Baldor mn1854 manual Value, IN-RANGE Setup Window, IN-RANGE Window, PM Gain

Configuring Following Error Limit [ FEi ]

EDIT > SETUP > ENC > FOL–ERR

Value: 750 Steps

Range: 0–99,999 motor steps (0 = Off)

If a Following Error occurs, the control will enter a fault state where:

SAny motion or program being executed is immediately terminated.

SThe LCD Display will indicate “Following Error”, along with an explanation.

SA fault output will be generated if defined as a “Stall” or Fault output.

SThe fault must be cleared before motion can occur. A Stop or Kill, by programmable inputs or serial command, the ESC key or a RESET will clear a Following Error fault

SBit 9 of SS response is set to 1

SBit 1 of SD response is set to 1

Configuring Position Maintenance In–Range Deadband [ IRi ]

– Axis One Fol Error –
–↑	750 Steps	↓ –
Select value, press ENTER
Press ←	or → to select next axis.

EDIT > SETUP > ENC > IN–RNGE

Value: 25 Steps

Range: 0–32,767 steps

In–Range Window specifies the position maintenance deadband or region surrounding the set–point position. The “window” is specified in post–quadrature (4 x # of lines) encoder steps. The window is the region surrounding the commanded position in which the load reside and not be considered “out of position.” The control will try to correct the position if it is outside this window.

Configuring Position Maintenance Gain [ PGi ]

EDIT > SETUP > ENC > PMGAIN

Value: 10

Range: 1–32,767

– IN–RANGE SETUP –

WINDOW

Select WINDOW (press F1)

	– IN–RANGE WINDOW –
←	25 steps	→

Enter encoder steps, Press ENTER (must be a positive number)

– Axis One		PM GAIN –
←	10	→
Select value, press ENTER
Press ←	or → to select next axis.

PM Gain specifies a gain value used to determine correction velocity. The correction velocity is calculated as “displacement* correction gain” in units of steps/in. Therefore, the larger the displacement, the faster position maintenance will attempt to correct position. For example, if the correction gain is set to 3 and an active displacement of 3200 steps occurs, the correction velocity will be (3 * 3200) = 9600 steps/sec.

5-4 Setup MN1854