MT Motor Type

MT	Motor Type	System Config
The MT command selects the type of the motor and the polarity of the drive signal

MTA= n	Arguments specified with an axis mask and an assignment (=)
MT n ...	Arguments specified with an implicit comma-separated order
_MTm	Operand holds the value set in the command

Description

The MT command selects the type of the motor and the polarity of the drive signal. Motor types include standard servomotors, which require a voltage in the range of +/- 10 Volts, and step motors, which require pulse and direction signals. The polarity reversal inverts the analog signals for servomotors, and inverts logic level of the pulse train, for step motors.

Arguments

MTm= n

MT n,n,n,n,n,n,n,n


Argument	Min	Max	Default	Resolution	Description	Notes
m	A	H	N/A	Axis	Axis to assign value


Argument	Value	Description	Notes
n	1	Specifies Servo motor	Default
	-1	Specifies Servo motor with reversed polarity
	1.5	Specifies PWM/Sign servo drive
	-1.5	Specifies PWM/Sign servo drive with reversed polarity
	2	Specifies Step motor with active low step pulses
	-2	Specifies Step motor with active high step pulses	Valid setting for all Galil SDM stepper drives
	2.5	Specifies Step motor with reversed direction and active low step pulses
	-2.5	Specifies Step motor with reversed direction and active high step pulses	Valid setting for all Galil SDM stepper drives

Remarks

n = ? will return the value of the motor type for the specified axis
For step and direction modes (n=2,-2,2.5,-2.5), the auxiliary encoder input for the axis is no longer available

Examples

MT 1,-1,2,2;   'Configure A as servo, B as reverse servo, C and D as steppers
MT ?,?;        'Interrogate motor type for A- and B-axis

MT is supported on DMC40x0, DMC41x3, DMC21x3, DMC18x6, DMC18x2, DMC30010 firmware platform(s)
Corrections, Feedback: documentation@galilmc.com