AXIS#.MOTOR.IMTR

Description

This parameter is the rotor time constant for closed loop induction motor control (AXIS#.MOTOR.TYPE = 4).

The rotor time constant is calculated as the ratio between rotor magnetizing inductance Lm and rotor resistance Rr from the following equivalent circuit of an induction machine.

Alternatively, the rotor time constant can be estimated from the rated current, magnetizing current (AXIS#.MOTOR.IMID) and rated slip frequency as follows:

where Is,rms is the rated current, Id,rms is the rated magnetizing current, and ωslip is the rated slip frequency in rad/s.

• 
  

• τ is in seconds for the above formulas. It needs to converted to ms for the AXIS#.MOTOR.IMTR setting:
  AXIS#.MOTOR.IMTR(ms) = τ*1000

• 
  

• This parameter is required to be configured for AXIS#.MOTOR.TYPE = 4

Context

For more information see Motor.

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write
Units	Ms
Range	1 to 16,000
Default Value	100
Data Type	Integer
Stored in Non-Volatile Memory	Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.MOTOR.IMTR	500bh	09h	Unsigned16	-	-	Read/Write	No
AXIS2.MOTOR.IMTR	510bh	09h	Unsigned16	-	-	Read/Write	No

EtherNet/IP

Name	ID	Hex	Data Type	Access	Units
AXIS1.MOTOR.IMTR	6228	1854	Unsigned16	Read/Write	-
AXIS2.MOTOR.IMTR	71764	1185	Unsigned16	Read/Write	-

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.MOTOR.IMTR	6228	Unsigned16	Read/Write	-