SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's Manual
PAGE 8-11
8.4.1 Drive Set-up Commands
LC
List the Servo-drive Size and Power
Configuration
LV
List the Software Version
C Save all parameters to non-volatile
storage
* Enter the Password to enable
privileged mode access
SUP Modify the Password (once in
privileged mode)
OR
Set the drive control loop reference
source. Options:
1. Analogue Input used as the
control loop Reference Source
Internal Function Generator
used as the control loop Reference
Source
Point Motion Control Reference
Source used as the control loop
Reference Source. Only available
when ‘ Px’ software is programmed
in the T200.
4. CAN Profile Mode Reference
Source used as the control loop
Reference Source
5. Digital Inputs Speed Reference
6. Excitation Source (self tuner sets
this up automatically). This is used
exclusively by WinDrive.
7. Stepper Motor Interface (use
OSM and OSL to set up the mode
and the number of pulses per
revolution)
OC
Set the drive control loop operational
mode. Options:
1. Torque Mode only
2. Velocity Mode with 2
Order
torque filter
3. Velocity Mode with 1st Order
torque filter
4. Position Loop mode
SD Sets the axis ID. If this number is set
to a non-zero value, then the hardware
HEX Switches are ignored and the
value entered here used instead.
LD
List the axis identification number
set by the HEX switches on the front
panel of the T200
SU
Set the Parameter Units
e.g. for torque units, input
[Nm] or [lb-in] in order to setup metric
or Imperial units.
For current units, input
[A] or [Arms], in order to enter Apk or
Arms.
8.4.2 Motor Set-up Commands
SSM Set STANDARD motor parameters.
This command is used in the case
where the motor is a Moog standard
catalogue item.
SNM Set NON-STANDARD motor
parameters, which prompts the user for
the following information, which is
available from the motor datasheet:-
§ Motor Name e.g. G424-123
§ Number of Motor Poles
Kt (Motor Back-EMF Constant)
Rtt (Motor phase to phase
resistance constant)
Ltt (Motor phase to phase
inductance)
§ Ld (Motor direct axis inductance)
Lq (Motor quadrature axis
inductance)
Nominal Speed (i.e. rated motor
speed)
Maximum Speed (maximum
allowed speed for the motor
mechanics)
§ Peak Current Limit
§ Current Loop Gain (I-Gain)
§ Number of Resolver Poles
§ Continuous Stall Current
Motor temperature sensing
thermistor present or not
Inertia of motor and load, if
available
LM Lists all motor parameters with
which the drive has been configured.
RO Set the Resolver Offset Angle
RP Set the number of Resolver Poles
SBV Set the Bus Voltage. This is given by
(rms phase to phase mains voltage *
1.414)
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