Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 134)

112 A Tutorial Introduction • Motion
Publication 1398-PM601A-EN-P — October 2000
T
U
IT
OR
IA
L
Set the Application Type, Direction, and Response as shown. Select the Start button to start the Auto
Tune procedure. This will cause the motor to vibrate for a few seconds. During this time, the ULTRA
Plus or IQ is measuring the load inertia and, based on this measurement, is selecting appropriate gain
settings. Select the OK button to accept the gain settings and close the dialog box. The motor should
now be ready to move.
Motion
Incremental Motion
Select Run Control from the Run menu or press F8 to display the following dialog box.
If it is not already selected, set Move Type to Distance (MOVD), set the Position/Distance value to 10,
and set the Velocity value to 60. Select the Start Move button (or press ALT+M) to start the move. The
motor should take about 10 seconds to do the 10 revolutions. The motor shaft should be in exactly the
same position after the move as it was before the move.
Homing
If the Move Type is changed to Position (MOVP) and the Start Move button is selected, a move error
will occur if the ULTRA Plus or IQ has not been homed since it was powered up. The reason for the
error is that the ULTRA Plus or IQ is being told to go to a specific location, but it does not know where
zero is—it does not know where the specific location is either. Before any MOVP commands can be