Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
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MOTORTYPE<br />
Sets the drive control algorithms to different motor types as follows:<br />
MOTORTYPE=0: permanent magnet rotary motor<br />
MOTORTYPE=1: reserved; do not use<br />
MOTORTYPE=2: permanent magnet linear motor<br />
Firmware Versions: 2.1.0 <strong>and</strong> later Type: switch mode (R/W) Units: N/A<br />
Range: 0 to 2 Default: 0 EEPROM: Yes<br />
Opmodes: All Drive Status: DIS<br />
MPHASE<br />
Defines the resolver or encoder phase relative to the “st<strong>and</strong>ard” commutation table. This variable is used to<br />
compensate for resolver offset <strong>and</strong> should be set to 0, if there is no resolver offset.<br />
Changing MPHASE will not change the value of PRD or HWPOS, nor does it create a physical<br />
change in the position of the motor shaft - it merely shifts the internal commutation table.<br />
Firmware Versions: All Type: variable (R/W) Units: Electrical degrees<br />
Range: 0 to 359 Default: motor data EEPROM: Yes<br />
Opmodes: All Drive Status: DIS<br />
MPITCH<br />
MPITCH is a variable for use with linear motors (MOTORTYPE = 2). It defines the pole-pitch (length in<br />
millimeters of one electrical cycle - 360 electrical degrees) of the motor <strong>and</strong> allows the drive to calculate other<br />
variables (such as velocity). The drive assumes a ‘no-comp’ state after an entry of this parameter <strong>and</strong> requires<br />
the CONFIG comm<strong>and</strong>.<br />
Firmware Versions: 2.1.0 <strong>and</strong> later Type: variable (R/W) Units: mm per 360 electrical degrees<br />
Range: 1 to 500 Default: 16 EEPROM: Yes<br />
Opmodes: All Drive Status: DIS<br />
MPOLES<br />
Sets the number of motor poles. This variable is used for commutation control <strong>and</strong> represents the number of<br />
individual magnetic poles of the motor (not pole pairs). When this variable is changed, the drive enters a nocomp<br />
state, requiring a CONFIG comm<strong>and</strong> (see CONFIG). When MOTORTYPE=2, this variable is forced to a<br />
value of 2.<br />
Firmware Versions: All Type: switch mode (R/W) Units: poles<br />
Range: 2, 4, 6, 8, .... , 78,80 Default: motor data EEPROM: Yes<br />
Opmodes: All Drive Status: DIS<br />
MRESPOLES<br />
Sets the number of individual poles in the feedback device. This variable is used for the commutation function,<br />
as well as for velocity feedback scaling <strong>and</strong> represents the number of individual poles, not pole pairs. When this<br />
variable is changed on a resolver system, the drive enters a no-comp state, requiring a CONFIG comm<strong>and</strong> (see<br />
CONFIG).<br />
Firmware Versions: All Type: switch mode (R/W) Units: poles<br />
Range: 2, 4, 6, 8, 12, 14, 16, ... 64 (resolver-based) Default: motor data EEPROM: Yes<br />
0, 2, 4, 6, 8, 12, 14, 16, …. 64 (encoder-based) Opmodes: All Drive Status: DIS<br />
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