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MN1903
4.6 CAN Connections 4-20.......................................
4.6.1 CAN1 (CANopen) - X17 4-21.........................................
4.6.2 CAN2 (Baldor CAN) - X18 4-22.......................................
4.7 Other I/O 4-23..............................................
4.7.1 Emulator connection 4-23............................................
4.8 Reset states 4-23...........................................
4.8.1 System watchdog 4-23..............................................
4.9 Connection summary - minimum system wiring 4-24.............
5 Operation 5-1..........................................
5.1 Introduction 5-1............................................
5.1.1 Installing the driver software - Windows 95, 98 and ME 5-1...............
5.1.2 Installing the driver software - W indows NT 5-2.........................
5.1.3 Installing the driver software - W indows 2000 5-2.......................
5.1.4 Installing WorkBench v5 5-3.........................................
5.1.5 Starting WorkBench v5 5-4..........................................
5.2 WorkBench v5 5-7..........................................
5.2.1 Help file 5-7......................................................
5.3 Configuring an axis 5-8.....................................
5.3.1 Choosing an axis - 1, 2, 3 and 4 axis cards 5-8.........................
5.3.2 Choosing an axis - 8 axis card 5-8...................................
5.3.3 Selecting a scale 5-9...............................................
5.3.4 Setting the drive enable output 5-10...................................
5.3.5 Testing the drive enable output 5-11...................................
5.4 Servo axis - testing and tuning 5-12............................
5.4.1 Testing the drive command output 5-12.................................
5.4.2 An introduction to closed loop control 5-13..............................
5.5 Servo axis - tuning for current control 5-16......................
5.5.1 Selecting servo loop gains 5-16.......................................
5.5.2 Underdamped response 5-18.........................................
5.5.3 Overdamped response 5-19..........................................
5.5.4 Critically damped response 5-20......................................
5.6 Servo axis - eliminating steady-state errors 5-21.................
5.7 Servo axis - tuning for velocity control 5-22.....................
5.7.1 C alculating KVELFF 5-22............................................
5.7.2 Adjusting KPROP 5-25..............................................
5.8 Stepper axis - testing 5-27....................................
5.8.1 Testing the drive command output 5-27.................................
5.9 Digital input/output configuration 5-28..........................
5.9.1 Digital input configuration 5-28........................................
5.9.2 Digital output configuration 5-29.......................................
5.10 Saving setup information 5-30.................................
5.10.1 Loading saved information 5- 31.......................................