Baldor BXII installation manual Operation

4.7.5 Connecting Baldor HMI Operator Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17 4.7.6 RS422 / RS485 - X14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18 4.7.7 CAN connectors - X16 & X17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20 4.7.8 CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21 4.7.9 Baldor CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

4.8	Reset states	4-22
	4.8.1 System watchdog	4-22
4.9	Connection summary - minimum system wiring	4-23

5 Operation		. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	5-1
5.1	Introduction		5-1
	5.1.1 Connecting the NextMove BXII to the PC		5-1
	5.1.2	Installing the software	5-1
	5.1.3 Starting the NextMove BXII		5-1
	5.1.4	Preliminary checks	5-1
	5.1.5	Power on checks	5-2
5.2	WorkBench v5		5-3
	5.2.1	Help file	5-3
	5.2.2	Starting WorkBench v5	5-4
5.3	Configuring an axis		5-6
	5.3.1	Selecting a scale	5-6
	5.3.2 Setting the drive enable output		5-7
	5.3.3 Testing the drive enable output		5-8
5.4	Testing and tuning		5-9
	5.4.1 Testing the drive command output		5-9
5.5	An introduction to closed loop control		5-11
5.6	Tuning an axis for current control		5-14
	5.6.1 Selecting servo loop gains		5-14
	5.6.2	Underdamped response	5-16
	5.6.3	Overdamped response	5-17
	5.6.4	Critically damped response	5-18

5.7 Eliminating steady-state errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19 5.8 Tuning an axis for velocity control . . . . . . . . . . . . . . . . . . . . . . . . . 5-20

5.8.1 Calculating KVELFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20 5.8.2 Adjusting KPROP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23

5.9 Digital input/output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

5.9.1 Digital input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25 5.9.2 Digital output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26

5.10 Saving setup information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27 5.11 Loading saved information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

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