SLCtm Servo Control Module (Catalog No.
Important User Information Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.
European Communities (EC) Directive Compliance If this product has the CE mark it is approved for installation within the European Union and EEA regions. It has been designed and tested to meet the following directives.
Table of Contents Using This Manual Preface Who Should Use this Manual. . . . . . . . . . . . . Purpose of this Manual . . . . . . . . . . . . . . . . . Safety Precautions . . . . . . . . . . . . . . . . . . . . . Contents of this Manual. . . . . . . . . . . . . . . . . Related Documentation . . . . . . . . . . . . . . . . . Conventions Used in this Manual. . . . . . . . . . Product Receiving and Storage Responsibility. Rockwell Automation Support . . . . . . . . . . . Local Product Support . . . . . . .
Table of Contents ii Routing Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Classifying Your Conductors . . . . . . . . . . . . . . . . . . . . . . . 3-3 Placing Your SLC Servo Module. . . . . . . . . . . . . . . . . . . . . 3-3 Installing Your SLC Servo Module Chapter 4 Unpacking and Inspecting Your SLC Servo Module System . Installing the SLC Servo Module. . . . . . . . . . . . . . . . . . . . . Grounding the SLC Servo Module . . . . . . . . . . . . . . . . . . .
Table of Contents iii Testing Estop Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 Setting Up Your SLC Servo Module Chapter 7 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 Understanding the Theory of Motion Control . . . . . . . . . . . 7-2 Machine Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 Velocity Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 Position Loop . . . . . . . . . . . . . . . . .
Table of Contents iv Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . Homing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . Homing Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Homing Without a Limit Switch or Marker . . . . . . . . . . Homing to a Marker. . . . . . . . . . . . . . . . . . . . . . . . . . . Option 1 Example . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents v Plan Synchronized Move . . . . . . . . . . . . . . . . . . . . . . . 8-25 Programming System Variables Chapter 9 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Using Position Initialization Commands . . . . . . . . . . . . . . Using the Home Axis Command. . . . . . . . . . . . . . . . . . Planning a Home Axis Move . . . . . . . . . . . . . . . . . . . . . . Using the Set Home Command. . . . . . . . . . . . . . . . . . .
Table of Contents vi Do a battery box test. (If unable to control drive) . . . . . 10-2 Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2 Configure the HSRV module. . . . . . . . . . . . . . . . . . . . . 10-2 Downloading Your Configuration . . . . . . . . . . . . . . . . . . 10-2 If CONFIG INV LED is Lit. . . . . . . . . . . . . . . . . . . . . . . 10-3 Configuration Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3 Jog the Axis . . . . . . . . . . . . .
Table of Contents Programming Examples Appendix C SLC Servo Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ladder Rung Examples . . . . . . . . . . . . . . . . . . . . . . . . Rung 0 – Manual Triggering Configuration . . . . . . . Rung 1 – Download Configuration . . . . . . . . . . . . . Rung 2 – Timer Delay . . . . . . . . . . . . . . . . . . . . . . Rung 3 – Checking For Successful Configuration . . . Rung 4 – Downloading Blend Profiles . . . . . . . . . .
Table of Contents viii Publication 1746-6.1.
Preface Read this preface to familiarize yourself with the rest of the manual.
Preface P-2 ATTENTION ! Only those familiar with the SLC Servo Control Module and associated machinery should plan or implement the installation, start-up, and subsequent maintenance of the system. Failure to comply can result in personal injury and/or equipment damage. This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit.
Preface P- 3 Chapter Title Contents 1 Overview of the SLC Servo Module Overview information about the product, its operation and hardware features. Describes interface selection, the module’s use of inputs and outputs, and operating modes. 2 Selecting Power Supplies, Encoders and Drives Information about selecting the hardware to support an SLC Servo Module. 3 Planning Hardware Installation Interconnection diagrams for various hardware interfaces for communication with the SLC Servo Module.
Preface P-4 Related Documentation Chapter Title Contents 10 Troubleshooting Information about troubleshooting and error handling. Appendix A Input/Output Quick Reference A quick reference of parameters, commands, status specifications, and move profiles. Appendix B Cable Specifications Specifications and wiring diagram for 1746-HCA cable. Appendix C Application Examples Applications examples for constructing programs using the SLC processor.
Preface Conventions Used in this Manual P- 5 The following conventions are used throughout this manual: • Bulleted lists provide information, not procedural steps. • Numbered lists provide sequential steps or hierarchical information. • Words that you type or select appear in bold. • Key names match the names shown and appear in capital letters. • We use this symbol to represent a twisted pair: Figure 0.
Preface P-6 Leave the product in its shipping container prior to installation.
Preface On the Web P- 7 For information about Allen-Bradley, visit the following World Wide Web site: http://www.ab.com/ Publication 1746-6.1.
Preface P-8 Publication 1746-6.1.
Chapter 1 Overview of the SLC Servo Module This chapter explains the basic functions of the SLC Servo Module, and its hardware requirements. This chapter includes the following SLC Servo Module topics: • Overview • Operation • Specifications and compatibility SLC Servo Module Overview The SLC Servo Module (catalog number 1746-HSRV) is compatible with the SLC 500 family and only used with SLC 5/03™ FRN 5.0, SLC 5/04™, or SLC 5/05™ SLC Servo Modules.
1-2 Overview of the SLC Servo Module Figure 1.1 Example of an SLC Wiring SLC 17465/04 HSRV CR-LPS-0503 +5V & –12V DC Power Supply CR-IOPS-241 +24V DC Power Supply 1746-HCA Cable 1746-HT Termination Panel A-B 845 Encoder Motor Tach SLC Servo Module Operation 1746IW16 Drive Amplifier The SLC Servo Module, compatible with the SLC family, is used with SLC 5/03 FRN 5.0 (and above) processors using RSLogix 500, AI500 or APS (version 5.0 or higher) software.
