Everything’s possible.

DriveWare® 7 Setup Software

Quick Reference

www.a-m-c.com
MNDGDWQR-04
 Preface

ADVANCED Motion Controls constantly strives to improve all of its products. We review the information in
this document regularly and we welcome any suggestions for improvement. We reserve the right to modify
equipment and documentation without prior notice.

For the latest revision of this document, visit the company’s website at www.a-m-c.com. Otherwise, contact
the company directly at:

ADVANCED Motion Controls • 3805 Calle Tecate Camarillo, CA • 93012-5068 USA

This manual is for the exclusive use of ADVANCED Motion Controls. The reproduction, transmission or
use of this document or its contents is prohibited without the expressed written permission of ADVANCED
Motion Controls.

General Safety

You must install and operate ADVANCED Motion Controls motion control equipment so that
you meet all applicable safety requirements. Ensure that you identify the relevant standards
and comply with them. Failure to do so may result in damage to equipment and personal
injury.

Read this entire manual prior to attempting to install or operate the drive. Become familiar
with practices and procedures that allow you to operate these drives safely and effectively.
You are responsible for determining the suitability of this product for the intended
application. ADVANCED Motion Controls is neither responsible nor liable for indirect or
consequential damages resulting from the inappropriate use of this product.

High-performance motion control equipment can move rapidly with very high forces.
Unexpected motion may occur especially during product commissioning. Keep clear of any
operational machinery and never touch them while they are working.

MNDGDWQR-04 ii
/

Keep clear of enclosed units, motor terminals, and transformer terminals when power is
applied to the equipment. Follow these safety guidelines:
• Always turn off the main power and allow sufficient time for complete discharge before
making any connections to the drive.
• Make sure that the minimum inductance requirements are met. Pulse Width
Modulated (PWM) amplifiers deliver a pulsed output that requires a minimum amount
of load inductance for proper operation.
• Do not rotate the motor shaft without power. The motor acts as a generator and will
charge up the power supply capacitors through the amplifier. Excessive speeds may
cause over-voltage breakdown in the power output stage. Note that an amplifier
having an internal power converter that operates from the high voltage supply will
become operative.
• Do not short the motor leads at high motor speeds. When the motor is shorted, its own
generated voltage may produce a current flow as high as 10 times the amplifier
current. The short itself may not damage the amplifier but may damage the motor.
• Do not make any connections to any internal circuitry. Only connections to designated
connectors are allowed.

ADVANCED Motion Controls, the combined isosceles trapezoid/right triangle logo, DIGIFLEX®,
DIGIFLEX® Performance, and DriveWare® are either registered trademarks or trademarks of
ADVANCED Motion Controls in the United States and/or other countries. All other trademarks are the
property of their respective owners.

Related Documentation
• Product datasheet specific for your drive, available for download at www.a-m-c.com
• DriveWare® Software Manual, available for download at www.a-m-c.com

Document ID Revision Date Changes

MNDGDWQR-01 5.8.5 7/2009 First Release
MNDGDWQR-02 7.0 7/2012 Updated for DriveWare® 7.0
MNDGDWQR-03 7.2 4/2014 Updated for DriveWare® 7.2
MNDGDWQR-04 7.3 2/2015 Updated for DriveWare® 7.3

© 2015 ADVANCED Motion Controls. All rights reserved.

iii MNDGDWQR-04
 DriveWare® Setup Software

DriveWare® is a powerful tool used for the commissioning of ADVANCED Motion Controls’ DigiFlex®
Performance™ servo drives. An easy-to-use interface combined with cutting edge motion control technology
make DriveWare extremely versatile and accessible to users with little previous experience in motion control.
This document presents an overview of the recommended procedure to commission an ADVANCED Motion
Controls’ servo drive in DriveWare. These step-by-step instructions should be used as a general guide in
conjunction with the information in the DriveWare Software Manual. The DriveWare Software Manual, along
with the Help File included with DriveWare, contain more detailed information on how to configure a drive.
Each step presented in this document corresponds to an in-depth discussion in the DriveWare Software
Manual. This document lays out the order in which a user should proceed through DriveWare, along with
explanations of the basic functionality of the steps. Both DriveWare and the DriveWare Software Manual are
available for download at www.a-m-c.com.
DigiFlex® Performance™ Servo Drives

