Baldor MN1903 installation manual Operation

4.6	CAN Connections		4-20
	4.6.1	CAN1 (CANopen) - X17	4-21
	4.6.2	CAN2 (Baldor CAN) - X18	4-22
4.7	Other I/O		4-23
	4.7.1	Emulator connection	4-23
4.8	Reset states		4-23
	4.8.1	System watchdog	4-23
4.9	Connection summary - minimum system wiring		4-24

5 Operation		. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5-1
5.1	Introduction		5-1
	5.1.1 Installing the driver software - Windows 95, 98 and ME		5-1
	5.1.2 Installing the driver software - Windows NT		5-2
	5.1.3 Installing the driver software - Windows 2000		5-2
	5.1.4	Installing WorkBench v5	5-3
	5.1.5	Starting WorkBench v5	5-4
5.2	WorkBench v5		5-7
	5.2.1	Help file	5-7
5.3	Configuring an axis		5-8
	5.3.1 Choosing an axis - 1, 2, 3 and 4 axis cards		5-8
	5.3.2 Choosing an axis - 8 axis card		5-8
	5.3.3	Selecting a scale	5-9
	5.3.4 Setting the drive enable output		5-10
	5.3.5 Testing the drive enable output		5-11
5.4	Servo axis - testing and tuning		5-12
	5.4.1 Testing the drive command output		5-12
	5.4.2 An introduction to closed loop control		5-13
5.5	Servo axis - tuning for current control		5-16
	5.5.1 Selecting servo loop gains		5-16
	5.5.2	Underdamped response	5-18
	5.5.3	Overdamped response	5-19
	5.5.4	Critically damped response	5-20

5.6 Servo axis - eliminating steady-state errors . . . . . . . . . . . . . . . . . 5-21 5.7 Servo axis - tuning for velocity control . . . . . . . . . . . . . . . . . . . . . 5-22

5.7.1 Calculating KVELFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22 5.7.2 Adjusting KPROP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

5.8 Stepper axis - testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27

5.8.1 Testing the drive command output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27

5.9 Digital input/output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

5.9.1 Digital input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28 5.9.2 Digital output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29

5.10 Saving setup information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30

5.10.1 Loading saved information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31

ii Contents MN1903