Overview of the SLC Servo Module 1-3 The SLC Servo Module operates in two modes: • Configuration • Command When operating in the configuration or the command mode, the status of the module is reported to the SLC processor. Configuration Mode Operation You can enter configuration mode only if the system is in Estop. In the SLC Servo Module, you configure the SLC Servo Module by using M files containing data provided by the SLC 5/03 (or versions listed above) processors.
1-4 Overview of the SLC Servo Module SLC Servo Module Specifications and Compatibility Selected specifications for the SLC Servo Module appear in the table below. 1 SLC Servo Module Specification Class 3 Number of Input Words 12 Number of Output Words 12 Selection for Configuration OTHER (with 10114 as the number specified) Configuration Mode Uses M files Recommended I/O Slot in SLC Rack Slot 1 or the lowest numbered I/O slot for SLC applications using the module interrupt option.
Chapter 2 Selecting Power Supplies, Encoders, and Drives Overview In this chapter we explain how to select the hardware you need to support an SLC Servo Module system. This chapter includes the following topics: • • • • • Selecting a power supply for the backplane Selecting a user-side power supply Using fast inputs and outputs Selecting an encoder Selecting a drive The amount of hardware you need depends on how many axes your application uses.
2-2 Selecting Power Supplies, Encoders, and Drives Example of Calculations for Backplane Current Requirements In this example, the system includes: • • • • • One seven-slot modular rack One 1747-L543 CPU module One 1746-IB8 DC input module with eight inputs @ +24V One 1746-OV8 DC output module with eight outputs @ +24V An SLC Servo Module system that contains: • SLC Servo Modules • Termination panels • Allen-Bradley 845H encoders • Fast inputs • Fast outputs Use the table below to find the current requi
Selecting Power Supplies, Encoders, and Drives 2-3 Use the table below to find the power supplies Allen-Bradley recommends for the backplane: Power Supply Selecting a User-Side Power Supply Operating Voltage Requirements Output Capacity 5V DC 24V DC 1746-P1 85-130V AC or 170-265V AC 2A .46A 1746-P2 85-130V AC or 170-265V AC 5A .96A 1746-P3 19.2-28.8 DC 3.6A .87A 1746-P4 85-132V AC or 170-265V AC 10.0A 2.88A You must provide a power supply that meets your system requirements.
2-4 Selecting Power Supplies, Encoders, and Drives Example of the Calculations for User-Side Current Requirements In this example, the system includes: • • • • • One seven-slot modular rack One 1747-L541 CPU module One 1746-IB8 DC input module with eight inputs @ +24V One 1746-OV8 DC output module with eight outputs @ +24V An SLC Servo Module system that contains: • Two SLC Servo Modules • Two termination panels • Two Allen-Bradley 845H encoders • Six fast inputs • Two fast outputs Use the table below t
Selecting Power Supplies, Encoders, and Drives 2-5 24V DC I/O devices for compatibility with the electrical specifications as shown in the table below.
2-6 Selecting Power Supplies, Encoders, and Drives Specification Rating Maximum channel frequency Incoming quadrature frequency is limited by the following relationship: FQUAD (Hz) = (3334)(90°–EQ) where: EQ = quadrature error (degrees, electrical) For example, for an 845H encoder with 22° quadrature error, the maximum frequency would be: FQUAD (Hz) = (3334)(90°-22° quadrature error) = 226,712 Hz Important:The maximum quadrature error is a limit, and system design should include acceptable margins.
Selecting Power Supplies, Encoders, and Drives Selecting a Drive 2-7 The SLC Servo Module supports Allen-Bradley 1386, 1388, 1389, 1391, 1392, 1394, and 1398 servo drive systems. References that help you select a suitable drive system appear in the table below. Allen-Bradley Publication Title Drive Number 1386 1386-2.0 DC Servo Drive Product Data Sheet 1388 1388-2.0 DC PWM Servo Drive Product Data Series B 1389 1389-2.0 AC Servo Amplifier System Product Data Sheet 1391 1391-2.
2-8 Selecting Power Supplies, Encoders, and Drives Publication 1746-6.1.
Chapter 3 Planning Hardware Installation This chapter provides guidelines regarding your hardware installation and includes the following topics: • • • • Understanding general wiring practices Routing wires Classifying your conductors Placing your SLC Servo Module Refer to your SLC 500 documentation for more information on these topics.
3-2 Planning Hardware Installation Cut the shield wires on the opposite end at the cable jacket and tape it to prevent contact with ground. We also recommend keeping the length of leads that extend beyond the shield as short as possible. In high noise environments, you connect shield wires at both ends of the cable to improve the noise immunity of the system. If this is done, terminate one end of the shield to ground through a 0.1 µf capacitor to avoid ground loops in the system.
Planning Hardware Installation Classifying Your Conductors For these wires and cables: 3-3 Use the table below for cable routing guidelines and determining wire and cable functions. To: Follow these guidelines for routing inside or outside an enclosure: AC power lines • Connect high-power AC I/O lines to AC I/O modules that are rated for high power and high noise immunity.
3-4 Planning Hardware Installation Publication 1746-6.1.2 - July 2000 • Place the SLC Servo Module on the left side of the chassis along with other intelligent I/O modules and the CPU. • Place DC and AC I/O modules on the right side of the chassis and allow empty slots to remain between them and the SLC Servo Module.
