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Rockwell Automation GMLC Reference Manual User Manual

Page 8

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Publication GMLC-5.2 - November 1999

Table of Contents

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Drive Fault ............................................................93
Motor Thermal ......................................................93
Transducer Noise ..................................................93
Transducer Loss ....................................................93

Verifying Hookups ...........................................................93

Test Increment ......................................................95
Motor/Encoder Test ..............................................95
Performing the Motor/Encoder Test .....................95
Transducer Polarity............................................... 96
Control Output Polarity ........................................96
Marker Test ...........................................................96
How to perform the Marker test ...........................96
Align Absolute Device ..........................................97
How to Align an Absolute Device ........................97
Drive Offset ..........................................................98
The Drive Offset Test ...........................................98
Pulse Magnitude ...................................................99
Pulse Duration .......................................................99
Pulse Type .............................................................99
Battery Box Test .................................................100
How to perform the Battery Box test ..................100

Tune Servo ......................................................................101

Tuning Your 1394 .....................................................101
Tuning Your Compact ..............................................104
Tuning Your Integrated/Basic ..................................106

Defining Gains ................................................................107

Proportional Gain ................................................108
Integral Gain .......................................................109
Velocity Feedforward Gain ................................109
Velocity Gain ......................................................109
Velocity P Gain ...................................................109
Velocity Filter Bandwidth ..................................109
Deadband Compensation ....................................110
Drive Offset ........................................................110

Adjusting Gains Values for the Servo Axis ....................111

Equalizing the Working and Set-up Gains Values ...111