DriveWare®

DP Drives

DZ Drives

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 Install DriveWare
To install DriveWare on a PC, follow these simple steps.
1. Download the software from www.a-m-c.com/products/driveware.html. Note that if a
previous version of DriveWare exists on the computer, it must be uninstalled prior to
installing the new version.
2. Save or open the compressed folder, and extract all files to a local directory.
3. Run DriveWareInstall.exe. Follow the onscreen instructions to complete the
installation.

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 System Connections
Before a drive can be commissioned in DriveWare, it is important to make certain that all
system connections have been wired safely and properly. Follow a "central point grounding"
procedure as shown below to eliminate and reduce ground loops and noise in the system. For
reference on proper wiring and system connections, consult the appropriate datasheet and
Hardware Installation Manual for the specific drive in use.
Case Ground Wire
Shield Ground Wire
Shielded Feedback/Signal Cable
Command Command Shielded Power Cable
Signal Signal +VDC
+VDC PE Ground
Digital
Controller Digiflex Performance Signal Ground
Servo Drive
Power Ground
Chassis Earth Ground

Isolated DC
Power Supply

Motor

Single Point System

Ground (PE Ground)

A digital controller is not necessary for initial drive setup in DriveWare, as

ADVANCED Motion Controls Digiflex Performance series servo drives are
capable of providing an internal signal used for loop tuning.

The servo drive must also be connected to a computer with DriveWare installed. The
Auxiliary Communication port is used for drive configuration. Depending on the specific
drive in use, this may be through one of a number of different connection types: serial, USB,
ethernet ports, etc. Connect from the Auxiliary Communication port on the drive to the
appropriate port on the computer. For PC’s that do not have a serial port or other required
connection port, a USB to serial or other type of converter may be necessary.

Auxiliary Communication Port

or

or

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Step 1 - Establish Communication Connection
Once the drive has been correctly wired into the system and connected to a PC, power may be
applied to the drive. Open DriveWare on the PC, and select the "Connect" option from the
opening screen.

The "Connect to Drive" window provides communication configuration settings used to

connect to DriveWare to setup and configure the drive. Depending on the drive in use, this
connection may be the same or different from the communication connection used to send
motion commands to the drive.

Select the type of communication interface being used to connect with the drive to display the
corresponding interface settings. The first time the drive connects to DriveWare the default
settings must be used. The default settings for common communication types are shown in
the table below.
Default Communication Settings
RS-485/232 Drive Address 63
Baud Rate 115200
Serial Port User Dependent
Ethernet Drive Address 1
USB Drive Address 63

Communication settings can changed after the initial connection to the drive.

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Step 2 - Workspace Navigation
The DriveWare interface provides many functions, tools and status information to help set up
the drive.
Menu and Toolbar

Caption Bar

Status Panel

System Browser

Dynamic Help

Status Bar

Main Workspace Display

It is helpful to become familiar with the DriveWare interface before proceeding through the
drive commissioning process.
• Menu and Toolbar: Contains pull-down menus and toolbar icons for quick access to
many tools and functions.
• System Browser: Used to navigate between the software windows for drive
configuration and features.
• Caption Bar: Displays quick details about the current drive configuration.
• Status Panel: Provides real-time information on drive events and actions.
• Dynamic Help Browser: Dynamic Help file that automatically tracks movements
through the software and navigates accordingly to the appropriate Help topics.
• Status Bar: Provides information on the drive configuration, bridge state, connection
status, and accessibility.

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Step 3 - Input Motor and Feedback Data

Select Motor > Parameters from the System Browser to open the Motor window. The
Motor window is where you will input the motor ratings, motor-specific data, and primary
feedback information.