Chapter 4 Installing Your SLC Servo Module This chapter provides guidelines for installing your SLC Servo Module and includes the following topics: • • • • • Unpacking and Inspecting Your SLC Servo Module System Unpacking and inspecting the SLC Servo Module system Installing the SLC Servo Module Grounding the SLC Servo Module Mounting the termination panel Connecting the termination panel ATTENTION ! 1 Before removing the contents from the shipping carton, avoid electrostatic discharge that degrade
4-2 Installing Your SLC Servo Module To verify that you received what you ordered: 1. Check the label on each shipping carton with your order. 2. Check the items received against the bill of lading by matching the equipment nameplate description with the material ordered. IMPORTANT Installing the SLC Servo Module Make claims for breakage and damage, whether concealed or obvious, to the carrier as soon as possible after receipt of the shipment.
Installing Your SLC Servo Module When: This LED is on: An invalid configuration is detected CONFIG INV ATTENTION ! ATTENTION ! 4-3 To avoid personal injury, equipment damage, or performance degradation, remove backplane power from the chassis and disconnect the 1746-HCA cable before installing or removing a module. To avoid damage to a module or backplane connector, do not force modules into the backplane connector. To insert a module into an I/O chassis: 1.
4-4 Installing Your SLC Servo Module Grounding the SLC Servo Module Before you install the rest of the system, you must ground the SLC Servo Module. All of the shields and signal commons (normally floating) are tied to earth ground at a single point. Use the EGND terminal on the termination panel for this purpose. Do not connect shields to earth ground at both ends to avoid causing circuit loops that are susceptible to radiated and coupled noise. IMPORTANT Figure 4.
Installing Your SLC Servo Module Mounting the Termination Panel 4-5 Refer to the Figure 4.3 and Figure 4.4 when mounting the 1746HT termination panel. To mount the 1746HT termination panel: 1. Snap the termination panel onto the DIN-type rail (1492-DR2). 2. Position an end anchor on either end of the termination panel. 3. Secure the panel by tightening the end anchor screws. The end anchor prevents the termination panel from sliding in either direction on the DIN rail. Figure 4.
4-6 Installing Your SLC Servo Module Figure 4.4 Termination Panel and its Dimensions D R IV E D R IV E DR RET SHLD ENCODER C H A . HI CH A. LO AB SHL D C H B . HI CH B. LO Z SHL D C H Z. HI C H Z. L O E NC O D E R P O W E R +5V RET +15V SHLD E XT PO W ER +5V RET +15V _ RET + - 15V +24 +24 R E T EG ND 292mm (11.5 in.) A X IS D R IV E E N A B L E E S TO P +24 V R ES. PB R ES. PB RESET S T R IN G IN S T R IN G O U T F A S T I/O F I .1 +24V F I .2 +24 F I .3 RET F O .
Installing Your SLC Servo Module Connecting the Termination Panel 4-7 After mounting the termination panel, connect it to the SLC Servo Module with the 1746-HCA cable. To connect the termination panel to the SLC Servo Module: 1. Set the locking latches above and below the connector so the latch reads OPEN. 2. Open the door of the SLC Servo Module. 3. Hold the connector as shown in Figure 4.5 (left) and insert it into the D-sub connector on the SLC Servo Module until the connector is seated. 4.
4-8 Installing Your SLC Servo Module Figure 4.5 Connecting the 1746-HCA-Cable Connecting to the 1746-HT OP EN Connecting to the 1746-HSRV 1746-HCA Cable Publication 1746-6.1.
Chapter 5 Wiring the SLC Servo Module Overview After mounting and connecting the termination panel, you wire fast inputs, outputs, and your Estop string to the termination panel when you wire the system power supply, encoders, and drives.
5-2 Wiring the SLC Servo Module Wiring Fast Inputs and Outputs On the termination panel, the +24V DC fast inputs and outputs of the SLC Servo Module are routed from the connector (37-pin D-shell) to the fast I/O connector (7-pin pluggable) on the termination panel. The fast I/O consists of: • Fast inputs FI.1 through FI.3 • Fast output FO.1 • +24V DC and +24V DC return signals We recommend 18 AWG wire for wiring fast I/O because it allows two wires for each connection point.
Wiring the SLC Servo Module 5-3 Figure 5.1 Typical Fast I/O Connections E S TO P +2 4 RES. PB RES. PB RESET S T R IN G IN S T R IN G O U T F A S T I /O F I .1 +2 4V F I .2 +2 4V F I .3 RET 14 AWG F O .1 GND Electrical Cabinet GND Snubbing is required for inductive and capacitive loads on the fast output. Capacitive load Current limiting resistor required. Must be placed in series with contact load. RET F O .1 18173 Publication 1746-6.1.
5-4 Wiring the SLC Servo Module Figure 5.2 Equivalent Fast Input Circuit +24V DC 47K W 1746-HCA 11K W 15K W Control Module Termination Panel Figure 5.3 Equivalent Fast Output Circuit +5V D C +24V D C K2 FO .1 1746-HCA R et C ontrol Module Wiring Hardware Overtravels Termination Panel Because the system must go into Estop when a hardware overtravel is tripped, do the following to the hardware overtravel limit switches of each axis: • Wire them into the customer Estop string.
Wiring the SLC Servo Module 5-5 Software Overtravel Limits Software overtravel limits appear in the table below. Name What it specifies Default Range Software overtravels used Whether control checks software overtravel limits Yes Yes (used) or No (not used) When you are using a check, the SLC Servo Module tests each program for motion past an overtravel limit before the programmed motion is executed. The SLC Servo Module monitors software overtravel limits continuously during motion.
