Step 6 - Moving The Axis Using Dcsmon - Delta Computer Systems TMC 188/40 Series Manual

Getting Started

Step 6 - Moving the Axis Using DCSMON

With the axis drive output still disconnected and the transducers on, manually move the axis close to
the physical extend limit; be sure to leave some space for error. (Remember: Extending is the
direction that returns increasing TRANSDUCER COUNTS.) If you are using DCSMON, be sure you
are in Write mode rather than Read mode (a „W‟ rather than an „R‟ in the lower right corner of the
DCSMON main screen; press Ctrl-T to toggle the mode). In Read mode the parameters will not be
written to V Memory and will be lost on power-down. Enter the ACTUAL POSITION reading as the
value for the EXTEND LIMIT parameter. Now move the axis close to the physical retract limit and set
the RETRACT LIMIT parameter. Issue a 'P' command.
If you cannot move the axis manually, the following procedure uses DCSMON and the open loop
mode to slowly move the axis.
CAUTION - OPEN LOOP OPERATION IGNORES ALL LIMITS! BE PREPARED TO REMOVE DRIVE
POWER!
A. Connect the TMC drive output to the valves.
B. In DCSMON, with the cursor on the axis you want to adjust, enter Alt-R to restore the null. Put
0 (zero) in the REQUESTED POSITION field, enter Alt-Shift-O, and verify that DRIVE = 2048.
C. Turn on the hydraulics (the axis will drift due to valve null errors).
D. Put 100 in the REQUESTED POSITION field and enter Alt-Shift-O, then put 0 (zero)in the
REQUESTED POSITION field. Verify that DRIVE = 2148. The axis should extend. If the axis
retracts, check the drive wiring polarity, hydraulic plumbing, and the value null. Correct any
problems before continuing.
E. When the axis gets to the extend limit, enter Alt-Shift-O, then Alt-P to stop the axis. Enter the
ACTUAL POS. value in the EXTEND LIMIT parameter.
F. Put -100 in the REQUESTED POSITION field and enter Alt-Shift-O, then put 0 (zero) in the
REQUESTED POSITION field. Verify that DRIVE = 1948. The axis should retract.
G. When the axis gets to the retract limit, enter Alt-Shift-O, then Alt-P to stop the axis. Enter the
ACTUAL POS. value in the RETRACT LIMIT parameter.
H. Repeat Steps B through G for each axis in use.
For each axis you‟ll be using, set the following parameter and profile terms to the indicated values,
then press Alt-P on each axis. This will initialize the axis with any changes. (A HALT MASK of
0EFFF hides all errors except OVERDRIVE.)
Parameter terms:
HALT MASK
FEED FWD ADV
NULL UPDATE
DITHER
HYSTERESIS
PRO STAT GAIN
PRO EXT GAIN
PRO RET GAIN
INTEGRAL GAIN
DIFFER GAIN
EXT. FEED FWD.
RET. FEED FWD.
12
0EFFF
0
0
0
0
5
5
5
0
0
100
100
TMC 188/40 Motion Control Module
Profile terms:
MODE 00001
ACCEL 1% of SPEED
DECEL 1% of SPEED
SPEED 20% of maximum system
speed (1000 = 1 in/sec)
Delta Computer Systems, Inc. 360/254-8688