MN1941WEN Operation 5-23
5.6 Local servo axis - testing and tuning
This section describes the method for testing and tuning a local servo axis. The drive
amplifier must already have been tuned for basic current or velocity control of the motor. See
section 5.4.3 for details about creating a servo axis.
5.6.1 Testing the demand output
This section tests the operation and direction of the demand output for axis 0. The example
assumes that axis 0 has already been configured as a servo axis, using the default hardware
channel 0 (see section 5.4.3). It is recommended that the motor is disconnected from the
load for this test.
1. Check that the Drive enable button is
pressed (down).
2. In the Toolbox, click the Edit & Debug icon.
3. Click in the Command window.
4. Type:
TORQUEREF(0)=5
where 0 is the axis to be tested. In this
example, this should cause a demand of
+5% of maximum output (0.5 V) to be
produced at the DEMAND0 output
(connector X13, pin 1). In Mint WorkBench, look at the Spy window located on the right
of the screen. In the Axis selection box at the top, select Axis 0.
The Spy window’s Command display should show 5 percent (approximately). If there
seems to be no demand output, check the electrical connections to X13.
The Spy window’s Velocity display should show a positive value. If the value is negative
check that the DEMAND0 output, and the Encoder0 A and B channels, have been wired
correctly.
If necessary, the ENCODERMODE keyword can be used to swap the encoder A and B
channels, thus reversing the encoder count - see the Mint help file.
See section 4.2.2 for details of the demand outputs.
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