AXIS#.MOTOR.TYPE

Description

AXIS#.MOTOR.TYPE sets the motor type and the torque Torque 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 loop A 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 loop The 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
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. This parameter can be modified while AXIS#.MOTOR.AUTOSET = 1 if its AXIS#.MOTOR.DISAUTOSET index = 1.

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 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):

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):

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 ***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
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO PDO 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
AXIS1.MOTOR.TYPE	500bh	04h	Unsigned8	-	-	Read/Write	No
AXIS2.MOTOR.TYPE	510bh	04h	Unsigned8	-	-	Read/Write	No

EtherNet/IP
Name	ID	Hex	Data Type	Access	Units
AXIS1.MOTOR.TYPE	6220	184C	Unsigned8	Read Only	-
AXIS2.MOTOR.TYPE	71756	1184	Unsigned8	Read Only	-

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