Command Descriptions
81
Number
Name
Description
GT6K
GV6K
23
Position Setpoint
This value is normalized as follows (value clips at
±
1 rev or
±
1 electrical pitch (epitch), regardless of the
DMONAS
setting):
•
Rotary motors:
±
10V =
±
1 rev (based on
TPC
÷
ERES
)
•
Linear motors:
±
10V =
±
1 epitch (based on
TPC
÷
DMEPIT
)
X
24
Actual Position
This value is normalized as follows (value clips at
±
1 rev or
±
1 electrical pitch, regardless of the
DMONAS
setting):
•
Rotary motors:
±
10V =
±
1 rev (based on
TPE
÷
ERES
)
•
Linear motors:
±
10V =
±
1 epitch (based on
TPE
÷
DMEPIT
)
X
* The nominal Volts per Amp scaling is drive dependent, and is shown below:
Stepper
Drive
Nominal (V/A)
Current Scaling
Servo
Drive
Nominal (V/A)
Current Scaling
GT6K-L5
1.432
GV6K-L3
0.615
GT6K-L8
0.882
GV6K-U3
0.615
GV6K-U6
0.308
GV6K-U12 0.205
GV6K-H20 0.123
GV6K-H40
0.062
DMTAMB
Motor Ambient Temperature
Type
Motor
Syntax
<a_><!>DMTAMB<r>
Units
r = Degrees Celsius
Range
-50.0 to 250.0 : ±0.1
Default
40.0
Response
DMTAMB:
*DMTAMB40.0
See Also
DMTMAX, DMTRWC, DMTTCM, DMTTCW, TASX
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
DMTAMB
command sets the motor ambient temperature used by the software motor thermal model. The
DMTAMB
value, in conjunction with the motor thermal time constant (
DMTTCM
), the motor winding time
constant (
DMTTCW
), the motor thermal resistance (
DMTRWC
) and the continuous motor current (
DMTIC
), is
used in a real-time estimation of the motor winding temperature. When the winding temperature exceeds
DMTMAX
, the drive faults and
TASX
bit #30 is set.
NOTE
: If you cycle power, or issue a
RESET
or
DRESET
command, the drive resets its motor thermal
model (in internal software). Be aware that your motor’s winding temperature may still be high.
DMTD
Motor Damping
Type
Motor
Syntax
<a_><!>DMTD<r>
(does not take effect until RESET, DRESET or
cycle power)
Units
Rotary motor: r = Nm/rad/sec
Linear motor: r = N/meter/sec
Range
Rotary motor: 0.000000 to 0.010000 : ±0.000001
Linear motor: DMEPIT (electrical pitch) dependent
Default
0.000000
Response
DMTD: *DMTD0.002000
See Also
DMTR,
LDAMP
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
NOTE
: This command does not take effect until you cycle power to the drive, or issue a
RESET
or
DRESET
command.
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