S94H201E_13426446_EN L 3
Contents
5.9 Compensation .............................................................56
5.9.1 Velocity P-gain (proportional)............................................56
5.9.2 Velocity I-gain (integral)................................................56
5.9.3 Position P-gain (proportional) ...........................................57
5.9.4 Position I-gain (integral) ...............................................57
5.9.5 Position D-gain (differential) ............................................57
5.9.6 Position I-limit.......................................................57
5.9.7 Gain Scaling Window.................................................. 57
5.9.8 Disable High Performance Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.9.9 Auto Tuning.........................................................57
5.9.10 Set Default Gains.....................................................58
5.9.11 Feedback and Loop Filters..............................................58
5.10 Tools ....................................................................59
5.10.1 Oscilloscope ........................................................59
5.10.2 Parameter & I/O View .................................................60
5.11 Faults.................................................................... 61
5.12 Monitor ..................................................................62
6 Operation ......................................................................63
6.1 Minimum Connections .......................................................63
6.2 Ethernet Connection ......................................................... 63
6.2.1 PositionServo Ethernet Port Configuration ..................................64
6.2.2 Configuring the PC IP Address (Windows XP) ................................ 66
6.2.3 Initial Connection to the Drive ...........................................69
6.2.4 Launching MotionView & Communicating to the PS Drive ......................70
6.3 Parameter Storage and EPM Operation...........................................73
6.3.1 Parameter Storage ...................................................73
6.3.2 EPM Operation ......................................................73
6.3.3 EPM Fault ..........................................................73
6.4 Configuration of the PositionServo ..............................................74
6.5 Position Mode Operation (gearing) ..............................................75
6.6 Enabling the PositionServo .................................................... 75
6.7 Drive Tuning...............................................................76
6.7.1 Auto Tuning the Drive .................................................76
6.7.2 Manually Tuning the Drive in Velocity Mode................................. 77
6.7.3 Manually Tuning the Drive in Position Mode ................................82
6.8 Upgrading Firmware.........................................................87
7 Quick Start Reference .............................................................88
7.1 Quick Start - External Torque Mode .............................................88
7.2 Quick Start - External Velocity Mode............................................. 89
7.3 Quick Start - External Positioning Mode ..........................................91
8 Diagnostics.....................................................................93
8.1 Diagnostic Display ..........................................................93
8.2 Diagnostic LEDs ............................................................94
8.3 Stop/Reset ................................................................ 94
8.4 Faults.................................................................... 95
8.4.1 Fault Codes.........................................................95
8.4.2 Fault Event .........................................................97
8.4.3 Fault Reset .........................................................97
8.4 Troubleshooting ............................................................97
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