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5-2 Setup MN1853
Configure Motor Adjustments for Current, Waveform, Rest, Idle, Inductance, and Anti–Resonance
can be made while the motor is energized and moving or at rest.
Configuring Motor Type [ MT11 ]
EDIT
> SETUP > MOTOR > TYPE > STEPER
–↑STEPPER SETUP↓–
CURRENT A–RES INDUCT
Press F1 (CURRENT)
Configuring Motor Current [ MIn ]
EDIT
> SETUP > MOTOR > TYPE > STEPER > CURRENT
Value: 2.0 Amps
Range: 0.0 – 8.0 Amps
Axis One Motor Curnt
2.0 Amps
Enter Amps, press ENTER
Note: This parameter sets the motor current for your stepper motor.
Entering a value outside the “Range” will reset the motor
current to 0.0 Amps.
Configuring Anti–Resonance [ ARi ]
EDIT
> SETUP > MOTOR > TYPE > STEPER > A–RES
Value: 7
Range: 0–30
– Axis One Anti–Res –
7
Enter value, press ENTER
This parameter sets the anti–resonance gain level for your motor.
For example, entering AR14 sets the anti–resonance gain to 14.
K + log
ǒ
J
Rotor
)J
Load
J
Rotor
Ǔ
0.155
Calculate AR
AR = AR
unloaded
– K
Where:
Hint: The AR value will decrease as the J load increases. To observe this, reduce the AR
value until the motor begins to hiss – then increasing your AR setting slightly.
Note: AR
unloaded
will be different for series and parallel motors, because the speed–torque
curve is a component of Break Velocity and Low Speed Motor Torque.
Vb = Break Velocity of Knee of Speed–Torque Curve in RPS
Tm = Low Speed Torque of Motor in Nm
Jr = Unloaded Rotor Inertia in Kg–m
2
AR
unloaded
+ (12.987) x logǒ
9.3
Vb (Tm * Jr)
Ǹ
Ǔ