Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 7)

Table of Contents L
Publication 999-122 – January 1997
Editing the Homing Configuration .............. 5-29
Home Position ........................................... 5-29
Active Homing .......................................... 5-30
Homing Without a Limit Switch or Marker 5-30
Homing to an Encoder Marker .................. 5-30
Homing to a Limit Switch ......................... 5-31
Homing to a Limit Switch and Marker...... 5-32
Limit Switch Contacts ............................... 5-32
Absolute Homing....................................... 5-33
Absolute_MV ............................................ 5-34
Absolute_Serial ......................................... 5-35
Passive Homing ......................................... 5-35
Editing the Servo Configuration .................. 5-36
Dual Loop Control ..................................... 5-36
Servo Output Limiting ............................... 5-39
Drive Fault Input ....................................... 5-40
Editing the Positioning Configuration ......... 5-40
Position Lock Tolerance ............................ 5-40
Backlash Offset.......................................... 5-41
Approach Direction ................................... 5-41
Hookup Diagnostics Menu ........................... 5-42
Checking Motors and Encoders ................... 5-43
Testing Encoders .......................................... 5-45
Editing the Motor/Encoder Polarity ............. 5-47
Tuning Velocity Loop Servo Drives ............ 5-47
Adjusting Offset ......................................... 5-47
Digital Battery Box .................................... 5-48
Checking Encoder Markers.......................... 5-50
Align Absolute Transducers ......................... 5-51
Checking The Discrete I/O .......................... 5-53
Checking the Dedicated Discrete Inputs ... 5-53
Checking the Dedicated Discrete Outputs . 5-54
Checking Flex I/O Discrete Inputs ............ 5-54
Checking Flex I/O Discrete Outputs ......... 5-55
Checking Flex I/O Analog Inputs .............. 5-56
Checking Flex I/O Analog Outputs ........... 5-57
Servo Setup Menu........................................ 5-58
The Servo Loop Gains ................................. 5-58
Velocity Gain ............................................. 5-59
Proportional Gain ...................................... 5-59
Integral Gain .............................................. 5-59
Feedforward Gain ...................................... 5-60