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TQ10X User Guide
Chapter Three—Specifications (continued) ..................................................
Speed/Torque Curves .......................................................................................................................................... 40
Motor Dimensions – Compumotor SM Series, Size 16 ...................................................................................... 42
Motor Dimensions – Compumotor SM Series, Size 23 ...................................................................................... 42
Motor Dimensions – Compumotor NeoMetric Series, Size 70 .......................................................................... 43
Motor Dimensions – Compumotor NeoMetric Series, Size 34 .......................................................................... 43
Motor Dimensions – Compumotor NeoMetric Series, Size 92 .......................................................................... 44
Encoder Specifications – Compumotor SM & NeoMetric Series Motors .......................................................... 44
Motor Part Numbering System—Compumotor NeoMetric Series Servo Motor ................................................ 45
Chapter Four—Tuning ................................................................................ 47
Tuning and Performance ..................................................................................................................................... 48
PID Tuning .......................................................................................................................................................... 48
CPG – Proportional Gain ............................................................................................................................. 49
CDG – Derivative Gain; CTG – Derivative Sampling Period ..................................................................... 49
CIG – Integral Gain; CIL – Integral Limit ................................................................................................... 49
Tuning the System ............................................................................................................................................... 50
Special Considerations when Tuning with SM or NeoMetric Motors ......................................................... 50
Preparing the System for Tuning ................................................................................................................. 50
Avoid Instability ........................................................................................................................................... 51
Tuning Procedure ......................................................................................................................................... 51
Configuring an In Position Window ................................................................................................................... 53
Chapter Five—Software Commands ......................................................... 55
Summary of Commands .................................................................................................................................... 103
Chapter Six—Troubleshooting ................................................................ 105
Troubleshooting Basics ..................................................................................................................................... 106
Diagnostic LEDs ............................................................................................................................................... 106
Reducing Electrical Noise ................................................................................................................................. 106
RS-232C Problems ............................................................................................................................................ 107
Software Debugging Tips .................................................................................................................................. 107
Encoder Problems ............................................................................................................................................. 108
Homing Diagrams ............................................................................................................................................. 108
Troubleshooting Table ....................................................................................................................................... 110
Non-Drive Related Problems ............................................................................................................................ 110
Protective Circuits ............................................................................................................................................. 112
Drive Overtemperature Protection ............................................................................................................. 112
Short Circuit Protection ............................................................................................................................. 112
Regeneration .............................................................................................................................................. 112
Overvoltage ................................................................................................................................................ 112
Undervoltage .............................................................................................................................................. 112
Foldback ..................................................................................................................................................... 113
Hall Miswiring ........................................................................................................................................... 115
Motor Overtemperature Protection ............................................................................................................ 115
Technical Support .............................................................................................................................................. 115
Product Return Procedure ................................................................................................................................. 116
Appendix A—Using Non-Compumotor Motors ...................................... 117
Appendix B—LVD Installation Instructions ............................................ 121
LVD Installation Instructions ............................................................................................................................ 122
Environmental Conditions ......................................................................................................................... 122
Mechanical ................................................................................................................................................. 123
Servicing the TQ10 Drive .......................................................................................................................... 123
Do Not Replace Fuses ................................................................................................................................ 123
Thermal Safety ........................................................................................................................................... 123
Table of Graphic Symbols and Warnings .......................................................................................................... 124
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