Servotronix CDHD2S User Manual page 182

Application Setup
4. Define addresses for each drive. Use HMI panel (medium-voltage models) or rotary switch
(low-voltage models). Please refer to the
Drive Addressing section. Restart the drive after setting the address.
Set up and test each axis individually:
Note: For the two gantry Y-axes, the motor cannot be configured with the ServoStudio2 motor
setup wizard.
5. The first gantry axis:
a. Configure motor and feedback device parameters according to manufacturer
specifications. Use the ServoStudio2 "Motor" screen.
b. Check the current control loop of the first axis.
Open the ServoStudio2 "Motor" screen. Select serial current operation mode. Select
parameters IQ (current Q axis) and ICMD (current command) for recording. Enter the Current
Command value. Start recording.
If the motor parameters ML (motor induction) and MR (motor impedance) are set correctly,
the test results should be good.
If noise occurs, increase the KCD value (minimum level of dead time compensation) from 1 to
10 to improve performance.
c. Test motor movement.
Make sure the second gantry motor drive is disabled.
Open ServoStudio2 operation mode. Select serial current operation mode.
Enter a "Current Command" value less than 10% of MICONT (motor continuous current).
When the motor moves, observe the value change in the status bar of ServoStudio2. Ensure
that positive values generate positive velocity. If this is not the case, set MFBDIR to reverse the
motor feedback direction, and use the ZERO command to adjust MPHASE.
6. The second gantry axis: Repeat step 5.
7. Two gantry axes are tested together.
a. Open the ServoStudio2 gantry screen.
b. In the Configuration tab: Set the ID of main axis and differential axis drives.
c. When both drives are disabled, manually move the gantry platform and observe the
position and velocity values of the main axis and differential axis in ServoStudio2.
Make sure that the position values of the two axes increase in the same direction.
Make sure that the velocity values of the two axes also reflect the same direction.
If the directions do not match, modify the DIR of one of the axes.
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