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« on: February 17, 2011, 12:16:04 AM »
here is some info I got sometime ago in 08:
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I assume that you have 3 sets of factory set DC Drives for those particular DC Motors.
Now you want to tune Drive and Motor with DSPMC Motion Control System.
Connect Motor with Drive and Motor Techo to Drive Techo Input, same as it was connected
in the Orignal Milling Machine.
According to FANUC, Input signal to the drive is called "Vcmd" Velocity Command.
Connect Vcmd pin of the connector to the ground or 0 V.
Connect Power to the Drive, same as it was connected in the Orignal Milling Machine.
Enable the Drive Enable input pin.
Now your Drive and Motor are energised, but due to 0V velocity input the Motor should not move. But if motor turns, then your drive have Zero Error.
There is Zero Adjust Varable on the FANUC Drive Card, you can adjust this for minimum
Zero Error.
You can find the drive Input Connector Detail on the Internet by Google.
Now disconnect the Vcmd from 0V and connect to the DAC out of DSPMC
Now you should check for maximum Vcmd allowed, if it is 1.0V, then you have to reduce
DSPMC DAC output by a factor of 10 by using 10k Potmeter.
Now you are ready to tune Your Drive & Motor with DSPMC.
Make a fix move of 100mm and check the error on the respected Axis. Change the
Propotional, Integral and Differential Gain parameter slowly and observe the direction
of Error.Increase the speed and repeat the above procedure to minimise the error.