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not overwritten), the status warning bit #28 in
used. This warning is cleared with the
The motor's torque/force constant (Kt) is derived from the motor's voltage constant (Ke, which is set by
the
command) by the following relationship (note:
DMTKE
Rotary motors:
Linear motors:
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
Working with servo gains.
• Servo tuning process: refer to the Hardware Installation Guide.
• Check the values of all active gains (
• Creating and invoking gain sets: see
DMTLMN
Minimum Motor Inductance
Type
Motor
Syntax
<a_><!>DMTLMN<r>
cycle power)
Units
r = mH (measured line-to-line)
Range
0.1 to 200.0 (motor dependent) : ±0.1
Default
0.0
(DMTLMN of 0 results in motor config. error)
Response
DMTLMN:
*DMTLMN10.0
See Also
DMTLMX, DMTR, TASX, TCS
NOTE: This command does not take effect until you cycle power to the drive, or issue a
command.
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
-32715 to the TCS register, and shuts down the drive (DRIVE0).
The
command specifies the minimum value of motor inductance. This will usually differ from the
DMTLMN
nominal nameplate value because actual inductance is usually position dependent.
If
value is less than the "Lmin" value (see table below), the drive will fault (motor configuration
DMTLMN
error is reported in
bit #7).
TASX
Lmin (min. phase-phase inductance)
86
Gemini GV6K/GT6K Command Reference
will be set, and the maximum internal value will be
TASX
or
command or by cycling power to the drive.
RESET
DRESET
Ke is set with the DMTKE command
3
3
=
*
Kt
(
Nm
/
A
)
*
π
200
*
peak value
3
3
=
*
Kt
(
N
/
A
)
*
Ke
π
200
*
peak value
is one of many servo gains): use
DMTLIM
,
,
SGSET
SGENB
TGAIN
(does not take effect until RESET, DRESET or
Units
GV6K-L3 GV6K-U3 GV6K-U6 GV6K-U12 GV6K-H20 GV6K-H40
mH
0.5
5.0
www.comoso.com
):
*
Ke
(
Volts
/
krpm
)
*
(
Volts
/(
meter
/
sec))
NOTE: The
TGAIN.
,
.
TSGSET
Product
GT6K
GV6K
(applicable only to
servo axes)
RESET
5.0
5.0
5.0
Rev
n/a
6.0
or
DRESET
5.0
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