Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 212)

Integrating Axes
Chapter 9
9Ć11
WARNING: To guard against possible injury or damage to
equipment, before proceding with step 10, keep all personnel
clear of the axis. In addition, have a competent person standing
by to press an emergency stop switch if necessary.
10. Jog the axis or execute a programmed moveset at low axis speed.
While the axis is moving, disconnect one of the encoder leads
(terminals 1 thru 7 on the left 1771-ES expander wiring arm). Axis
motion should stop. The status block should indicate both immediate
stop and loss-of-feedback.
For single-ended encoders, loss-of-feedback is not detected if the channel
A, channel B, or MARKER return connection is broken, since these 3
connections are common. (That is, all three leads must be disconnected
for loss-of-feedback to be detected.) For these encoders, loss-of-feedback
is detected only when the channel A, channel B or marker signal is
disconnected.
11. Reconnect the encoder leads, and reset the system.
After you have performed all integration procedures for all axes, test
execution of your intended move profile. For these tests, do not install
tooling or workpieces. Use feedrate override at a low value so that you
can more easily stop axis motion if necessary. When profile execution is
verified, gradually increase axis speed over successive runs until you are
satisfied with profile execution at full speed.
If you have problems with the servo positioning assembly during or after
axis integration, refer to chapter 10 for troubleshooting information.
Summary