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Gem6K Hardware Installation Guide
Tuning Settings – GV6K
Tuning settings are divided into two groups: primary and advanced. Tuning can be
done in torque, velocity, or position mode. Tuning procedures for each of these
modes are presented later in this chapter. Relevant commands are:
Primary Tuning
Command Description
Options:
DIBW
current loop bandwidth
you enter a number
DPBW
position loop bandwidth
you enter a number
Advanced Tuning
Command Description
Options:
DIBW
current loop bandwidth
you enter a number
DPBW
position loop bandwidth
you enter a number
SGIRAT
current (torque) damping ratio you enter a number
SGVRAT
velocity damping ratio
you enter a number
SGPRAT
position damping ratio
you enter a number
SGPSIG
position/velocity bandwidth
you enter a number
ratio
SGINTE
integration selection
you enter a number
DNOTAF
notch filter A frequency
you enter a number
DNOTAD
notch filter A depth
you enter a number
DNOTAQ
notch filter A quality factor
you enter a number
DNOTBF
notch filter B frequency
you enter a number
DNOTBD
notch filter B depth
you enter a number
DNOTBQ
notch filter B quality factor
you enter a number
DNOTLD
notch lead filter frequency
you enter a number
DNOTLG
notch lag filter frequency
you enter a number
Motor Control Settings – GT6K
Motor control settings are divided into two groups: motor matching; and damping .
Motor Matching
Motor matching is used to match the drive to your specific motor. A procedure for
performing motor matching is presented at the end of this chapter. Relevant
commands are:
Command Description
Options:
DWAVEF
% 3rd harmonic current
you enter a number
waveform component
DPHBAL
phase B balance
you enter a percentage
DPHOFA
phase A current offset
you enter a percentage
DPHOFB
phase B current offset
you enter a percentage
Damping
These commands are used to configure the drive’s settings for damping. A
procedure for adjusting damping settings is presented later in this chapter. Rel-
evant commands are:
