AXIS#.MOTOR.IMTR

Description

This parameter is the rotor time constant for closed loopClosedThe use of feedback devices (encoders, resolvers, interferometers, etc.) to allow a motor to position a user payload accurately. 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

FieldbusClosedA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design Parameter Index Sub-Index Data Type Float Scale Units Access PDOClosedPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
EtherCATClosed***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen AXIS1.MOTOR.IMTR 0x500B 0x9 UINT - - RW False
AXIS2.MOTOR.IMTR 0x510B 0x9 UINT - - RW False