Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 205)

Integrating Axes
Chapter 9
9Ć4
6. Disconnect the analog output and analog return leads from the
1771-ES expander wiring arm. Zero the output of the battery box,
then connect its command output lead to the analog output lead just
disconnected from terminal 3. Connect the battery box return lead to
the analog return lead just disconnected from terminal 4 (Figure 9.2).
Leave the wiring arm up, connected to the module.
CAUTION: Zero the output of the battery box before
connecting it to a servo drive. Sudden application of command
voltage to the drive could damage equipment. Axis speed must
increase gradually.
7. Disconnect the servo motor from the leadscrew.
8. Replace the axis fuses, then re-apply power to the axis and servo
positioning assembly. (Leave de-energized those drives for axes you
are not integrating.)
9. Turn off bit 15 (enable-loss-of-feedback detection) of the home
position value word in the parameter block.
10. While leaving the switch to the drive-disable line open, adjust the
battery box output away from zero. If you can get the servo motor to
rotate, there is something wrong with the drive-disable connections
or the servo drive.
11. Adjust the battery box output to zero. The close the switch to the
drive-disable line. If the motor starts to accelerate, the leads from the
tachometer to the servo drive are reversed or disconnected. If the
motor rotates without acceleration, you may need to adjust the drive
balance, refer to the servo drive manufacturer’s instructions.
12. Disconnect power to the servo positioning assembly and servo
drives.
13. Remove servo drive fuses to ensure that the servo drives are
disabled.
14. Connect the servo motor to the leadscrew.