Linear
_
60
krpm
φ φ
−
,
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