5-6 Wiring the SLC Servo Module backplane input. Though the exact position of home is not important, it is important that the home position is: • A repeatable resting place for the axis when it is not used. • Free of obstruction from another moving axis. To connect a home limit switch: 1. Place the limit switch near the home position that you want. 2. Adjust the encoder so that the marker is approximately 1/2 revolution from the limit switch closure.
Wiring the SLC Servo Module 5-7 Wiring the Estop for a One-Axis System To wire the Estop for a one-axis system connect the following: • Drive enable • Estop reset pushbuttons (Res P.B., Res P.B., and Reset) • Customer Estop String (String In and String Out) ATTENTION ! To avoid personal injury or hardware damage, develop a fail-safe wiring design for your Estop string. • An Estop string (Figure 5.
5-8 Wiring the SLC Servo Module Figure 5.5 Ladder Diagram for a One-Axis System +24V D C R et. +24V D C C ontrol Module CR1-1 String Out P2-7 P2-6 String In CR1 Customer Estop String 1N 4001 Estop Res. P.B. P2-8 Reset To Estop Reset Request on Control Module CR1-2 CR1-4 P2-9 To Estop Status on Control Module IMPORTANT CR1-3 In this equivalent Estop circuit, P2 is a 25-pin D-shell connector. CR1-2 and CR1-3 are auxiliary contacts of CR1 used in the drive interface.
Wiring the SLC Servo Module 5-9 If you do not use the relay shown in Figure 5.8, verify that your replacement relay has a coil resistance greater than or equal to 650 ohms. ATTENTION ! Figure 5.6 Estop Circuitry Diagram for a One-Axis System Control Module Estop Contacts Estop Reset Request Estop Status Control Module 8 6 7 9 25-Pin D-Shell Connector Res. P.B. Termination Panel +24V CR 1-4 CR 1-1 Res. P.B.
5-10 Wiring the SLC Servo Module Figure 5.7 String Pilot Connection Drive Fault Contact Overtravel Thermal Overload Remote E-Stop CR2 String Pilot C ustomer E- stop S tring To wire Estop connections, refer to wiring diagrams for the drive you are using. The wiring of six different Allen-Bradley compatible drives is shown in the table below. Figure Wiring Diagram 5.15 1386 DC Servo Drive 5.16 1388 DC PWM Servo Control 5.17, 5.18 1389 AC Servo Amplifier1 5.19, 5.
5-11 Wiring the SLC Servo Module Figure 5.
5-12 Wiring the SLC Servo Module Figure 5.9 Estop Circuitry Diagram for a Two-Axes or Three-Axes System C ontrol Module #2 C ontrol Module #1 Estop Control’s Reset Estop Request Contacts 8 6 Estop Control’s Reset Estop Request Contacts Estop Status 7 8 9 6 C ontrol Module #3 7 Termination Panel #1 CR1 String In String O ut R eset R es. P .B. CR1-4 CR1-2 CR1-3 To Drives C usto mer Estop S tring Wiring Power Supplies Publication 1746-6.1.
Wiring the SLC Servo Module 5-13 Figure 5.10 Wiring a +5V, ±15V, and a +24V Power Supply +5V +5V COMM L1 14 AWG +15V L2 +/- 15V COMM E X T P O W E R - 15V +5 V RET +1 5 V - /+R E T +24V P o wer Supply - 15V +2 4 +2 4 R E T EGND 14 AWG AC H I AC LO +24V +24V R E T 14 AWG (3) 14 AWG A C Line Electrical Cabinet Ground Bus ATTENTION ! Wiring Encoders To avoid unpredictable operation of your SLC Servo Module, connect the +5V COMM to the +24V COMM.
5-14 Wiring the SLC Servo Module by the manufacturer. Those limits for the 845H are a minimum voltage requirement of 4.75V and a maximum voltage of 5.25V. IMPORTANT The term user-side refers to the control circuitry on the SLC Servo Module card that is powered by user-supplied power sources and isolated from the control circuitry powered by the backplane of an SLC rack.
Wiring the SLC Servo Module 5-15 To operate the encoder, wire the encoder so that marker Z is true at the same time that A and B channels are true. To wire the encoder for consistent homing of the axis, do the following: 1. Obtain the encoder output timing diagram from the vendor’s data sheets. A typical example is shown in Figure 5.12. 2. On the timing diagram, look at marker Z and its complement, marker Z. 3.
5-16 Wiring the SLC Servo Module Figure 5.12 Typical Vendor Encoder Timing Diagram See 1 in table below 1 cycle 90 Hi C hannel A Lo B See 2 in table below Z O ptional A See 3 in table below B Z Wire C H B, CH A, and C H Z to C H B LO, C H A LO and CH Z LO, respectively, on the termination panel. C C W rotation viewing shaft Location: Shows: 1 Channel A is high for at least part of marker interval. You connect this to CH A.HI of the termination panel. 2 High marker interval.
5-17 Wiring the SLC Servo Module Figure 5.13 5V Encoder Feedback Connections ENCODER CH A. HI 1 C H A . LO A A A B SH LD CH B. HI 1 C H B. LO B B Z SH LD C H Z. HI 1 C H Z . LO Z I 3 Optical Encoder C J Z 2 RET A B ENCODER POWER +5 V H F D G +5V Case Ground +1 5 V +5V Return S H LD 1 Use three pair 22 gauge individually twisted and shielded cable. 2 Use one pair 18 gauge twisted and shielded cable.