DriveWare uses the motor and feedback values for a variety of functions:
• Calculate Current Loop Gains
• Set Hardware Current, Velocity, and Position Limits
• AutoCommutation/Phase Detect Routines

The field options seen in the Motor window will automatically change to correspond with the
specific drive, motor type, and feedback device being used.

1. Begin by selecting the Motor Type from the drop-down button at the top of the window.
The Motor Parameters should change to reflect the chosen Motor Type.
2. Input the Motor model, manufacturer, and ratings information in the Motor Parameters
fields. Typically this information can be found on the motor datasheet.
3. Configure the necessary feedback information in the Feedback
Parameters fields.
4. If using Hall Sensors for commutation, select the Commutation
Sensors checkbox, and select the Commutation Angle and type
(Trapezoidal or Sinusoidal).
5. Once the motor and feedback information has been correctly
input, click the Apply toolbar icon to save the values.
6. Exit the Motor window.

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 Braking (Optional) Selecting the Brake checkbox allows a
brake to be assigned with an event action. The brake can be
assigned to a digital output in the Inputs/Outputs window. In
addition, the brake output can be configured to use delays
between external braking and enabling/inhibiting the drive.

Feedback Assignment (Optional)

Depending on the system setup, the

primary feedback device being
used for commutation may not be
the same device being used for
velocity or position feedback. In
this case, the [DriveName] > Loop Feedback window in the System Browser allows the
specification of which feedback device is used for the velocity and position loops. If necessary,
open the Feedback window and configure the velocity and position feedback devices.

Auxiliary Feedback (Optional) In a dual loop

application, DriveWare allows for an auxiliary encoder
to be used to close the position loop. The Auxiliary
Encoder selection in Position Feedback Source provides
an interface to input the auxiliary encoder information
to ensure proper operation and to allow for an auxiliary
index to be used for homing.

In order for the auxiliary encoder to be used as the position feedback device, Auxiliary
Encoder must be specified as the Position Feedback Source in the [DriveName] > Loop
Feedback window.

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Step 4 - Set User Units (Optional)
DriveWare uses "counts" as the default base measurement unit for position, "counts/sec" for
velocity, and "counts/sec2" for acceleration. However, DriveWare allows the option to setup
the drive using units that are more desirable or relevant to the machine and/or axis the drive
is being configured for. To do so, click the User Units toolbar icon to open the User Units
window.

The User Units window allows user customization of the measurement units in DriveWare.
Each measurement parameter - Position, Velocity, Torque, Temperature - has several
different measurement types available, some of which are dependent on the motor type
(Rotary or Linear). Note that the units in the Motor Parameters window are not affected by
changes made in the User Units window.
1. Choose the desired Units from the pull-down menus. If no selection is made, DriveWare
will use the default units.
2. Selecting the Custom Labels checkbox will allow the definition of custom units and labels.
A scaling ratio between standard and custom units can also be defined.

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Step 5 - Limits
The Limits windows are used to set general drive limits and parameters. These can be
accessed under the Limits heading in the System
Browser.

• Current: Use this window to set the drive

output current limits within the hardware
capability of the drive.
• Velocity: Use this window to set user or
system defined velocity limits and values. Can be
configured regardless of whether the velocity loop
is enabled.
• Position: Use this window to set user or
system defined position limits and values.
Can be configured regardless of whether the
position loop is enabled.
• Stop: Use this window to set drive
deceleration limits.
• Voltage: Use this window to set the
software under and over voltage
limits. These limits are restricted to
fall within the hardware capability of
the drive.
• Temperature: Use this window
to configure an external temperature
sensor.

The Limits settings will change the

conditions at which an event occurs. The actions the drive takes
during an event can be configured in the Events window.

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Step 6 - Events
The Events windows let you configure the action the drive will take when an event occurs.
You can select actions for drive protection, system protection, and drive system events. These
can be accessed under the Events heading in the System Browser.

Basic Events The Basic Events window allows for

simple configuration of common drive events. Select
the desired action for the drive events from the
selection boxes. If Latch is checked for a specific event,
the selected action will remain in effect until power is
cycled or the Drive Status is reset.

