226 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019
Chapter 11 Commission an Axis
The factory defaults yield a stable operational system that can then be tailored
to the specific requirements for many types of machine applications.
You can use Autotune to improve performance if the gain set provided to you
by the factory defaults does not satisfy the configuration requirements of your
system.
See Autotune on page 235
.
Hookup Tests
Use the Hookup Tests dialog box to perform the following:
•Check your cabling
• Adjust motor and feedback polarity
• Establish your sense of positive motion direction
• If applicable, check encoder marker and commutation function
To run any of the Hookup Tests, you must first download your program.
The type of drive and the combination of the Axis and Feedback configuration
types you choose determine what Hookup tests are available.
ATTENTION: These tests can actively move the axis even with the controller
in remote Program mode:
• Before you do the tests, make sure no one is in the way of the axis.
• Changing motor or feedback after performing the Hookup Test can result in
an axis-runaway condition when the drive is enabled.
• To avoid personal injury or damage to equipment, you must remove the load
from each axis as uncontrolled motion can occur when an axis with an
integral motor brake is released during the test.
Table 46 - Types of Hookup Tests
Test Description
Marker Checks that the drive gets the marker pulse. You must manually move the
axis for this test.
Motor and Feedback Tests the polarity of the motor, motion, load, and motor feedback.
Motor Feedback Tests the polarity of the motor feedback.
Load Feedback Test the load feedback polarity of the motor.
Commutation Tests the commutation offset and polarity of a drive.
Master Feedback Test the master feedback polarity.
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