5-18 Wiring the SLC Servo Module Wiring the SLC Servo to Allen-Bradley Drives The SLC Servo Module supports 1386, 1388, 1389, 1391, 1392, 1394, and 1398 servo amplifiers. Before you wire the drive to the termination panel, you must mount, set up, and wire your drive and motor. Installation references for each Allen-Bradley servo drive system (amplifier) appear in the table below. Allen-Bradley Drive Publication Number Title 1386 1386-5.0 Bulletin 1386 DC Servo Drive Instruction Manual 1388 1388-5.
Wiring the SLC Servo Module 5-19 To avoid damage to the controller, connect these lines in the proper phase at the transformer and controller. These lines are phase sensitive. ATTENTION ! Figure 5.
5-20 Wiring the SLC Servo Module Figure 5.16 Wiring Diagram for 1388 Drives D R IV E E NABLE H1 H4 H7 240/480V AC 3 Phase 50/60Hz ESTOP +2 4V R E S .P B R E S .P B RESE T S T R IN G IN S T R IN G O U T Estop Reset P.B. 120V AC 3 phase 50/60Hz Y1 Y2 Y3 G0 P1 P 2 Thermal Switch A2 T1 T2 D R IV E DR RET SH LD A1 M Motor A3TB1 V elocity C ommand Axis Overtravel Remote Estop P2 P1 Tach DRIVE Publication 1746-6.1.
5-21 Wiring the SLC Servo Module Figure 5.17 Wiring Diagram for 1389 Drives A B S ystem G round F rame G2 G1 G0 X0 C 230V AC Main D isconnect/ Fuses X1 H1 M1 TB1 - 2 M1 TB1 - 3 M1 TB1 - 7 230V A C TB1 - 8 X2 X3 H4 +240/480V AC 3 Phase Y1 H7 1389 Is o latio n Transfo rmer C ontrol Transformer Y2 P1 120V AC F D R IV E ENABLE M1 TB1 - 1 P2 TB2 - 1 Thermal Trans former S witch TB2 - 2 R eset R eset R eturn TB2 - 3 Bus U V (isolated) TB2 - 4 TB2 - 5 TB2 - 6 Estop R eset P.B.
5-22 Wiring the SLC Servo Module Figure 5.
Wiring the SLC Servo Module 5-23 Figure 5.19 Wiring Diagram for 1391 Drives D R IV E ENABLE A B ESTO P +2 4V R E S .P B Estop Reset P.B. C TB 4 11 R E S .P B 115V AC M TB 4 12 RESET S T R IN G IN TB 4 13 TB 4 14 TB 4 15 TB 4 16 TB 4 17 TB 4 18 TB 4 22 M S T R IN G O U T M 120V A C 1 a m p V e lo city C o m m an d TB 2 TB 2 1 2 DROK (closed = OK; switch S2-4 must be off. Refer to publication 1391ES-5.
5-24 Wiring the SLC Servo Module Figure 5.20 Wiring Diagram for 1391 Drives (continued) M a in s M a in G ND S y ste m D is co nne ct C o ntro lle r M a in P o we r C o n tro lle r G N D A B U ser P ower U s e r S y s te m G N D C o nn e ct to C a bine t G N D see ATTENTION F ro m T B 1 - 1 MPT F ro m M o to r G N D C GND S tu d L o gic S upp ly ( 36V C T ) From Motor Cable Shield F1 5A 12 5V Bus MD X 5 F2 5 A 12 5V Bus MD X 5 X S e c. Y S e c.
Wiring the SLC Servo Module 5-25 Figure 5.21 Wiring Diagram for 1392 Drives D R IV E E N A B L E E S TO P 1 + Speed Ref. 2 - Speed Ref. Ground Stud Bulletin 1392 3 +24 RES. PB RES. PB RE SET S T R IN G IN S T R IN G O U T Standard Parallel Interface J9 Main Control Board 4 Estop Reset P.B. F A S T I/O F I.1 +24 F I.2 +2 4 F I.3 RET F O .
5-26 Wiring the SLC Servo Module Figure 5.22 Wiring Diagram for 1394 Systems System Module DC+ COL INT OPTIONAL EXTERNAL SHUNT DS1 SOLID GREEN = BUS UP, AXIS ENABLED FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE W1 USER-SUPPLIED 24V AC RMS OR 24V DC.
Wiring the SLC Servo Module 5-27 Figure 5.23 Wiring Diagram for 1394 Systems (continued) Bulletin 1394 AQB Board 1 Axis x Vref + 7 Axis x Vref- 2 Axis x Tref+ 8 Axis x Tref- User Supplied 3 +5V DC Power Supply User Supplied 9 Power Supply Common 4 CHANNEL A HIGH 10 CHANNEL A LOW 5 CHANNEL B HIGH 11 CHANNEL B LOW 6 CHANNEL Z HIGH 12 CHANNEL Z LOW Important: Connect only if Vref is not used on the input wiring board. D R IV E D R IV E DR RET SHL D ENCODER CH A . HI C H A .
5-28 Wiring the SLC Servo Module because it directly affects how the 1398 is wired to the SLC Servo Module. If Homing to a Marker is: Go to: Necessary Figure 5.24, Wiring Diagram for ULTRA 100 When Not Homing to a Marker and for ULTRA 200 (Manufactured After July 31, 1998) When Homing to a Marker Figure 5.25, Wiring Diagram for F, H, and S series ULTRA 100/200 (Manufactured Before July 31, 1998) When Homing to a Marker Figure 5.
Wiring the SLC Servo Module 5-29 Figure 5.24 Wiring Diagram for ULTRA 100 When Not Homing to a Marker and for ULTRA 200 When Homing to a Marker 1746 HSRV/IMC 110 Termination Panel (1746-HT) Drive 2 5 DRIVE DR RET SHLD 7 8 Encoder 9 ENCODER COM ISO +24 VDC A+ ENC A- ENC B+ ENC CH A.HI CH A.LO A,B SHLD CH B.HI CH B.LO Z SHLD CH Z.HI CH Z.
