Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 99)

Publication 1746-6.1.2 - July 2000
7-20 Setting Up Your SLC Servo Module
To calculate the initial following error limit:
1.
2. Enter the following error limit calculated in configuration file F8
(words 38-39).
Selecting Loop Type To select a loop type for normal operation and to adjust position loop
gain, do the following:
1. Set the time to maximum axis speed to one coarse iteration
(0.0048 seconds [default]) in file F8 (words 30 and 31).
2. For a normal loop type of the following error FE, set
configuration file N7 word 0, bit 4 to 1 and bit 5 to 0.
3. For a normal loop type of the zero following error ZFE (VFF),
set configuration file N7 word 0, bits 4 to 0 and bit 5 to 1.
4. Set the % velocity feedforward (VFF) by changing the
configuration file F8 (words 32 and 33) to 0.
5. Set the SLC Servo Module in Estop.
6. Toggle the bit (word 0, bit 15) to download this configuration.
7. Reset Estop.
Since you calibrated the speed previously, the position loop gain is in
position units per minute per one thousandth of position unit. For the
above examples, the gain is in ipm/mil where a mil is 0.001 inch.
Calculate: To equal:
Follow error limit 1.2 multiplied by the maximum speed that you want
(axis gain x 1000)
180 ipm / (1.0 ipm/mil x 1000)
0.216 inch
IMPORTANT
A gain of 1.0 in SLC Servo Module units is equivalent
to a gain of 16.6667 inverse seconds.