Baldor MN1903 installation manual Correct value of Kprop

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Demand position

Measured position

Figure 16 - Correct value of KPROP

The two traces will probably appear with a small offset from each other. Adjust KPROP by small amounts until the two traces appear on top of each other (approximately), as shown in Figure 16.

5-26 Operation

MN1903

Image 68

Contents NextMove PCI Motion Controller Page Contents Operation Appendices Iv Contents MN1903 General Information Safety Notice PrecautionsNextMove PCI features MN1903 IntroductionIntroduction MN1903 Installed Receiving and inspectionIdentifying the catalog number Catalog number PCI001Phase Units and abbreviationsOther information needed for installation IntroductionHardware requirements Tools and miscellaneous hardwareLocation requirements Installation This completes the basic installationInstalling the NextMove PCI card NextMove PCI Expansion card and can Bracket boardBasic Installation MN1903 100-pin edge connector Outline1 100-pin connector pin assignment Pin Signal100-pin connector pin assignment Analog I/O Pin Name MintMT keyword / description Analog inputsLocation Analog input wiring, AIN0 shown Analog outputs Drive Demand/Command Pin Name DescriptionDigital input arrangement Input Common Breakout module connectorDigital I/O Stepperio Digital inputs Pin Name MintMT keyword Common DescriptionINX.4 Digital input circuit fast interrupts Digital outputs OUTX.0 Other I/O Encoder interfaces X12, X13, X14, X15Encoder input frequency Power Relay and can power Relay connectionsStepper drive outputs X10 Pin X10 Name X11 Name DescriptionCan Connections Cable length Maximum bit Resistance Conductor Rate Area1 CAN1 CANopen Baldor proprietary can interface using a RJ45 connector 2 CAN2 Baldor canSystem watchdog Reset statesEmulator connection Connection summary minimum system wiring Example minimum system wiringThis completes the input/output wiring Module Signal ConnectorConnector details for minimum system wiring shown in Figure Breakout Pin Name FunctionInput / Output MN1903 Installing the driver software Windows 95, 98 and ME Drivers\nmPCI\win9xInstalling the driver software Windows NT Installing the driver software WindowsInstalling WorkBench \startStarting WorkBench MN1903 Operation Operation MN1903 WorkBench Help fileChoosing an axis 8 axis card Configuring an axisChoosing an axis 1, 2, 3 and 4 axis cards Selecting a scale Setting the drive enable output Testing the drive enable output Servo axis testing and tuning Testing the drive command outputAn introduction to closed loop control Summary, the following rules can be used as a guide NextMove PCI servo loop Servo axis tuning for current control Selecting servo loop gainsMN1903 Operation Underdamped response Underdamped responseOverdamped response Overdamped responseCritically damped response Critically damped ideal responseServo axis eliminating steady-state errors Servo axis tuning for velocity control Calculating KvelffKvelff Correct value of Kvelff Adjusting Kprop Correct value of Kprop Stepper axis testing JOG.0=2Digital input/output configuration Digital input configurationDigital output configuration Saving setup information 10.1Loading saved information Operation MN1903 Problem diagnosis SupportMet featureNextMove PCI indicators Status and can LEDsMotor control Symptom CheckCommunication Output polarity Mechanical specifications Digital inputs X1 Relay output Encoder interfaces X1211Baldor can interface Stepper outputs X1010CANopen interface NextMove PCI Expansion card NextMove PCI Expansion cardAxis numbering when using expansion cards Main Expansion cardsWith no One 4-axis One 8-axis Two 4-axis Expansion Expansion cardExpansion card status LEDs NextMove PCI Breakout module Catalog number Description PCI003-501CBL021-501 CBL021-503Digital output modules NextMove PC system adapterSpares Catalog Description Number OPT025-508Baldor can nodes NextMove PCI can Bracket board Encoder Splitter/Buffer boardCatalog Description Number OPT008-501 OPT029-501Accessories MN1903