Return - Control Technology 2646 MultiPro Installation Manual

Programming a Servo
[4] STOP_SERVO
[5] RUN_SERVO
[6] DELAY_STEP
[7] REVERSE_DIRECTION
26
;;;
;;; In this program, we assume your servo drive must be
;;; enabled by turning on an output. This step stops the
;;; servo by sending a hard stop command and by turning
;;; off the output that enabled the drive.
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OUT_1_OFF
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stop (hard) servo_1
cancel other tasks
monitor servo_1:stopped goto NEW_SERVO_PROGRAM
;;;
;;; This step turns the servo clockwise. While the servo
;;; is in motion, it can tuned by programming the tuning
;;; parameters to access registers. The program executes
;;; a clockwise turn followed by a counter clockwise
;;; return. The tuning process is as follows:
;;;
;;; 1. Set the P parameter to 1, the I parameter to 0, and
;;; the D parameter to 0.
;;;
;;; 2. Set switch 1 and watch/listen to the servo. It
;;; should turn, but it will be “mushy”.
;;;
;;; 3. While it is turning, increase the D parameter in
;;; increments of 10 up to a maximum of 255, until the
;;; servo stabilizes.
;;;
;;; 4. Increase the P parameter until the servo becomes
;;; unstable, then reduce it until the servo becomes
;;; stabilized again.
;;;
;;; 5. While monitoring the servo error, increase the I
;;; parameter to minimize the servo error to the point
;;; where the servo becomes unstable, then reduce it until
;;; the servo stabilizes again. Your servo is now tuned!
;;;
;;; NOTE: Please insure you have loaded the appropriate
;;; registers with valid values before switch No. 1
;;; is set.
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<NO CHANGE IN DIGITAL OUTPUTS>
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profile servo_1 maxspeed=reg_501 accel=reg_502 P=reg_503
I=reg_504 D=reg_505
turn servo_1 to 4000
monitor servo_1:stopped goto Next
;;;
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<NO CHANGE IN DIGITAL OUTPUTS>
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delay 1 sec goto next
;;; This step reverses direction of the servo and returns
;;; it to the starting position.
Model 2646 MultiPro™ MC Dual Servo Installation
Guide