AXIS#.MOTOR.TYPE

Description

AXIS#.MOTOR.TYPE sets the motor type and the torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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 loopA positioning technique, typically utilizing stepper motors, in which the controller issues a sequence of commands to the motor without an absolute means of detecting if the move has been made. When the load and move velocity and acceleration are appropriately defined, open loop positioning is capable of extended operation without losing steps. control
4	Induction motor with closed loopThe use of feedback devices (encoders, resolvers, interferometers, etc.) to allow a motor to position a user payload accurately. control
6	Rotary interior permanent magnet motor
8	Rotary brush motor
10	Rotary Surface Permanent Magnet (SPM) motor with sensorless control

This parameter is automatically configured for Kollmorgen motors when AXIS#.MOTOR.AUTOSET = 1 and motor memory version is 0.3 or greater.

ECCN 3A255 imposes special limitations on operating speed for induction motors. See ECCN 3A225 Limitations for Induction Motors.

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 Faults and Warning Messages (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):

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

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

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

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

The following parameters are required for rotary brush motors (AXIS#.MOTOR.TYPE = 8):

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, 8, 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

FieldbusA 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	PDOPDO 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
EtherCAT***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.TYPE	0x500B	0x4	USINT	-	-	RW	False
	AXIS2.MOTOR.TYPE	0x510B	0x4	USINT	-	-	RW	False