ii Contents MN1903
4.6 CAN Connections 4-20.......................................
4.6.1 CAN1( CANopen) - X17 4-21.........................................
4.6.2 CAN2( Baldor CAN) - X18 4-22.......................................
4.7 Other I/O 4-23..............................................
4.7.1 Emulatorc onnection 4-23............................................
4.8 Reset states 4-23...........................................
4.8.1 System watchdog 4-23..............................................
4.9 Connection summary - minimum system wiring 4-24.............
5 Operation 5-1..........................................5.1 Introduction 5-1............................................
5.1.1 Installingt he driver software - Windows 95, 98 and ME 5-1...............
5.1.2 Installingthe dr iver software - Windows NT 5-2.........................
5.1.3 Installingthe dr iver software - Windows 2000 5-2.......................
5.1.4 InstallingWorkBenc h v5 5-3.........................................
5.1.5 StartingWorkBench v 5 5-4..........................................
5.2 WorkBench v5 5-7..........................................
5.2.1 Helpfile 5-7......................................................
5.3 Configuring an axis 5-8.....................................
5.3.1 Choosingan ax is - 1, 2, 3 and 4 axis cards 5-8.........................
5.3.2 Choosingan ax is - 8 axis card 5-8...................................
5.3.3 Selectinga s cale 5-9...............................................
5.3.4 Settingthe driv e enable output 5-10...................................
5.3.5 Testingthe drive enable output 5-11...................................
5.4 Servo axis - testing and tuning 5-12............................
5.4.1 Testingthe drive command output 5-12.................................
5.4.2 Anintroduc tion to closed loop control 5-13..............................
5.5 Servo axis - tuning for current control 5-16......................
5.5.1 Selectings ervo loop gains 5-16.......................................
5.5.2 Underdampedres ponse 5-18.........................................
5.5.3 Overdamped response 5-19..........................................
5.5.4 Critically damped response 5-20......................................
5.6 Servo axis - eliminating steady-state errors 5-21.................
5.7 Servo axis - tuning for velocity control 5-22.....................
5.7.1 CalculatingKVELFF 5-22............................................
5.7.2 AdjustingK PROP 5-25..............................................
5.8 Stepper axis - testing 5-27....................................
5.8.1 Testingthe drive command output 5-27.................................
5.9 Digital input/output configuration 5-28..........................
5.9.1 Digitalinput c onfiguration 5 -28........................................
5.9.2 Digitaloutput c onfiguration 5-29.......................................
5.10 Savingsetup information 5-30.................................
5.10.1 Loadingsav ed information 5-31.......................................