Servo drive configuration files

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This page lists pre-made configuration files for various types of servo motors. Configuration files are provided to ease commissioning of a motor with GD servo drives.

Notice that motor will change behavior and tuning when mechanical load changes. The configuration files provided here are tuned without any mechanical mounted on motor shaft. Care must be taken and settings adjusted once motor is attached to load. Initial settings may be unstable and oscillate violently when motor is attached to load, or when something is different in the physical system (such as wiring or motor properties).

Motor manufacturer Motor model Motor specs Remarks Drive Download
KUKA / Roboter GmbH 1FK6100-8AF91-1ZZ9-Z S09 3.77 kV, 9.50 A, 3000 rpm, Resolver feedback with 4 pole pairs (equals 8192 pulses/rev or 32768 counts/rev on Argon) Motor form KUKA KR 150 industrial robot Argon with Argon resolver adapter Media:KUKA KR150 Argon drive settings.zip
Granite Devices BL series motors 60-300 W IONI Work in progress, you may ask from Granite Devices support
Granite Devices KANZ series motors 200 - 950 W Argon Media:KANZ Argon base settings.zip
MiGE MiGE series motors 400 - 1000 W Argon Media:Mige Argon configuration files.zip

Using setting files

For parameterization, make sure you understand drive parametrization basics (refer to your drive model user guides in this wiki). To speed up commissioning of motor, pre-made base configuration files are provided for stocked servo motors. Instructions for using the files:

  1. Download motor configuration files
  2. Connect drive to Granity
  3. Click Load settings from file and open corresponding configuration file. Choose the file that is most has similar beginning with motor mode (i.e. KANZ04... file for KANZ-04BF8N2 motor).
  4. Click Save settings on drive non-volatile memory and if choose Apply and Restart drive buttons in the dialogs that may appear
  5. After drive restarts, connect again to drive and review all settings. For first testing safety it is recommended to reduce current limits Peak current limitMMC and Continuous current limitMCC 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 Control modeCM as required by end application.
  6. After all Ok, click Apply settings and you're ready to connect AC power for first tests.
  7. Go to Testing page and begin motor tuning according to Servo motor tuning guide

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