Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 95)

Publication 1746-6.1.2 - July 2000
7-16 Setting Up Your SLC Servo Module
In the example below, if you want a maximum operating speed of 170
ipm, the motor and drive combination you chose must meet your
speed requirements.
Enter the DAC output saturation speed in configuration file F8 (word
28 and word 29).
Initializing DAC Output
Voltage for Drive Symmetry DAC output voltage ranges from –10V to +10V. When you command
100% of speed, you want the DAC signal to be ±9.5V for maximum
use. If you calibrate the drive input correctly, the SLC Servo Module
outputs 9.5V when the axis is moving at maximum speed.
To set the DAC output voltage:
1. Set the output voltage in file F8 (words 24 and 25) to + Max
Speed = +9.5V.
2. Set the output voltage in file F8 (words 26 and 27) to - Max
Speed = -9.5V.
3. If possible, rough calibrate the drive input for maximum speed
with an input of 9.5V. Drive input scaling to the SLC Servo
Module output occurs while you make coarse calibrations.
Setting Initial Loop Type After you set the initial loop type, download the initial configuration
to the SLC Servo Module.
To set the loop parameters:
1. Set the loop type parameter to OPEN LOOP in the configuration
file N7 by setting word 0, bits 4 and 5 to 0 LOOP TYPE (00).
2. Set the SLC Servo Module control in Estop.
3. Toggle the bit (word 0, bit 15) to download this configuration.
DAC output saturation
speed: Is equal to: Multiplied by
maximum operating
speed:
179 (ipm) 1.05 170 (ipm)