Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 89)

APPLYING THE MODULE 5-3
value.
1. Initialize the axis using either the Resource application
software (see step 16 in section 5.3) or by following the
example in 4.3.3. Set the gains to the following initial
values.
Proportional Gain = 100
Integral Gain = 0
Velocity Gain = 25*
Feedforward Gain = 0
*If the servo is expecting a velocity reference, set to 0
instead.
Set the following error and velocity error to large values
that will ensure safe operation of the machine without
nuisance faults, and then enable feedback (register 65,
bit 0).
2. If the servo is expecting a velocity reference, the
software velocity loop in the module is disabled and the
velocity gain does not need to be tuned. You can skip
steps three and four if the servo is expecting a velocity
reference.
3. If the servo is expecting a current reference, you will
need to put the drive in the velocity mode (register 65, bit
0) with velocity to set approximately half of the maximum
speed that your application will run at.
If the drive trips out with a following error (indicted in
register 73, bits 4 or 5), the initial value of the
proportional gain is too low. Double it and repeat the step
until the drive runs continuously.
WARNING
RELIANCE STRONGLY RECOMMENDS THE USE OF AN
EXTERNAL, HARDWIRED EMERGENCY STOP CIRCUIT THAT
WILL DISABLE THE SYSTEM IN CASE OF IMPROPER
OPERATION. UNCONTROLLED MACHINE OPERATION MAY
RESULT IF THIS PROCEDURE IS NOT FOLLOWED. FAILURE
TO OBSERVE THIS PRECAUTION COULD RESULT IN BODILY
INJURY.