Gem6Kig Config

3
CHAPTER THREE
Configuration
IN THIS CHAPTER
• Configuration
• Tuning Procedures (GV6K Only)
• Damping Configuration (GT6K Only)
• Stall Detect Configuration (GT6K Only)
• Motor Matching (GT6K Only)
Chapter 3 – Configuration 23
Configuration
You can configure the Gem6K’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 saved automatically. Most changed settings are effective immedi-
ately, but some require that you issue a reset (software RESET or DRESET
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 these commands, see the separate
Gemini GV6K/GT6K Command Reference.
GV6K: At the end of this chapter are procedures you can use to configure the
GV6K’s tuning settings.
GT6K: At the end of this chapter are procedures you can use to configure the
GT6K’s damping and stall detect settings, and to match the motor to the
drive.
Software Programs for Configuration

Motion Planner , a software program, is located on the Motion Planner CD-ROM.
It runs on a personal computer (PC). This program is also available on the
Compumotor web site at http://www.compumotor.com.
Information about installing and using Motion Planner can be found in the
Gemini GV6K/GT6K Command Reference.
Overview of Configuration Commands

The sections below present configuration commands in groups organized by
function. (Express Setup, which was discussed in Chapter 2 Installation, gives you
a smaller number of configuration commands.)
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 configuration of motor settings is necessary on your part.
If you use a non-Compumotor motor, or choose to manually configure a
Compumotor motor, use the following commands to configure motor settings.
Also see Appendix B – Using Non-Compumotor Motors for additional instructions.
GV6K Commands Description

ERES feedback resolution (encoder or resolver)
DMTIC continuous current
DMTICD continuous current derating
DMTKE motor constant
DMTRES line-to-line resistance
DMTJ rotor inertia
24 Gem6K Hardware Installation Guide

DPOLE number of pole pairs
DMTW rated speed
DMTIP peak current
DMTLMN minimum line-to-line inductance
DMTLMX maximum line-to-line inductance
DMTD motor damping
DMTRWC motor thermal resistance (winding to case)
DMTTCM motor case (and heatsink) thermal time constant
DMTTCW motor winding thermal time constant
DPWM PWM switching frequency
DMTMAX motor maximum temperature
SHALL Hall sensor orientation
GT6K Commands Description

DMTSTT static torque
DMTIND inductance
DMTRES phase resistance
DMTJ rotor inertia
DPOLE number of pole pairs
DIGNA current loop gain
DIGNB current loop gain
DIGNC current loop gain
DIGND current loop gain
System Settings
The system settings configure the drive’s mode of operation, resolution, fault
modes and inertia ratio.
Drive Settings – GV6K

Command Description Options:
DMODE mode of operation: alignment mode
controller/drive mode
autorun1
torque/force tuning mode
position tuning mode
DMEPIT electrical pitch of magnets you enter a number
ORES encoder output resolution you enter a number
DMTLIM torque limit you enter a number
DMTSCL torque scale you enter a number
DMVLIM velocity limit you enter a number
1
Autorun mode commands motion with no program control. It is used during Express
Setup, and for troubleshooting.
Drive Settings – GT6K

DMODE mode of operation: controller/drive mode
autorun1
DMEPIT electrical pitch of magnets you enter a number
DRES motor step resolution you enter a number
ORES step/dir output resolution you enter a number
DAUTOS auto standby enable you enter a number
DMVLIM velocity limit you enter a number
1
Autorun mode commands motion with no program control. It is used during Express
Setup, and for troubleshooting.
Load Settings – GV6K

LJRAT load to rotor inertia ratio you enter a number
LDAMP load damping you enter a number
Load Settings – GT6K

LJRAT inertia ratio you enter a number
Fault Settings – GV6K

FLTDSB fault on disable can be turned on or off
SMPER maximum position error you enter a number
SMVER maximum velocity error you enter a number
DIFOLD enable current foldback can be turned on or off
DMTAMB motor ambient temperature you enter a number
KDRIVE disable drive on kill can be turned on or off
Fault Settings – GT6K

