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Summary of Contents for StepperOnline T6
- Page 1 QUICK START OF T6 AC SERVO ©2022 All Rights Reserved Address:15-4, #799 Hushan Road, Jiangning, Nanjing, China Tel: 0086-2587156578 Web: www.omc-stepperonline.com Sales:sales@stepperonline.com Support: technical@stepperonline.com...
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Page 2: Table Of Contents
Table of Contents Preparation List Chapter 1 JOG Trail 1.1 Connection 1.2 JOG Trail Chapter 2 Position Control (Pul + Dir) 2.1 Connection 2.2 Main Steps to Tune T6 Drives in Position Mode... -
Page 3: Preparation List
Quick Start of T6 AC Servo Preparation List T6 drive Motor Cables Motor power cable Encoder feedback cable Tune cable Drive power cable Tune software (Motion Studio) The driver of tune software (if it is necessary) -
Page 4: Connection
L1/L2: Drive Power Cable Connection U/V/W: Motor Power Cable Connection PE: Ground Cable Connection 1.1.2 Connect to tune software. (Perform this step if it is necessary to install driver) 1.1.2.1 Click in turn “Device Manager”, “Ports (COM&LPT)”, “STEPPERONLINE Driver”, “Update driver”. - Page 5 Quick Start of T6 AC Servo 1.1.2.2 Click “Browse my computer for drivers”. 1.1.2.3 Search for drivers in the location from “USB_Driver” folder in which you placed the application that STEPPERONLINE provide, and then accomplish updating driver. 1.2 JOG Trail 1.2.1 Click icon of Motion Studio to enter in.
- Page 6 Quick Start of T6 AC Servo 1.2.3 Click “Run Testing ”, and tune Pr0.04 inertia ratio and Pr0.03 stiffness, click “download” to save modified parameters, finally click “Servo Enable” to start JOG trail. Note: All parameters could be modified from “Parameter Manage...
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Page 7: Chapter 2 Position Control (Pul + Dir)
Quick Start of T6 AC Servo Chapter 2 Position Control (Pul + Dir) 2.1 Connection 2.1.1 Cables connection 2.1.1.1 Cover display. Tune Cable CN4: Connection CN1: Pulse+Direction Cable Connection CN2: Digital Input/ Output Cable Connection CN3: Encoder Feedback Cable Connection... - Page 8 Quick Start of T6 AC Servo 2.1.1.2 Wiring sketch map.
- Page 9 Quick Start of T6 AC Servo 2.1.1.3 I/O terminal definition. Port Signal Name Explanation 24V pulse+ PUL＋_24 24V direction+ DIR＋_24 PUL＋ 5V pulse+ Hardware filtering achieves the maximum bandwidth of 750kHz PUL－ Pulse- DIR＋ 5V direction+ Direction- DIR－ Port Signal...
- Page 10 Quick Start of T6 AC Servo 2.1.1.4 I/O input signal circuit. A. The power supply is provided by user, DC 12-24V, current ≥100mA, if the power polarity connects reversely, the drive won’t run. B. If the drive is enabled by internal signal, then user won’t need to connect to Pin1and Pin2.
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Page 11: Main Steps To Tune T6 Drives In Position Mode
Refer to section 1.1.2 of chapter 1. 2.2 Main steps to tune T6 Drives in position mode (1) Connect the wire correctly (motor will be recognized by drive automatically ); (2) Use “run testing” to test the motor if motor run normally or not. - Page 12 Quick Start of T6 AC Servo Run Testing Use “run testing” of software protuner to tune the drive. Make sure the shaft of motor is free before running it, and please release the brake firstly if motor is with brake.
- Page 13 Quick Start of T6 AC Servo In Manual mode(Pr0.02=0), Kp, Ki and other parameters can be set manually. Pr003 is unavailable now . About how to tune position loop, Ki can be adjusted to a very small value in advance...
- Page 14 Quick Start of T6 AC Servo Performance adjustment—Gain adjustment(Pr0.03) The definition of Pr0.03 Related Range unit default Selection of machine stiffness at real- control mode Pr0.03 time auto-gain tuning 50 -81 You can set up response while the real-time auto-gain tuning is valid.
- Page 15 Quick Start of T6 AC Servo Pr0.03=66 Pr0.03=62 As keep decreasing the value pf Pr0.03, the position loop gain Kp become bigger and bigger, the integration time constant Vi become smaller and smaller, the position error become close to zero.
- Page 16 Quick Start of T6 AC Servo The noise of motor occurs and alarm occurs if the position loop gain becomes bigger, so just make sure there is no noise. Finally, set Pr0.03=62, the basic setting for position loop is finished in Position mode.
- Page 17 Quick Start of T6 AC Servo Position command filter To make the positional command divided or multiplied by the electronic gear smooth, set the command filter. Related Range unit default control mode positional command smoothing filter Pr2.22 0.1ms 0 -32767 ...
- Page 18 Quick Start of T6 AC Servo Related Range unit default control mode Pr0.00 Mode loop gain 0 -32767 0.1Hz Set up the bandwidth of MFC , it is similar to the response bandwidth Setup value Meaning Disable the function. Enable the function , set the bandwidth automatically , recommended for most application .
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