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DMTW
Motor Rated Speed
Type
Motor
Syntax
<a_><!>DMTW<r>
cycle power)
Units
Rotary motor: r = revs/sec
Linear motor: r = meters/sec
Range
Rotary motor: 0.0 to 200.0 : ±0.1
Linear motor: DMEPIT (electrical pitch) dependent
Default
0.0
(DMTW of 0 results in motor config. error)
Response
DMTW:
*DMTW150.0
See Also
DMEPIT, DMTICD, 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
-32718 to the TCS register, and shuts down the drive (DRIVE0).
The
command specifies the rated speed of the motor. This is the lesser of:
DMTW
• (rotary motor) The motor mechanical limit of 7500 RPM (125 rps)
• (rotary motor) The encoder limit of 6000 rpm (100 rps) for a 1000-line encoder
• Linear motor speed limitations include encoder resolution and track length.
• The corner of the continuous speed/torque or speed/force curve (the point where the continuous
torque/force breaks downward).
The
value is used in conjunction with
DMTW
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
DMVLIM
Velocity Limit
Type
System
Syntax
<a_><!>DMVLIM<r>
Units
Rotary motor: r = revs/sec
Linear motor: r = meters/sec
Range
Rotary motor: GT6K: 0.000000 to 60.000000 : ±0.000001
Linear motor: DMEPIT (electrical pitch) dependent
Default
GT6K:
50.000000
GV6K: 200.000000
Response
DMVLIM:
*DMVLIM50.000000
See Also
DCLRLR, DMODE, DMTR, SGVRAT, TASX, TGAIN, TSGSET
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 limit that commanded velocity cannot exceed, without affecting gains or
DMVLIM
scaling. This is typically used to protect parts of the mechanical system.
In controller/drive mode (
DMODE12
If the velocity demand from the internal Gem6K control loops exceeds the limits set by
bit 18 will be set. The Gem6k responds to this condition by invoking the "Override Mode," in which the
92
Gemini GV6K/GT6K Command Reference
(does not take effect until RESET, DRESET or
to protect the motor from thermal damage.
DMTICD
GV6K: 0.000000 to 200.000000 : ±0.000001
),
clamps the command to the specified value.
DMVLIM
www.comoso.com
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
or
RESET
DRESET
Product
Rev
GT6K
6.0
GV6K
6.0
, then
DMVLIM
TASX
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