FLTDSB fault on disable can be turned on or off
ESK fault on stall can be turned on or off
KDRIVE disable drive on kill can be turned on or off
DSTALL encoderless stall detection you enter a number
ESTALL encoder-based stall detection can be turned on or off
Input/Output (I/O) Settings

I/O settings configure the drive’s digital inputs and outputs, and analog monitors.
Digital Inputs
LH hard limit enable both hard limits disabled
negative limit only
positive limit only
both hard limits enabled
INDEB input debounce time can be set in milliseconds
LHAD hard limit deceleration you enter a number
LHADA hard limit average decel. you enter a number
Input Definition and Sense configure up to 5 onboard inputs
Limit Definition and Sense configure 2 onboard limit inputs and
1 home input

Digital Outputs
Output Definition and Sense configure up to 7 onboard outputs
Analog Monitors
DMONAV analog monitor A variable GV6K Options:
unused/turn off output
motor temperature
drive temperature
position error
velocity setpoint
actual velocity
acceleration setpoint
torque/force setpoint
actual (electrical) torque
velocity error
phase A actual current
phase B actual current
d-axis commanded current
d-axis actual current
q-axis commanded current
q-axis actual current
position setpoint
actual position
DMONAV analog monitor A variable GT6K Options:
unused/turn off output
drive temperature
velocity setpoint
acceleration setpoint
phase A commanded current
phase A actual current
phase B commanded current
phase B actual current
phase A commanded voltage
phase B commanded voltage
1
DMONAS analog monitor A scaling you enter a percentage1
DMONBV analog monitor B variable same choices as DMONAV
DMONBS analog monitor B scaling1 you enter a percentage1
1
Monitor output is scalable from -2000% to +2000%, but is limited to ±10V peak to peak.
Communications Settings
The communication settings configure the drive for RS-232/485 communications.
RS-232/485
ERRLVL error level you enter a number
ECHO echo enable can be turned on or off
Tuning Settings – GV6K
Tuning settings are divided into two groups: primary and advanced. Tuning can be
done in torque, velocity, or position mode. Tuning procedures for each of these
modes are presented later in this chapter. Relevant commands are:
Primary Tuning
DIBW current loop bandwidth you enter a number
DPBW position loop bandwidth you enter a number
Advanced Tuning
DIBW current loop bandwidth you enter a number
DPBW position loop bandwidth you enter a number
SGIRAT current (torque) damping ratio you enter a number
SGVRAT velocity damping ratio you enter a number
SGPRAT position damping ratio you enter a number
SGPSIG position/velocity bandwidth you enter a number
ratio
SGINTE integration selection you enter a number
DNOTAF notch filter A frequency you enter a number
DNOTAD notch filter A depth you enter a number
DNOTAQ notch filter A quality factor you enter a number
DNOTBF notch filter B frequency you enter a number
DNOTBD notch filter B depth you enter a number
DNOTBQ notch filter B quality factor you enter a number
DNOTLD notch lead filter frequency you enter a number
DNOTLG notch lag filter frequency you enter a number
Motor Control Settings – GT6K

Motor control settings are divided into two groups: motor matching; and damping .
Motor Matching
Motor matching is used to match the drive to your specific motor. A procedure for
performing motor matching is presented at the end of this chapter. Relevant
commands are:
DWAVEF % 3rd harmonic current you enter a number
waveform component
DPHBAL phase B balance you enter a percentage
DPHOFA phase A current offset you enter a percentage
DPHOFB phase B current offset you enter a percentage
Damping
These commands are used to configure the drive’s settings for damping. A
procedure for adjusting damping settings is presented later in this chapter. Rel-
evant commands are:

DACTDP active damping gain you enter a number
DDAMPA damping during acceleration can be turned on or off
DELVIS electronic viscosity can be turned on or off
DABSD ABS damping can be turned on or off
Tuning Procedures – GV6K Servo

During the Express Setup procedure in Chapter 2 Installation, the drive uses
default values for tuning parameters, based upon the motor information you
entered. That procedure assumes that the motor is unloaded. In the following
tuning procedures, you will enter system information that will characterize the
load on the motor.
Entering Load Settings

