Rockwell Automation 1391 USER MNL/DIGITAL AC SERVO DR - Manual (Page 73)

Chapter 8
Start-Up
8-5
17. The display will now read “enter parameter information” – press the
Enter key to continue.
The drive will allow you to enter a value for the Analog Velocity
Gain.
The desired input velocity command voltage to motor rpm scaling is
accomplished with the Analog Velocity Gain parameter (211). The
default setting is 500 rpm/volt. Use the following formula if the
maximum motor speed (rpm) and maximum velocity command
(volts) are known.
Maximum Desired Motor RPM
Maximum Velocity Command
RPM
Volts
=
for example:
3000 RPM Maximum
8V DC Maximum Command
375 RPM
Volts
=
Enter the desired value followed by the Enter key.
18. The drive will prompt for CW and CCW velocity limits (parameters
144 and 145, Clockwise/Counterclockwise Velocity Limits). Enter
the maximum speed limit of the motor plus 10% at maximum
velocity command. If the maximum command voltage exceeds the
normal maximum level, these values will limit the speed of the
motor. If unknown, leave setting at the default value.
Important: Factory default values are set +10% over the maximum
rated speed of the motor as shown in Table 9.A.
Press the Enter key to continue.
19. The drive will prompt for the resolver cable length being used,
(parameter 233, Cable Compensation). Use the Up or Down Arrow
key to select the cable length value closest to the length of the
feedback cable being used.
When the desired value is displayed, press the Enter key to make the
selection.
20. To continue with this start-up procedure, go to step 22.
Auto Tune Procedure
21. This step only needs to be performed when repeating the auto tune
cycle. Access the Modify programming level (from the View level)
by pressing the Up, Down and Left Arrow keys simultaneously.
Press the Down Arrow key and use the Left or Right Arrow keys to
select “autotune the servo drive.” Press the Down Arrow key.