Parker Automation Gemini GV6K, Command Reference Manual

Page: 78 / 362

76 Gemini GV6K/GT6K Command Reference
certain conditions, or if you upload the configuration file from the drive, the command values are reported
in rotary units.
Use the following table as a guide.
Command/Parameter To convert rotary to linear,
multiply by:
To convert linear to rotary,
multiply by:
DMTKE
(motor voltage constant) 60
DMEPIT
DMEPIT
60
DMTW
(motor rated speed)
DMVLIM
(velocity limit)
SMVER
(max. allowable velocity error)
TACC
(display commanded accel)
TVEL
(display commanded velocity)
TVELA
(display actual velocity)
TVE
(display velocity error)
Velocity & Accel/Decel (e.g.,
V
,
A
,
AD
)
DMEPIT
1000
1000
DMEPIT
DMTD
(motor damping)
DMTJ
(motor/forcer mass)
LDAMP
(load damping)
(
2
• π •
1000
)
2
(
DMEPIT
)
2
(
DMEPIT
)
2
(
2
• π •
1000
)
2
DMTLIM
(force limit)
DMTSCL
(force scaling)
2
• π •
1000
DMEPIT
DMEPIT
2
• π •
1000
If you are constructing your own motor data files, use the formulas from the table below. The key
conversion parameter is
r and is defined as:
( )
2 1000
DMEPIT mm
r
π
=
⋅
Linear Motor Convert to rotary units
General Motion Equation F Ma Dv
= +
T J B
α ω = +
Position
x m
=
x
radians
r
θ = =
Velocity
sec
m
v
=
sec
v radians
r
ω = =
Acceleration
2
sec
m
a
=
2
sec
a radians
r
α = =
Force / Torque
F N
=
T F r Nm
= ⋅ =
Mass / Inertia
kg M
=
2 2
J m r kgm
= ⋅ =
Damping
sec
N
D
m
=
2
sec
Nm
B D r
radians
= ⋅ =
Flux constant
,
_
sec
peak
e linear
V
K
m
φ φ −
=
,
_
2 1000
60
peak
e e Linear
V
K r K
krpm
φ φ
π
−
= ⋅ ⋅ =
www.comoso.com