Rockwell Automation 8720MC Drives Integration Manual - Manual (Page 37)

Publication 8720MC-IN002A-EN-P — December 2002
Commissioning Your 8720MC Analog Drive 2-5
When you choose “Ana Spindle” or “Ana Servo” parameter 503,
“AuxFdbk Type must be set to “analog ref”. For analog input
applications make sure parameter 503 is set to “Analog Ref”.
For analog spindle applications make sure that “Position Scaling”,
parameter 76, bit 7 is set to “modulo”. When modulo is selected the
“Motor Posn Fdbk”, parameter 51 will display actual motor position to
whatever resolution is selected in “Rot Posn Resolut”, parameter 79.
For example if Parameter 79 and parameter 103 are set for 30,000
resolution counts/rev, the motor position, parameter 51, will count
from 0 to 29,999 and back to 0 as it is rotated clockwise when viewed
from the drive end.
Also for analog spindle or power servo applications where the A quad
B simulated digital encoder output is used, parameter 582 must be set
to “Index” to assure that the encoder marker is available at the motion
controller interface on terminals P5-3 and P5-21.
Initial Checks
With power on the drive, motor selected (refer to parameter 777), the
drive disabled (P5-14) and the load disconnected, display parameter
51 “Motor_Pos_Fdbk”, found in file: Control, group: Position. Rotate
the motor shaft cw and the display should increase as the shaft
rotates. Turning the shaft ccw should decrease the position display.
This confirms that the feedback device and wiring are performing
properly.
After enabling the drive by applying +24V dc to input 1 “Drive
Enable” (P5-14) on the digital I/O interface, the module status LED
should illuminate steady green and the motor drive shaft should be
very stiff. Usually the motor will slowly rotate since it is in velocity
mode with the position loop open.
If the motor is erratic and uncontrollable it is probably improperly
phased. Refer to the 8720MC High Performance Drive Installation
Manual (publication 8720MC-IN001x-EN-P) to correct the phasing.
With the load unconnected press the stop button on the HIM module.
This will tell the drive that the HIM module is the controlling input.
Press the green start button on the HIM and increase the speed
command with the speed pot (HAS1 option) or up/down arrows
(HAS2 option).The motor should rotate faster or slower based on the
HIM speed selected. The direction key should reverse the motor
direction. Depress the stop button to stop the motor and remove the
+24V dc from the drive enable (P5-14). The drive should be disabled
with the drive status LED flashing green and the motor shaft will freely
rotate by hand. If these initial checks are successful and there are no
error messages on the HIM you are ready to connect the load and
tune the drive.