Baldor MN1928 installation manual Troubleshooting, Specifications

6.4 Stepper axis - testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.4.1 Testing the output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.5 Servo axis - testing and tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.5.1 Testing the demand output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11 6.5.2 An introduction to closed loop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

6.6 Servo axis - tuning for current control . . . . . . . . . . . . . . . . . . . . . . 6-16

6.6.1 Selecting servo loop gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16 6.6.2 Underdamped response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18 6.6.3 Overdamped response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19 6.6.4 Critically damped response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20

6.7 Servo axis - eliminating steady-state errors . . . . . . . . . . . . . . . . . 6-21 6.8 Servo axis - tuning for velocity control . . . . . . . . . . . . . . . . . . . . . 6-22

6.8.1 Calculating KVELFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22 6.8.2 Adjusting KPROP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25

6.9 Digital input/output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

6.9.1 Digital input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27 6.9.2 Digital output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28

6.10 Saving setup information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29

6.10.1 Loading saved information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30

7 Troubleshooting			7-1
7.1	Introduction		7-1
	7.1.1	Problem diagnosis	7-1
	7.1.2	SupportMe feature	7-1
7.2	NextMove ES indicators		7-2
	7.2.1	Status display	7-2
	7.2.2 Surface mount LEDs D3, D4, D16 and D20		7-3
	7.2.3	Communication	7-4
	7.2.4	Motor control	7-4
	7.2.5	WorkBench v5	7-6
	7.2.6	CANopen	7-6
	7.2.7	Baldor CAN	7-8

8	Specifications			8-1
	8.1	Introduction		8-1
		8.1.1	Input power	8-1
		8.1.2	Analog inputs	8-1
		8.1.3	Analog outputs	8-1
		8.1.4	Digital inputs (non-isolated)	8-2
		8.1.5	Digital inputs (opto-isolated)	8-2
		8.1.6 Digital outputs - general purpose (non-isolated)		8-3
		8.1.7 Digital outputs - general purpose (opto-isolated)		8-3
		8.1.8 Digital output - error output (non-isolated)		8-3
		8.1.9	Error relay (opto-isolated backplanes)	8-4

MN1928 Contents iii