Baldor MN1928 installation manual Servo axis testing and tuning, Testing the demand output

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6.5 Servo axis - testing and tuning

This section describes the method for testing and tuning a servo axis. The amplifier must already have been tuned for basic current or velocity control of the motor.

6.5.1 Testing the demand output

This section tests the operation and direction of the demand output for axis 4. By default, axis 4 is a servo axis (although it can be reconfigured as a stepper - see section A.1). It is recommended that the motor is disconnected from the load for this test.

1.Check that the Drive enable button is pressed (down).

2.In the Toolbox, click Application then click the Edit & Debug icon.

3.Click in the Command window.

4.Type:

TORQUE.4=5

where 4 is the axis to be tested. In this example, this should cause a demand of +5% of maximum output (0.5V) to be produced at the DEMAND0 output (backplane connector X7, pin 1). In WorkBench v5, look at the Spy

window located on the right of the screen. In the Axis selection box at the top, select Axis 4.

The Spy window’s Command display should show 5 percent (approximately). If there seems to be no command output, check the electrical connections on the backplane.

The Spy window’s Velocity display should show a positive value. If the value is negative check that the DEMAND0 output, and the Encoder0 A and B channels, have been wired correctly. If necessary, the ENCODERMODE keyword can be used to swap the encoder A and B channels, thus reversing the encoder count - see the MintMT help file.

By default, axis 4 uses demand output 0 and encoder 0, and axis 5 uses demand output 1 and encoder 1. See section 4.3.2 for details of the demand outputs.

MN1928

Operation 6-11

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Contents NextMove ES Motion Controller Page Contents Backplanes Troubleshooting Appendices General Information Precautions Safety NoticeMN1928 Introduction NextMove ES featuresIntroduction MN1928 Installed Receiving and inspectionIdentifying the catalog number Units and abbreviations PhaseYou should read all the sections in Basic Installation IntroductionLocation requirements Other requirements for installation Installing the NextMove ES card96-pin edge connector 1 96-pin connector pin assignment 96-pin connector pin assignmentRow Pin Analog inputs Analog I/OAIN0 analog input wiring Analog output Demand0 shown Analog outputsDigital I/O Digital inputsGeneral purpose inputs Reset input !RSTIN Typical digital input wiringAuxiliary encoder inputs DIN17 STEP, DIN18 DIR, DIN19 Z DOUT0 DOUT7 Digital outputsDigital outputs DOUT8-11 DOUT8 shown DOUT8 DOUT11Error output Error Out Stepper control outputs Other I/OEncoder inputs Pin Name Description 96-pin Connector 3 RS232 serial connectionLocation Pin Name Description USB connectionTypical can network connections Can connectionCANopen and Baldor can JP1 This will connect an internal terminating resistorDrive amplifier axis Connection summary minimum system wiringConnector details for minimum system wiring shown in Figure Backplanes BPL010-501 non-isolated backplane Analog outputs demands DIN1 Mating connector Weidmüller Omnimate BL 3.5/5 Digital output DOUT11 C22 Stepper axes outputs DIR3+ Power inputs Encoder inputPin Name Description 96-pin 13 RS232 serial communication BPL010-502/503 backplane with opto-isolator card Pin Name Description NextMove ES 96-pin Connector Relay connections Error relay connectionsAnalog output, DEMAND0 shown Customer power supply ground DIN15 USR V+ Digital input circuit DIN16 with ‘active low’ inputs 5.1 BPL010-502 Active high inputsUSR COM 6.1 BPL010-502 PNP outputs Digital output circuit DOUT8-11 DOUT8 shown Stepper axes outputs Pin Name Description 96-pin Connector Power inputs 13 RS232 serial communication Input / Output MN1928 Installing WorkBench Connecting the NextMove ES to the PCStarting the NextMove ES \startPower on checks Installing the USB driverPreliminary checks Help file WorkBenchStarting WorkBench MN1928 Operation Selecting a scale Configuring an axisSetting the drive enable output If you are going to use the error output, drag Testing the drive enable output Testing the output Stepper axis testingTesting the demand output Servo axis testing and tuningTORQUE.4=-5 An introduction to closed loop control Summary, the following rules can be used as a guide NextMove ES servo loop Selecting servo loop gains Servo axis tuning for current controlMN1928 Operation Underdamped response Underdamped responseOverdamped response Overdamped responseCritically damped ideal response Critically damped responseServo axis eliminating steady-state errors Calculating Kvelff Servo axis tuning for velocity controlKvelff Correct value of Kvelff Adjusting Kprop Correct value of Kprop Digital input configuration Digital input/output configurationDigital output configuration Saving setup information Loading saved information SupportMe feature Problem diagnosisStatus display NextMove ES indicatorsD3 yellow Surface mount LEDs D3, D4, D16 and D20Symptom Check CommunicationMotor control WorkBench Troubleshooting MN1928 Input power Digital inputs opto-isolated Digital inputs non-isolatedInput voltage Maximum Minimum High LowDigital output error output non-isolated Digital outputs general purpose non-isolatedDigital outputs general purpose opto-isolated Can interface Error relay opto-isolated backplanesEnvironmental Weights and dimensionsSpecifications MN1928 MN1928 Appendix A-1 Axis renumberingAppendix MN1928 Index Index MN1928 Underdamped response, 6-18 Units and abbreviations Index MN1928 Comment CommentsComments MN1928 Page Baldor Electric Company Box Ft. Smith, AR
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MN1928 specifications

The Baldor MN1928 is a highly regarded motor designed for a variety of industrial applications, known for its durability and efficiency. This motor is part of Baldor’s extensive range of products, which are engineered to meet the demands of heavy-duty operations.

One of the key features of the Baldor MN1928 is its robust construction. Built with high-quality materials, this motor is designed to withstand harsh environmental conditions often found in industrial settings. The steel frame is not only resilient, but it also enhances the motor's cooling capabilities, enabling it to perform effectively over extended periods.

The MN1928 is equipped with advanced technologies that optimize its performance. One notable technology is the use of high-efficiency induction motor design. This reduces energy consumption significantly and contributes to lower operational costs. The motor is also designed with a continuous duty rating, making it capable of running for long hours without compromising its functionality or lifespan.

In terms of characteristics, the Baldor MN1928 features a reliable ball bearing design, which minimizes friction and wear, ensuring smoother operation and increased reliability. With a horsepower rating that suits a range of applications, it provides the necessary torque and speed to power various machinery effectively. The multi-voltage design allows for versatile installation options, accommodating different electrical systems while ensuring efficient performance.

Another important characteristic of this motor is its ease of maintenance. The design allows for straightforward access to components, making it simple for technicians to perform routine checks and maintenance. This is particularly beneficial in industrial settings where downtime can be costly.

Safety is also a priority in the design of the Baldor MN1928. Equipped with thermal overload protection, it prevents overheating, reducing the risk of damage caused by excessive temperatures during operation. Additionally, the motor complies with various industry standards, ensuring safe operation within diverse environments.

In summary, the Baldor MN1928 stands out as a reliable choice for industrial applications, offering a combination of durability, efficiency, and advanced technology. Its robust construction, high-efficiency design, and safety features make it a preferred option for many enterprises seeking dependable motor solutions.
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