Installation guide

Setup & Installation 7
The digital I/O board inputs and outputs can either be
sinking or sourcing. Two jumpers on the card controls the
selection, located in the lower left corner of the board.
The factory setting is sinking; if sourcing is desired, the
Digital I/O card must be removed and the jumpers setting
changed to the Source position.
3.2 - Step-by-Step Start-Up Procedure
The MX2000 stepper/servo motor positioning system is a
sophisticated and versatile product. Setting up the system,
however, can be simple and straight-forward if the proper
steps are followed. Please use the step-by-step set up
guide below.
3.2.1 - Bench Set Up.
Before connecting your MX2000 and motors to your me-
chanical system or machine, we recommend that you
“bench test” the system. This will allow you to become
familiar with the wiring, programming and operation of
the system before installing it into your machine. This
may also prevent inadvertent damage to your mechanical
system if you make programming errors that cause unex-
pected motion. The bench set up can be used to perform
simple motions with an unloaded motor. To perform a
bench test, do the following:
1) Wire it up. Connect the servo drives as illustrated in
section 5.5.2, connect the stepper drives as illustrated
in section 5.5.1, connect the AC power, I/O and other
required signals per the wiring diagrams and instruc-
tions in section 5. BE SAFE!! Do not apply AC
power to the unit until you are sure of all connec-
tions. Initially, there is no need to connect all of the
wiring of your system together. Wire the AC line in-
put, drives, motors and HOST communication ports.
This will be all you need to establish communications
to the unit and perform simple motion.
HINT: Don’t forget to wire the Enable and Ready
signals to the servo drive, see section 5.5.6 Analog
Drive Connector.
2) Load Software. You will need to use a PC to pro-
gram the unit according to your requirements. First
you must load the MCPI software onto the PC from
the floppy disks provided with your unit. Simply in-
sert disk #1 and run the file SETUP.EXE. Once the
software is loaded, run it by double clicking on the
MCPI icon. See Section 6.3.1 for more details on the
MCPI installation process.
3) Create your Project. You can now create your new
Project. Your Project will contain Configuration in-
formation for your particular system, and also your
program Task’s that holds the user program written
in BASIC-like language. Read section 6 of this man-
ual, and then step through the Configuration folders
and enter the appropriate data for your system, saving
the configuration when you are done. Don’t forget to
set up the serial port for your PC to the correct port
number and baud rate.
HINT: The Drive type for each axis must be se-
lected in the System folder. Now the axes must be
assigned to a specific task. The Task assignment
item in the System folder is used for this purpose.
HINT: If the axis is a servo drive or closed loop
stepper the line count of the encoder must be entered
into the Encoder folder.
HINT: Motion is commanded in User Units. The
User Units per motor revolution item in the System
folder allows you to enter the value. Initially, it is
easiest to set this to 1. This will mean that move dis-
tances are in motor revolutions (e.g. move=1 moves
one revolution), speeds will be in revs/sec, and accel-
erations will be in revs/sec/sec. Later this can be
changed (e.g. to allow programming in inches on a
lead screw) to allow ease of programming once the
motor is installed into the mechanical system. All
move distances, speeds, and accelerations (or
decelerations), and encoder information are provided
in User Units, so be sure you understand this before
continuing.
4) Compile and Download the project into the con-
troller using the command buttons of the MCPI. Note
that initially, you can leave the Task blank and com-
mand motion using the Host Commands. Host
commands are entered in Terminal Mode from the
MCPI. Enter the terminal mode by clicking on the
Terminal command button on you screen. If your
system consists of stepper drives only go to step 8.
See Section 6.3.8.2 of this manual.
5) Tune the Servo axes. Before running the motor, the
controller compensation parameters (gains) must be
set. To aid in this task an automatic servo tuning
procedure is available. To enter the servo tuning
screen click on the servo tuning button. The default
values for auto-tuning procedure should work fine for
now. The motor may be tuned on the bench with no
load. Ensure that the motor is properly secured to
your work surface (bench). Note: Do not clamp the
motor anywhere except at the mounting flange.
Begin the auto-tuning process by selecting the servo
axis you desire to tune and then by clicking on the
Auto Tune button. A screen with the default values
will appear. Click on the OK button to use these set-
tings. Next, click on the Measure System Gain but-
ton. The motor should bump , then the System Gain
value should update on the screen. Now click on the
Calculate Servo Gains button and the calculated
servo gain values will be displayed on the screen.
Click the Update Gains button, the servo should now
be locked in position. Verify this by manually trying
to turn the motor shaft. The servo should fight to stay
in position.
It’s now time to try a test move by entering profile
parameters. First click the Motion Setup button and
enter the desired Acceleration, Deceleration, Speed
and Move Distance in user units (e.g. revolutions by