Anaheim Servo SRMD Servo Manual

							  
 
 
o Jam to Present Position Plus Home Find  
Offset
: If you select this mode, and activate changes as well as flash 
this selection into the motor, the home position is  defined as the 
programmed position in pre-defined scaled units (Se e 1 below), relative to 
where the shaft is currently, when power is applied . This shot above, 
assumes that home is where the shaft location is wh en power is applied, 
plus 0.75 revolution CW.  
       
 
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o Seek Stop by Current Rise:  If this mode is selected, and 
you’ve selected activate changes as well as flashed  this selection into the 
motor, the home position is defined as the programm ed position when the 
programmed current level is met, offset by the posi tion programmed to go 
to from that occurrence. The example above has the  home find at 0.75 revs 
CW from where the current rose to 4 amps. The scali ng of the amps is in 
0.1 amp increments. EG 10 = 1 amp.  
        
 
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Seek Stop by Switch Input: Defines a home location based on the 
closure of an external switch and has offsets of th at position programmable. The example 
above shows a 0.75 revolution CW offset from the ho me switch closure with home find 
speed of 10 rpm.  IF YOU USE THIS HOMING ROUTINE, THE  HOMING INPUT IS 
D-3, which will limit the selection of index moves  from 16 down to 8.  
 
 When all data is entered, click  “Activate Changes” to complete the operation 
        
 
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							Programming Analog Settings 
  
This screen allows you to program the range and type of analog input and output signals.  
To do this return to Motor Set Up window and: 
 Click on  “Analog Settings”  button (1). The Analog Settings screen will appear  
 
 
  Select Analog Input Mode (2) 
  Enter Max and Min data and Pole Weight in the field  below (3) 
         
 
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							Caution:  Observe limits for voltage and current displayed in  the associated “Issues” 
window (4) 
 If no inputs are required select “Inactive” 
  
When Input settings are complete 
 Select Analog Output mode (5) 
  Select type of analog output (6) 
  Enter Max and Min data and Pole Weight in the indic ated fields (7). Pole Weight 
entry allows you to de-sensitize the analog signal  in case you have a noisy signal. 
The higher the number used, the greater the noise i mmunity of the signal.  
  If no outputs are required select “Inactive”  
  Click on  “Activate Changes”  (8) to enter data into the control program and 
complete the operation 
 
Motor Performance Adjustments 
 
This screen is used to optimize motor performance u sing proportional, integral and/or 
rate feedback gain parameters.  To perform this, re turn to the “Motor Set Up screen and: 
 Click on “Performance Adjustments”  button.  The Performance Adjustments 
screen will appear 
 
 
 
 
    
 
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							There will be a separate procedure on the methodology used to optimize the servo loop 
performance in the SRMD Motor Manual.  There will also be autotuning proced ures in 
the future. 
Connecting the SRMD Servo Motor to your  
System Inputs and Outputs 
   
The SRMD Motor is designed for easy connection to i nputs and outputs from any motion 
control system.  This is done through the Input/Out put 25 Pin D connector shown in the 
following photo.   
   
 
 
Input and Output wiring diagrams are presented in t he SRMD Motor Interface Control 
Drawings (ICDs) available on the Specialty Motors w ebsite.  
             
 
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							To facilitate the test and integration process you can also use the optional Breakout Board 
shown in the photograph below.   
 
This board allows you to easily check and change di fferent wiring hookups as you work 
through the system test and integration process wit hout hard wiring connections.  
                      
 
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