Axis Motor Configuration Page: Depending on previous page selections, not all of these options will show. Servo Info: This is for setting up the servo control loop. P - proportional term I - integral term D - derivative term FF0 - zero order feed forward FF1 - first order feed forward FF2 - second order feed forward Bias - used to add / subtract a constant value to dac. Deadband - if the actual position is in this band of the commanded proportional control will not be added. Dac scale - scales the output nominal is +-1 volt Dac Max output - clamps the output to +- this value 3PWM scale - sets the mid point scale factor: see man pages 3PWM deadtime - deadtime between high side and low side enable Too little deadtime creates a short circuit - not good. Dac Scale: Dac scale sets the user DAC units to PWM duty cycle. The maximum duty cycle is (+ or -) 1. If using the 7i33 daughter board then at maximum duty cycle of (+ or -) 1 the 7i33 outputs (+ or -) 10 volts (and produce maximum motor speed) If using the 7i29 daughter board at maximum duty cycle of (+ or -) 1 then the output would be (+ or -) supply voltage (and produce maximum motor speed). So with a scale of one, DAC units are duty cycle. If you were using the 7i33 daughter board then maybe you would like the Dac units to be voltage. then you would set the dac scale to 10. 10 volts / 10 (scale) = 1 (duty cycle) You could scale this to represent motor speed, voltage, duty cycle or anything else. Common settings would be duty cycle (scale of 1), voltage (scale of maximum voltage) or axis speed (scale of maximum axis speed in machine units per second). I reccomend axis speed. Note that scale is tied closely to dac max output. Dac Max Output: This is the maximum output that the dac can output to the amps. It is in the units set by the dac scale. It using a simple H-bridge you may have to set this less then the actual max output as H-bridges must turn on and off at a minimum rate. Brushless Control: Select this to use and configure the BLDC component. The BLDC component can be used to control brushless motors directly and for HALL sensor conversions. See the MAN pages. PNCconf does not finish the HAL connections for BLDC control. I have nothing to test with - so you'll have to tinker with it. Please send suggestions to EMC mail list or forum. Open loop servo test Button: Use this test to confirm proper Dac output. This is unavailable if using simulated realtime. It is important to confirm the motor turns in the positive direction when the positive jog button is pressed. It is important to confirm the encoder counts in the positive direction when the motor turns in the positive direction. If this is not true expect a SERVO MOTOR RUN AWAY when using PID control! You can confirm the maximum axis speed the servo can produce. You can also confirm the encoder scaling is correct, by moving the axis a known distance and noting the encoder count. The encoder should function with out the amp enabled depending how it is powered. The limit switches are not functional during this test. Spindle-at-speed settings: Set the scaling so EMC knows when the spindle is close enough to the requested speed. A spindle encoder or spindle-at-speed digital input signal is required for this. Spindle display filter gain: If a spindle speed display was chosen, this sets the filter gain which helps stop the display from bouncing around. Stepper Info: This is for setting up the Stepper control loop: step on time - minimum time in nanoseconds for the step pulse. Step Space - minimum time between steps. Direction Hold - minimum time between last step and direction change. Direction Setup - minimum time for direction signal. Driver type - choose a pre determined driver timing motor steps - number of electrical steps for motor usually 200 microstepping - microstepping multiplication factor. motor steps times microstepping = number of steps per revolution. Axis info: Encoder Scale - number of pulses per unit of axis movement. Stepper Scale - number of steps per unit of axis movement. Max velocity - in units per MINUTE. Max Acceleration - in units per SECOND squared. Rapid speed following error - amount actual can deviate from commanded. Feed speed following error - amount actual can deviate from commanded. Invert motor direction - check to reverse motor direction Invert encoder direction - check to reverse encoder direction When using metric units check the defaults carefully they are not converted so need to be adjusted to sane values. Following error setting are usually temporarily set larger to help with servo tuning. Calculate Scale Button: You can enter scaling directly or use this dialog to calculate them. check the boxes to add the setting to the calculation. Pulley Teeth - use this if using a pulley or gear drive. or uncheck for direct drive. Enter the number of teeth of the cogs/gears not the gear ratio. Worm turn ratio - use this for worm drives. Enter the gear ratio. EG if two turns of input = one of output enter 2:1 The encoder is assumed connected to the input. Leadscrew - pitch (metric) or TPI of leadscrew. Encoder lines - the number of basic lines (not pulses) of the encoder. Microsteps - the multiplication factor to apply to motor steps. Motor steps - the number of steps of motor (usually 200). one could uncheck the microstep checkbox and just enter the total number of steps per revolution of the step drive. The scale settings change as you enter data / check boxes. The motion data is just for information. If you wish to use the settings press apply otherwise cancel. Test / Tune Axis Button: Use this to test and tune the current axis. This is unavailable for servos or if using simulated realtime. set the velocity, acceleration and control loop settings. jog to a safe zone close to the middle of axis. set the test distance and choose a movement type: +- for moving both sides of start point. - for moving between zero and negative side. + for moving between zero and positive side. choose a pause time. press run and the test will move back and forth pausing at each end of travel. pressing OK will transfer the settings to the axis page. pressing cancel will keep the existing settings.