The main load setting you will adjust is LJRAT, which is the load-to-rotor inertia
value for your system. The more accurately you know this value, the closer your
tuning bandwidth settings will correspond to the actual dynamic performance of
your system. If you only know this value approximately, you can adjust this value
until you achieve the system performance you desire. The total system inertia is
given by the following formula:
Total system inertia = motor rotor inertia*(1 + LJRAT)
If your system has significant mechanical damping, you will also want to adjust
the LDAMP setting which specifies system damping provided by the load. If you
know that you have significant damping in your system from your load but do not
know its exact value, you can adjust this value until you achieve the system
performance that you desire.
Both the LJRAT and the LDAMP values can be set in the terminal mode of
Motion Planner. During the tuning process you may want to use the terminal
emulator to establish appropriate values for these parameters, and then save the
drive’s full configuration settings for use with other units.
Position Mode Tuning

For most applications, the default tuning parameters for position mode are set to
provide good, stiff motor shaft performance for a given load setting. With the
default tuning parameters set in the Express Setup procedure, you need only set the
system load-to-rotor inertia ratio and your system will be tuned. If your system has
significant mechanical damping, you may need to set the system damping as well.
Should you wish to modify the default values and fine tune your system for
position mode, use the following procedures
WARNING
This procedure causes the motor shaft to move. Make sure that shaft motion will
not damage equipment or injure personnel.
Position Mode Tuning Procedure
Primary Tuning Procedure
1. Disable the drive.
2. Configure the drive for position tuning mode (DMODE17). In this mode, the drive
commands an alternating 1/4 revolution step change in position at a one second
repetition rate.
3. Enable the drive and observe your system’s response. (If necessary, you can
connect an oscilloscope as described in Advanced Tuning below.)
Ringing or an oscillating response indicates that the position loop bandwidth is too
high. To eliminate oscillations:
• decrease bandwidth using the DPBW command.
A sluggish response indicates that position loop bandwidth is too low. To improve
the response:
• increase bandwidth by using the DPBW command.
NOTE: Ringing, oscillations, or a sluggish response can also indicate inaccurate
drive settings for LJRAT or LDAMP.
4. After you achieve a satisfactory system response, reconfigure the drive for
controller/drive mode (DMODE12). This completes the primary tuning procedure.
If you are unable to achieve a satisfactory response, proceed to the advanced
tuning procedure below.
Advanced Tuning Procedure

1. Disable the drive.
2. Configure the drive for position tuning mode (DMODE17). In this mode, the drive
commands an alternating 1/4 revolution step change in position at a one second
repetition rate.
(In some applications a different move profile may give better results. Choose a
move similar to that required by your application, but using fast acceleration and
deceleration rates. Be sure the maximum velocity of your move is well below the
rated speed of your drive/motor combination.
3. Configure ANALOG MONITOR A to show position error (DMONAV3).
4. Connect one channel of your oscilloscope to the drive’s ANALOG MONITOR A (pin
21). Connect your oscilloscope’s ground to the drive’s ANALOG GROUND (pin 25).
5. Adjust your oscilloscope to display position error. (The analog monitor can be
scaled, in percent, with the DMONAS command.)
6. Enable the drive and observe your system’s response. Position error will increase
during acceleration, but should decay smoothly to near zero without significant
ringing or instability.
Ringing or an oscillating response indicates that the position loop bandwidth is too
high, or the position loop damping is too low. To eliminate ringing or oscillations:
• decrease bandwidth using the DPBW command; then, if necessary:
• adjust damping by using the SGPRAT command. Use the value that
gives the best performance.
• in applications with backlash or high static friction, disabling the velocity
integrator (SGINTE0) can help improve stability.
• NOTE: In position mode, the velocity loop bandwidth tracks changes in
position loop bandwidth by a ratio set by the SGPSIG command.
A sluggish response indicates that position loop bandwidth is too low, or position
loop damping is too high. To improve the response:
• increase bandwidth by using the DPBW command; then, if necessary:
• adjust damping by using the SGPRAT command. Use the value that
gives the best performance.
NOTE: Ringing or a sluggish response can also indicate inaccurate drive settings
for LJRAT or LDAMP.
7. After you achieve a satisfactory system response, reconfigure the drive for
controller/drive mode (DMODE12). This completes the advanced tuning procedure.

