Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 208)

Integrating Axes
Chapter 9
9Ć7
3. Disconnect the switch from the drive disable terminal and lead.
Reconnect the drive disable lead to the drive disable terminal on the
right module wiring arm (terminal 9 or 10, depending on type of
circuit).
WARNING: To guard against injury to personnel and damage
to equipment, the loop-contactor relay must remove the servo
motor power when an emergency stop or overtravel limit switch
opens. Refer to chapter 6 for information about power
distribution.
4. Ensure that extreme overtravel limit switches are connected in series
with the loop-contactor relay (chapter 6.)
5. Re-apply servo drive and servo positioning assembly power.
6. Verify that there is no axis motion. If necessary, adjust drive balance
(at the servo drive) so axis following error is zero and no axis motion
occurs when the 1771-ES expander is not commanding axis motion
(analog output voltage is zero volts).
7. Turn on bit 15 (select readout) in the second control word for the axis
so the status block provides following error information.
8. Jog the axis at a speed below the gain-break point. Record the
following error. Calculate to see if the following error equals the
feed rate divided by the initial gain. If it does not, adjust either the
gain of the servo drive or the initial gain and the rapid traverse rate to
achieve the proper performance.
9. Jog the axis in the positive direction at about 1/2 rapid traverse speed
and note following error. Record the following error.
10. Jog the axis in the negative direction at the same rate used for step 9.
Again record the following error. If following error is not the same
as that recorded in step 9, lower one of the D/A voltage values in the
parameter block to compensate. Repeat this step to verify the
correction. Following error should be the same for both directions.