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Contents iii
MN1928
6.5 Servo axis - testing and tuning 6-11............................
6.5.1 Testing the demand output 6-11.......................................
6.5.2 An introduction to closed loop control 6-13..............................
6.6 Servo axis - tuning for current control 6-16......................
6.6.1 Selecting servo loop gains 6-16.......................................
6.6.2 Underdamped response 6-18.........................................
6.6.3 Overdamped response 6-19..........................................
6.6.4 Critically damped response 6-20......................................
6.7 Servo axis - eliminating steady-state errors 6-21.................
6.8 Servo axis - tuning for velocity control 6-22.....................
6.8.1 C alculating KVELFF 6-2 2............................................
6.8.2 Adjusting KPROP 6- 25..............................................
6.9 Digital input/output configuration 6-27..........................
6.9.1 Digital input configuration 6-27........................................
6.9.2 Digital output configuration 6-28.......................................
6.10 Saving setup information 6-29.................................
6.10.1 Loading saved information 6-30.......................................
7 Troubleshooting 7-1....................................
7.1 Introduction 7-1............................................
7.1.1 Problem diagnosis 7-1..............................................
7.1.2 SupportMe feature 7-1.............................................
7.2 NextMove ES indicators 7-2.................................
7.2.1 Status display 7-2.................................................
7.2.2 Surface mount LEDs D3, D4, D16 and D20 7-3.........................
7.2.3 Communication 7-4................................................
7.2.4 Motor control 7-4..................................................
7.2.5 WorkBench v5 7-5.................................................
8 Specifications 8-1......................................
8.1 Introduction 8-1............................................
8.1.1 Input power 8-1...................................................
8.1.2 Analog inputs 8-1..................................................
8.1.3 Analog outputs 8-1.................................................
8.1.4 Digital inputs (non-isolated) 8-2......................................
8.1.5 Digital inputs (opto-isolated) 8-2......................................
8.1.6 Digital outputs - general purpose (non-isolated) 8-3.....................
8.1.7 Digital outputs - general purpose (opto-isolated) 8-3.....................
8.1.8 Digital output - error output (non-isolated) 8-3..........................
8.1.9 Error relay (opto-isolated backplanes) 8-4.............................
8.1.10 Encoder inputs 8-4................................................
8.1.11 Stepper control outputs 8-4..........................................
8.1.12 CAN interface 8-4.................................................
8.1.13 Environmental 8-5.................................................
8.1.14 Weights and dimensions 8-5........................................