Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 98)

Publication 1746-6.1.2 - July 2000
Setting Up Your SLC Servo Module 7-19
5.
6.
7. Enter output voltage at the positive maximum speed in
configuration file F8 (words 24-25).
8.
9. Enter output voltage at the negative maximum speed in
configuration file F8 (words 26-27).
Computing Excess
Following Error Limit The axis following error that exceeds the excess following error limit
places the control in an Estop condition. This is a safety limit and
indicates loss of axis control by the SLC Servo Module. You can
compute the normal operating following error from the maximum axis
speed that you want and the axis gain. A typical operating difference
between the maximum following error and the following error limit is
120%. Default gain for the SLC Servo Module is 1.0 position units per
minute per one thousandth of position unit.
If: Then:
Both the positive and
negative speed match the
commanded speed within
3% Go to Computing Excess Following Error Limit.
The speed error is greater
than 3% 1. Compute a new output voltage at
maximum speeds using the positive
speed calibration and negative speed
calibration equations shown below.
2. Set the SLC Servo Module in Estop.
3. Toggle the bit (word 0, bit 15) to
download this configuration.
4. Reset Estop.
5. Go to the main step 1.
Calculate: To equal: Multiplied by:
Output voltage at the positive
maximum speed (new value) Output voltage at the positive
maximum speed (current value) (programmed speed)
(actual speed in the positive direction)
Calculate: To equal: Multiplied by:
Output voltage at the negative
maximum speed (new value) Output voltage at the positive maximum
speed (current value) (programmed speed)
(actual speed in the negative direction)