If ringing or oscillations persist, and do not seem to be affected by the above
adjustments, you may need to use notch filters or lead/lag filters. See the Filter
Adjustments procedure below.
Filter Adjustments
If the previous tuning procedures did not eliminate ringing or oscillations, then
mechanical resonances may be causing problems with your system’s response.
Before trying the procedure below, we recommend that you check your mechani-
cal system, especially the mechanical stiffness and mounting rigidity of your
system. Use bellows or disk style couplers, not helical couplers. Once you have
optimized your mechanical system, filters may allow increased performance,
without causing system instability.
Filters can improve response by reducing system gain over the same frequencies
that contain resonances. You can then increase the gain for frequencies outside this
range, without exciting the resonance and causing instability.
The first procedure below describes how to set the drive’s two notch filters, to
reduce resonance and improve your system’s response. The second and third
procedures describe how to set the drive’s lead and lag filters.
WARNING
These procedures cause the motor shaft to move. Make sure that shaft motion will
not damage equipment or injure personnel.
Notch Filter Adjustment Procedure

1. Configure the analog monitor to show q-axis current (DMONAV19).
2. Configure the drive for position tuning mode (DMODE17).
3. Configure DMTLIM to approximately 1/3 of the default value for your Compumotor
motor.
4. Connect one channel of your oscilloscope to the drive’s ANALOG MONITOR A (pin
21). Connect your oscilloscope’s ground to the drive’s ANALOG GROUND (pin 25).
5. From the oscilloscope display, observe the system’s response to the tuning mode’s
step input. Note the frequency of the oscillatory current waveform that is superim-
posed on the 1 Hz step command signal.
6. Using the DNOTAF command, set the notch filter to the frequency noted in Step 5.
7. Using the DNOTAD command, slowly increase the depth of the notch filter from 0.0
to 1.0 until the ringing decreases.
8. Continue to observe the response to the step command signal. Ringing should be
reduced or eliminated.
9. Adjust the Q of the filter (DNOTAQ command). Use the following guidelines:
• Set Q as low as possible. Resonances change with load; therefore, your
system will be more robust with a lower Q value. (Default = 1)
• If Q is too low, system stiffness will be reduced outside the resonant range.
• If Q is too high, the response peak may shift in frequency.
10. After reducing the resonance, you may notice a second resonance. Use the second
notch filter (DNOTBF, DNOTBD and DNOTBQ) to reduce the second resonance.
Follow the same procedure as outlined in steps 1 – 9 above.
11. If you are done adjusting filters, reconfigure DMTLIM to its default value. Otherwise,
proceed to the Lag Filter Adjustment procedure below.
Lag Filter Adjustment Procedure
The lag filter can act as a low pass filter, and reduce the effects of electrical noise on the
commanded torque. (It can also reduce the effects of resonance at low frequencies—
below 60 Hz—where the notch filters are not effective.)
1. As described in Steps 2 – 3 in the Notch Filter Adjustment procedure above, reduce
DMTLIM and connect an oscilloscope.
2. Verify that the lead filter is turned off (DNOTLDØ).
3. Configure the drive for position tuning mode. Observe the system’s response to the
tuning mode’s step input.
4. Choose a value for the lag filter (DNOTLG) that reduces low frequency resonance
and provides satisfactory system performance.
5. If you are done adjusting filters, reconfigure DMTLIM to its default value. Otherwise,
proceed to the Lead /Lag Filter Adjustment procedure below.
Lead/Lag Filter Adjustment Procedure

