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Gemini GT6 Hardware Installation Guide
Configuration
You can configure the Gemini drive’s settings for optimum system performance.
For most of these settings, configuration is optional—if you do nothing, the drive
will use default values the very first time it powers up. If you change any settings,
the new settings are automatically saved. Most changed settings are effective
immediately, but some require that you issue a reset (software command, reset
input, or cycle power) before the drive acts upon them.
This chapter will give an overview of all software commands that configure drive
settings. For more in depth descriptions about the software commands, see the
separate Gemini Programmer's Reference.
At the end of this chapter, we have provided procedures you can use to configure
the Gemini drive’s settings for advanced features, including damping and stall
detect; and to match the drive to the motor.
Software Programs for Configuration
Two software programs used for drive configuration are located on the Motion
Planner CD-ROM. Motion Planner runs on a personal computer (PC). Pocket
Motion Planner runs on a palm PC or Handheld Personal Computer (HPC) that
uses Windows CE 2.0 or higher, or on a PC. These programs are also available on
the Compumotor web site at http://www.compumotor.com.
Information about installing and using each of these software tools can be found in
the Gemini Programmer's Reference.
Overview of Configuration Commands
Motion Planner and Pocket Motion Planner’s configuration procedures present
commands in groups organized by function. The overview below is organized
similarly to the software’s Full Configuration procedure. (Express Setup, which
was used in Chapter 2 Installation, gave you fewer configuration options.)
Motor Settings
If you select a Compumotor motor from the list of motors the software presents to
you, the software will send settings to the drive for the motor you selected. No
further motor configuration setting is necessary on your part.
If you use a non-Compumotor motor, or choose to configure a Compumotor
motor, use the following commands to configure motor settings:
Command
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
