Baldor Nextmove ESB, Installation Manual

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Operation 5-11 MN1924
5.5 Servo axis - testing and tuning
This section describes the method for testing and tuning a servo axis. The amplifier must
already have been tuned for basic current or velocity control of the motor.
5.5.1 Testing the demand output
This section tests the operation and direction of the demand output for axis 4. By default, axis
4 is a servo axis (although it can be reassigned as a stepper - see section A.1). 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 Application then click
the Edit & Debug icon.
3. Click in the Command window.
4. Type:
TORQUE.4=5
where 4 is the axis to be tested. In this
example, this should cause a demand of +5%
of maximum output (0.5V) to be produced at
the DEMAND0 output (connector X13, pin 1).
In WorkBench v5, look at the Spy window
located on the right of the screen. In the Axis selection box at the top, select Axis 4.
The Spy window’s Command display should show 5 percent (approximately). If there seems
to be no command 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 MintMT help file.
By default, axis 4 uses demand output 0 and encoder 0, axis 5 uses demand output 1 and
encoder 1, and axis 6 uses demand output 2 and encoder 2. See section 4.2.2 for details of
the demand outputs.