Chapter 3 – Configuration
25
DPOLE
number of pole pairs
DMTW
rated speed
DMTIP
peak current
DMTLMN
minimum line-to-line inductance
DMTLMX
maximum line-to-line inductance
DMTD
motor damping
DMTRWC
motor thermal resistance (winding to case)
DMTTCM
motor case (and heatsink) thermal time constant
DMTTCW
motor winding thermal time constant
DPWM
PWM switching frequency
DMTMAX
motor maximum temperature
SHALL
Hall sensor orientation
GT6K Commands
Description
DMTSTT
static torque
DMTIC
continuous current
DMTIND
inductance
DMTRES
phase resistance
DMTJ
rotor inertia
DPOLE
number of pole pairs
DIGNA
current loop gain
DIGNB
current loop gain
DIGNC
current loop gain
DIGND
current loop gain
System Settings
The system settings configure the drive’s mode of operation, resolution, fault
modes and inertia ratio.
Drive Settings – GV6K
Command Description
Options:
DMODE
mode of operation:
alignment mode
controller/drive mode
autorun
1
torque/force tuning mode
position tuning mode
DMEPIT
electrical pitch of magnets
you enter a number
ORES
encoder output resolution
you enter a number
DMTLIM
torque limit
you enter a number
DMTSCL
torque scale
you enter a number
DMVLIM
velocity limit
you enter a number
1
Autorun mode commands motion with no program control. It is used during
Express
Setup, and for troubleshooting.
Drive Settings – GT6K
Command Description
Options:
DMODE
mode of operation:
controller/drive mode
autorun
1
DMEPIT
electrical pitch of magnets
you enter a number
