Parker Automation Gemini GV6K, Command Reference Manual

Page: 99 / 362

Command Descriptions 97
DNOTLG
Notch Lag Filter Break Frequency
Type
Tuning
Syntax
<a_><!>DNOTLG<i>
Units
i = Hz
Range
0 (disable), or 20-1000
Default
0 (filter is disabled)
Response
DNOTLG: *DNOTLG400
See Also
DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, TGAIN,
TSGSET
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
DNOTLG
command sets the break frequency of the lag filter. This filter can be used alone, or in
conjunction with lead filter (
DNOTLD
) to improve the phase response of the notch filters. In this case, the lag
value (
DNOTLG
) must be greater than or equal to ¼ of the lead value (
DNOTLD
), but not greater than the
DNOTLD
value.
If
DNOTLG
is lower than ¼ the value of
DNOTLD
, the new
DNOTLG
value will be ignored (but not
overwritten), the configuration warning bit (
TASX
bit #28) will be set, and the last valid
DNOTLG
value will
be used internally.
This filter operates in all
DMODE
settings, except Autorun (
DMODE13
) and Torque/Force Tuning mode
(
DMODE15
).
Working with servo gains .
•
Servo tuning process: refer to the Hardware Installation Guide .
•
Check the values of all active gains (
DNOTLG
is one of many servo gains): use
TGAIN .
•
Creating and invoking gain sets: see
SGSET
,
SGENB
,
TGAIN
,
TSGSET .
DPASS
Change RP240 Password
Type
Display (RP240) Interface
Syntax
<a_><!>DPASS<i>
Units
i = integer of up to 4 characters
Range
1 – 9999
Default
For the Gx6K: DPASS6000
Response
DPASS: * DPASS6000
See Also
DCLEAR, DLED, DPCUR, DSTP, DVAR, DVARB, DVARI, DWRITE
Product Rev
GT6K 6.0
GV6K 6.0
The
DPASS
command changes the RP240 password. If the default password is not changed by the user,
then there will be no password protection.
Example:
DPASS1234 ; New password = 1234
DPBW
Position Loop Bandwidth
Type
Tuning
Syntax
<a_><!>DPBW<r>
Units
r = Hz
Range
1.00 to 100.00 : ±0.01
Default
5.00
Response
DPBW: *DPBW10.00
See Also
DIBW, DMTR, SGPRAT, LJRAT, TGAIN, TSGSET
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
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.
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