Correct value of Kprop | Baldor MN1903 specs

Demand position

Measured position

Figure 16 - Correct value of KPROP

The two traces will probably appear with a small offset from each other. Adjust KPROP by small amounts until the two traces appear on top of each other (approximately), as shown in Figure 16.

5-26 Operation

MN1903

Image 68

Baldor MN1903 installation manual Correct value of Kprop

Contents

NextMove PCI Motion Controller Page Contents Operation Appendices Iv Contents MN1903 General Information Safety Notice Precautions NextMove PCI features MN1903 Introduction Introduction MN1903 Installed Receiving and inspectionIdentifying the catalog number Catalog number PCI001 Phase Units and abbreviations Other information needed for installation IntroductionHardware requirements Tools and miscellaneous hardware Location requirements Installation This completes the basic installationInstalling the NextMove PCI card NextMove PCI Expansion card and can Bracket board Basic Installation MN1903 100-pin edge connector Outline 1 100-pin connector pin assignment Pin Signal 100-pin connector pin assignment Analog I/O Pin Name MintMT keyword / description Analog inputsLocation Analog input wiring, AIN0 shown Analog outputs Drive Demand/Command Pin Name Description Digital input arrangement Input Common Breakout module connectorDigital I/O Stepperio Digital inputs Pin Name MintMT keyword Common Description INX.4 Digital input circuit fast interrupts Digital outputs OUTX.0 Other I/O Encoder interfaces X12, X13, X14, X15 Encoder input frequency Power Relay and can power Relay connections Stepper drive outputs X10 Pin X10 Name X11 Name Description Can Connections Cable length Maximum bit Resistance Conductor Rate Area 1 CAN1 CANopen Baldor proprietary can interface using a RJ45 connector 2 CAN2 Baldor can System watchdog Reset statesEmulator connection Connection summary minimum system wiring Example minimum system wiring This completes the input/output wiring Module Signal ConnectorConnector details for minimum system wiring shown in Figure Breakout Pin Name Function Input / Output MN1903 Installing the driver software Windows 95, 98 and ME Drivers\nmPCI\win9x Installing the driver software Windows NT Installing the driver software Windows Installing WorkBench \start Starting WorkBench MN1903 Operation Operation MN1903 WorkBench Help file Choosing an axis 8 axis card Configuring an axisChoosing an axis 1, 2, 3 and 4 axis cards Selecting a scale Setting the drive enable output Testing the drive enable output Servo axis testing and tuning Testing the drive command output An introduction to closed loop control Summary, the following rules can be used as a guide NextMove PCI servo loop Servo axis tuning for current control Selecting servo loop gains MN1903 Operation Underdamped response Underdamped response Overdamped response Overdamped response Critically damped response Critically damped ideal response Servo axis eliminating steady-state errors Servo axis tuning for velocity control Calculating Kvelff Kvelff Correct value of Kvelff Adjusting Kprop Correct value of Kprop Stepper axis testing JOG.0=2 Digital input/output configuration Digital input configuration Digital output configuration Saving setup information 10.1Loading saved information Operation MN1903 Problem diagnosis SupportMet feature NextMove PCI indicators Status and can LEDs Motor control Symptom CheckCommunication Output polarity Mechanical specifications Digital inputs X1 Relay output Encoder interfaces X12 11Baldor can interface Stepper outputs X1010CANopen interface NextMove PCI Expansion card NextMove PCI Expansion card Axis numbering when using expansion cards Main Expansion cardsWith no One 4-axis One 8-axis Two 4-axis Expansion Expansion card Expansion card status LEDs NextMove PCI Breakout module Catalog number Description PCI003-501CBL021-501 CBL021-503 Digital output modules NextMove PC system adapterSpares Catalog Description Number OPT025-508 Baldor can nodes NextMove PCI can Bracket board Encoder Splitter/Buffer boardCatalog Description Number OPT008-501 OPT029-501 Accessories MN1903