I've installed the opto22 board into the control box, if you call drilling the holes and screwing it in installing it. I haven't wired up any of the io yet. I did get the connectors to hook up the amps to the control though so I've tuned my amps and started tuning the control.
I covered the initial current limit setting of the amps earlier. That's the starting point with the amc amps no matter what mode you are running them in. I was going to run the amps in current mode so that the controller's pid loops would be the only feedback loop with no chances of the amps and control fighting eachother but while continuing to set up the amps I realized/decided that was almost "silly." I'll itemize my amp tuning in a minute but for now--while adjusting the input gain I realized that in current mode the highest current the amps would ever send the motors would be the continuous current. In voltage mode the amps will give the motors whatever current they need up to the peak current limit for 2 seconds to attain the commanded voltage. It seems to me, being that the amps are electrically in the best situation to quickly make the adjustments wanted to get the commanded voltage and advanced motion control amps are good amps so I trust them to do it and hey being able to run twice as much current when needed to accelerate they have to be able to perform better. It felt like running them in current mode I wouldn't be using them anywhere near their full potential so I switched to voltage mode. Here's how I tuned the amps:
-switch to and tune voltage mode:
-switch 1 3 5 on and all others off
**********************************************
-disconnect motor leads
-use current limit harness with pin p1-11 swapped into p-4 set 0v reference
-adjust offset pot to 0v across motor leads
**********************************************
-use current limit harness with pin p1-11 pulled out and p1-2 reconnected to p1-4 for +10v reference
-adjust ref gain pot to full buss voltage across motor leads
-verify voltage across p1-9 and p1-2 indicates correct continuous current limit and adjust current limit pot if necessary
**********************************************
-disconnect test harness
-reconnect motor leads
-remove motor from axis
-turn loop gain pot clockwise until motor oscillates
-turn loop gain pot back 1 turn