Editing Commissioning of KANZ servo motors

[[File:Kanz10wires_m.JPG|thumb|KANZ series servo motor with premade cables]]This article gives tips for fast-forward installation of KANZ series [[Granite Devices servo motors]] on [[Argon]] servo drive. However, this article is not complete user guide for Argon, so user must be already familiar with operation of the drive or follow [[Argon user guide]] simultaneously.
==Wiring==
===Wire preparation===
KANZ motors come with pre-assembled cables for Argon servo drive (encoder and motor part). However, some motor models include excessive 4-pin terminal for motor part that needs to be stripped away.
<gallery widths="240px" heights="240px">
File:Kanz termination.jpg|The excessive 4-pin connector that need to be cut away. Stripping 3-5 cm of black outer insulation is recommended to make space for [[EMI suppression cores]].
File:Kanz termination2.jpg|Strip wire ends. Cutting U,V,W 1-2 cm shorter than PE is recommended for safety (to make PE the last to disconnect if cable pulled by force).
File:Kanz termination3.jpg|Optional, but recommended, ferrule crimping of wire ends. 
File:Kanz termination4.jpg|Minimum length of wire ends to fit single EMI suppression core to leads. Note: it recommended to strip outer insulation before crimping. 
</gallery>
{{electricshock|Ensure that insulation of inner wires have not been damaged in the process of wire stripping and that there is no loose wire strands }}
===Connecting===
First, ensure that you have understood [[Argon user guide/Wiring|Argon user guide wiring section]] and especially [[Argon user guide/Earthing|earthing section]] before proceeding with installation. 

Pre-made encoder cable plugs directly into Argon J1 connector and motor U, V, W and PE connect to J4 terminal to their respective positions. Insert [[EMI suppression cores]] as illustrated below:

[[File:Argon wired to KANZ annotated.jpg|800px]]

==Parameterization==
For parameterization, make sure you understand [[Argon_user_guide/Drive_parameterization|Argon drive parameterization]] basics. To speed up commissioning of motor, pre-made base configuration files are provided for stocked servo motors. Instructions for using the files:
{{warning|When loading settings, have drive disconnected from AC power for safety reasons. Ensure that all settings and wirings (including emergency stopping) are ready before connecting AC power.}}
#Download KANZ motor configuration files: [[Media:KANZ Argon base settings.zip]]
#Connect drive to Granity ([[Argon_user_guide/Making_the_first_Granity_connection|instructions]])
#Click ''Load settings from file'' and open corresponding configuration file
#Click ''Save settings on drive non-volatile memory'' and if choose Apply and Restart drive buttons in the dialogs that may appear
#After drive restarts, connect again to drive and review all settings. For first testing safety it is recommended to reduce current limits {{param|MMC}} and {{param|MCC}} to a lower value (such as 20% of rated values) in order to limit motor torque if unexpected motion takes place. Also set control mode {{param|CM}} as required by end application.
#After all Ok, click ''Apply settings'' and you're ready to connect AC power for first tests. 
#Go to Testing page and begin motor tuning according to [[Servo motor tuning guide]]

{{tip|Pre-made motor configuration files may have significantly different motor resistance {{param|MR}} and inductance {{param|ML}} values compared to motor data sheet. Pre-made files are hand-optimized to give better performance than entering values from data sheet, so it is recommended to leave these values untouched.}}