Rockwell Automation 8720MC Drives Integration Manual - Manual (Page 3)

i Publication 8720MC-IN002A-EN-P — December 2002
Preface Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . P-3
Product Receiving and Storage Responsibility . . . . . . . . . . . P-4
Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-5
Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-5
Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-5
Comments Regarding this Manual . . . . . . . . . . . . . . . . . P-5
Chapter 1
Commissioning Your 8720MC
SERCOS Interface Drive Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
General Startup Precautions . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Locating 8720MC Connectors and Indicators . . . . . . . . . . . . 1-3
Locating SERCOS Interface Module Connectors . . . . . . . . . . 1-4
Configuring Your 8720MC . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Configuring Your 8720MC Drive . . . . . . . . . . . . . . . . . . 1-5
Configuring Your 1756-MxxSE SERCOS Interface Module . . 1-7
Applying Power to Your 8720MC . . . . . . . . . . . . . . . . . . . 1-12
Applying Power to Your 8720MC (with 8720MC-RPS) . 1-12
Applying Power to Your 8720MC
(without 8720MC-RPS) . . . . . . . . . . . . . . . . . . . . . . . 1-14
Testing and Tuning Your Axes . . . . . . . . . . . . . . . . . . . . . 1-15
Chapter 2
Commissioning Your 8720MC
Analog Drive Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
General Start-up Precautions . . . . . . . . . . . . . . . . . . . . . . . 2-2
Setting Up Your 8720MC Drive. . . . . . . . . . . . . . . . . . . . . . 2-2
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Key Set-up Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Initial Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Understanding Servo Loop Parameters . . . . . . . . . . . . . . . . 2-6
Selecting a Servo Loop Parameter Group . . . . . . . . . . . . 2-6
Setting the Servo Loop Parameters. . . . . . . . . . . . . . . . . 2-8
Understanding Acceleration/Deceleration Parameters . . . 2-8
Auto Tuning Your 8720MC Drive . . . . . . . . . . . . . . . . . . . . 2-9
Before You Perform an Auto Tune . . . . . . . . . . . . . . . . 2-9
Performing the Auto Tune . . . . . . . . . . . . . . . . . . . . . . 2-9
Scaling of Auto Velocity Analog Reference . . . . . . . . . . . . 2-14
Scaling of Manual Velocity Analog Reference . . . . . . . . . . 2-15
Operating in Manual Mode Using Digital I/O Interface . . . 2-17
Operating in Manual Mode with an Internal or
External HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
Start-up of Motor Orient. . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Table of Contents