Advanced Events The Advanced window allows

in-depth customization of the way the drive responds
to certain events.

Events are grouped into categories to facilitate event

selection. Expand the group headings by clicking on the arrow next to the Group Name to
view the event listings.

Each event has several programmable attributes that can be edited by clicking on an event
row:
• Delay: The time delay
between the actual
occurrence of the event
and the event action.
• Action: The action to be
taken by the drive after
the response time has
elapsed. For safety
reasons some actions are
not available with some
events.
• Recovery: The time after which the selected event action will be removed when the
cause of the event is no longer present.
• No Repeat: The time, after the recovery time and subsequent removal of the event action,
during which the drive will NOT consider an occurrence of the event as a new occurrence.
The Event Action will still be applied in case an event does occur within this window.
However, that occurrence will not be counted as a new occurrence with regard to the
Maximum Recoveries attribute.
• Recoveries: The number of occurrences of the event prior to a permanent event action.
The number of recoveries can be set to a specific value, or to Latch or Unlimited.

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Step 7 - Configurations

DriveWare allows two separate sets of drive parameters to be saved under [DriveName]
> Configuration 0 and Configuration 1. This is useful when more than one set of drive
parameters may be required as the system mechanics may change. For initial drive
commissioning purposes, only Configuration 0 needs to be used. Note that Configuration 1
will not be available for selection unless the Enable Second Configuration checkbox is selected
in the [DriveName] > Settings window.

Select [DriveName] > Configuration 0 from the System Browser. The Configuration window
contains settings for the following parameters:

• Loop Configuration: Enables the different control loops for the specific drive modes:
Current, Velocity, Position Around Current, and Position Around Velocity. This should be
set to the final application of the drive system. For instance, if the desired configuration is
Position Around Velocity, it is not necessary to change the loop configuration from
Current to Velocity to Position Around Velocity while tuning each control loop.
• Gain Set: DriveWare also allows two separate sets of loop gain values to be configured
and assigned to either Configuration 0 or Configuration 1. The values are be entered
either in the Tuning > Gain Set 0 or Gain Set 1 windows. For now, leave Gain Set 0
assigned to Configuration 0. The values for Gain Set 0 will be entered later during loop
tuning.
• Command Source: The Command Source field assigns the command input type to the
selected Configuration. Selecting one of the available options will bring up the
parameters for the specific command type. For initial drive commissioning purposes,
select No Command as the input source, as the command signal will be internally
generated by the Waveform Generator.
• Command Limiter: The Command Limiter is used to limit the change in the input
command signal as seen by the drive, with the resulting effect being dependant on the
operating mode. Typically for initial loop tuning purposes the Command Limiter can be
left OFF.

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Step 8 - Check Drive Status
The Drive Status tab in the Status Panel displays active and history event items that provide a
real-time indication of drive operation. Data is grouped into categories to conveniently
identify event statuses.

Check the drive events to determine if any inhibiting events are preventing the drive from
proper operation. Some events are related to hardware issues such as faulty wiring or power
supply problems, while others are related to the software limits set in the Limits window. The
event state for each drive event is indicated according to the table below.
Icon Name Description
An event that is active but not assigned to an action. This includes events assigned to No Action in
Active the Events window and pure status events that cannot be assigned an action.

An event that is active and assigned to an action. An action either inhibits motion partially or
Disabling Action disables motion completely according to the action assigned in the Events window.

An event which is not presently active, but was active at some point after the last time the drive was
History powered on or the last time the Reset Events button was used.

An event that is not presently active, and has not been active since after the last time the drive was
Inactive powered on or the last time the Reset Events button was used.

Note that the event Software Disable is directly controlled by the Command Toolbar at the top
of the DriveWare screen. Do not worry about clearing this event until ready to begin Tuning
and Commutation.
Command Toolbar Motion Controls

Icon Action Icon Action

Enable Drive Motion

Enable/Disable Stop
Disable Drive Stop

Drive Status and Tuning

When tuning the Current, Velocity, and Position loops, the Drive Status panel is an invaluable
tool for determining drive behavior. It is recommended to keep the Drive Status panel open
and available while loop tuning to observe any events that may be inhibiting the drive or are
indicators of improper configuration.

