Parker Automation Gemini GV6K, Command Reference Manual

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78 Gemini GV6K/GT6K Command Reference
DMONAV
Analog Monitor Output A — Variable
Type
Outputs
Syntax
<a_><!>DMONAV<i>
Units
i = variable number
Range
0-24 (0 = turn off output)
Default
0 (turn off output)
Response
DMONAV: *DMONAV0
See Also
DMEPIT, DMONAS, DMONBS, DMONBV
Product Rev
GT6K 6.0
GV6K 6.0
The
DMONAV
command selects the function (or signal) that will be presented at the 8-bit DAC “
Analog Out A
”
terminal (pin 21 on the
DRIVE I/O
connector).
Number Name Description GT6K GV6K
0 Unused / Turn off output No output function selected X X
1 Motor Temperature
(
TMTEMP
) Estimated motor winding temperature based on a
second-order thermal model (see the Hardware Installation Guide
for details). Normalized to
±
10 volts equals
±
250
o
C.
X
2 Drive Temperature
(
TDTEMP
) Measured internal drive temperature. Normalized to
±
10 volts equals
±
250
o
C.
X X
3 Position Error
This value is normalized as follows (value clips at
±
1 rev or
±
1 electrical pitch, regardless of the
DMONAS
setting):
•
Rotary motors:
±
10V =
±
1 rev (based on
TPER
÷
ERES
)
•
Linear motors:
±
10V =
±
1 epitch (based on
TPER
÷
DMEPIT
)
X
4 Velocity Setpoint
(
TVEL
) User commanded velocity. Normalized to
±
10 volts
equals
±
200 revs/sec (rotary) or
±
8.4 meters/sec (linear).
X X
5 Estimated Actual Velocity (
TVELA
) Output of velocity estimator, based on encoder or
resolver data. Normalized to
±
10 volts equals
±
200 revs/sec
(rotary) or
±
8.4 meters/sec (linear).
X
6 Acceleration Setpoint (
TACC
) User commanded acceleration. X X
7 Torque/Force Setpoint
(
TTRQ
) User commanded torque/force.
X
8 Actual Torque/Force (
TTRQA
) Calculated torque/force based on measured motor
current and motor Ke (
DMTKE
). Scaled as a % of
DMTSCL
.
X
9 Velocity Error
(
TVE
) Normalized to
±
10 volts equals
±
200 revs/sec (rotary) or
±
8.4 meters/sec (linear).
X
10 Phase A Commanded
Current Instantaneous commanded current for phase A (Volts per Amp). * X
11 Phase A Actual Current Instantaneous measured current for phase A (Volts per Amp). * X X
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