S
ETUP
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C-12
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ranges are:
You must set the tuning parameters as follows for each axis configured for open-loop steps:
We recommend choosing the slowest possible speed range that is adequate for your system. If
an axis is configured for servo, the speed selection should be:
Disable Output
.
Home/Index
Home Only
or
Low Home
or
Index Only
or
High Home
This selection configures whether the index pulse is required for the home input to be active.
Typically a rotary encoder has a single index pulse (per revolution). The index pulse can be
used with the home signal input to produce accurate homing to within one encoder count. Stan-
dard boards have four possible types of homing.
Note that the home/index setting affects the axes in groups of 4. For example, on a 4-axis con-
troller, all the axes must be configured the same with respect to home/index. For more infor-
mation, see the section on home switch wiring.
Voltage
Bipolar
or
Unipolar
This selection configures whether the analog output is unipolar (0 to +10V) or bipolar (-10V
to +10V).
If you are using analog servo motors, configure the output for bipolar operation.
If you are using stepper motors, configure the output for unipolar operation.
Slow
Medium
Fast
0 to 23 kHz
0 to 94 kHz
0 to 375 kHz
Table C-5
Tuning Parameters for Open-loop steps
Parameter
Setting
Proportional (K
p
)
320
Integral (K
i
)
32
Derivative (K
d
)
0
Accel FF (K
a
)
32
Vel FF (K
v
)
3750
I Maximum
32767
Offset
0
Output Limit
32767
Shift-
-1 (Slow), -3 (Medium), -5 (Fast)
Type
Description
Home Only
Home input only (active high or active low)
Low Home and Index Home input ANDed with index (active low home and active high index)
Index Only
Index only (active high or active low)
High Home and Index Home input ANDed with index (active high home and active high index)
Tip!
If the Motor Turns
Only in 1 Direc-
tion
Stepper motors:
If a step motor turns in only one direction, check the
Config-
uration/Axis Configuration
window to be sure the axis is set for
UNIPOLAR
.
The voltage-to-frequency-convertor only responds to positive voltages (unipo-
lar) and will not output steps if the voltage is negative (bipolar).
Servo motors:
If a servo motor turns only in one direction, check the
Configu-
ration/Axis Configuration
window to be sure the axis is set for
BIPOLAR
.
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