The Status Bar along the bottom of the DriveWare window is also useful in quickly
determining the drive state. The Bridge | Action and Comm | Access fields provide
information on the state of the power bridge and drive communication status. If no inhibiting
events are currently active, the Bridge state should read Enabled after clicking on the Enable
icon on the command toolbar. If the bridge state remains Disabled after clicking on the
Enable icon, hover the mouse over the Action portion of the Status Bar to display the
inhibiting event.

For a complete list of drive events and suggested methods of troubleshooting, consult the
Event Troubleshooting Appendix in the DriveWare Software Manual.

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Step 9 - Tuning and Commutation

Open the Scope/Tuning window by clicking on the Scope/Tuning icon on the toolbar.

The Scope/Tuning Window

provides an all-in-one resource
for commanding an internal
signal to the drive, monitoring
over 40 different drive
parameters while testing or
troubleshooting, and real-time
gains adjustments during
tuning and drive setup.

Drive tuning is a multi-step

process that involves proper
tuning of up to three different
servo loops. Before tuning, the
drive should have the
appropriate parameters and
limits configured in the the
Motor, Feedback, Limits, and
Events windows.

The tuning and commutation

process is dependent on the mode the drive is going to be operating in, as well as the end
result of the system application. For instance, the drive may be tuned for a more "robust"
application (high accuracy) or for a more "responsive" application (high speed).

It is not necessary to tune all three servo loops for every application. The Position loop can be
closed around both the Velocity and Current loops, or around the Current loop alone.
• Position Around Velocity - The position loop algorithm output becomes the new
velocity set point. This mode is most common in "contouring" applications, where a
position trajectory must be tracked very closely. It is important to start with a stable yet
responsive velocity loop. Typically, it is sufficient to just use the position loop
proportional gain. Feedforward gain can be added to improve tracking performance. It is
best to use a small step command as a reference signal during tuning.
• Position Around Current - The position loop algorithm output becomes the new current
(torque) set point. This mode is most common in "point-to-point" applications, where
actual motion between the start and end point is not critical. In this case, velocity loop
tuning can be avoided. In this case, the position loop proportional gain and derivative
gain are increased simultaneously. Once a stable response is achieved, integral gain can
be added to improve stiffness. It is best to use a triangular waveform or a step command
during tuning.

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 Current Loop Tuning
The Current loop is the innermost loop and forms the basis of all motion. Current loop tuning
is done with the motor de-coupled from the load, and free to move. It is recommended to
disable the drive prior to beginning the tuning process.

The current loop tuning process follows these basic steps:

1. Set up the Waveform Generator in the Scope/Tuning window to send
a 100 Hz square wave into the current loop. Set the current amplitude
within the drive and motor current limits.
2. With the Scope/Tuning window still open, select Tuning > Current
Loop Gains. Select Window > New Vertical Tab Group from the menu bar
to display both the Current Loop Gains and the Scope/Tuning window at
the same time.
3.Choose Calculate from the Current Loop Gains tab as a starting point
for signal tuning (Calculate uses the data entered in the Motor
window to derive a starting point for current loop tuning. If unsure
about the accuracy of the motor information, begin with both
Proportional and Integral Gain at zero).
4. Choose the Current Scope Preset from the Scope Settings tab to configure the digital
oscilloscope. Verify that the "Current Target" square wave is visible on the oscilloscope.
Adjust the Time/Div or amplitude scale if necessary.
5. Enable the drive by clicking the Enable icon. Adjust the Proportional Gain until a "knee" is
formed, then adjust the Integral Gain as necessary until the measured current closely
approximates the target current, as shown below. Click the Disable icon when completed. To

save tuning parameters, click Apply then Store in the toolbar.

