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Appendices
A Tuning 97..................................................
A.1 Introduction 97..............................................................
A.1.1 Closed loop control 99...........................................................
A.1.2 Position loop 100................................................................
A.1.3 Speed loop 101..................................................................
A.1.4 Current loop 101.................................................................
A.1.5 MintDrive operational modes 101..................................................
A.1.6 Tuning the position loop for a velocity servo drive 102.................................
A.1.7 Tuning the position loop for a servo drive 102........................................
A.1.8 Tuning the position loop for a torque servo drive 105..................................
A.1.9 Saving tuning information 105.....................................................
B CAN 107....................................................
B.1 Outline 107..................................................................
B.1.1 MintDrive capabilities 107.........................................................
B.2 CAN 1 (CANopen) 109........................................................
B.2.1 CAN 1 (CANopen) - X9 109.......................................................
B.2.2 What is CANopen? 110...........................................................
B.2.3 Configuring nodes 111...........................................................
B.2.4 Network manager - node 1 111....................................................
B.2.5 Scanning nodes 111.............................................................
B.2.6 Connecting to nodes 112.........................................................
B.2.7 Monitoring CAN events 113.......................................................
B.2.8 Controller nodes 114.............................................................
B.2.9 I/O nodes 115...................................................................
B.2.10 HMI Operator Panels 117.........................................................
B.3 CAN 2 (Baldor CAN) 119.......................................................
B.3.1 CAN 2 (Baldor CAN) - X8 119.....................................................
B.3.2 Preparing the MintDrive 120.......................................................
B.3.3 Preparing the CAN peripheral 120..................................................
B.3.4 Connecting the PC, MintDrive and CAN peripheral 120................................
B.3.5 Node IDs 121...................................................................
B.3.6 Static configuration 121...........................................................
B.3.7 Adding the node to the network 122................................................
B.3.8 Monitoring CAN Bus communications 123...........................................
B.3.9 Controlling the CAN peripheral 123.................................................
B.3.10 Normal operation 123............................................................
B.3.11 KeypadNode 124................................................................
B.3.12 ioNode 24/24 125................................................................
B.3.13 Example CAN network 126........................................................
B.3.14 Mint CAN related keywords 127....................................................