User`s manual

Getting Started
GFK-1742A Chapter 2 Getting Started 2-33
2
Table 2-8, Continued
Follower Enable
Trigger
Follower Enable Input
Trigger
None None None
Follower Disable
Trigger
Follower Enable Input
Trigger
None None None
Follower Disable
Action
Follower Disable Action Stop Stop Stop
Ramp Makeup
Acceleration
Follower Ramp Makeup
Acceleration
10,000 10,000 10,000
Ramp Makeup Mode Follower Ramp Makeup
Mode
Makeup Time Makeup Time Makeup Time
Ramp Makeup Time
Follower Ramp
Acceleration Makeup Time
00 0
Ramp Makeup
Velocity
Follower Ramp Makeup
Velocity
+1000 +1000 +1000
Table 2-9. Tuning Tabs (Getting Started Tutorial only)
Configuration
Parameter
Description
For Digital
Mode
For Analog
Mode
VersaPro
Defaults Settings
Motor Type Motor Type
From
Table 2-10
00
Analog Servo
Command
Analog Servo Command
Type
Velocity Velocity Velocity
Position Error Limit Position Error Limit 60,000 60,000 60,000
In Position Zone In Position Zone 10 10 10
Pos Loop Time
Constant (0.1 ms)
Position Loop Time
Constant
600*
1000* 1000
Velocity at MaxCmd Velocity at Maximum
Command
N/A
100,000* 100,000
Velocity Feed
Forward Percentage
Velocity Feed Forward
Percentage
000
Acceleration Feed
Forward Percentage
Acceleration Feed Forward
Percentage
000
Integrator Mode Position Loop Integrator
Mode
Off Off Off
Integrator Time
Constant
Position Loop Integrator
Time Constant
000
Velocity Loop Gain Velocity Loop Gain 16 16 16
*Proper settings determined during system startup/tuning. See page D-14 in Appendix D.
** Proper settings determined by 5-volt power requirements
Note
Repeat the above settings for axis 2,3 and 4 configuration if needed.