Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 175)

Publication 1746-6.1.2 - July 2000
A-2 Input/Output Quick Reference
Loop Type
(Servo Loop) M0:s.0/5,
M0:s.0/4 00 - Open Loop,
(5=0, 4=0) Standard The feedback loop is not closed and incremental
position commands are scaled to the DAC output.
They are sent as the velocity command voltage to
the servo drive that is used to calibrate the drive.
The output voltage at + maximum speed and -
maximum speed are scaled to correspond to the
maximum axis speed described later. As a result, you
can use the SLC Servo Module to calibrate the drive
by downloading a configuration with open loop and
executing a speed move at 50% of the maximum
axis speed. If the drive is not calibrated, the
observed speed returned in the status words is
different from the commanded speed. In this case,
you can adjust the drive to change the observed
speed or change the maximum axis speed to match
the commanded speed and observed speed. The
procedure above has the same result as running the
drive with a known velocity input voltage using the
battery box.
01 - Standard Closed
Loop,
(5=0, 4=1) The feedback loop is closed with only the
proportional action; no velocity feedforward action is
added. The servo loop runs with a following error
and, if the servo is calibrated, the speed and
following error ratio are maintained at the specified
gain.
10 - Velocity
Feedforward Loop,
(5=1, 4=0) The feedback loop is closed with the velocity
feedforward action added to the proportional action.
The servo loop runs with zero following error if the
velocity feedforward is set to 1.0 and the system is
calibrated. Use a velocity and acceleration
Feedforward Constant to adjust the amount of
following error when using the feedforward loop.
Velocity Time Base
(Motion) M0:s.0/6 Minutes (1)
/ Seconds (0) Minutes If the time base specified is seconds, the speed
specified for each move block and configuration
parameter is interpreted as position units per second
(e.g., 10.0 Inches/Second).
If the time base specified is minutes, the speed
specified for each move block and configuration
parameter is interpreted as position units per minute
(e.g., 1000.0 Inches/Minute).
Software Overtravels
Used
(Axis) M0:s.0/7 Yes (1) / No (0) No If the axis uses the rollover, set this parameter to no.
Otherwise, the module flags it as a configuration
error.
Reserved M0:s.0/8 0
Home Type
(Homing) M0:s.0/10,
M0:s.0/9 00 – Homing Without
a Limit Switch or
Marker, (10=0, 9=0) Home to
Marker
(10=0, 9=1) Specifies that the axis is only homed using the set
home command. Refer to
Understanding Discrete Block
Commands from the SLC processor in this manual.
Parameter Name
(Parameter Group)
Destination M
1
FileLocation
Range Default Additional Information