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Gem6K Hardware Installation Guide
Configuring Electronic Viscosity (DELVIS)
1.
Enter an accurate value for the load parameter, using the following command:
Command:
Parameter:
LJRAT
system load-to-rotor inertia ratio
2.
If you use a Parker motor, the following parameters are automatically set when you
use Motion Planner to select a motor. You do not need to enter values for them
now.
If you use a non-Parker motor, use the following commands to enter accurate
values for the specified motor parameters:
Command:
Motor Parameter:
DMTJ
rotor inertia
DMTSTT
static torque
DPOLE
number of motor pole pairs
DMTIC
continuous current
DMTIND
inductance
3.
Start with DELVIS set to 0, which is
disabled. (This is the default setting.)
4.
Increase DELVIS until your system performs as you require.
•
1 - 7 is the full range
•
5 provides optimal damping
•
0 is
off
The figure above shows performance with Electronic Viscosity, with ABS Damping,
and without damping.
Configuring Active Damping (DACTDP)
Using motor and load parameters, the drive calculates the optimum damping setting
for your system, and scales this value to a setting of DACTDP20. However, the
default setting is DACTDP4.
1.
Enter an accurate value for the load parameter, using the following command:
Command:
Parameter:
LJRAT
system load-to-rotor inertia ratio
2.
If you use a Parker motor, the following parameters are automatically set when you
use Motion Planner to select a motor. You do not need to enter values for them
now.
If you use a non-Parker motor, use the following commands to enter accurate
values for the specified motor parameters:
Command:
Motor Parameter:
DMTJ
rotor inertia
DMTSTT
static torque
DMTIND
inductance
3.
Begin configuration with low values of DACTDP. Low values yield less aggressive
damping.
4.
Increase DACTDP until the system performs as you require. The optimum setting is
DACTDP20. Note that higher values tend to cause overly aggressive damping, and
generate jerk impulses that may result in machine vibration.
Configuring Encoderless Stall Detect Settings
You can use the GT6K’s encoderless stall detect function to detect motor stalls. A
stall occurs when the motor’s rotor loses synchronism with the stator. An external
feedback device is not required to detect stalls.
Some machine safety regulations require that external hardware feedback be used.
Do not use the GT6K’s stall detect function as a replacement for external feedback
in such cases.
In order for the drive to detect a stall, the duration of the stall must be greater than
50 milliseconds. NOTE: if you use high values of active damping, extremely
