QM set motor type
IMM PGM MIP
USAGE ♦ ♦
SYNTAX xxQMnn or xxQM?
PARAMETERS
Description xx [ int ] - axis number
QT - set tachometer gain
nn [ int ] - motor type
Range xx - 1 to MAX AXES
nn - 0 to 4 where
0 = motor type undefined (default)
1 = DC servo motor (single analog channel)
2 = step motor (digital control)*
3 = commutated step motor (analog control)
+
4 = commutated brushless DC servo motor
or ? to read current setting
Units xx - none
nn - none
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx2, PARAMETER OUT OF RANGE
DESCRIPTION This command is used to set the motor type the for axis xx. Defining motor type
is necessary because the ESP needs to apply different control algorithms for different
motor types.
Note:
It will not be possible to control an axis if its motor type is undefined.
* ESP300 motion controller does not support this motor type.
+
ESP6000 and ESP7000 motion controllers do not support this motor type.
RETURNS If the “?” sign takes the place of nn value, this command reports the current setting
REL. COMMANDS QV - set average motor voltage
QD - update driver
QI - set maximum motor current
QG - et gear constant
EXAMPLE 2QM? | read motor type of axis # 2
0 | controller returns a value of 0 (motor undefined) for axis #2
2QM 1 | set motor type to value of 1 (DC servo motor) for axis #2
2QD | update programmable driver with latest settings for axis #2
SM | save all controller settings to non-volatile memory
3-116 Section 3 – Remote Mode
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