AXIS#.MOTOR.TYPE

Description

AXIS#.MOTOR.TYPE sets the motor type and the torque control algorithm for the motor. The following table provides the motor types:

AXIS#.MOTOR.TYPE	Motor and Control Type
0	Rotary surface permanent magnet motor
2	Induction motor with V/Hz open loop control
4	Induction motor with closed loop control
6	Rotary interior permanent magnet motor
10	Rotary Surface Permanent Magnet (SPM) motor with sensorless control

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• This parameter is automatically configured for Kollmorgen motors when AXIS#.MOTOR.AUTOSET=1 and motor memory version is 0.3 or greater. This parameter can be modified while AXIS#.MOTOR.AUTOSET = 1 if its AXIS#.MOTOR.DISAUTOSET index = 1.

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• ECCN 3A255 imposes special limitations on operating speed for induction motors. See Frequency / Velocity Limitation for Open Loop Motor Control.

Each motor type has a set of parameters that must be configured either through automatically setting them to values in motor memory (when AXIS#.MOTOR.AUTOSET = 1) or through manual user settings. The list of required parameters are reported by AXIS#.SETUPREQLIST which updates when the motor type changes. When any of the required parameters are not configured, the drive reports F5005 (Drive motor parameters setup incomplete) on the axis.

The following parameters are required for rotary surface permanent magnet motors (AXIS#.MOTOR.TYPE = 0 or 10):

• AXIS#.MOTOR.ICONT
• AXIS#.MOTOR.IPEAK
• AXIS#.MOTOR.LDLL
• AXIS#.MOTOR.LQLL
• AXIS#.MOTOR.POLES

The following parameters are required for linear SPM motors (AXIS#.MOTOR.TYPE = 1):

• AXIS#.MOTOR.ICONT
• AXIS#.MOTOR.IPEAK
• AXIS#.MOTOR.LDLL
• AXIS#.MOTOR.LQLL
• AXIS#.MOTOR.PITCH
• AXIS#.MOTOR.POLES

The following parameters are required for induction motors with open loop V/f control (AXIS#.MOTOR.TYPE = 2):

• AXIS#.MOTOR.ICONT
• AXIS#.MOTOR.IPEAK
• AXIS#.MOTOR.POLES
• AXIS#.MOTOR.VOLTRATED
• AXIS#.MOTOR.VRATED

The following parameters are required for induction motors with closed loop control (AXIS#.MOTOR.TYPE = 4):

• AXIS#.MOTOR.ICONT
• AXIS#.MOTOR.IMID
• AXIS#.MOTOR.IMTR
• AXIS#.MOTOR.IPEAK
• AXIS#.MOTOR.LDLL
• AXIS#.MOTOR.LQLL
• AXIS#.MOTOR.POLES

The following parameters are required for rotary interior permanent magnet motors (AXIS#.MOTOR.TYPE = 6):

• AXIS#.MOTOR.ICONT
• AXIS#.MOTOR.IDMAX
• AXIS#.MOTOR.IPEAK
• AXIS#.MOTOR.KE
• AXIS#.MOTOR.LDLL
• AXIS#.MOTOR.LISAT
• AXIS#.MOTOR.LQLL
• AXIS#.MOTOR.PHSADVK1
• AXIS#.MOTOR.PHSADVK2
• AXIS#.MOTOR.POLES
• AXIS#.MOTOR.VOLTMAX

Context

For more information see Motor.

Versions

Action	Version	Notes
Implemented	02-00-00-000
Feature change	02-01-01-000	Added type 1 for linear SPM.
Feature change	02-06-01-000	Added type 10 for rotary SPM with sensorless control.

General Information

Type	Read/Write
Units	N/A
Range	0, 1, 2, 4, 6, 10
Default Value	0
Data Type	Integer
See Also	N/A
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.TYPE	500bh	04h	Unsigned8	-	-	Read/Write	No
AXIS2.MOTOR.TYPE	510bh	04h	Unsigned8	-	-	Read/Write	No

EtherNet/IP

ID	Instance	Attribute	Name	Data Type	Access	User Mappable
6220	1	6220 (0x184c)	AXIS1.MOTOR.TYPE	Unsigned8	Read Only	Yes
71756	2	6220 (0x184c)	AXIS2.MOTOR.TYPE	Unsigned8	Read Only	Yes

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.MOTOR.TYPE	6220	Unsigned8	Read Only	-