Appendix A - AutomationDirect
Contents
1. 5 Configure Accel Decel and Speeds P1 34 and P1 35 are the Acceleration and Deceleration parameters accel time in ms from 0 rpm to P1 55 max velocity limit and decel time from max velocity limit to 0 rpm P1 36 Accel D ecel S Curve Time ms must be set to a non zero number for accel and decel to take affect Without adjusting the 3 acc dec parameters the drive may fault when first moved P1 34 Through P1 36 Acceleration Deceleration and S Curve P1 34 200 Acceleration Time in ms P1 35 Deceleration Time in ms S Curve Time in ms This setting must be non zero to Acceleration D eceleration to take effect See the Servo Drive Parameters chapter for more information regarding ranges etc P1 36 50 6 Enable the Drive and Apply the Torque Command f no errors exist the drive should now follow the commanded Torque when enabled With the Digital Inputs for Torque Command Select Inputs TCM 0 and TCM 1 both inactive or undefined the drive should respond to an analog input signal if configured for T mode if configured for Tz mode both inputs inactive zero Torque For both T and Tz modes the drive should move to the preset speeds when Torque Command Select Inputs TCM 0 and TCM 1 are set appropriately Torque Level Tz Mode 0 zero T Mode Analog signal 1st Torque Command 12 2nd Torque Command 3 3rd Torque Command 4 OTE If TCM 1 or TCMO are not defined their v2. The first thing you want to do with the SureServo is spin the motor This section will verify that all the components and cabling are working properly by allowing you to JOG the motor These simple steps will get your SureServo system up and moving 1 Disconnect the motor from any load Connect the motor cables to the motor and drive Make sure to connect the motor ground Do not connect CN 1 the 1 0 connector 2 Wire the appropriate fusing and an E stop contactor to the drive See Chapter 2 for wiring information Make sure to connect an external ground to the drive large multi strand conductors are recommended Verify that the E Stop contactor functions properly before plugging the power connector into the drive 3 Power up the drive There will be errors ALE 14 and ALE 15 are Alarm Errors for the O vertravel Limit switches see Chapter 7 for explanation they are NC by default 4 Set Parameter P2 08 to 10 This will reset the drive to factory defaults Press MODE then press NEXT until P2 00 appears Press ARROW UP until P2 08 appears Press ENTER Press ARROW UP until you enter a value of 10 Press ENTER to accept See Chapter 3 for additional keypad help If using SureServo Pro software recommended the drive communication defaults to 19 2k 8 0 1 MODBUS RTU Node 1 this is the software default too Note For each parameter change in the software you must download all settings to the drive P2 08 Password and Fac
3. 4 Velocity 5 0 1 1 1 N Position 6 P1 25 P1 26 Velocity 6 P2 41 Position 7 P1 28 Velocity 7 2 1 1 Position 8 P1 29 P1 30 Velocity 8 3 OTE If a POSx selector is not defined it has a value of 0 off 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual l A 7 Appendix A SureServo Quick Start Guide LEM Velocity Mode Quick Start V amp Vz 1 Spin the Motor Follow the instructions in the previous section to verify that the motor and drive are functioning properly Cycle power to the drive Atthis point power fusing and fault stop should all be wired appropriately see Chapter 2 for wiring information The P1 31 motor code should be set to the correct motor type 2 Set the Control Mode P1 01 selects the actual control mode 0002 will result in analog preset Velocity mode with the motor spinning CCW as forward The second M SB selects direction Vz Mode internal velocity presets only can be selected by entering 0004 P1 01 Control Mode and O utput Direction Drive is in Velocity Mode V Drive Speed is determined via analog signal or by internal presets xx04 Drive is in Velocity ModeVz Speed is determined by internal presets only See the Servo Drive Parameters chapter for more information regarding changing directions dual modes etc xx02 3 Configure the Digital Inputs Select which DI digital inputs your system will requi
