Rockwell Automation 1391 USER MNL/DIGITAL AC SERVO DR - Manual (Page 74)

Chapter 8
Start-Up
8-6
22. Display: “autotune the servo drive” – press Enter to continue.
Assure that the drive Enable input is de-energized and the contactor
(M) is energized. The drive will display the message “drive not
ready to tune” if this has not been done.
The drive will prompt you for Auto Tune Current Limit. This
current is used for auto tuning only. The default value displayed is
sufficient, however, a different value of up to 100% of motor rating
can be entered if desired. Press the Enter key to accept the value.
23. The drive will prompt you for Auto Tune Velocity. This velocity is
used for auto tune only. To accept the default value, press Enter. If
clockwise motor rotation (looking at the motor shaft) is desired, this
parameter value should be positive. If counterclockwise rotation is
desired, set this parameter value negative.
ATTENTION: A portion of the following auto tune cycle will
cause the motor to accelerate to a desired velocity and
decelerate to zero velocity. Be prepared for this movement and
take precautions to guard against personnel injury or machine
damage. Depending on the inertia of the system, several
revolutions of the motor may occur. Axis movement must take
place for the drive to complete the auto tune cycle.
!
24. The drive will display the message “DANGER ## MTR REVS
POSSIBLE.” This means that the motor may make ## revolutions
during auto tune, causing machine movement.
Important: If the number of motor revolutions displayed is
acceptable, press Enter and proceed to step 25. If the number of
motor revolutions displayed could cause damage to your equipment,
Do Not Continue! – Press The Up Arrow Key to end the auto tune
procedure.
Repeat the auto tune procedure by returning to step 21. During the
procedure the value for Auto Tune Current Limit can be increased,
or the Auto Tune Velocity can be decreased. Either value will lower
the number of motor revolutions. For example, twice the current will
halve the number of revolutions to do auto tune.
25. The display will now read “enable drive to execute autotune.”
Important: When you enable the drive the motor will ramp up to
the auto tune velocity and back to zero again.
The display will now read “disable drv to continue” – Disable the
drive.