Rockwell Automation GMLC Reference Manual - Manual (Page 122)

Publication GMLC-5.2 - November 1999
Defining Servo 85
• IMC S Class 1394/1394 Turbo controllers connected to a Drive
Interface Module (DIM).
• IMC S Class 1394L controllers connected to a Drive Interface
Module (DIM).
To configure the Servo page, make entries in the following fields:
Type
Select the servo drive type that matches the type of servo system you are
using:
• Torque: the drive merely activates the motor, while the controller
corrects for both position error (by closing the position loop) and
velocity error (by closing the velocity loop).
• Velocity: the controller corrects for position error (by closing the
position loop) and the drive corrects for velocity error (by closing the
velocity loop).
• Dual : the controller corrects for both position error and velocity error
using two separate feedback devices (encoders).
Velocity Axis
If you selected Dual, select a master only axis the controller will use to
correct for velocity error by closing the velocity loop.
Drive Fault Input
Select how the motion controller uses the dedicated drive fault input for
this physical axis:
• Not Used: if the input is not used.
• Normally Open: if the drive activates the input when a Drive_fault
occurs.
• Normally Closed: if the drive deactivates the input when a
Drive_fault occurs.