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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 6.4.1). 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 (0.5 V) to be produced at
the DEMAND0 output (backplane connector
X7, pin 1). In Mint WorkBench, 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 Mint help file.
See section 4.3.2 for details of the demand outputs.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,
MN1928
07045-0097 • (973) 335-1007 • Toll Free: (800) 922-1103
Fax: (973) 335-1661 • www.servosystems.com
www.baldormotion.com
Operation 6-13
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