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:

"tau =  square root open parenthesis Is root-mean-square squared minus Id root-mean-square squared close parenthesis divided by open parenthesis Id root-mean-square times omega-slip close parenthesis

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

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

6228

1

6228 (0x1854)

AXIS1.MOTOR.IMTR

Unsigned16

Read/Write

Yes

71764

2

6228 (0x1854)

AXIS2.MOTOR.IMTR

Unsigned16

Read/Write

Yes

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.MOTOR.IMTR

6228

Unsigned16

Read/Write

-