Rockwell Automation 1336T Master/Slave Parallel AC Drv - Manual (Page 35)

1336 FORCE-5.19 – August, 2000
Startup 3-17
4. Start the Slave Drive followed by starting the Master Drive.
5. The calculated values will appear in Ki (P139), Kp (P140).
Save to EEPROM/BRAM.
6. Verify that Parameter 256 (Autotune/Diagnostics Selection)
= 0.
Application Setup NOTE: Prior to doing any further application specific programming,
the application parameters must be programmed for their final value.
1. Start the drive and run up to base speed. If the section is
unstable, the drive may have to be retuned. If necessary,
repeat previous autotuning steps to retune the drive for a
different radian response (Velocity Loop Tuning).
2. Verify correct speed of drive as follows:
a. Verify that P127 [Rev Speed Limit] and P128 [Fwd Speed
Limit]are at process limit values. Verify the correct scaling
of speed reference (P102 [Vel Scale Fctr 1]) using the
application setup parameter file.
b.Start drive by setting Parameter 368 [SB Analog2 In] =
4114, this will run the drive to the reference set in
Parameter 101 [Velocity Ref 1 Hi]. Hand tach roll at
1
/
2
gear-in speed to verify calculations. If not correct, check
calculations and adjust P102 as necessary. When roll is
geared in, record drive gear in data on data sheets.
Note: typically for drive systems, P101 = 20000 units for
gear-in speed.
c. Stop the motor. Write parameters to EEPROM and a disk
file.
Step Response Set the Velocity Loop Step Response as follows:
1. Connect a chart recorder to analog out 1 and 2 on the
comm/standard adapter board.
2. Link velocity feedback (P146 or P269 (series B)) to analog
out 1.
3. Link internal Iq ref (P167) to analog out 2 (P388)
4. Set analog out 1 offset (P400) to a value of -2048
5. Set analog out 1 scale (P401) to a value of 32767
6. Set analog out 2 offset (P402) to a value of 0
7. Set analog out 2 scale (P403) to a value of 10291
8. Verify that there is no droop in the drive. Parameter 131
[Droop Percent] should = 0.
9. Enter a value of 8210 into Parameter 367 [SB Analog2 Sel].
This will command the drive to run at preset speed 1 in a
forward direction.
10. Enter a value of 2048 (
1
/
2
base speed) into Preset Speed 1
(P119).
11. Enter a 2% Speed Step into external velocity trim (P107).