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Baldor BXII installation manual 5-22Operation, MN1904, Correct value of KVELFF

Models: BXII

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Demand velocity

Measured velocity

Figure 20 - Correct value of KVELFF

It may be necessary to make changes to the calculated value of KVELFF. If the trace for Measured velocity appears above the trace for Demand velocity, reduce the value of KVELFF. If the trace for Measured velocity appears below the trace for Demand velocity, increase the value of KVELFF. Repeat the test after each change. When the two traces appear on top of each other (approximately), the correct value for KVELFF has been found as shown in Figure 20.

5-22 Operation

MN1904

Page 62

Image 62

Baldor BXII installation manual 5-22Operation, MN1904, Correct value of KVELFF

Contents

MOTION CONTROL Installation ManualNextMove BXII Motion Controller 9/02Page Contents 5 Operation A Accessories 6 Troubleshooting7 Specifications Appendicesiv Contents MN1904General Information 1 General InformationMN1904 1-2General Information Safety NoticePrecautions MN19042.1 NextMove BXII features 2 Introduction2.2.1Identifying the catalog number Installed in2.2 Receiving and inspection 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 Input / Output 4.2 Connector locations - top panel4.1 Introduction 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 MN1904 4.5.2 Analog outputs Demands4-6Input / Output 4.6 Digital I/O MN1904 4.6.1 Digital inputs4-8Input / Output 4.6.2 Digital inputs MN1904 4.6.3 Digital inputs Interrupts4-10Input / Output 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 MN1904 4.7.3 Relay and user power4-14Input / Output Description 4.7.4 RS232Pin Name 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 slaveMN1904 4.7.7 CAN connectors4-20Input / Output 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 OperationMN1904 5.1.5 Power on checks5-2Operation 5.2 WorkBench 5.2.1 Help fileMN1904 5.2.2Starting WorkBench5-4Operation 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 MN1904 5.3.3Testing the drive enable output5-8Operation 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 MN1904Figure 16 - The NextMove BXII servo loop MN1904Operation 5.6 Tuning an axis for current control 5.6.1 Selecting servo loop gainsThe distance depends on the scale set in MN1904 5.6.2 Underdamped response5-16Operation 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 Figure 20 - Correct value of KVELFF 5-22OperationMN1904 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 configurationMN1904 5.9.2 Digital output configuration5-26Operation 5.10 Saving setup information 1.In the Toolbox, click the Edit & Debug iconMN1904 5.11Loading saved information5-28Operation 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 MN1904 6.2.2 Motor control6-4Troubleshooting 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.1.1 Baldor CAN nodes A Accessories AA.1 Introduction MN1904 A.1.2 Encoder Splitter/Buffer boardA-2Accessories Index Page Page Index MN1904continued CommentsComment CommentsThank you for taking the time to help us CommentsMN1904 Page Europe AustraliaMexico Singapore