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6.5 Servo axis - testing and tuning
This section describes the method for testing and tuning a servo axis. The drive amplifier must already have been tuned for basic current or velocity control of the motor.
6.5.1 Testing the demand output
This section tests the operation and direction of the demand output for a servo axis. The example assumes that axis 4 has already been configured as a servo axis, using the default hardware channel 0 (see section 6.3.1). It is recommended that the motor is disconnected from the load for this test.
1.Check that the Drive enable button is pressed (down).
2. In the Toolbox, click the Edit & Debug icon.
3.Click in the Command window.
4.Type:
TORQUE.4=5
where 4 is the axis to be tested. In this example, this should cause a demand of +5% of maximum output (0.5V) to be produced at the DEMAND0 output (backplane connector X7, pin 1). In WorkBench v5, look at the Spy
window located on the right of the screen. In the Axis selection box at the top, select Axis 4.
The Spy window’s Command display should show 5 percent (approximately). If there seems to be no command output, check the electrical connections on the backplane.
The Spy window’s Velocity display should show a positive value. If the value is negative check that the DEMAND0 output, and the Encoder0 A and B channels, have been wired correctly. If necessary, the ENCODERMODE keyword can be used to swap the encoder A and B channels, thus reversing the encoder count - see the MintMT help file.
See section 4.3.2 for details of the demand outputs.
MN1928 | Operation |
