User`s manual

D-2 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
D
switch is mounted at or near one end of the axis travel. It is important to verify the operation
of the home switch prior to attempting a home cycle. It may be necessary to reverse the motor
direction (Motor1 or Motor2 Dir = POS/NEG) in the module configuration.
4. Use the configuration software to set the desired user scaling factors and other configurable
parameters. The following items MUST be changed from the default configuration settings:
Configuration Item
Setting
Axis 1 Mode Digital Servo
Motor Type: Select from Table in Chapter 4
Position Loop Time Constant: 60 ms
Velocity Loop Gain: (Load Inertia / Motor Inertia) * 16
User Units : Counts
(Standard Mode Only)
See Chapter 3
Position Error Limit: 30000 x User Units / Counts
Set the configuration parameters in the order shown above.
5. Store the configuration to the PLC.
6. Clear the program from the PLC, turn off all DSM314 %Q bits and place the PLC in RUN
mode. Monitor the %I CTL bits for Home Switch, (+) Overtravel and (-) Overtravel and
confirm that each bit responds to the correct switch (Refer to Chapter 5 for %I bit
definitions).
7. Turn on the
Enable Drive
%Q bit and confirm that the servo amplifier is enabled. If a brake
is used on the servomotor it should be released at this time.
8. Send the %AQ command code for
Force Digital Servo Velocity
100 (rpm). Confirm that the
motor moves in the desired POSITIVE direction and the
Actual Velocity
reported in the %AI
table is POSITIVE. If the motor moves in the wrong direction, use the
Axis Direction
parameter in the configuration software to swap the positive and negative axis directions.
9. Remove the
Force Digital Servo Velocity
command from the %AQ table. Use a low
Jog
Velocity
and
Jog Acceleration
in the configuration, values may be increased later. Turn on
the
Jog Plus
%Q bit. Confirm that the servo moves in the proper direction and that the
Actual Velocity
reported by the DSM314 in the %AI table matches the configured
Jog
Velocity
. If Motion Programs will use an acceleration higher than
the Jog Acceleration
, it
may be necessary to increase
Jog Acceleration
so that
Abort All Moves
and Normal Stop
actions will operate as expected.
10. Use a low value for
Find Home Velocity
and
Final Home Velocity
in the module
configuration, values may be increased later. Check for proper operation of the
Find Home
cycle by momentarily turning on the
Find Home
%Q bit (the
Drive Enabled
%Q bit must also
be maintained on). The axis should move towards the Home Switch at the configured
Find
Home Velocity
, then seek the Encoder Reference point at the configured
Final Home
Velocity
. If necessary, adjust the configured velocities and the location of the Home Switch
for consistent operation. The final Home Switch MUST transition at least 10 milliseconds
before the encoder reference point is encountered. The physical location of
Home Position
can be adjusted by changing the
Home Offset
value with the configuration software.