Rockwell-automation 1391ES AC Servo Controller User Manual download pdf (Page 49)

Start-Up

Chapter 7

7-47

o 11. If adjustable current limit is not desired, proceed to step 12. Ground

TB2-5 to TB2-6. Set Current Limit to zero. With a 10% Command

input signal applied to terminals 1 and 2 of TB2, momentarily close

the local Enable switch and observe motor speed and direction of

rotation. The motor should rotate slowly under control (following

the Command signal). If the motor is under control but rotating in

the wrong direction, reverse the command input signal polarity and

note the change on the machine interconnection drawing.

If the motor is uncontrollable, check the feedback wiring at the

controller and check for correct phasing of the motor leads. If this

does not correct the problem, the position feedback device may be

incorrectly phased. Check that the current feedback scaling is set

properly and slowly adjust the Current Limit potentiometer (R148)

to the maximum clockwise position.

o 12. Open the Enable switch and branch circuit disconnect.

o 13. Remove battery box and connect a jumper between terminals 1 and

2 of TB2. Apply power and close the Enable switch. Adjust the

Velocity Loop OFFSET potentiometer (R1) to obtain zero rotation

of the motor shaft.

o 14. Open the branch circuit disconnect. Remove jumper and reconnect

the wires removed in step 9. Reapply power.

o 15. On position controlled systems, the position loop gain (system

following error) should be set by adjusting the Velocity Command

SCALE potentiometer (R132) while commanding various moves

from the position controller to achieve desired following error.

On velocity controlled systems (no position loop), the Velocity

Command SCALE pot (R132) should be adjusted to give the desired

motor speed at the maximum command (reference) voltage.

o 16. If the proper position loop gain (following error adjustment) or

speed cannot be set at maximum motor speed, switch S2-6 may be

improperly set (see Chapter 5).

o 17. Important: Before performing this step, ensure that the GAIN pot is

set to “4” or below. A setting higher than “4” could cause the motor

to vibrate violently.

Adjust the Velocity GAIN potentiometer (R144) and set switch S2-6

as needed. The GAIN adjust pot is used to fine tune the servo

system response, switch S2-6 provides varying degrees of response.

Setting GAIN at position #4 and placing the switch to “OFF” will

give satisfactory response for most applications. If further

optimization of the system response is required, the System

Compensation Procedure should be followed. If optimization is not

required, proceed to step 20.

1 2 ... 44 45 46 47 48 49 50 51 52 53 54 ... 81 82

Comments to this Manuals

No comments

Rockwell-automation 1391ES AC Servo Controller User Manual Page 49

Comments to this Manuals

Related products and manuals for Equipment Rockwell-automation 1391ES AC Servo Controller