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 Commutation
Commutation of a permanent magnet servomotor is the process that maintains an optimal
angle between the permanent magnet field and the electromagnetic field created by the
motor current(s). This process ensures optimal torque or force generation at any motor
position.
• For brushed motors, simply select which two motor phases are used for external
commutation in the Motor > Parameters window.
• For brushless motors, DriveWare features an AutoCommutation routine that
automatically detects the motor and feedback parameters and polarity and configures
the drive accordingly.

AutoCommutation requires the motor to travel a short distance (two

revolutions plus one electrical cycle for rotary motors, or three electrical
cycles for linear motors). Motors with insufficient travel distance will
require Manual Commutation instead. See the DriveWare Software
Guide for Manual Commutation procedure.

AutoCommutation Before running AutoCommutation, be sure the correct motor

information is entered in the Motor window and that the motor is de-coupled from the load
and free to move. AutoCommutation only needs to be ran once during the initial drive setup,
then the information can be stored into the drive nonvolatile memory by clicking the Store
icon on the toolbar. The AutoCommutation settings will also be saved with the project file
when the project file is saved.

1. Ensure Sinusoidal Commutation is selected from within the Motor > Parameters window.
2. Select Motor > AutoComm from the System Browser.
3. If drive is disabled, click the Enable icon to enable the drive.
4. Click Start AutoCommutation to begin. During the process, observe the motor distance
traveled in each direction.
5. When AutoCommutation is complete, select whether the motor moved the proper
distance. If it did not, verify the pole count or pole pitch in the Motor window.
6. Verify the proper commutation and synchronization settings. AutoCommutation will
default to a selection based on the feedback devices found during the AutoCommutation
routine. It is recommended to use this setting.

7. Click Apply and Store from the toolbar to apply the settings.

MNDGDWQR-04 15
 8. In some cases, the AutoCommutation results will differ slightly from the Motor data. You
may choose between using the values determined by AutoCommutation or the values
entered in the Motor window.
9. If any warnings appear after the AutoCommutation process has completed, consult the
section on Commutation in the DriveWare Software Manual for instructions on how to
proceed. Typically any AutoCommutation warnings are indications of incorrect
information entered into the Motor window, or faulty or miswired connections.
10. After running AutoCommutation, it is suggested to test motor commutation with a small
DC current. Return to the Scope/Tuning window, and set up the Waveform Generator to
send a DC offset into the current loop. Set the Offset field for a small value to move the
motor at a slow speed (value will be dependent on motor parameters, but a typical
starting point will be 0.1 amps). If the motor spins, then AutoCommutation was
successful. If the motor does not move as expected, rerun AutoCommutation.

Phase Detect For brushless motors that are not using Hall Sensors or an absolute
feedback device, it is necessary to run the Phase Detect routine after AutoCommutation in
order to establish the initial motor position for sinusoidal commutation.

Phase Detect must be performed before the motor can be commutated each time the drive
power is cycled, or anytime sinusoidal commutation is lost. The routine requires the motor to
vibrate for a few seconds, and can be set up to be performed via a digital input, or
automatically on power-up. Couple the motor to the load before running Phase Detect.
Consult the DriveWare Software Guide for detailed instructions on how to successfully run
Phase Detect.

MNDGDWQR-04 16
 Velocity Loop Tuning
Velocity loop tuning is dependent on the mechanical load, and therefore will change with any
system changes. Velocity loop tuning should be performed with the motor installed in the
system and connected to the load. It is recommended to disable the drive before beginning
the tuning process.
The velocity loop tuning process follows these basic steps:
1. Set up the Waveform Generator in the Scope/Tuning
window to send a 1-3 Hz square wave into the velocity loop. Set
the amplitude to approximately 10% of nominal motor speed.
2. Select Tuning > Gain Set 0 to open the velocity loop gain
parameters. Set all the velocity loop gains to zero.
3. Choose the Velocity Scope Preset in the Scope/Tuning
window to configure the digital oscilloscope. Verify that the
"Velocity Target" square wave is visible on the oscilloscope.
Adjust the Time/Div or the amplitude scaling if necessary.
4. Enable the drive by clicking the Enable icon. Adjust the
Velocity Loop Proportional Gain until a "knee" is formed, then
adjust the Integral Gain until a slight overshoot in the
measured velocity is observed, as shown below. Typically the
Feedback Filter Cut Off Freq (Tuning > Filters) should then be
set to between 50-1500Hz to dampen oscillations and noise.
The Low Speed Smoothing can also be increased if the motor
is vibrating or making excessive noise. When adjustments are
complete, click the Disable icon. Click Apply and Store on the toolbar to save the
gain settings.