4. A SureServo Quick Start Guide eee 6 Configure Accel Decel and Speeds P1 34 and P1 35 are the Acceleration and Deceleration parameters accel time in ms from 0 rpm to P1 55 max velocity limit and decel time from max velocity limit to 0 rpm P1 36 Accel Decel S Curve Time ms must be set to a non zero number for accel and decel to take effect Without adjusting the 3 acc dec parameters the drive may fault when first moved Parameters P2 36 through P2 43 are the 8 speed settings that correspond to the 8 position setpoints Their default is 1000 rpm Once all of the above parameters are configured cycle power to the drive The drive should now respond to the Command Trigger Input P1 34 Through P1 36 Acceleration Deceleration and S Curve P1 34 0 Acceleration Time in ms P1 35 0 Deceleration Time in ms S Curve Time in ms This setting must be non zero for Acceleration D eceleration to take effect See the Servo Drive Parameters chapter for more information regarding ranges etc P1 36 50 P2 36 Through P2 43 Index Speeds P2 36 1000 Speed for Index 1 in rpm All speed settings are 1000 rpm default See the Servo Drive Parameters chapter for more information regarding ranges etc POS2 Position Setpoint Velocity 0 Position 1 P1 15 P1 16 Velocity 1 6 0 Position 2 8 Velocity 2 7 0 Position 3 1 19 0 Velocity 3 8 0 Position 4 2 Velocity 4 9 1 Position 5 1 23
5. direction Tz Mode internal torque presets only can be selected by entering 0005 P1 01 Control Mode and Output Direction Drive is in Torque Mode T Drive torque is determined via analog signal or by internal presets Drive is in Torque Mode Tz Drive torque is determined by internal presets only See the Servo Drive Parameters chapter for more information regarding changing directions dual modes etc xx03 xx05 3 Configure the Digital Inputs Select which DI digital inputs your system will require See P2 10 through P2 17 to select the correct configuration these parameters set N O NC and the functionality of each input A minimum configuration should contain atleast Servo Enable Alarm Reset Fault Stop and CW CCW limits if your system has overtravels If you want to be able to select Preset Torques you must also configure inputs for Torque Command Inputs TCM 0 and TCM 1 to be able to select the Torque setpoints through binary code Once these settings are configured cycle power to the drive for them to take effect P2 10 Through P2 17 Digital Input Definition P2 10 101 DI1 Servo Enable Normally O pen DI2 2 TCMO bit 0 of the binary code to select the desired torque DI3 2 TCM 1 bit 1 of the binary code to select the desired torque P2 14 102 DI5 Alarm Reset Normally O pen DI6 Reverse O vertravel set to 000 to disable this input DI7 Forward O vertravel set to 000 to disable thi
6. ENDIX SureSERvo Quick SrART GUIDE In This Appendix Quick Start for SureServo Drives A 2 Spin the Motor uU QS Qoa ae as eee ada Sesaaes A 2 Position Mode Quick Start Pt amp Pr A 4 Velocity Mode Quick Start V amp 2 A 8 Torque Mode Quick Start T amp 72 A 10 Tuning Quick Start for SureServo Drives A 12 TUNING Overview iiisaca kr eeecr9r REG GU 00 rack bera A 12 PDFF Adaptive Auto Tune Mode Adjustments A 12 Appendix A SureServo Quick Start Guide Quick Start for SureServo Drives This guide allows you to get your SureServo motor and drive up and running as quickly as possible This is not a substitute for reviewing the entire manual You will need to familiarize yourself with the complete feature set of the drive This quick start guide will serve as initial setup only WanNiNG To prevent serious injury or damage to equipment always start any new servo setup with the motor shaft disconnected from the load The quick start will N bypass mechanical overtravels and overrides DISCONNECT THE LOAD Always wire an E Stop circuit into the power feed for the drive Always drop the main incoming power for E Stop conditions control power can remain ON The Quick Start Guide is divided into four sections Spin the Motor Position Mode Quick Start Velocity Mode Quick Start Torque Mode Quick Start Spin the Motor
7. Parameters chapter for more information regarding ranges etc 6 Enable the Drive and Apply the Velocity Command If no errors exist the drive should now follow the commanded velocity when enabled With the Digital Inputs for Velocity Command Select Inputs SPDO and SPD1 both inactive or undefined the drive should respond to an analog input signal if configured for V mode if configured for Vz mode both inputs inactive zero speed For both V and Vz modes the drive should move at the preset speeds when Velocity Command Select Inputs SPDO and SPD 1 are set appropriately Velocity Setpoint Vz Mode 0 zero V Mode Analog signal 1st Velocity Command P1 09 2nd Velocity Command P1 10 3rd Velocity Command P1 11 OTE If SPD1 or SPDO are not defined their value is 0 off 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l A 9 Appendix A SureServo Quick Start Guide LEM Torque Mode Quick Start T amp Tz 1 Spin the Motor Follow the instructions in the previous section to verify that the motor and drive are functioning properly Cycle power to the drive Atthis point power fusing and E stop should all be wired appropriately The motor code in P1 31 should be set to the correct motor type 2 Set the Control Mode P1 01 selects the actual control mode 0003 will result in analog preset Torque mode with the motor spinning CCW as forward The second M SB selects
