Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 220)

Publication 1746-6.1.2 - July 2000
I- 5
typical data table 8-19
S
Safety Precautions P-1
servo loop parameters
Acceleration Feedforward Constant 7-28
DAC Enable 7-28
Excess Following Error 7-29
Invert DAC 7-28
Loop Type 7-28
Maximum Axis Gain Value 7-28
Output Voltage at - Max Speed 7-29
Reverse Feedback 7-28
Velocity Feedforward Constant 7-28
Servo Module
setting up
determining acceleration feedforward 7-23
drive adjustments 7-2
motion control
position loop 7-2
theory 7-2
specific parameters
home 7-24
status information 8-4
testing
Estop RESET 6-3
Set Axis Gain Move
block command parameters 9-9
typical data table 9-9
Set Excess FE Limit
block command parameters 9-8
typical data table 9-9
Set Home Move
block command parameters 9-3
typical data table 9-4
Set In-position Band Move
block command parameters 9-7
typical data table 9-8
Set Offset Move
block command parameters 9-7
typical data table 9-7
Set Retract Position Move
block command parameters 9-4
typical data table 9-5
set up 7-1
calibrating coarse 7-18
communication with processor 7-13
computing counts 7-14
computing excess following error limit 7-19
computing maximum speed scaler 7-14
DAC output voltage
fine calibrating 7-18
initializing for drive symmetry 7-16
setting 7-16
defining positive axis movement 7-17
determining velocity 7-23
acceleration feedforward 7-23
velocity feedforward 7-23
entering encoder lines 7-13
initial loop type 7-16
loop type parameters 7-16
motion control
machine mechanics 7-2
position loop 7-2
velocity loop 7-2
overview 7-1
selecting axis acceleration rate 7-21
selecting loop type 7-20
specific parameters
axis 7-24
Set VFF Move
block command parameters 9-11
typical data table 9-11
Simple Move Commands
absolute/incremental
cancel move 8-13
rollover position 8-12
speed profile
trapezoidal 8-14
triangular 8-14
velocity profile
trapezoidal 8-15
triangular 8-15
home axis move 9-1
monitor move 8-17
plan synchronized move 8-25
planning
absolute/incremental move 8-13
home axis move 9-2
monitor move 8-17
speed move 8-16
preset position 9-5
run blend move profile 8-18
set home move 9-3
set retract position 9-4
speed move 8-15
SLC Control Module
current requirements 5-2