Baldor MN1903 - page 68

5-26 Operation MN1903

Measuredposition

Demandposition

Figure16 - Correct value of K PROP

Thetwo tr aces will probably appear with a small offset from each other. Adjust KPRO P by

smallamounts untilthe two tr aces appear on top of each other (approximately), as s hown in

Figure16.

Contents

Main Page Contents 3 Basic Installation 3-1.................................... 4 Input / Output 4-1...................................... 5 Operation 5-1.......................................... Contents iii MN1903 6 Troubleshooting 6-1.................................... 6.1 Introduction 6-1............................................ Appendices A Accessories A-1........................................ A.1 Introduction A-1............................................ Page GeneralInformation 1-1MN1903 1General Information 1 1-2 GeneralInformation MN1903 Safety Notice Precautions Introduction 2-1MN1903 2Introduction 2 2.1 NextMove PCI features 2-2 Introduction MN1903 Introduction 2-3MN1903 2.2 Receiving and inspection 2.2.1 Identifying the catalognumber 2-4 Introduction MN1903 2.3 Units and abbreviations BasicInstallation 3-1MN1903 3Basic Installation 3 3.1 Introduction 3.1.1 Hardware requiremen ts 3.1.2 Tools and miscellaneoushardware 3.1.3 Other info rmation needed for installation 3-2 BasicInstallation MN1903 3.2 Location requirements BasicInstallation 3-3MN1903 3.3 Installation 3.3.1 Installing the NextMovePCI card 3.3.2 NextMove PCI Expansion card and CAN Bracket board This completes the basic installation. Youshould read the following sections in sequence before using the NextMove PCI. Page Input/ Output 4-1MN1903 4.1 Outline 4.2 100-pin edge connector 4Input / Output 4 4-2 Input/ Output MN1903 4.2.1 100-pin connector pin assignment Input/ Output 4-3MN1903 Page Input/ Output 4-5MN1903 4.3.1 Analog inputs- X6 4-6 Input/ Output MN1903 Input/ Output 4-7MN1903 4.3.2 Analog outputs(Drive Demand/Command) - X7 4-8 Input/ Output MN1903 4.4 Digital I/O Input/ Output 4-9MN1903 4-10 Input/ Output MN1903 4.4.1 Digitalinputs - X1 Input/ Output 4-11MN1903 4.4.2 Digital inputs- X2 4-12 Input/ Output MN1903 4.4.3 Digitalinputs - X3 Input/ Output 4-13MN1903 4.4.4 Digital outputs - X4 4-14 Input/ Output MN1903 4.4.5 Digital outputs - X5 Input/ Output 4-15MN1903 4.5 Other I/O 4.5.1 Encoder interfaces - X12, X13, X14, X15, X16 4-16 Input/ Output MN1903 4.5.2 Encoderinput frequency Input/ Output 4-17MN1903 4.5.3 Power - X9 4-18 Input/ Output MN1903 4.5.4 Relayan d CAN power - X8 Input/ Output 4-19MN1903 4.5.5 Stepperdrive outputs - X10, X11 4-20 Input/ Output MN1903 4.6 CAN Connections Input/ Output 4-21MN1903 4.6.1 CAN1 (CANopen) - X17 4-22 Input/ Output MN1903 4.6.2 CAN2(Bald or CAN) - X18 Input/ Output 4-23MN1903 4.7 Other I/O 4.7.1 Emulator connection 4.8 Reset states 4.8.1 Systemwatchdog 4-24 Input/ Output MN1903 4.9 Connection summary - minimum system wiring HostPC Breakoutmodule Servoa mplifier (axis 0) Input/ Output 4-25MN1903 This completes the input/output wiring. Youshould read the following sections in sequence before using the NextMove PCI. Page Operation 5-1MN1903 5Operation 5 5.1 Introduction 5.1.1 Installingthe driver software - Windows 95, 98 and ME 5-2 Operation MN1903 5.1.2 Installingthe driver software - Windows NT 5.1.3 Installingthe driver software - Windows 2000 Operation 5-3MN1903 5.1.4 InstallingWorkBench v5 Page Page Page Operation 5-7MN1903 5.2 WorkBench v5 5.2.1 Help file 5-8 Operation MN1903 5.3 Configuring an axis 5.3.1 Choosing an axis - 1, 2, 3 and 4 axis cards 5.3.2 Choosing an axis - 8 axis card Operation 5-9MN1903 5.3.3 Selecting a scale 5-10 Operation MN1903 5.3.4 Setting the drive enable outpu t Operation 5-11MN1903 5.3.5 Testing the drive enableoutput 5-12 Operation MN1903 5.4 Servo axis - testing and tuning 5.4.1 Testingthe drive command output Operation 5-13MN1903 5.4.2 Anintroduction to closedloop control 5-14 Operation MN1903 Page 5-16 Operation MN1903 5.5 Servo axis - tuning forcurrent control 5.5.1 Selecting servo loop gains Operation 5-17MN1903 5-18 Operation MN1903 5.5.2 Underdampedresponse Operation 5-19MN1903 5.5.3 Overdampedresponse Page Operation 5-21MN1903 5.6 Servo axis - eliminating steady-state errors 5-22 Operation MN1903 5.7 Servo axis - tuning for velocity control 5.7.1 Calculatin g KVELFF Operation 5-23MN1903 5-24 Operation MN1903 Operation 5-25MN1903 5.7.2 AdjustingKPROP Page Operation 5-27MN1903 5.8 Stepper axis - testing 5.8.1 Testingthe drive command output 5-28 Operation MN1903 5.9 Digital input/output configuration 5.9.1 Digital input configuration Page 5-30 Operation MN1903 5.10 Saving setup information Operation 5-31MN1903 5.10.1Loading saved informatio n Page Troubleshooting 6-1MN1903 6Troubleshooting 6 6.1 Introduction 6.1.1 Problemdiagnosis 6.1.2 SupportMetfeature 6-2 Troubleshooting MN1903 6.2 NextMove PCI indicators 6.2.1 Status and CAN LEDs Troubleshooting 6-3MN1903 6.2.2 Communication 6.2.3 Motor control 6-4 Troubleshooting MN1903 Specifications 7-1MN1903 7Specifications 7 7.1 Introduction 7.1.1 Mechanical speci fications 7.1.2 Analog inputs (X6) 7-2 Specifications MN1903 7.1.3 Analog outputs(Drive Demand/Command - X7) 7.1.4 Digitalinputs (X1 & X2) 7.1.5 Digitalinputs (X3) Specifications 7-3MN1903 7.1.6 Digital outputs (X4) 7.1.7 Relay output (X8) 7.1.8 Encoder interfaces (X12 - X16) Page Accessories A-1MN1903 AAccessories A A.1 Introduction A.1.1 NextMove PCI Expan sion card A-2 Accessories MN1903 A.1.2 Axis numbering w hen using expansion card(s) Accessories A-3MN1903 A.1.3 Expansion card status LEDs A-4 Accessories MN1903 A.1.4 NextMove PCI Breakoutmodule Accessories A-5MN1903 A.1.5 Digital output modules A.1.6 NextMove PC system adap ter A.1.7 Spares A-6 Accessories MN1903 A.1.8 Baldor CAN nodes Accessories A-7MN1903 A.1.9 NextMove PCI CAN Bracket b oard A.1.10Encoder Splitter/Buffer board