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The analog demand output is controlled by a 12-bit DAC, which can create output voltages in
the range -10V to +10V. This means a maximum output of +10V corresponds to a DAC value
of 2048. The value of KVELFF is calculated by dividing 2048 by the number of quadrature
counts per servo loop, so:
KVELFF
5. Click in the KVELFF box and enter the value.
The calculated value should give zero
following error in normal operation. Using
values greater than the calculated value will
cause the controller to have a following
error ahead of the desired position. Using
values less than the calculated value will
cause the controller to have following error
behind the desired position.
6. In the Move Type drop down box, check that
the move type is set to Trapezoid.
7. Click in the Distance box and enter a distance
for the step move. It is recommended to set
a value that will cause the motor to make a
few revolutions, for example 10.
Note: The distance depends on the scale set in section 5.3.3. If you set a scale so that
units could be expressed in revolutions (or other unit of your choice), then those
are the units that will be used here. If you did not set a scale, the amount you
enter will be in encoder counts.
8. Click Go.
The NextMove PCI will perform the move and the motor will turn. As the soon as the
move is completed, WorkBench v5 will download captured data from the NextMove PCI.
The data will then be displayed in the Capture window as a graph.
Note: The graph that you see will not look exactly the same as the graph shown here!
Remember that each motor has a slightly different response.
MN1903
=
2048 / 200
=
10.24
Operation 5-23
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