Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 101)

Publication 1746-6.1.2 - July 2000
7-22 Setting Up Your SLC Servo Module
2. Set the SLC Servo Module in Estop.
3. Toggle the bit (word 0, bit 15) to download this configuration.
4. Reset Estop.
5. Create a program that loops so that one long move in each
direction (separated by a 4-second delay) occurs.
6. Execute the loop program.
7. Set the programmed speed at 90% of maximum speed.
8. Setup a % acceleration function within the program.
9. Execute the program beginning with a % acceleration ramp of
10%.
10. Look for overshoot as the axis reaches maximum speed and
slows to a stop.
11. Increase the % acceleration ramp until overshoot occurs in the
axis following error.
12.
13.
IMPORTANT
A gain of 1.0 in SLC Servo Module units is equivalent
to a gain of 16.6667 inverse seconds.
If: Then:
Overshoot is observed
during starting or
stopping Reduce the % of acceleration rate until there is no
overshoot.
No overshoot is
observed during
starting or stopping Go to step 13.
Calculate: To equal:
Time to maximum
speed (new value) 1.05 multiplied by
time to maximum speed (current value)
(% acceleration rate expressed as a decimal)