Servo drive configuration files

From Granite Devices Knowledge Wiki
Jump to: navigation, search

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
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
MiGE MiGE series motors 400 - 1000 W Argon Media:Mige Argon configuration

Using setting files[edit | edit source]

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

In no event the Product Information or parts hereof shall be regarded as guarantee of conditions or characteristics. The Product Information or any part thereof may also not be regarded as a warranty of any kind. No liability of any kind shall be assumed by Author with respect to Product Information or any use made by you thereof, nor shall Author indemnify you against or be liable for any third party claims with respect to such information or any use thereof.

As content of this Wiki may be edited by user community, Granite Devices Oy or it's affiliates do not take any responsibility of the contents of this Wiki. Use information at your own risk. However, Granite Devices staff attempts to review all changes made to this Wiki and keep information trustworthy.

Without written consent, Granite Devices' Products or Intellectual Property shall not be used in situations or installations where living beings, material property, or immaterial property could be harmed by the operation, features or failures of Product. Products may only be used in a way where hazards like moving parts, electric shock, laser radiation, or fire can't be realized even if the content of this Wiki would suggest otherwise.