SECTION 7: WINDRIVE T200 User's Manual
PAGE 7-3
7.10 DRIVE SET-UP................................................................................................................................................ 7-31
7.10.1 Basic Velocity Mode Drive Set-up......................................................................................................... 7-31
7.10.1.1 Units Set-up ............................................................................................................................................................. 7-31
7.10.1.2 Select Motor Dialog Box .........................................................................................................................................7-32
7.10.1.3 Reference Source Selection......................................................................................................................................7-34
7.10.1.4 Reference Rate Limit Set-up....................................................................................................................................7-38
7.10.1.5 Normal and Reduced Power (Automatic and Manual Mode) Limits Set-up............................................................ 7-38
7.10.1.6 Hardware Limit Switches Set-up ............................................................................................................................. 7-39
7.10.1.7 Drive Tuning............................................................................................................................................................ 7-40
7.10.1.8 Encoder Simulation (ESM) ......................................................................................................................................7-40
7.10.1.9 Regen (Brake) Resistor Configuration.....................................................................................................................7-40
7.10.1.10 Saving a Configuration to Non-Volatile Storage....................................................................................................7-41
7.10.2 Torque Mode Operation ......................................................................................................................... 7-42
7.11 CONTROL LOOP CONFIGURATION AND TUNING.......................................................................................... 7-43
7.11.1 Control Mode Selection.......................................................................................................................... 7-43
7.11.2 Torque Mode Tuning.............................................................................................................................. 7-45
7.11.3 Velocity Loop Tuning ............................................................................................................................ 7-45
7.11.3.1 Combined Tuning Window......................................................................................................................................7-45
7.11.4 Advanced Options.................................................................................................................................. 7-46
7.11.4.1 Velocity Estimation..................................................................................................................................................7-46
7.11.4.2 Control Mode ...........................................................................................................................................................7-47
7.11.5 Auto Tuning (Velocity Loop Only)........................................................................................................ 7-48
7.11.5.1 Auto Tuning System Parameters..............................................................................................................................7-48
7.11.5.2 Auto Tuning Advanced Options .............................................................................................................................. 7-49
7.11.6 Tracking Monitoring .............................................................................................................................. 7-50
7.11.7 Position Loop Tuning............................................................................................................................. 7-50
7.12 INCREMENTAL ENCODER INPUT CONFIGURATION...................................................................................... 7-51
7.13 EQUIPMENT AND PERSONAL SAFETY........................................................................................................... 7-52
7.13.1 Manual Mode / Automatic Mode ........................................................................................................... 7-52
7.13.2 IT Thermal Limits .................................................................................................................................. 7-52
7.14 DRIVE DISABLING.......................................................................................................................................... 7-53
7.15 PROGRAMMABLE BEHAVIOUR OF OUTPUTS ................................................................................................ 7-53
7.16 BRAKE CONTROL .......................................................................................................................................... 7-54
7.17 TROUBLE SHOOTING..................................................................................................................................... 7-54
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