The lead filter can counteract the effects of the lag filter at higher frequencies. Do not use
the lead filter by itself—if you use the lead filter, you must also use the lag filter.
1. As described in Steps 2 – 3 in the Notch Filter Adjustment procedure above, reduce
DMTLIM and connect an oscilloscope.
2. Set the lag filter (DNOTLG) as described above.
3. Configure the drive for position tuning mode. Observe the system’s response to the
tuning mode’s step input.
4. Choose a value for the lead filter (DNOTLD) that improves system performance.
This value will typically be higher in frequency than the lag filter setting.
5. You must choose a value for the lead filter that is higher in frequency than the lag
filter value. However, do not set the lead filter higher than four times the lag filter
frequency, or a drive configuration warning will result, and the drive will use the
previous filter settings.
6. If you are done adjusting filters, reconfigure DMTLIM to its default value.
Procedure for Configuring Advanced Features – GT6K

The GT6K has advanced motor control features that you can configure for
increased damping, increased low speed smoothness, and increased disturbance
rejection; and for detecting motor stalls.
Configuring Damping Settings

The GT6K’s three damping modes reduce vibration, increase low speed smooth-
ness, and decrease load settling time. These damping modes are independent of
each other, and operate within specific velocity ranges.
ABS Damping
ABS damping provides load-invariant damping at extreme low speeds. It
targets applications that require minimal zero-speed settling time (for ex-
ample, pick-and-place applications with varying load).
Velocity
Command Function Range Default Contributing Parameters
DABSD ABS Damping 0 to 0.2 rps* Disabled DMTRES, DMTIND
*motor dependent
Electronic Viscosity
Electronic viscosity targets applications that require reduced low-speed
velocity ripple and increased smoothness, as well as aggressive low-speed

damping. NOTE: If ABS Damping is enabled, it overrides electronic viscosity
in the 0 to 0.2 rps velocity range.
Velocity
DELVIS Electronic Viscosity 0 to 3 rps** Disabled DMTJ, DMTSTT, DPOLE
DMTIC, DMTIND, LJRAT
**motor and load dependent
Active Damping
Active damping targets applications that require high accelerations, fast
settling at commanded speed, mechanical vibration disturbance rejection, and
highly stable (non-resonant) motion.
Velocity
DACTDP Active Damping >3 rps Enabled DMTJ, DMTIND,
(DACTDP4) DMTSTT, LJRAT
Note: You can use the DDAMPA command to disable ABS damping and elec-
tronic viscosity during acceleration rates greater than 50 rps2. This allows full
motor torque to be used during acceleration.
Use the following procedures to configure the damping settings. You can usually
find the best setting by using touch or sound. If this is not adequate, use a tachom-
eter attached directly to the motor by means of a stiff coupler.
Configuring ABS Damping (DABSD)

The default setting is disabled. (DABSD0)
1. To turn ABS damping on, use the DABSD command. (DABSD1)
2. If you use a Parker motor, the following parameters are automatically set when you
use Motion Planner to select a motor. You do not need to enter values for them
now.
If you use a non-Parker motor, use the following commands to enter accurate
values for the specified motor parameters:
Command: Motor Parameter:
DMTRES motor resistance
DMTIND motor inductance
The figure below shows performance with ABS Damping, with Electronic Viscosity,
and without damping.
400 ms
Velocity
ABS Damping
Electronic Viscosity
Undamped
Time
100 ms
40 ms
Damping Performance
Configuring Electronic Viscosity (DELVIS)
1. Enter an accurate value for the load parameter, using the following command:
Command: Parameter:
LJRAT system load-to-rotor inertia ratio
now.
DMTJ rotor inertia
DPOLE number of motor pole pairs
DMTIND inductance
3. Start with DELVIS set to 0, which is disabled. (This is the default setting.)
4. Increase DELVIS until your system performs as you require.
• 1 - 7 is the full range
• 5 provides optimal damping
• 0 is off
The figure above shows performance with Electronic Viscosity, with ABS Damping,
and without damping.
Configuring Active Damping (DACTDP)