5-30 Wiring the SLC Servo Module Figure 5.25 Wiring Diagram for F, H, and S series ULTRA 100/200 When Homing to a Marker 1746 HSRV/IMC 110 Termination Panel (1746-HT) 2 5 13 20 Encoder 21 CH A.HI CH A.LO A,B SHLD CH B.HI CH B.LO Z SHLD CH Z.HI CH Z.
5-31 Wiring the SLC Servo Module Figure 5.26 Wiring Diagram for Y series ULTRA 100/200 When Homing to a Marker 1746 HSRV/IMC 110 Termination Panel (1746-HT) 2 5 13 20 Encoder 21 CH A.HI CH A.LO A,B SHLD CH B.HI CH B.LO Z SHLD CH Z.HI CH Z.
5-32 Wiring the SLC Servo Module Connecting the Velocity Command Use 18 through 22 gauge shielded/twisted pair wire to connect the analog velocity command output signal (consisting of Drive and DR Ret connections) from the termination panel Drive connector to the corresponding terminals of the various servo drives as shown in Figure 5.15 through Figure 5.23. Connect this signal so that the resulting direction of motion matches the correct direction of motion as you defined it.
Chapter 6 Testing Your SLC Servo Module Hardware Overview This chapter includes the following topics: • • • • • Powering Up Your SLC Servo Module Powering up your SLC Servo Module Testing Estop wiring Integrating the axis Testing home using the home position switch Testing home using encoder marker Before you apply power to the SLC Servo Module: • • • • • Wire the AC line on the power supply. Set the voltage (120V or 240V). Connect the user-power cables. Rout the user-power cables.
6-2 Testing Your SLC Servo Module Hardware 3. Apply power to the SLC Rack with the SLC Servo Module installed in the rack. After the control module initializes and performs its quick hardware diagnostics, the green RUN LED should light. IMPORTANT The green RUN LED must be on before continuing. If the RUN LED does not light, consult the table in the Troubleshooting chapter of this manual. 4. Verify that the SLC Servo Module has power from the SLC Rack backplane and the termination panel. 5.
Testing Your SLC Servo Module Hardware Testing Estop Wiring 6-3 Before you test your Estop wiring: ATTENTION To avoid personal injury or hardware damage, uncouple the motor from its load. ! 1. Test your fast I/O. 2. Perform open and closed loop integration of drives and feedback devices. A wiring diagram for the Estop circuit is shown in the following Estop Circuitry figure. Use these connections to check the Estop Reset push-button and each contact on the Estop string. Figure 6.
6-4 Testing Your SLC Servo Module Hardware 4. Short the (machine tool) hardware Estop string. 5. Press and hold down the Estop Reset push-button. The following events occur: • SLC Servo Module detects an Estop reset request. • SLC Servo Module closes the software-controlled Estop relay in the SLC Servo Module. • Because the Estop string is shorted, Relay CR1 seals the Estop Reset push-button. 6. Release the Estop reset push-button. The contacts in the Relay CR1 remain closed (in the power-on condition).
Chapter 7 Setting Up Your SLC Servo Module Overview Before performing the procedures given in this chapter, follow the installation procedure supplied with the drive that will be interfaced to the SLC Servo Module.
7-2 Setting Up Your SLC Servo Module Understanding the Theory of Motion Control The major components of a motion control system are: • Machine mechanics • Velocity loop • Position loop Machine Mechanics Machine mechanics are the combined gearing, ball-screws, and mechanical linkages that convert the motor’s rotary motion into the axis motion that you want. Velocity Loop Velocity loop is a feedback control loop in which the controlled parameter is encoder velocity.
Setting Up Your SLC Servo Module 7-3 position loop gain) sets the response on the position loop and scales the following error to the velocity command output (drive input). Your SLC Servo Module is a single-axis motion control that resides in a 1746 (SLC) rack. With a drive and servo motor, an SLC Servo Module can control the position of one axis with encoder feedback. You can place multiple SLC Servo Modules in one SLC Rack to control an entire machine.
7-4 Setting Up Your SLC Servo Module If you are using: Go to: RSLogix 500 Configuring Your Processor Using RSLogix 500 Software Configuring Your Processor Using AI-500 Software Configuring your processor involves assigning the SLC Servo Module to an open slot in the chassis, setting the file length, and entering the parameters. To assign the SLC Servo Module to an open slot: 1. Press F1 (Select Program/SLC-500 Addr). 2. Select project file. 3. Press Enter. 4.
Setting Up Your SLC Servo Module 7-5 7. Press Enter. 8. Press ESC three times to return to the top screen of the Offline Ladder Editor screen. 9. Press F8 (Display). 10. Press F1 (addr). 11. Enter desired data table address. 12. Press Enter. 13. Enter parameters into Bit (B), Integer (N), or Float (F) files. 14. Press ESC to return to Offline Editor screen. IMPORTANT Use F1 to change the radix between binary and decimal.
7-6 Setting Up Your SLC Servo Module 10. Select OTHER. In the Module ID Code area, type 10114. The ID of the SLC Servo Module automatically creates twelve input words and twelve output words. 11. Press Enter. To set the file length and enter parameters: 1. Press F9 (SPIO CONFIG). 2. Press F5 (ADVNCD SETUP). 3. Press F5 and set the M0 file length to 1664 words. 4. Press Enter. 5. Press F6 and set the M1 file length to 1659 words. 6. Press Enter. 7. Press ESC. 8. Press F7 and set the G file size to 0 words.
