Rockwell Automation Publication 750-PM001N-EN-P - February 2017 445
Application Notes Appendix C
Verify Encoder Direction
1. If a Dual Incremental-Encoder option module (20-750-DENC-1) is used,
and only one encoder is connected, disable the encoder loss fault of the
unused channel.
2. Run the crane upwards or downwards and monitor the sign (+ or –) of the
output frequency on the HIM display or via software. Compare this sign
to the sign of P134 [Aux Vel Feedback]. Both signals must have the same
sign (both positive or both negative).
If signals do not match, change the encoder direction setting.
3. Run the crane upwards or downwards and check if the sign of both speeds
matches.
The encoder direction now matches the motor direction.
Rotate Tune
During a Rotate Tune routine, the motor runs for 20 seconds in the commanded
direction. In Flux vector control, the Rotate Tune routine can be executed in a no
load or lightly loaded condition such as the motor connected to a gearbox, cable
drum, or cable and hook.
If the motor is connected to a load, determine whether there is enough travel
distance for the Rotate Tune sequence to complete. If necessary, run the crane
hook to top or bottom for more travel distance in the opposite direction.
If the Rotate Tune routine fails due to a motor load, rerun the Static Tune routine
and skip this routine.
Drive Parameter Setting
P132 [Aux Vel Fdbk Sel] Encoder Port Number, Enc 0 FB (Selects Channel 0)
Encoder Module Parameter (Port X) Setting
P13 [Enc 1 FB Lss Cfg] 0 “Ignore” (Disables Channel 1)
P2 [Enc 0 PPR] Real pulses per revolution (For example 1024).
Encoder Module Parameter (Port X) Setting
P1 [Enc 0 Cfg] Bit 5 “Direction” = 1 (Invert)
Drive Parameter Setting
P125 [Pri Vel Fdbk Sel] Encoder Port Number, P1 [Dig In Sts]
Ensure that the Rotate Tune routine can be stopped if an end travel condition is
likely to occur.
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