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ni.com
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Getting Started with NI 9514/16 Modules and AKD Servo Drives
a. Double-click the text in the
Mapping
column and select
Drive Fault/Alarm
from the
dropdown list.
b. Ensure that the DI 1 settings match the following:
•
Input Type
—Sinking
•
Active State
—Off
•
Digital Filter
—50 µs
3. Open the
Drive Enable
page and ensure that the Drive Enable settings match the following:
•
Output Type
—Sourcing
•
Active State
—On
•
Safe State
—Off
4. Complete the following additional steps if you do not have limits and home connected at
this time:
a. Open the
Limits & Home
page.
b. In the
Forward Limit
and
Reverse Limit
sections ensure that the settings match the
following:
Note
These configuration settings disable limits for initial setup and testing
purposes. National Instruments recommends connecting and enabling limits in your
final application.
•
Clear the
Enable
checkbox from both
Forward Limit
and
Reverse Limit
.
•
Set the
Active State
for both
Forward Limit
and
Reverse Limit
to
Off
. This
prevents a limit warning even though limits are turned off.
c. Open the
Home
section and clear the
Enable
checkbox.
5. Open the
Position Loop
page and make the following changes in the
Gains
section:
•
Set
Kp
to
50
.
•
Set
Kd
to
1000
.
•
Set
Ki
to
0
.
Note
These values do not result in a properly tuned motor, but may allow you to
perform a simple move for testing purposes. After connecting the other mechanical
