6.4.1 Position Table mode ....................................................................................................... 50
6.5 Pulse Train mode (-4)............................................................................................................ 54
6.5.1 Master-slave mode ......................................................................................................... 55
6.6 Homing mode (6) ................................................................................................................. 55
Chapter 7
Tuning of the servo system control .................................................................. 65
7.1 Auto-tuning .......................................................................................................................... 65
7.1.1 Parameters for auto-tuning ............................................................................................. 66
7.1.2 Start of auto-tuning ........................................................................................................ 66
7.1.3 Problems with auto-tuning .............................................................................................. 67
7.1.4 Adjustment after auto-tuning. ......................................................................................... 67
7.2 Manual tuning ....................................................................................................................... 68
7.2.1 Tuning of the velocity loop .............................................................................................. 68
7.2.2 Tuning of the position loop ............................................................................................. 70
7.3 Factors which influence tuning results .................................................................................... 72
Chapter 8
Alarms and troubleshooting .............................................................................. 73
Chapter 9
List of CMMB series motor controller parameters............................................ 75
9.1 F001 .................................................................................................................................... 75
9.2 F002 .................................................................................................................................... 76
9.3 F003 .................................................................................................................................... 78
9.4 F004 .................................................................................................................................... 81
9.5 F005 .................................................................................................................................... 82
Chapter 10
Communication ............................................................................................. 83
10.1 RS232 wiring ...................................................................................................................... 83
10.1.1 Point to point connection .............................................................................................. 83
10.1.2 Multi-point connection .................................................................................................. 83
10.2 Transport protocol ............................................................................................................... 83
10.2.1 Point to point protocol .................................................................................................. 84
10.2.2 Multi-point protocol ...................................................................................................... 84
10.3 Data protocol ...................................................................................................................... 84
10.3.1 Download (from host to slave) ...................................................................................... 85
10.3.2 Upload (from slave to host) .......................................................................................... 85
10.4 RS232 telegram example ..................................................................................................... 86