Setting Up Your SLC Servo Module 7-7 Configuring Your Processor Using RSLogix 500 Software Use the table below to determine which configuration procedure to follow. When Working: Go to: Online Automatically Configuring the SLC Servo Module Offline Manually Configuring the SLC Servo Module Automatically Configuring the SLC Servo Module To configure your SLC Servo Module automatically: 1. From the menu bar, select File. The File menu appears. 2. Select New. The Select Processor Type window appears.
7-8 Setting Up Your SLC Servo Module 6. In the navigator window, double-click on I/O Configuration. The I/O Configuration window appears. In the example below, field 1 of the racks area contains a four slot rack. 7. To automatically configure your SLC Servo Module, select Read I/O Config. The Read I/O Configuration From Online Processor window appears showing the parameters of the read process. 8. Select Read I/O Config. The SLC processor reads the configuration.
Setting Up Your SLC Servo Module 7-9 2. Select New. The Select Processor Type window appears. 3. Assign a name for your new RSLogix 500 project file and type it in the Processor Name field. 4. Select your SLC processor from the list of processor types. Default values assigned to the selected processor appear in the Communications Setting area. 5. Select OK. The processor database is initialized and the RSLogix 500 navigator window appears with the name you typed in the Processor Name field. 6.
7-10 Setting Up Your SLC Servo Module If your SLC rack has: In field 1 of the Racks area, select: These slots appear below the Racks area in the # column: 7 slots 1746-A7 7-Slot Rack 0-6 10 slots 1746-A10 10-Slot Rack 0-9 13 slots 1746-A13 13-Slot Rack 0-12 IMPORTANT Your SLC processor always appears in slot 0. The remaining slots are available for assigning to other hardware. Make sure the SLC Servo Module is in slot 1. 8. Select slot 1. The column line of slot 1 is highlighted. 9.
Setting Up Your SLC Servo Module 7-11 12. Select Adv Config. The Advanced I/O Configuration window appears showing the slot you selected and default information for the 1746 HSRV Motion Control Module. 13. Select OK. The SLC Servo Module Interface The SLC Servo Module is a 12-word Input/Output specialty I/O module. The module uses M files to download the module configuration information.
7-12 Setting Up Your SLC Servo Module resume until the SLC processor has transferred the information to the M0 file of the SLC Servo Module. IMPORTANT Repeatedly executing the copy file instruction when you download the configuration increases the ladder scan time as shown in Figure 7.1. Figure 7.
Setting Up Your SLC Servo Module 7-13 2. Verify that the SLC Servo Module is in an Estop state. 3. Copy the M0 file with the output word 0 mode bit (15) set to 1. 4. Verify that the SLC Servo Module is in the configuration mode. 5. Using the programming device for the SLC processor (RSLogix, AI500, or APS Software) enter the program example, found in Appendix C of this manual, with the appropriate changes for the SLC Servo Module locations for the system. 6.
7-14 Setting Up Your SLC Servo Module To enter encoder lines: 1. Refer to the encoder manufacturer’s specification for the encoder lines. 2. Enter the value of the Encoder Lines parameter in configuration file F8 (words 4-5). 3. Enter the value of the Counts Per Position Unit parameter in configuration file F8 (words 6 and 7). Computing Counts Per Position Unit Use the following equation to calculate the value of the Counts Per Position Unit parameter as it is used in step 3 above.
Setting Up Your SLC Servo Module 7-15 AC line conditions. If you don’t meet these conditions, you experience excessive error faults during high speed operation. You must select the proper motor, drive, and gearing to satisfy the above requirement for the application. AC power to the motor drive can go as low as 85% of the nominal input voltage. To allow for axis operation at low line conditions, use a power line factor between 0.85 and 1.0.
7-16 Setting Up Your SLC Servo Module In the example below, if you want a maximum operating speed of 170 ipm, the motor and drive combination you chose must meet your speed requirements. DAC output saturation speed: Is equal to: Multiplied by maximum operating speed: 179 (ipm) 1.05 170 (ipm) Enter the DAC output saturation speed in configuration file F8 (word 28 and word 29). Initializing DAC Output Voltage for Drive Symmetry DAC output voltage ranges from –10V to +10V.
Setting Up Your SLC Servo Module Defining Positive Axis Movement for the SLC Servo Module 7-17 To define positive axis movement for the SLC Servo Module, you must invert the DAC and reverse feedback. Axis status area information is copied into F48 at every ladder scan. To define the positive axis movement: 1. Record the present feedback position PO contained in file F48. 2. Reset Estop. 3.
7-18 Setting Up Your SLC Servo Module Coarse Calibrating Perform the following steps to coarse calibrate the drive input scaling to SLC Servo Module DAC output voltage: 1. Initiate a positive direction speed move at a safe operating speed (e.g., < 50%) of the SLC Servo Module’s maximum speed. 2. Record the commanded speed and the actual speed contained in the file F48. 3. Cancel the speed move. 4. If the axis speed: Then: Does not match the 1.
Setting Up Your SLC Servo Module 7-19 5. If: Both the positive and negative speed match the commanded speed within 3% The speed error is greater than 3% Then: Go to Computing Excess Following Error Limit. 1. Compute a new output voltage at maximum speeds using the positive speed calibration and negative speed calibration equations shown below. 2. Set the SLC Servo Module in Estop. 3. Toggle the bit (word 0, bit 15) to download this configuration. 4. Reset Estop. 5. Go to the main step 1. 6.