MNDGDWQR-04 17
 Position Loop Tuning
Position loop tuning is dependant on the mechanical load, and therefore will change with any
system changes. Position loop tuning should be performed with the motor installed in the
system and connected to the load. It is recommended to disable the drive before beginning
the tuning process

The position loop tuning process follows these basic steps:

1. Set up the Waveform Generator in the Scope/Tuning window
to send a 1-3 Hz square wave into the Position Loop. Set the
amplitude to between 1/8 and 1/2 revolution for a rotary motor.
2. Select Tuning > Gain Set 0 to open the position loop gain
parameters. Set all the position loop gains to zero.
3.Enter "0" in the Set Position field, and click the Set button to
set the Measured Position and Target Position equal to 0.
4. Choose the Position Scope Preset from the Scope/Tuning
tab to configure the digital oscilloscope. Verify that the
"Position Target" square wave is visible on the oscilloscope.
Adjust the Time/Div or the amplitude scaling if necessary.
5. Enable the drive by clicking on the Enable icon. Beginning
with the Position Loop Proportional Gain, adjust the gains as
necessary until the measured position closely approximates
the target position without excessive overshoot. It is not
necessary to adjust the Velocity or Acceleration Feedforward
gains. When adjustments are complete, disable the drive by
clicking the Disable icon. Click Apply and Store
on the toolbar to save the gain settings.

MNDGDWQR-04 18
Step 10 - Additional Features
The features listed below are additional functions in DriveWare that are used for further
drive configuration and motion tasks. Consult the DriveWare Software Manual or Help Files
for more information on properly utilizing the following features:

Emulated Encoder Output [Drive Name] > Encoder Output - Certain drives allow
configuration of an Emulated Encoder output. The Emulated Encoder is used to synchronize
the command to other axes or to close the position loop.

Inputs/Outputs Inputs/Outputs - DriveWare allows the configuration of analog and digital

inputs and outputs for drive features and diagnostics.

Programmable Limit Switch Inputs/Outputs > Programmable Limit Switch -

DriveWare is configurable to support to independent programmable limit switch (PLS)
outputs. These allow the drive to activate digital outputs that are position dependent. The
pulse width and repeatability are also configurable.

PDO Configuration Network > RPDO/TPDO/Events - The PDO Configuration options are
available for drives compatible with CANopen, EtherCAT, and Ethernet Powerlink network
communication, and allows the configuration of PDO mapping assignments.

Homing Base Motion > Home - The Homing routine in DriveWare defines the absolute
position to the drive with respect to the machine. DriveWare supports many different Homing
routines that rely on signals such as limit switches, home switches, and encoder indexes to
accurately position the load.

Jog Base Motion > Jog - The Jog feature allows a constant velocity to be commanded for a
desired period of time. Velocity, Acceleration, and Deceleration values define the Jog motion.

Indexes Motion Engine > Indexes - An Index task is a profiled move defined by a set of basic
parameters. DriveWare allows up to 16 unique Indexes to be saved and stored. Indexes can be
either Absolute or Relative.

Sequences Motion Engine > Sequences - A Sequence is a set of steps that are Motion Tasks
and Control Functions linked together and executed in a sequential order. DriveWare allows
up to 16 different Sequences to be saved and stored.

MNDGDWQR-04 19
DriveWare® Quick Reference
MNDGDWQR-04

3805 Calle Tecate • Camarillo, CA 93012-5068

Tel: (805) 389-1935 Fax: (805) 384-2315 www.a-m-c.com