Chapter 1. Installation
39
Step 2
Make a baseline move with EV disabled. This is your baseline move. Notice the sound,
amount of motor vibration, perceptible ringing, etc. This move shows how your system
operates with EV disabled. Each time you adjust the
DELVIS
setting (in steps 3 & 4), you
will compare results against this baseline move.
1. Issue the
DELVISØ
command to disable active damping.
2. Make a move that is representative of your application, with similar velocity and
acceleration. The velocity must 3 rps or less, in order for the ZETA6xxx to activate EV.
WARNING
Make sure that causing motion will not damage equipment or injure personnel.
The following six commands illustrate a simple incremental point-to-point move:
MC0 ; select the preset positioning mode
MA0 ; select the incremental preset positioning mode
A10 ; set the acceleration to 10 revs/sec/sec
V2 ; set the velocity to 2 revs/sec/sec
D250000 ; set the distance to 250,000 steps, equal to 10 revs
GO ; initiate the move
;**************************************************************
;* NOTE: To stop a move in progress, issue the !S command. *
;* To repeat the move, issue the GO command. To reverse *
;* direction, issue the D~ command and the GO command. *
;**************************************************************
Step 3
Make a move with EV enabled. Compare the results with the baseline move.
1. Issue the
DELVIS1
command to enable EV.
2. Make a move that is representative of your application. Use the same motion
parameters that you set up in step 1. If you have not changed these settings, simply
issue the
GO
command.
Step 4
Find the ideal EV setting. Continue to increase the
DELVIS
setting by single increments
(the maximum setting is
DELVIS7
), and executing a move. Repeat this step until you find the
setting that gives the best performance. You can try all seven settings. Incorrect settings will
not cause damage.
During a repetitive move, you can change the setting “on the fly” (while the move is in
progress) if you precede the
DELVIS
command with a “
!
” (e.g.,
!DELVIS2
). This allows
you to immediately compare two different settings.
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