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DMTR
Identify (and Load) Motor
Type
Drive Configuration
Syntax
<a_><!>DMTR<i>
Units
i = Parker motor identification number
Range
0-3000 (0 = non-Parker motor; 1-3000 = Parker motor)
Default
-1 (motor config. Parameters are not configured)
Response
DMTR:
*DMTR50
See Also
(see parameter table below), DRIVE, RESET, RFS, TASX, TCS
The purpose of the
command is to record and report the identification number of the Parker motor
DMTR
you selected in the setup tool in Motion Planner (see page 6).
When you select a specific Parker motor using the Motion Planner setup tool, the
motor parameters (see list below) are automatically configured for the associated motor and saved in a
configuration file. After you download the configuration file to the Gem6K drive, you must cycle drive
power, or issue a
or
RESET
DRESET
effect. (NOTE: If you do not select a Parker motor, the default setting,
all relevant motor parameters manually.) Avoid using the
because the new
value may not represent the actual motor parameters that are currently loaded in the
DMTR
drive. Instead, use the Motion Planner setup tool to change the motor number.
Stepper Motor Data Parameters
DIGNA .......Current Loop Gain A
DIGNB .......Current Loop Gain B
DIGNC .......Current Loop Gain C
DIGND .......Current Loop Gain D
DMTIC .......Continuous Current
DMTIND .....Motor Inductance
DMTJ .........Motor Rotor Inertia
DMTRES .....Motor Winding Resistance
DMTSTT .....Motor Static Torque
DMVLIM .....Velocity Limit
DPOLE .......Number of Motor Pole Pairs
Although these command values are auto-configured when you select a Parker motor (using the setup tool in Motion Planner), you may
individually set the command values with the respective configuration command.
For many of the above motor parameters, if they are not configured (i.e., a command is left at its factory default
value, or an RFS command is executed) when the Gem6K drive is powered up, a motor configuration "error" or
"warning" is reported in TASX bit #7 or bit #28 (an "error" also disables the drive – DRIVE0). To resolve the error or
warning condition, you must select a Parker motor with Motion Planner (or configure each motor parameter
command with a value other than zero – using a Gem6K terminal emulator), download the resulting configuration
information and then cycle power, or issue the RESET or DRESET command.
Updating the motor data table. The motor information for the parameters list above is located in a file
named "GEM_motors.mtr" and is used by Motion Planner to configure the Gem6K drive. Updates to this file
are maintained on the Compumotor web site (
If you need to update the information, download the latest motor table file. If you are using Motion Planner,
place the updated file in the Motion Planner directory (default location is
).
Planner
88
Gemini GV6K/GT6K Command Reference
command for the
and all the motor parameter commands to take
DMTR
DMTR
Servo Motor Data Parameters
DIBW .......... Current Loop Bandwidth
DMEPIT ...... Motor Electrical Pitch
DMTD .......... Motor Damping
DMTIC ........ Continuous Current
DMTICD ...... Continuous Current Derating
DMTIP ........ Peak Current
DMTJ .......... Motor Rotor Inertia
DMTKE ........ Motor Ke
DMTLIM ...... Torque/Force Limit
DMTLMN ...... Minimum Motor Inductance
DMTLMX ...... Maximum Motor Inductance
DMTMAX ...... Maximum Motor Winding Temp.
DMTRES ...... Motor Winding Resistance
DMTRWC ...... Motor Winding Thermal Resistance
Motor Configuration Error
http://www.compumotor.com
www.comoso.com
Product
GT6K
GV6K
setting and various
DMTR
, is used and you must set
DMTR-1
command to change the motor number,
DMTSCL .... Torque/Force Scaling
DMTTCM .... Motor Thermal Time Constant
DMTTCW .... Motor Winding Time Constant
DMTW ........ Motor Rated Speed
DMVLIM .... Velocity Limit
DPBW ........ Position Loop Bandwidth
DPOLE ...... Number of Motor Pole Pairs
DRES ........ Drive Resolution
ERES ........ Encoder Resolution
ORES ........ Encoder Output Resolution
SFB........... Feedback Source Selection
SRSET ...... Resolver Offset Angle
) — search for "GEM_motors.mtr".
\Program Files\Compumotor\Motion
Rev
6.0
6.0
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