- 96 - Aries User Guide
DMTLIM
Torque/Force Limit
Type
System
Product Rev
Syntax
<a_>DMTLIM<r>
Aries 1.0
Units
Rotary motor: r = Nm
Linear motor: r = N
Range
Rotary motor: Ø.Ø to 5ØØ.Ø (motor/drive dependent):
±Ø.1
Linear motor: DMEPIT (electrical pitch) dependent
Default
4ØØ.Ø
Response
DMTLIM: <*>1Ø.5
See Also
DMODE
,
DMTIP
,
DMTKE
,
DMTR
,
DMTSCL
,
TTRQ
,
TTRQA
Auto-Setup
: When using a Parker motor and the Aries Support Tool, this
command is automatically set for the selected motor.
If you did not use the Aries Support Tool, are using non-Parker motors, or
sent an
RFS
command to the drive, the parameter is set to zero (0)—you
must
manually set this parameter
to a non-zero number.
For a list of auto-configured commands, see
DMTR
.
The
DMTLIM
command sets a maximum torque/force limit for the system.
Requests for higher torque/force will be clamped to this value. This command
will default automatically to a value appropriate to the motor selection (
DMTR
)
and the Aries drive you are using, and no changes are required in many
cases.
If your mechanical system has torque/force limitations (due, for example, to
the limitations of a coupler or belt), you can use this command to limit system
torque/force without affecting system scaling or gains.
During initial tuning, this command can be used to limit the torque/force
produced if the system becomes unstable, reducing the rate of motor heating
and allowing more reaction time for the person tuning the system, and
reducing the chances of damage to the mechanical system.
If
DMTLIM
is set higher than the value allowed by the motor’s peak current
times the motor’s Kt, or the drive’s peak current times the motor’s Kt
(whichever is lower), the new
DMTLIM
value will be ignored (but not
overwritten). In addition, the drive reports
EO –Motor configuration
Warning
and
E11–Torque Rating Too High for Drive
, and the
maximum internal value is used. You can clear the warning by sending the
RESET
command or cycling power to the drive.
The motor’s torque/force constant (Kt) is derived from the motor’s voltage
constant (Ke, which is set by the
DMTKE
command) by the following
relationship (
Note:
Ke
is set with the
DMTKE
command):
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