Rockwell Automation 1391 USER MNL/DIGITAL AC SERVO DR - Manual (Page 75)

Chapter 8
Start-Up
8-7
26. The drive will display the Bandwidth Max. parameter (68). The
value displayed is the maximum bandwidth, in rads/sec. your system
can achieve. Record this value for future reference and press Enter.
Bandwidth Maximum = rads/sec.
(rads/sec. can be converted to Hertz (Hz) by dividing by 6.28)
27. The drive will display the Desired Velocity BW (182). Enter any
value of bandwidth up to the value of Bandwidth Max. from above.
Values greater than Bandwidth Max. will be ignored. Press Enter.
28. The auto tune and startup procedure is now complete. Press Enter.
Now press the Up Arrow and Enter keys simultaneously to return to
the Basic Display – values have now been stored in EEprom.
If it is desired to repeat the auto tune procedure, return to step 21.
Important: Do Not initialize the EEprom unless you wish to return
all parameters to their default state.
Remove power. Reconnect user command wiring (if previously
disconnected), apply power and check operation. If motor rotation is
incorrect, reverse the Velocity Command Input leads at TB2-1 & 2.
29. If the drive is to be run in torque control (with S Class, IMC 123
Controllers etc.) set parameter 133, (Torque Select) to “A/D Torque
Block.”
30. Enter the Maintenance programming level by pressing the up, down
and left arrow keys simultaneously – then within 4 seconds–
simultaneously press the up, left arrow and Enter keys.
Access parameters 155 (Rated Motor Current) and 181 (Motor
Inertia) – enter the appropriate values shown below.
Motor Parameter 155 Parameter 181
Catalog Number Value Value
1326AB-A410G-21 (1326AB-A1G) 7.1 A 21 ms
1326AB-A420E-21 (1326AB-A2E) 7.0 A 22 ms
1326AB-A430E-21 (1326AB-A3E) 9.5 A 22 ms
1326AB-A515E-21 (1326AB-B2E) 15.2 A 62 ms
1326AB-A520E-21 (1326AB-B2E) 19.2 A 62 ms
1326AB-A530E-21 (1326AB-B3E) 28.4 A 62 ms
1326AB-A740B-21 (1326AB-C4B) 38.2A 73ms
31. Access parameter 128 (EEprom Functions) and select “Save,”
followed by the Enter key. This will load the parameter values into
memory.
If further tuning is not required, record parameter settings in
Appendix E. Proceed to step 39.