Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 203)

Integrating Axes
Chapter 9
9Ć2
9 Volts
10K
Command
Return
V
11064
The following steps form the open-loop axis integration procedure:
1. Disconnect power to the servo positioning assembly and servo
drives.
2. Remove servo drive fuses to ensure that the servo drives are
disabled.
3. Verify that tachometer leads are correctly connected at the servo
drive. The velocity feedback signal from the tachometer must be the
opposite polarity to the velocity command signal.
WARNING: The velocity feedback loop must be closed at the
servo drive. If the tachometer leads are reversed, or if either is
disconnected, sudden high speed axis motion can occur, which
can result in damage to equipment and/or injury to personnel.
4. Verify that axis overtravel limit switches are operational.
5. Disconnect the drive-disable lead from the right wiring arm on the
1771-ES expander (terminal 9 or 10, depending on type of circuit).
Wire one side of a normally-open, momentary-contact switch to the
drive disable terminal. Wire the other side of the switch to the drive
disable lead that goes to the servo drive (Figure 9.2). To move the
axis with the battery box, you must hold this switch closed.