Using motor and load parameters, the drive calculates the optimum damping setting
for your system, and scales this value to a setting of DACTDP20. However, the
default setting is DACTDP4.
1. Enter an accurate value for the load parameter, using the following command:
Command: Parameter:
LJRAT system load-to-rotor inertia ratio
now.
DMTJ rotor inertia
DMTIND inductance
3. Begin configuration with low values of DACTDP. Low values yield less aggressive
damping.
4. Increase DACTDP until the system performs as you require. The optimum setting is
DACTDP20. Note that higher values tend to cause overly aggressive damping, and
generate jerk impulses that may result in machine vibration.
Configuring Encoderless Stall Detect Settings

You can use the GT6K’s encoderless stall detect function to detect motor stalls. A
stall occurs when the motor’s rotor loses synchronism with the stator. An external
feedback device is not required to detect stalls.
Some machine safety regulations require that external hardware feedback be used.
Do not use the GT6K’s stall detect function as a replacement for external feedback
in such cases.
In order for the drive to detect a stall, the duration of the stall must be greater than
50 milliseconds. NOTE: if you use high values of active damping, extremely

aggressive accelerations are possible during which the motor may skip poles (lose
position). This loss of position can be less than 50 milliseconds; if so, it will not be
recognized as a stall.
Because the command velocity must be in the 3 – 37 rps range for stall detect to be
active, the drive will not recognize static loss of position as a stall. Therefore, do
not use this function to detect loss of holding torque in vertical applications.
Settings are summarized below.

Stall Detect Settings:
Command: DSTALL
Default: Disabled (DSTALL0)
Velocity Range: 3 to 37 rps
Contributing Parameter: LJRAT
Stall detect performance is based on motor parameters that you set up with Motion
Planner. For optimum performance, accurate motor parameters are required.
If you select a Compumotor motor with Motion Planner, the motor parameters are
set automatically, according to the motor you have chosen. If you use other
motors, see Appendix B – Using Non-Compumotor Motors.
Use the following procedures to configure the stall detect settings.
Configuring Stall Detect

The DSTALL command sets the sensitivity for the stall detection circuitry. The default
setting is disabled. (DSTALL0)
NOTE: Match the motor to the load (see the procedure on the following pages) before
you configure stall detect settings.
1. Enter an accurate value for LJRAT.
The LJRAT command sets the system’s load-to-rotor inertia ratio. LJRAT must be
set accurately in order for stall detect to function properly.
2. Begin configuration with low DSTALL values.
• 1 - 50 is the full range
• 0 is off
The table below lists effective ranges of DSTALL values. Enter a value, based on
your motor size:
Motor Frame Size: Size 23 Size 34 Size 42
DSTALL Value Range: 1 – 15 10 – 40 30 – 50
3. Verify the DSTALL value you entered by forcing a stall as you monitor TASX. At the
precise moment the stall occurs, TASX Bit #17 should be set. If Bit #17 is set before
or after the stall occurs, modify the DSTALL value as follows:
• If Bit #17 is set before the stall occurs, decrease the DSTALL value
• If Bit #17 is set after the stall occurs, increase the DSTALL value
4. Run the system for an extended period of time to verify that no false stalls are
detected.
Configuring Fault on Stall Mode

1. If you enable the Fault on Stall mode (ESK1), the occurrence of a stall will immedi-
ately stop pulses from being sent to the motor and will disable the drive (DRIVE0)
2. If Fault on Stall is enabled (ESK1), the stall is reported by the following commands:
• TASX bit #17
• TER bit #1
Procedure for Motor Matching – GT6K
Due to slight manufacturing variations, each motor has its own particular charac-
teristics. The drive has three settings—phase offset, balance and waveform—that
can be adjusted to match the drive to a specific motor. The factory settings for
these parameters will be acceptable in most applications. If you need increased
smoothness or accuracy in your system, or if motor resonance causes vibration
problems, perform the following procedure. You will match your drive to your
motor by adjusting the drive settings, and selecting the best current waveform.
CAUTION
Verify correct series or parallel wiring. The label on the motor may be inaccurate if
the motor has been rewired after it left the factory.
WARNING
The following procedure causes the motor shaft to rotate.
Setting Up Your System for the Motor Matching Procedure