8. alue is 0 off 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual l A 11 Appendix A SureServo Quick Start Guide LM Tuning Quick Start for SureServo Drives Tuning Overview After installing the SureServo system and testing its functionality wiring communication motion etc you may decide that the default tuning selection is either too responsive or not responsive enough for your application This Q uick Start Guide section will walk you through the very basic steps to adjust the drive tuning using the PDFF Adaptive Auto Tune Mode Other tuning modes are explained in the Control Modes of Operation and Tuning Chapter of this manual The SureServo drive has three available modes of tuning M anual Easy and Auto The Auto tuning mode includes two sub modes Adaptive Auto and Fixed Auto Manual Tuning Mode requires an in depth knowledge of tuning parameters and the physical characteristics of the system and it will not be covered in this Quick Start Guide Easy Tune Mode presets many of the tuning parameters and is useful when the system load and inertia changes significantly Easy Tune is helpful if the inertia mismatch ratio is not known After Easy Tuning it may still be necessary to switch to a fixed mismatch ratio tuning method to fine tune the system Auto Tune Mode is available in Adaptive and Fixed sub modes In Adaptive Auto Tune Mode the drive constantly monitors the load and adjusts the tunin
9. et to 000 to disable this input Normally Closed P2 16 023 DI7 Forward O vertravel set to 000 to disable this input Normally Closed P2 17 121 DI8 Fault Stop Normally O pen See the Servo Drive Parameters chapter for more information regarding normally open vs normally closed additional functions etc A 4 l SureServo AC Servo Systems User Manual 2nd Ed Rev B 08 2011 Appendix A SureServo Quick Start Guide eee 4 Gearing Electronic Gearing can be set in P1 44 Numerator and P1 45 Denominator Default setting is 1 1 1 incoming pulse motor movement of 1 count Note One revolution of a 2500ppr quadrature encoder A A B B will actually cause the motor to rotate one entire revolution since the SureServo treats each transitional edge as an input 2500ppr x 4 10 000 1 motor rev Pr Mode Internal Indexing Position registers 1 Spin the Motor Follow the instructions in the previous section to verify that the motor and drive are functioning properly Cycle power to the drive At this point power fusing and an E stop contactor should all be wired appropriately according to Chapter 2 The motor code in P1 31 should be set to the correct motor type 2 Set the Control Mode P1 01 selects the actual control mode 0001 will result in Pr mode with the motor spinning CCW as forward The second M SB selects direction Note 0101 will result in Pr mode with mot
10. g parameters In Fixed Auto Tune M ode the inertia and mismatch are known and entered by the user pereat Refer to the Control M odes of O peration and Tuning chapter of this manual for more details and explanation of tuning the servo in all of the different modes and how to select which mode is best for your application PDFF Adaptive Auto Tune Mode Adjustments The PDFF Adaptive Auto Tune Mode P2 32 4 constantly monitors the system load and inertia and continually updates the tuning parameters Besides P2 32 the only additional parameter that needs to be set by the user is P2 31 which determines the overall responsiveness of the servo system tuning For Keypad Tuning 1 Set P2 32 to 4 PDFF Adaptive Auto Tune Mode The drive must not be enabled for this change to occur 2 Enable the drive 3 Write down the current value of P2 31 response level The value will be a two digit number Each digit is independent of the other and each has a range of 0 to F hex 4 Adjust the left leading digit to change the responsiveness of the servo system Increase this number to make the system more responsive or decrease the number to make the system less responsive more sluggish If you increase the number too much the system will become unstable and begin to vibrate If you decrease the number too much the system will not respond quickly enough to command signals If you cannot stabilize the drive using this meth
