Chapter 6 Command Reference - 121 -
• Rotary Motors— LJRAT = load inertia / motor rotor inertia
(Total system inertia = load inertia + motor rotor inertia)
• Linear Motors— LJRAT = load mass / forcer mass
(Total system mass = load mass + forcer mass)
OHALL
Hall-Only Commutation
Type
Drive configuration
Product Rev
Syntax
<a_>OHALL<i>
Aries 2.10
Units
i = Hall commutation type
Range
0 (sinusoidal commutation),
1 (trapezoidal commutation)
2 (DC Brushed motor commutation)
Default
0
Response
OHALL: <*>0
See Also
ALIGN
Note: This command requires a reset to take effect.
The OHALL command sets the commutation type. Use OHALL1 to set
trapezoidal commutation and OHALL2 for DC brushed motors. DC brushed
motors should be wired to motor phases U&W, if they are used. The default
is OHALL0 (sinusoidal encoder commutation once the first hall transition has
occurred).
OUTBD
Output Brake Delay
Type
Output
Product Rev
Syntax
<a_>OUTBD<i>
Aries
1.0
Units
milliseconds
Range
Ø-1ØØØØ
Default
Ø
Response
OUTBD: <*>25Ø
See Also
none
The OUTBD command specifies the amount of time that the brake relay will
remain asserted after the current is applied to the motor windings when the
drive is enabled. This allows torque to build up in the motor while the fault
output is still high. This is important in vertical applications where the motor
must be able to support the load before the brake is released.
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