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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
Install AKD WorkBench and Configure the Drive
section.
Summary of Contents for PCI-7354
Page 1: ...PCI 7354...