Danaher Motion
09/05
VARIABLE AND COMMAND LIST
VarCom Reference
M-SS-017-04 Rev. M
29
GV
Sets the proportional gain for the Proportional Integral Velocity Control
Loop (PI loop; COMPMODE = 0). Executing
TUNE
successfully may
change the value of this parameter.
Firmware Versions:
All
Range:
0 to 1,000,000,000 (firmware versions 3.3.0 and later)
0 to 65,535 (firmware versions 2.2.0 to 3.2.1)
0 to 32,767 (firmware versions up to 2.2.0)
Default:
500
Type:
variable (R/W)
Units:
N/A
EEPROM:
Yes
Opmodes:
0,1,4,8
Drive Status:
EN/DIS
GVI
Sets the velocity integral gain for the Proportional Integral Velocity
Control Loop (PI loop; COMPMODE = 0). Executing
TUNE
successfully may change the value of this parameter.
Firmware Versions:
All
Type:
variable (R/W)
Range:
0 to 65535
Default:
20
Opmodes:
0,1,4,8
Drive Status:
EN/DIS
Units:
N/A
EEPROM:
Yes
HALLS
Returns the hall switch values (encoder feedback option only). The
switch values are displayed as a three-bit code in the sequence C-B-A.
Firmware Versions:
All
Type:
switch mode (R)
Range:
000 to 111
Default:
N/A
Opmodes:
2 and 3
Drive Status:
EN/DIS
Units:
bits
EEPROM:
No
HCMODE
Selects the harmonic correction mode of operation.
0
– Disabled
1
– Harmony HC1 corrects position feedback used for velocity
(resolver systems), harmonics HC2, HC3 summed and correct
the torque command.
2
– All harmonies are summed and used for torque correction.
3
– All harmonies are summed and used for resolver feedback
correction (for velocity only.)
4
– Harmony HC1 and HC2 are summed to correct position
feedback used for velocity (resolver systems,) harmony HC3
corrects the torque command.
This command does not operate in torque Opmodes (2 and 3).
Firmware Versions:
3.4 and later
Type:
switch (R/W)
Range:
0 to 4
Default:
0
Opmodes:
0, 1, 4, 5, 6, 7, 8
Drive Status:
EN/DIS
Units:
N/A
EEPROM:
No
