6. COMMAND REFERENCE
95
MOTOR
Motor Settings
Syntax
aMOTOR(Type,Current,Resolution,Max_vel,Thermal_const,Resistance,
Inductance,KT)
Description
This command describes the characteristics of the motor being used to the
rest of the drive. The parameters used are:
Type – 0 to 65535 number code, which includes pole count, feedback type,
brake and any other particular requirements (refer to EASI-V).
Current – RMS continuous stall current (0.1 to 14.4 A in 0.1 A increments).
Default setting depends upon motor type. RFS default setting is 0.1 A.
Resolution – Rotary servo 2000, 4000, 4096, 8000, 20000 in steps/rev
(post-quad)
Linear servo 2,000 to 4,200,000 in steps per pole pitch
Max_vel
1 to 12,000 rpm
Thermal_const – Thermal time constant of the motor 0 to 65000 seconds
Resistance – Winding resistance in Ohms*
Inductance – Winding inductance in mH*
KT – Torque constant of the motor (Nm/A)
Note: Thermal time constant – is the time in seconds for the motor to reach
two-thirds of its rated temperature while operating at its continuous current
rating
*Measured line-to-line across the motor terminals.
The command sets all of the motor parameters and then calculates the
optimum settings for the digital torque amplifier.
If there is no HV present when the motor command is issued, the HV is
assumed to be 80V, and this figure is used for the calculation of the digital
torque amplifier optimum settings. When operating the drive at a voltage
other than 80V DC, make sure the HV is present when issuing the motor
command. Otherwise, the settings of the digital torque amplifier will not be
optimised.
IT IS IMPORTANT TO RE-ISSUE THE MOTOR COMMAND IF YOU
CHANGE THE HV.
ANY CHANGES TO THE MOTOR COMMAND MUST BE FOLLOWED
BY A SAVE (SV) AND RESET (Z) OR CYCLING POWER TO THE
DRIVE.
Summary of Contents for ViX250AE
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