Step 7 - Jogging The Axis - Delta Computer Systems TMC 188/40 Series Manual

TMC 188/40 Motion Control Module Getting Started
NOTE: Do not use the INTEGRAL or DIFFERENTIAL GAINS or FEED FORWARD ADVANCE until you
have finished with steps 1 to 10 in Tuning the Axis. Leave them at their defaults.
Turn off the power to the TMC 188/40 and connect the drive output (if you haven‟t already done so).
Turn the power back on and issue a 'P' command to each axis you are using. Make several short
slow moves by entering the REQUESTED POSITION and issuing a GO ('G') command.
TIP: DCSMON is very useful. We recommend using it to troubleshoot and tune the system. It
provides dynamic move information in graphic form.
Increase the speed and accelerations gradually while making longer moves. After a move press
INSERT to make a graph of that move, then look for LEAD, LAG, overshoot, or oscillation. Eventually
you will reach a speed or acceleration which will cause an error on the axis.
There are three errors to be concerned with at this time. If an overdrive error occurs (green line going
to the top or bottom of the screen and axis halted), there is not enough drive capacity to drive the axis
at the requested speed. If this occurs, reduce the SPEED. If a LAG error occurs (press Ctrl-B to
display the status bits), the appropriate feed forward must be increased. If a LEAD error occurs, the
appropriate feed forward must be decreased. In either case, you can enter an 'Alt-F' from DCSMON
or an 'F' command from the P/C ladder program to automatically adjust the feed forward terms. If this
does not solve the problem, the acceleration and deceleration ramps are too steep for the response
of the system; the ramp distance should be increased.
After the problem causing the error has been corrected, continue to increase the speed and move the
axis until you reach the desired speed. Should the system seem a little sloppy, try decreasing the
MAXIMUM POSITION ERROR and adjusting one of the system gains (STATIC, EXTEND and
RETRACT) until the axis can be moved without getting an error. Remember, the parameters are not
updated in the TMC 188/40 until the 'P' command is issued on each axis.

Step 7 - Jogging the Axis

You can jog the axis by setting the REQUESTED POSITION to the EXTEND LIMIT or RETRACT
LIMIT, then using the 'G' and 'H' commands repeatedly. This causes the MCM to GO then HALT.
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