24 | ni.com | Getting Started with NI 7340/7350 Controllers and AKD Drives
Note These configuration settings disable limits for initial setup and testing
purposes. National Instruments recommends connecting and enabling limits in your
final application.
6. Set the limit and home input active state. This prevents the limit active error from occurring
when no limits are connected.
a. UMI-7764—Active Low Polarity
b. UMI-7772/74—Active High Polarity
7. Set Inhibit Output Settings to Active Low Polarity.
8. Click Control Loop Settings and make the following changes:
a. Set Kp to 50.
b. Set Kd to 300.
c. Set Ki to 0.
Note These values do not result in a properly tuned motor, but may allow you to
perform a simple move for testing purposes. After connecting the other mechanical
elements of the system, use the Servo Tune Main tab to tune the control loop settings
and determine the relative stability of the servo axis. Refer to Manually Tuning a
System From Scratch in the Measurement & Automation Explorer Help for Motion
for information about using the Servo Tune tabs to tune your motor.
9. Click Encoder Settings.
a. In the Polarities section confirm that the Line State for A, B, and Index is set to
Active High.
b. In the Index Reference Criteria section confirm that the Line State for A and B is
set to Active.
c. Set Encoder counts per revolution to 8,000. This setting is the encoder resolution in
quadrature counts per revolution and must correspond to the AKD WorkBench
emulated encoder output Resolution setting in lines per revolution multiplied by four.
You may want to choose a different resolution depending on your application needs.
Note You configure the emulated encoder output Resolution setting in
Step 3:
Install AKD WorkBench and Configure the Drive
in the Software Installation and
Configuration
section.
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