Installation manual

www.baldormotion.com
5-16 Operation MN1933
5.5 Servo axis - testing and tuning
This section describes the method for testing and tuning a servo axis. The drive amplifier must
already have been tuned for basic current or velocity control of the motor. To test a stepper
axes, go straight to section 5.9.
5.5.1 Testing the demand output
This section tests the operation and direction of the demand output for axis 0. The example
assumes that axis 0 has already been configured as a servo axis, using the default hardware
channel 0 (see section 5.4.1). It is recommended that the motor is disconnected for this test.
1. Check that the Drive enable button is
pressed (down).
2. In the Toolbox, click the Edit & Debug icon.
3. Click in the Command window.
4. Type:
TORQUE(0)=5
where 0 is the axis to be tested. In this
example, this should cause a demand of
+5% of maximum output (0.5 V) to be
produced at the Demand0 output (breakout
module connector X7, pin 1).
See section 4.3.2 for details of the demand outputs. In Mint WorkBench, look at the Spy
window located on the right of the screen. The virtual LED Command display should show
5 (approximately). If there seems to be no demand output, check the electrical
connections between the breakout module and the drive.
5. To repeat the tests for negative (reverse) demands, type:
TORQUE(0)=-5
This should cause a demand of -5% of maximum output (-0.5 V) to be produced at the
Demand0 output.
6. To remove the demand and stop the test, type:
STOP(0)
This should cause the demand produced at
the Demand0 output to become 0 V.