11. ion The drive can be configured to select the internal Position setpoint by 3 digital inputs PO 50 POS1 and POS2 Any of the digital inputs can be set as PO SO code 11 POSI code 12 or PO S2 code 13 in P2 10 through P2 17 By configuring all 3 inputs all of the 8 internal presets can be selected via external signals To save digital inputs for other uses not all PO Sx s have to be configured If only two setpoints are needed for example the motor needs to move and then return then only one PO Sx needs to be configured Configuring only input PO S2 PO SO and POSI not assigned would allow the selection of Position 1 and Position 5 Or if you will be writing to the Modbus address of Position 0 to change the setpoint after each index no digital inputs have to be used at all Disabling the inputs causes them to act as if they were inactive so when all PO Sx inputs are disabled Position 1 One input however should be selected as the Command Trigger code 08 When pulsed this input will cause the drive to move to the selected setpoint position P2 10 Through P2 17 Digital Input Definition DI2 POSO bit 0 of the binary code to select internal setpoints DI3 POSI bit 1 of the binary code to select internal setpoints P2 13 108 DI4 Command Trigger Normally O pen Defining POSO and POSI will allow selection of Positions 1 4 See the Servo Drive Parameters chapter for more information regarding normally open vs n
12. ls 6 Press Click To Send N ew Settings To Drive The new settings take effect immediately No other settings have to be changed 7 If the response of the SureServo is not satisfactory refer to the Control Modes of O peration and Tuning chapter for other tuning modes and more specific tuning instructions iss Tuning Screen x Tuning Mode 4 PDFF Auto Tuning Continuous Adjustment Set Current New P1 37 Load to Servo Motor Inertia Ratio E P2 00 Proportional Position Loop Gain P2 02 Position Feed Forward Gain 500 P2 03 Smooth Constant of Position Feed Forward Gain P2 04 Proportional Speed Loop Gain P2 06 Speed Integral Compensation P2 07 Speed Forward Gain ddd 1d d 1 P2 25 Low Pass Filter Time of Resonance Suppression Response Level Less Response More Response LEN NE EE ME MINE ME ME EE EN EMEN EN ME 000 a a OT Click To Send New Settings To Drive Scope Revert Close 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l A 13 Appendix A SureServo Quick Start Guide LEM A 14 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011
13. od try switching to a tuning mode with a fixed mismatch ratio such as P2 32 3 or 5 Adjust the parameters for that mode per Table 6 1 of the Control Modes of O peration and Tuning chapter In the fixed mode set P2 31 to the value the drive had previously calculated in the PDFF Adaptive Auto Tune Mode A 12 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix A SureServo Quick Start Guide eee For SureServo Pro Tuning 1 Open the SureServo Pro software and Connect to the drive The software has the same default communication settings as does the drive Refer to the 3 xx Communication Parameters section of the Servo Drive Parameters chapter for more information about communications parameters 2 Under Utilities select Tuning Screen as shown below in the SureServo Pro screen capture 3 Confirm that the Tuning M ode is set for 4 PDFF Auto Tuning Continuous Adjustment If not disable the drive change the setting in the software and then press Set This setting is cannot be changed when the drive is enabled 4 Enable the drive 5 Choose the desired Response Level of the drive Increase the value to make the system more responsive or decrease the value to make the system less responsive If you increase the value too much the system will become unstable and begin to vibrate If you decrease the value too much the system will not respond quickly enough to command signa
14. or spinning CW as forward P1 01 Control Mode and Output Direction 0001 Drive is in Internal Indexing M ode Setpoints are internal registers selected via Digital Inputs with CCW direction 0101 Drive is in Internal Indexing M ode Setpoints are internal registers selected via Digital Inputs with CW direction See the Servo Drive Parameters chapter for more information regarding changing directions dual modes etc 3 Configure the Basic Digital Inputs Select which digital inputs your system will require See P2 10 through P2 17 to select the correct configuration these parameters set NO NC and the functionality of each input A minimum configuration should contain at least Servo Enable Alarm Reset and CW CCW limits if your system has overtravel limits P2 10 Through P2 17 Digital Input D efinition P2 10 101 DI1 Servos On Normally O pen P2 14 102 DI5 Alarm Reset Normally O pen DI6 Reverse O vertravel set to 000 to ME disable this input DI7 Forward O vertravel set to 000 to ee disable this input P2 17 121 DI8 Fault Stop Normally O pen See the Servo Drive Parameters chapter for more information regarding normally open vs normally closed additional functions etc Normally Closed Normally Closed 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l A 5 Appendix A SureServo Quick Start Guide 4 Configure the position select
