gv drive

;Gemini GV Servo Drive Setup

;Motor Setup
DMTR 1305		;Motor ID (SM233AE-xxxx)
DMTIC 1.99		;Continuous Current (Amps-RMS)
DMTICD 13.20		;Continuous Current Derating (% derating at rated speed)
DMTKE 50.7		;Motor Ke (Volts (0-to-peak)/krpm)
DMTRES 9.65		;Motor Winding Resistance (Ohm)
DMTJ 132.201		;Motor Rotor Inertia (kg*m*m*10e-6)
DPOLE 2		;Number of Motor Pole Pairs
DMTW 125.0		;Motor Rated Speed (rev/sec)
DMTIP 5.98		;Peak Current (Amps-RMS)
DMTLMN 4.2		;Minimum Motor Inductance (mH)
DMTLMX 6.0		;Maximum Motor Inductance (mH)
DMTD 0.000036	;Motor Damping (Nm/rad/sec)
DMTRWC 0.37		;Motor Thermal Resistance (degrees Celsius/Watt)
DMTTCM 23.3		;Motor Thermal Time Constant (minutes)
DMTTCW 0.33		;Motor Winding Time Constant (minutes)
DMTAMB 40.00	;Motor Ambient Temperature (degrees Celsius)
DMTMAX 150.00	;Maximum Motor Winding Temperature (degrees Celsius)
DHALL  1		;Disable Hall Sensor Checking
MXPLUS  0		;MAX PLUS MOTOR
ENCPOL 0		;Encoder Polarity
DMTLQS  0		;Set Q Axis Inductance Saturation
DMTLDS  0		;Set D Axis Inductance Saturation
DTHERM  0		;Disable motor thermal switch input


;Drive Setup
DMODE 2		;Drive Control Mode
DRES 4000		;Drive Resolution (counts/rev)
DPWM 0		;Drive PWM Frequency (kHz)
SFB 1			;Encoder Feedback
ERES 4000		;Encoder Resolution (counts/rev)
ORES 4000		;Encoder Output Resolution (counts/rev)
DMEPIT 0.00		;Electrical Pitch (mm)
SHALL 0		;Invert Hall Sensors
DMTLIM 3.5		;Torque Limit (Nm)
DMTSCL 3.5		;Torque Scaling (Nm)
DMVLIM 125.000000	;Velocity Limit (rev/sec)
DMVSCL 125.000000	;Velocity Scaling (rev/sec)

;Load Setup
LJRAT 0.0		;Load-to-Rotor Inertia Ratio
LDAMP 0.0000	;Load Damping (Nm/rad/sec)

;Fault Setup
FLTSTP 1		;Fault on Startup Indexer Pulses Enable
FLTDSB 1		;Fault on Drive Disable Enable
SMPER 4000		;Maximum Allowable Position Error (counts)
SMVER 0.000000	;Maximum Allowable Velocity Error (rev/sec)
DIFOLD 0		;Current Foldback Enable

;Digital Input Setup
INLVL 11000000	;Input Active Level
INDEB 50		;Input Debounce Time (milliseconds)
INUFD 0		;Input User Fault Delay Time (milliseconds)
LH 0			;Hardware EOT Limits Enable

;Digital Output Setup
OUTBD 0		;Output Brake Delay Time (milliseconds)
OUTLVL 0100000	;Output Active Level

;Analog Monitor Setup
DMONAV 0		;Analog Monitor A Variable
DMONAS 100		;Analog Monitor A Scaling (% of full scale output)
DMONBV 0		;Analog Monitor B Variable
DMONBS 100		;Analog Monitor B Scaling (% of full scale ouput)

;Servo Tuning
DIBW 1000		;Current Loop Bandwidth (Hz)
DVBW 100		;Velocity Loop Bandwidth (Hz)
DPBW 25.00		;Position Loop Bandwidth (Hz)
SGPSIG 1.000	;Velocity/Position Bandwidth Ratio
SGIRAT 1.000	;Current Damping Ratio
SGVRAT 1.000	;Velocity Damping Ratio
SGPRAT 1.000	;Position Damping Ratio
DNOTAF 0		;Notch Filter A Frequency (Hz)
DNOTAQ 1.0		;Notch Filter A Quality Factor
DNOTAD 0.0000	;Notch Filter A Depth
DNOTBF 0		;Notch Filter B Frequency (Hz)
DNOTBQ 1.0		;Notch Filter B Quality Factor
DNOTBD 0.0000	;Notch Filter B Depth
DNOTLG 0		;Notch Lag Filter Break Frequency (Hz)
DNOTLD 0		;Notch Lead Filter Break Frequency (Hz)
SGINTE 1		;Integrator Option
SGVF 0		;Velocity Feedforward Gain (%)
SGAF 0		;Acceleration Feedforward Gain (%)