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Baldor BXII Critically damped response, 5-18Operation, MN1904, Demand position Measured position

Models: BXII

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5.6.4 Critically damped response

If the graph shows that the response reaches the demand quickly and only overshoots the demand by a small amount, this can be considered an ideal response for most systems. See Figure 19.

Demand position

Measured position

Figure 19 - Critically damped (ideal) response

5-18 Operation

MN1904

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Image 58

Baldor BXII installation manual Critically damped response, 5-18Operation, MN1904, Demand position Measured position

Contents

MOTION CONTROL Installation ManualNextMove BXII Motion Controller 9/02Page Contents 5 Operation A Accessories 6 Troubleshooting7 Specifications Appendicesiv Contents MN1904MN1904 1 General InformationGeneral Information 1-2General Information Safety NoticePrecautions MN19042.1 NextMove BXII features 2 Introduction2.2 Receiving and inspection Installed in2.2.1Identifying the catalog number 2.3 Units and abbreviations 2-4Introduction MN19043.1 Introduction 3 Basic Installation3.1.1 Power sources 3.1.2 PC Hardware requirements3-2Basic Installation 3.1.4 Other information needed for installation3.1.3 Tools and miscellaneous hardware MN1904See also page All dimensions shown as mm inches This completes the basic installation3.2.1 Mounting the NextMove BXII Allow additional depth to accommodate wiring4.1 Introduction 4.2 Connector locations - top panel4 Input / Output 4.3 Connector locations - front panel 4.4 Power connections 4.4.1 Power4.5 Analog I/O 4.5.1Analog inputsAIN0 Pin AIN1 Pin 4-6Input / Output 4.5.2 Analog outputs DemandsMN1904 4.6 Digital I/O 4-8Input / Output 4.6.1 Digital inputsMN1904 4.6.2 Digital inputs 4-10Input / Output 4.6.3 Digital inputs InterruptsMN1904 Name 4.6.4 Digital outputsLocation Mint keyword / description4.7 Other I/O 4.7.1 Encoder interfaces - X9, X10, X114.7.2 Encoder input frequency 4-14Input / Output 4.7.3 Relay and user powerMN1904 Pin Name 4.7.4 RS232Description NextMove BXII GND RS232RXD TXD DTE RTS CTSNextMove BXII 4.7.5 Connecting Baldor HMI Operator PanelsBaldor HMI PLC PORTMN1904 4.7.6 RS422 / RS4854-18Input / Output 4 NCNetwork slave Figure 12 - 4-wireRS485 multi-dropconnectionsNetwork master Network slave4-20Input / Output 4.7.7 CAN connectorsMN1904 4.7.8 CANopen 4.7.9 Baldor CAN4.8 Reset states 4.8.1 System watchdogEnable 4.9 Connection summary - minimum system wiringError out Host PCTable 2 - Minimum system wiring connections connectorsignal 4-24Input / Output5.1 Introduction 5.1.1 Connecting the NextMove BXII to the PC5.1.2 Installing the software 5 Operation5-2Operation 5.1.5 Power on checksMN1904 5.2 WorkBench 5.2.1 Help file5-4Operation 5.2.2Starting WorkBenchMN1904 Click Scan to search for the NextMove BXII 5.3 Configuring an axis 5.3.1 Selecting a scale5.3.2Setting the drive enable output 5-8Operation 5.3.3Testing the drive enable outputMN1904 5.4 Testing and tuning 5.4.1 Testing the drive command output6.To remove the demand and stop the test, type 5-10OperationMN1904 STOP.05.5 An introduction to closed loop control 5-12Operation MN1904Operation MN1904Figure 16 - The NextMove BXII servo loop 5.6 Tuning an axis for current control 5.6.1 Selecting servo loop gainsThe distance depends on the scale set in 5-16Operation 5.6.2 Underdamped responseMN1904 5.6.3 Overdamped response Figure 18 - Overdamped responseMN1904 5.6.4 Critically damped response5-18Operation Demand position Measured position5.7 Eliminating steady-stateerrors 5.8 Tuning an axis for velocity control 5.8.1 Calculating KVELFF=10.24 MN1904 5-22OperationFigure 20 - Correct value of KVELFF 5.8.2 Adjusting KPROP 2. Click GoFigure 21 - Correct value of KPROP 5-24OperationMN1904 Demand position Measured position5.9 Digital input/output configuration 5.9.1 Digital input configuration5-26Operation 5.9.2 Digital output configurationMN1904 5.10 Saving setup information 1.In the Toolbox, click the Edit & Debug icon5-28Operation 5.11Loading saved informationMN1904 6.1.2 SupportMet feature 6 Troubleshooting6.1.1 Problem diagnosis 6.1 Introduction6.2 NextMove BXII indicators 6.2.1 Status displayOffset move. The axis is performing an offset move 6-4Troubleshooting 6.2.2 Motor controlMN1904 6.2.3 Communication 6-6Troubleshooting MN1904Introduction 7 SpecificationsInput power 7.1.1Digital inputs 7.1.3 Analog outputs Demands7.1.4 7.1.57.1.9 CAN interfaces 7.1.7 Relay output7.1.8 Encoder interfaces Update interval7-4Specifications 7.1.11Weights and dimensions7.1.10Environmental MN1904A.1 Introduction A Accessories AA.1.1 Baldor CAN nodes A-2Accessories A.1.2 Encoder Splitter/Buffer boardMN1904 Index Page Page Index MN1904continued CommentsComment CommentsMN1904 CommentsThank you for taking the time to help us Page Europe AustraliaMexico Singapore