Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 206)

Integrating Axes
Chapter 9
9Ć5
15. Replace the axis drive fuses, then re-apply axis and servo positioning
assembly power. (Leave de-energized those drives for axes you are
not integrating.)
16. While holding the switch in the drive disable line closed, adjust
battery box output to move the axis slowly in each direction. Check
for correct wiring of the analog output leads:
Positive command voltage must move the axis in the positive direction.
Negative command voltage must move the axis in the negative
direction.
If phasing is incorrect, reverse the command connections either at the
servo drive or at terminals 3 and 4 of the right servo expander wiring arm
(not both).
CAUTION: Keep the axis near its center of travel. Running
the axis into its mechanical stops could damage equipment.
If you inadvertently run an axis far enough that it trips an overtravel limit
switch, causing emergency stop, shut power off, manually back the axis
off the limit switch, then issue a reset command thru the command block
to re-initialize the axis.
17. Run the axis at increasing speeds in both directions. Check for
smooth axis motion. There should be no mechanical vibration or
cogging. If there is, take appropriate corrective action.
18. Verify that 1/2 maximum servo output voltage (1/2 rapid traverse
voltage) causes axis motion at approximately 1/2 maximum speed
(1/2 rapid traverse speed). Check this for both directions of axis
motion. You may have to adjust the servo drive to satisfy this
requirement. Refer to the servo drive manufacturer’s instructions.
19. Turn off bits 11 and 15 of axis control word 2 in the command block.
This selects current position readout, so the last two words of the
status block indicate axis position.