Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 96)

Publication 1746-6.1.2 - July 2000
Setting Up Your SLC Servo Module 7-17
Defining Positive Axis
Movement for the SLC
Servo Module To define positive axis movement for the SLC Servo Module, you must
invert the DAC and reverse feedback. Axis status area information is
copied into F48 at every ladder scan.
To define the positive axis movement:
1. Record the present feedback position PO contained in file F48.
2. Reset Estop.
3. Initiate an incremental move in the positive direction at 5% of
SLC Servo Module’s maximum speed for approximately one
position unit. Refer to Figure 9.4 for an example of an
incremental move.
4.
5. Observe the feedback position P1 (file F42) after the move.
6.
7. Download the updated configuration.
8.
If the axis
moved in the: Then: Do this:
Positive direction Invert DAC setting is
correct. Go to step 5.
Negative direction Invert DAC setting is
incorrect. Change invert DAC
(Configuration word 0, bit 1)
from 0 to 1.
If P1 - P0 is: Then: Do this:
Greater than zero Reverse feedback is
correct. Go to step 7.
Less than zero Reverse feedback is
incorrect. Change reverse feedback
(Configuration word 0, bit 2)
from 0 to 1.
If you: Then:
Made changes to the invert DAC
or reverse feedback parameters 1. Set the SLC Servo Module in Estop.
2. Toggle the bit (word 0, bit 15) to
download this configuration.
3. Reset Estop.
Did not make changes to
parameters Go to Coarse Calibrating.