The 6K to ViX command cable supports running the drive in position mode (step & direction command signals) or as a servo (analog torque command).
DEFAULT DIRECTION
Using the 6K's CMDDIR0 and the ViX drive configuration default, the positive direction will be towards the cable exit. To reverse, in the 6K, set CMDDIR1.
POSITION MODE SETUP
The ViX uses the motor parameters to set the tuning gains when set in position mode and no additional tuning is necessary.
Using the EasiV's Guided Drive setup, use the defaults except change the Mode in step 3 of 8 of the guided drive setup from Velocity Mode to Position Mode. Step 6 of 8's Encoder Input defaults of Step/Direction and Encoder outputs of A B Z are correct settings.
For a 6K in position mode set the Axis Definition to stepper: AXSDEF0
The DRES setting is based on the number of counts per 13mm (the MX80L's pitch distance) / .1um = 130000 counts
example: DRES130000
In the terminal window, LH0 will disable limit switch checking if these are not connected to the 6K.
If you want to set your scaling in the 6K to millimeters (1mm/.1um/count =10000 counts per millimeter):
SCLD10000
SCLV10000
SCLA10000
SCALE1
TORQUE MODE SETUP
Using the EasiV's Guided Drive setup, use the defaults except change the Mode in step 3 of 8 from Velocity Mode to Torque Mode. The 6K is always controlling a servo amplifier in torque mode. If not, there's a potential for them to fight over the velocity loop. No other changes necessary.
Typical default gains with a 6K are SGP 7.5, SGV 3.2, SGI.5, SGILIM200, SGVF0, SGAF0 with a .5um system.
However with a higher resolution encoder system, the gains should be decreased approximately linearly. ie, a .1um system should start with SGP 1.5, SGV .6, SGI.1, SGILIM200, SGVF0, SGAF0
These gains would allow a good starting point and then iteration through the MotionPlanner's 6K Servo Tuner should quickly get good servo performance. These gains will vary based upon system load.
For a servo system for the 6K, axis definition needs to be set to servo: AXSDEF1
The ERES setting is based on the number of counts per 13mm (the MX80L's pitch distance) / .1um = 130000 counts
example: ERES130000
A step response tuning of 2mm (for a .1um this would be 2mm/.1um/count=20000 counts) and setting the maximum position error of 4mm (SMPER40000 counts in this example) would be a good starting point.
If limits are not connected to the 6K, disable limits in the servo tuning screen. In the terminal window, LH0 will disable limit switch checking.
0 Comments