Rockwell Automation GMLC Reference Manual - Manual (Page 124)

Publication GMLC-5.2 - November 1999
Defining Motor/Drive 87
• Torque: the drive merely activates the motor, while the controller
corrects for both position error (by closing the position loop) and
velocity error (by closing the velocity loop).
• Velocity: the controller corrects for position error (by closing the
position loop) and the drive corrects for velocity error (by closing the
velocity loop).
Motor ID
Select from the scrolling list:
• the motor ID number for your motor, or
• Custom, if your motor’s ID is not listed.
Optimizing Velocity & Torque Limit Settings
GML Commander uses the motion controller’s limiting algorithms to
generate Velocity Limit and Torque Limit settings. Velocity and torque
limits are inversely related: the larger the torque limit, the smaller the
velocity limit, and vice versa (until an absolute velocity limit for your
motor is reached). Maximum Velocity for your system can be limited by:
• The power rating of your drive (amplifier)
• The capacity of your motor
• The Torque Limit Setting (as noted above).
To optimize Velocity and Torque Limit settings, follow these steps:
For listed motors:
1. Be sure you are operating online (select Online Connection in the
Diagram menu or Online Toolbar if you are not online).
2. In the Motor/Drive page of the Configure Axis Use dialog box, select
your Motor ID. GML Commander automatically inputs compatible
Velocity Limit and Torque Limit values.
3. In the Torque Limit input box, type a value less than 300%.
4. In the Velocity Limit input box, type a large value (e.g. 10000 RPM),