15. ormally closed additional functions etc P2 11 111 Normally O pen P2 12 112 Normally O pen 5 Configure the Position Setpoints Parameter P1 33 selects Incremental or Absolute mode Enter a value of 0 for Absolute M ode or enter 1 for Incremental mode Parameters P1 15 through P1 30 determine the setpoints of Positions 1 through 8 Each setpoint has 2 parts motor revolutions and pulses One motor revolution consists of 10 000 counts So to move the motor Incrementally 3 turns or to Absolute position 3 1 revs from home place a 3 in the first position parameter and a 5000 into the second Position Control M ode Absolute M ode Each index will cause the motor to move to or stay at an absolute position Incremental M ode Each index will cause the motor to advance by the commanded amount See the Servo Drive Parameters chapter for more information regarding different modes resolution etc P1 15 Through P1 30 Position Setpoints P1 15 3 Index 1 Motor Revolutions Index 1 Motor Counts out of 10 000 counts per 1 revolution The above settings will cause the motor to move 3 1 2 revolutions when PO Sx inputs are OFF and the Command Trigger is pulsed See the Servo Drive Parameters chapter for more information regarding different modes resolution etc P1 16 5000 A 6 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix
16. points if using Preset Velocities P1 09 P1 10 and P1 11 are the three Velocity Setpoints that can be selected via the digital inputs When the digital inputs are both inactive the speed command will be the 10V analog input command if in V mode If the drive is in Vz mode the command speed will be absolute zero to allow for a no drift command P1 09 Through P1 11 Internal Speed Setpoints P1 09 100 1stVelocity Command SPD1 OFF SPDO 2 ON P1 10 200 2nd Velocity Command SPD1 ON SPDO OFF P1 11 300 3rd Velocity Command SPD1 ON SPDO0 2 ON If both SPDO and SPD1 are OFF the drive will follow the analog input See the Servo Drive Parameters chapter for more information regarding normally open vs normally closed additional functions etc 5 Configure Accel Decel and Speeds P1 34 and P1 35 are the Acceleration and Deceleration parameters accel time in ms from 0 rpm to P1 55 max velocity limit and decel time from max velocity limit to 0 rpm P1 36 Accel D ecel S Curve Time ms must be set to a non zero number for accel and decel to take effect Without adjusting the 3 acc dec parameters the drive may fault when first moved P1 34 Through P1 36 Acceleration Deceleration and S Curve P1 34 200 Acceleration Time in ms P1 35 Deceleration Time in ms P1 36 50 S Curve Time in ms This setting must be non zero for Acceleration D eceleration to take effect See the Servo Drive
17. put Pulse Type See Chapter 2 and Appendix C for encoder wiring details 000 Q uadrature Input A A B B typical encoder input signals 001 CW CCW pulse input 002 Pulse Direction See the Servo Drive Parameters chapter for more information regarding Positive vs N egative signals forward reverse etc P1 01 Control Mode and Output Direction 0000 Drive accepts Position Control via external pulse inputs with CW direction 0100 Drive accepts Position Control via external pulse inputs with CCW direction See the Servo Drive Parameters chapter for more information regarding changing directions dual modes etc 3 Configure the Digital Inputs Select which DI digital inputs your system will require See P2 10 through P2 17 to select the correct configuration these parameters set N O NC and the functionality of each input A minimum configuration should contain atleast Servo Enable Alarm Reset Fault Stop and CW CCW limits if your system has overtravels Once these settings are configured cycle power to the drive for them to take effect The motor should now follow the incoming pulses when the servo is enabled so when you turn the encoder shaft the servo motor will follow the movement P2 10 Through P2 17 Digital Input Definition P2 10 101 DI1 Servo Enable Normally O pen P2 14 102 DI5 Alarm Reset Normally O pen P2 15 022 DI6 Reverse O vertravel s
18. re See P2 10 through P2 17 to select the correct configuration these parameters set N O NC and the functionality of each input A minimum configuration should contain atleast Servo Enable Alarm Reset Fault Stop and CW CCW limits if your system has overtravels If you want to be able to select Preset Speeds you must also configure inputs for SPDO and SPD1 to be able to select the speed setpoints through binary code Once these settings are configured cycle power to the drive for them to take effect P2 10 Through P2 17 Digital Input D efinition P2 10 101 DI1 Servo Enable Normally O pen DI2 SPDO bit 0 of the binary code to select the desired speed DI3 SPD1 bit 1 of the binary code to select the desired speed P2 14 102 DI5 Alarm Reset Normally O pen DI6 Reverse O vertravel set to 000 to disable this input DI7 Forward O vertravel set to 000 to disable this input P2 17 121 DI8 Fault Stop Normally O pen See the Servo Drive Parameters chapter for more information regarding normally open vs normally closed additional functions etc P2 11 Normally O pen P2 12 115 Normally O pen P2 15 022 Normally Closed P2 16 023 Normally Closed A 8 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix A SureServo Quick Start Guide 1 MMMM M M MM M M MMM EE 4 Configure the Velocity Set
