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AUTO-SETUP:
This command is automatically set according to the Parker motor selected with the
configuration utility in Motion Planner (see page 6). If you did not use the configuration utility or are not using a
Parker Motor, this command is set to zero and you will have to manually set this parameter. (Refer to DMTR
for a list of auto-configured commands.) If the drive is powered up when this command is set to zero (for
instance, if RFS is executed), the drive reports a motor configuration error with TASX bit 7, writes a value of
-32727 to the TCS register, and shuts down the drive (DRIVE0).
The
command specifies the motor voltage constant (Ke). This defaults to the nominal Ke of the
DMTKE
motor selected with the
DMTR
The motor's torque/force constant (Kt) is derived from the motor's voltage constant (Ke) by the following
relationship:
Rotary motors:
Linear motors:
NOTE: The Gem6K requires values in rotary units. Motion Planner does these conversions for you when
you use the Setup Wizard. If you do not use the Setup Wizard, you must convert your linear units to rotary
units. See the
command for information on conversion.
DMEPIT
DMTLIM
Torque/Force Limit
Type
System
Syntax
<a_><!>DMTLIM<r>
Units
Rotary motor: r = Nm
Linear motor: r = N
Range
Rotary motor: 0.0 to 500.0 (motor/drive dependent) : ±0.1
Linear motor: DMEPIT (electrical pitch) dependent
Default
0
Response
DMTLIM:
*DMTLIM10.5
See Also
DCLRLR, DMEPIT, DMODE, DMTIP, DMTKE, DMTR, DMTSCL, TASX,
TGAIN, TSGSET, TTRQ, TTRQA
AUTO-SETUP:
This command is automatically set according to the Parker motor selected with the
configuration utility in Motion Planner (see page 6). If you did not use the configuration utility or are not using a
Parker Motor, this command is set to zero and you will have to manually set this parameter. Refer to DMTR for
a list of auto-configured commands.
The
command sets a maximum torque/force limit for the system. Requests for higher torque/force
DMTLIM
will be clamped to this value. This command will default automatically to a value appropriate to the motor
selection (
) and the GV6K drive you are using, and no changes are required in many cases.
DMTR
If your mechanical system has torque/force limitations (due, for example, to the limitations of a coupler or
belt), you can use this command to limit system torque/force without affecting system scaling or gains.
During initial tuning, this command can be used to limit the torque/force produced if the system becomes
unstable.This reduces the rate of motor heating, allows more reaction time for the person tuning the system,
and lessens chances of damage to the mechanical system.
When the GV6K's commanded torque/force reaches the limit set by
bit #31 is set.
bit #31 remains set until you clear it with the
TASX
a
or
. This is not considered a fault condition.
RESET
DRESET
If
is set higher than the value allowed by the motor's peak current times the motor's Kt, or the
DMTLIM
drive's peak current times the motor's Kt (whichever is lower), the new
command.
3
=
*
Kt
(
Nm
/
A
)
200
*
peak
value
3
3
=
*
Kt
(
N
/
A
)
π
200
*
peak
value
www.comoso.com
3
*
*
Ke
(
Volts
/
krpm
)
π
*
*
Ke
(
Volts
/(
meter
/
sec))
(
=
DMTLIM
TTRQ
DMTLIM
command, cycle power, or issue
DCLRLR
value will be ignored (but
DMTLIM
Command Descriptions
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
),
TASX
85
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