www.baldormotion.comOperation 5-23MN19415.7 Local servo axis - testing and tuningThis section describes the method for testing and tuning a local servo axis. The drive amplifiermust already have been tuned for basic current or velocity control of the motor. See section 5.5.3for details about creating a servo axis.5.7.1 Testing the demand outputThis section tests the operation and direction of the demand output for axis 0. The exampleassumes that axis 0 has already been configured as a servo axis, using the default hardwarechannel 0 (see section 5.5.3). It is recommended that the motor is disconnected from the load forthis test.1. Check that the Drive enable button ispressed (down).2. In the Toolbox, click the Edit & Debug icon.3. Click in the Command window.4. Type:TORQUEREF(0)=5where 0 is the axis to be tested. In thisexample, this should cause a demand of +5%of maximum output (0.5 V) to be produced atthe DEMAND0 output (connector X13, pin 1).In Mint WorkBench, look at the Spy windowlocated on the right of the screen. In the Axis selection box at the top, select Axis 0.The Spy windowís Command display should show 5 percent (approximately). If there seemsto be no demand output, check the electrical connections to X13.The Spy windowís Velocity display should show a positive value. If the value is negative checkthat the DEMAND0 output, and the Encoder0 A and B channels, have been wired correctly.If necessary, the ENCODERMODE keyword can be used to swap the encoder A and B channels,thus reversing the encoder count - see the Mint help file.See section 4.2.2 for details of the demand outputs.