19. s input P2 17 121 DI8 Fault Stop Normally O pen See the Servo Drive Parameters chapter for more information regarding normally open vs normally closed additional functions etc P2 11 116 Normally O pen P2 12 117 Normally O pen P2 15 022 Normally Closed P2 16 023 Normally Closed A 10 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix A SureServo Quick Start Guide 4 Configure the Torque Setpoints and Speed Limits 1 12 P1 13 and P1 14 are the three Torque Setpoints that can be selected via the digital inputs When the digital inputs are both inactive the Torque command will be the 10V analog input command if in T mode If the drive isin Tz mode the command torque will be an absolute zero P1 02 P1 09 P1 10 and P1 11 set the speed limits that will be used in Torque mode P1 02 enables an analog Velocity limit when using the analog Torques signal The other three parameters are velocity limits that correspond to Torque Presets 1 2 and 3 P1 12 Through P1 14 Internal Torque Setpoints P1 12 1st Torque Command TCM 1 OFF TCM0 2 ON P1 13 2nd Torque Command TCM 1 ON TCMO OFF P1 14 3rd Torque Command TCM1 2ON TCMO ON If both TCMO and TCM 1 are OFF the drive will follow the analog input See the Servo Drive Parameters chapter for more information regarding normally open vs normally closed additional functions etc
20. tor power wiring atthe drive U V W and ground terminals Refer to Chapter 2 for wire color and terminal connection information 10 Cycle Control Power to the drive This will reset P2 30 re enabling the Servo Enable CW Limit and CCW Limit inputs 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l A 3 Appendix A SureServo Quick Start Guide Position Mode Quick Start Pt amp Pr This section explains the basic procedures necessary to control the SureServo drive in Position Mode both pulse input Pt and internal positioning Pr In Pt mode positioning commands come from high speed pulse trains from the terminals In Pr mode positioning commands are held in internal registers Pt Mode High Speed Pulse Input Position terminals 1 Spin the Motor Follow the instructions in the previous section to verify that the motor and drive are functioning properly Cycle power to the drive Atthis point power fusing and an E stop contactor should all be wired appropriately see Chapter 2 for wiring information The motor code in P1 31 should be setto the correct motor type 2 Set the Pulse Type and Control Mode P1 00 selects the type of pulse stream that will come into the drive P1 01 selects the actual control mode 0000 will result in Pt mode with the motor spinning CCW as forward The second M SB selects direction Note 0101 will result in Pt mode with motor spinning CW as forward P1 00 External In
21. tory D efault 10 Reset Drive to Factory Defaults A 2 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix A SureServo Quick Start Guide FERE MM 5 Set the appropriate motor code in P1 31 Refer to the Servo Drive Parameters chapter for details Motor Code 21 21 kW low inertia 22 1 kW medium inertia 30 22 kW 31 3 kW For SureServo drives with firmware version 2 103 execute Step 6 For previous firmware versions skip Step 6 and proceed to Step 7 6 for firmware v2 103 only Disable Digital Input 8 DI8 by changing the value in P2 17 to zero Refer to Servo Drive Parameters chapter for details 7 Cycle Power to the Drive 8 Set Parameter P2 30 to 1 This temporarily overrides Servo Enable CW Limit and CCW Limit Make sure the motor is disconnected from the load P2 30 Auxiliary Function 1 Force Servo to be Enable regardless of input status 9 Jog the motor For Keypad operation Go to P4 05 JOG Operation Press ENTER Thisis the JOG speed setpoint Adjust this to the desired jogging speed NEXT will move the cursor to the left Press ENTER The LED display will show OG Press the UP ARROW or DOWN ARROW to Jog the motor forward or reverse Press MODE to exit the JOG operation P4 05 JOG Operation 100 Jog the motor at 100 rpm when the JOG signal is active If the motor run stop and direction behavior is not as expected then recheck the mo
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