Parker Automation Gemini GV6K, Command Reference Manual

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88 Gemini GV6K/GT6K Command Reference
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
Product Rev
GT6K 6.0
GV6K 6.0
The purpose of the
DMTR
command is to record and report the identification number of the Parker motor
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
DMTR
setting and various
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
RESET
or
DRESET
command for the
DMTR
and all the motor parameter commands to take
effect. ( NOTE : If you do not select a Parker motor, the default setting,
DMTR-1
, is used and you must set
all relevant motor parameters manually.) Avoid using the
DMTR
command to change the motor number,
because the new
DMTR
value may not represent the actual motor parameters that are currently loaded in the
drive. Instead, use the Motion Planner setup tool to change the motor number.
Stepper Motor Data Parameters Servo 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
DIBW .......... Current Loop Bandwidth DMTSCL .... Torque/Force Scaling
DMEPIT ...... Motor Electrical Pitch DMTTCM .... Motor Thermal Time Constant
DMTD .......... Motor Damping DMTTCW .... Motor Winding Time Constant
DMTIC
........ Continuous Current
DMTW
........ Motor Rated Speed
DMTICD ...... Continuous Current Derating DMVLIM .... Velocity Limit
DMTIP
........ Peak Current
DPBW
........ Position Loop Bandwidth
DMTJ .......... Motor Rotor Inertia DPOLE ...... Number of Motor Pole Pairs
DMTKE
........ Motor Ke
DRES
........ Drive Resolution
DMTLIM ...... Torque/Force Limit ERES ........ Encoder Resolution
DMTLMN
...... Minimum Motor Inductance
ORES
........ Encoder Output Resolution
DMTLMX ...... Maximum Motor Inductance SFB ........... Feedback Source Selection
DMTMAX
...... Maximum Motor Winding Temp.
SRSET
...... Resolver Offset Angle
DMTRES
...... Motor Winding Resistance
DMTRWC ...... Motor Winding Thermal Resistance
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.
Motor Configuration Error
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 (
http://www.compumotor.com
) — search for “GEM_motors.mtr”.
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
\Program Files\Compumotor\Motion
Planner
).
www.comoso.com