Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 207)

Integrating Axes
Chapter 9
9Ć6
20. While monitoring axis position in the status block, move the axis
slowly in both directions. When the axis moves in the positive
direction, axis position should increase in the positive direction.
When the axis moves in the negative direction, axis position should
change in the negative direction.
21. As the axis crosses the zero position while moving in the positive
direction, the sign bit (bit 17) of the most significant axis position
word should change from on (negative) to off (positive), and current
position word values should begin increasing.
22. As the axis crosses the zero position while moving in the negative
direction, the sign bit (bit 17) of the most significant axis position
word in the status block should change from off (positive) to on
(negative), and the current position word values should begin
increasing.
23. If you obtain opposite results, interchange the channel A connections
with the channel B encoder connections at the left wiring arm of the
1771-ES expander module. Repeat steps 20, 21, and 22 to ensure
that you have corrected the problem.
This completes the open loop drive procedure. Repeat this procedure for
all axes being integrated.
Follow the procedure presented in this section to close the axis
positioning loop. You must perform this procedure in conjunction with
the servo drive manufacturer’s instructions.
This procedure is not independent of the open-loop integration procedure.
You must perform the open-loop drive procedure before you can perform
the closed-loop procedure.
The following steps are the closed-loop integration procedure.
1. Turn off the axis power and remove drive fuses.
2. Disconnect the battery box from the analog output and analog return
leads. Connect the analog output lead to terminal 3 of the right
module wiring arm. Connect the analog return lead to terminal 4.
ClosedĆLoop Procedure