Before beginning the Motor Matching procedure, set up your system as follows:
1. The Motor Matching procedure below is a bench top procedure—temporarily
connect the drive, motor, and PC running Motion Planner, but do not permanently
mount the components yet.
2. Properly secure the motor
3. Set the motor current at the value recommended for your motor.
4. Do not attach a load to the motor shaft, or anything else that affects or changes the
inertia of the rotor. The characteristics you are matching are those only of the drive/
motor combination.
5. Before beginning the Motor Matching procedure, you must use Motion Planner to
configure the drive for your motor. See Step 4 of Chapter 2 Installation for instruc-
tions.
6. Apply AC power when necessary to perform the steps below.
Motor Matching Procedure

1. Apply power to the drive, enable the drive, and allow the drive and motor to reach a
stable operating temperature. This will take at least 5 minutes, and may take up to
30 minutes. For optimum results, perform the matching procedure at the same
ambient temperature at which your application will operate.
2. Launch the Interactive Motor Matching procedure of Motion Planner.
3. Select the PHASE A OFFSET button. Note the recommended motor speed in the
comment box.
4. Using the terminal emulator, set the motor speed to the recommended value for
your motor.
5. Vary the motor speed about the recommended value, and find the most resonant
operating speed. (Varying the speed makes resonance more noticeable.) You can
find the resonant speed by touching the motor lightly with your fingertips as you
vary the speed. When you notice the strongest vibrations and increased noise, the
motor is running at a resonant speed. Note the actual speed; you will use it in the
steps below. Return to Interactive Motor Matching.
6. Change the PHASE A OFFSET adjustment using the left and right arrow keys or by
using the touch screen (if available). Adjust the offset for smoothest operation.
7. Select the PHASE B OFFSET button.
8. Change the offset adjustment using the left and right arrow keys or by using the
touch screen (if available). Adjust the offset for smoothest operation.

9. Select the PHASE B BALANCE button.
10. Using the terminal emulator, set the motor speed to one half the speed found in
Step 5. Vary the motor speed about this setting, and find the most resonant
operating speed. Return to Interactive Motor Matching.
11. Change the PHASE B BALANCE adjustment using the left and right arrow keys or
by using the touch screen (if available). Adjust the balance for smoothest operation.
12. Repeat steps 3-10 if necessary.
13. Select the WAVEFORM button.
14. Using the terminal emulator, set the motor speed to one fourth the speed found in
Step 5. Vary the motor speed about this setting, and find the most resonant
operating speed. Return to Interactive Motor Matching.
15. Change the current waveform using the left and right arrow keys or by using the
touch screen (if available). Adjust the current waveform for the smoothest operation.
16. Select the OK button when you are finished matching the drive to the motor. By
selecting OK, you will be storing the adjusted values in the parameter configuration
file. Selecting the CANCEL button will return the adjusted values to the values
previously stored in the configuration file.
This completes the motor matching procedure.

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3

Software Programs for Configuration

Overview of Configuration Commands

GV6K Commands Description

24 Gem6K Hardware Installation Guide

GT6K Commands Description

Drive Settings – GV6K

Drive Settings – GT6K

Load Settings – GV6K

Load Settings – GT6K

Fault Settings – GV6K

Fault Settings – GT6K

Input/Output (I/O) Settings

26 Gem6K Hardware Installation Guide

Motor Control Settings – GT6K

28 Gem6K Hardware Installation Guide

Tuning Procedures – GV6K Servo

Entering Load Settings

Position Mode Tuning

Advanced Tuning Procedure

30 Gem6K Hardware Installation Guide

Notch Filter Adjustment Procedure

Lead/Lag Filter Adjustment Procedure

Procedure for Configuring Advanced Features – GT6K

Configuring Damping Settings

32 Gem6K Hardware Installation Guide

Configuring ABS Damping (DABSD)

Configuring Active Damping (DACTDP)

Configuring Encoderless Stall Detect Settings

34 Gem6K Hardware Installation Guide

Settings are summarized below.

Configuring Stall Detect

Configuring Fault on Stall Mode

Setting Up Your System for the Motor Matching Procedure

Motor Matching Procedure

36 Gem6K Hardware Installation Guide

This completes the motor matching procedure.

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