7-20 Setting Up Your SLC Servo Module To calculate the initial following error limit: 1. Calculate: To equal: Follow error limit 1.2 multiplied by the maximum speed that you want (axis gain x 1000) 180 ipm / (1.0 ipm/mil x 1000) 0.216 inch 2. Enter the following error limit calculated in configuration file F8 (words 38-39). Selecting Loop Type To select a loop type for normal operation and to adjust position loop gain, do the following: 1.
Setting Up Your SLC Servo Module 7-21 To monitor and adjust the position loop gain, you must do the following to create a program that loops: 1. Create six individual moves where each move is separated by a one-second delay and where three are in one direction and three are in the opposite direction. 2. Create each move at approximately two motor revolutions and at a programmed speed of 20% of maximum speed. 3. Set up a Set Axis Gain Function within the program. 4. Execute the program. 5.
7-22 Setting Up Your SLC Servo Module 2. Set the SLC Servo Module in Estop. 3. Toggle the bit (word 0, bit 15) to download this configuration. 4. Reset Estop. IMPORTANT A gain of 1.0 in SLC Servo Module units is equivalent to a gain of 16.6667 inverse seconds. 5. Create a program that loops so that one long move in each direction (separated by a 4-second delay) occurs. 6. Execute the loop program. 7. Set the programmed speed at 90% of maximum speed. 8. Setup a % acceleration function within the program.
Setting Up Your SLC Servo Module 7-23 For example, the current value for time to maximum speed is 0.2 seconds. From the above motion test, the % acceleration ramp selected is 22%. Calculate: To equal: Time to Maximum Speed (new value) (1.05 seconds x 0.2) divided by 0.22 0.96 seconds 14. Enter the new time to accelerate to maximum speed in configuration file F8 (words 30-31). 15. Set the SLC Servo Module in Estop. 16. Toggle the bit (word 0, bit 15) to download this configuration. 17. Reset Estop.
7-24 Setting Up Your SLC Servo Module Setting Axis and Home Specific Parameters The rest of the parameters are axis and home specific. You can set these parameters up to the value that you want, but we recommend that the home speeds be about 1% of the maximum speed. Configuring the SLC Servo Module Programming Conventions The SLC Servo Module accepts and generates different types of data: • Binary data that is compatible with the binary or integer files for the SLC processor.
Setting Up Your SLC Servo Module 7-25 Figure 7.2 Typical Ladder Program In the ladder above, the floating-point file F8:0 and integer file N7:0 contain the configuration that you want for the SLC Servo Module in slot 1. They are copied once to the M0 file for slot 1 when requested. The configuration parameters are described later in this chapter. When an error is generated, the following events occur: • CONFIG INV LED is lit. • Errors are reported in word I:1.4 in decimal format.
7-26 Setting Up Your SLC Servo Module Configuration Parameters This section provides information to help you set discrete and floating-point parameters for the SLC Servo Module. These parameters are grouped according to their function: • • • • • • Feedback parameters Servo loop parameters Motion parameters Axis parameters Homing parameters System parameters You can determine these parameters by using the integration procedure described in the Setting Up Your SLC Servo Module chapter.
Setting Up Your SLC Servo Module 7-27 Servo Loop Parameters Servo loop parameters specify the following: • Control axis motion • DAC output to the axis drive • Gain and excess following error Figure 7.4 and Figure 7.5 show how servo loop parameters work in a standard closed loop and a velocity feedforward loop. Most servo loop parameter values are determined by using information in the Setting Initial Loop Type section of the Setting Up Your SLC Servo Module chapter. Figure 7.
7-28 Setting Up Your SLC Servo Module Figure 7.5 Servo Loop Parameters in a Velocity Feedforward Loop Control Axis Motion Motor Tach Encoder Velocity and Acceleration Feedforward Position Command Following Error + + Axis Feedrate + D/A Drive Amplifier Velocity Command + _ _ Maximum Axis Gain Position Velocity Feedback Incremental Position Feedback = and integrator = and amplifier The following table contains the name, file location, and a brief description of the Servo Loop parameters.
Setting Up Your SLC Servo Module 7-29 Name Location Description Excess Following Error M0:s.38,39 Value of the following error beyond which an excess following error fault occurs in position units. Output Voltage at + Max Speed M0:s.24,25 The voltage at the DAC to command the Maximum Axis Speed in the positive direction in volts. Output Voltage at – Max Speed M0:s.26,27 The voltage at the DAC to command the Maximum Axis Speed in the negative direction in volts.
7-30 Setting Up Your SLC Servo Module Axis Parameters Use the axis parameters in the following table to specify your axis configuration. Name Location Description Rollover Position M0:s.12,13 Value of the position register when it changes from the highest value to 0 if moving in the positive direction. Value of the position register when it changes from 0 to the highest value if moving in the negative direction in position units. Software Overtravels Used M0:s.
Setting Up Your SLC Servo Module 7-31 Name Location Description Speed/Direction of Move Off the Limit Switch M0:s.18,19 This parameter is used during all homing operations except Homing Without a Limit Switch or Marker. Speed/Direction of Move to the Marker M0:s.20,21 This parameter is used during all homing operations except Homing Without a Limit Switch or Marker. Home Tolerance M0:s.36,37 Specifies the position band around the home position.
7-32 Setting Up Your SLC Servo Module Name Location Description Inhibit Major Fault Code M0:s.1/10 This bit, when set, inhibits (i.e., forces major fault code sent to SLC to 0) the reporting of all major fault codes in the SLC Servo Module to SLC processor Discrete Control Status. When clear, all major faults detected by the SLC Servo Module are reported to the SLC processor. You must clear them using either the Clear Fault or Clear All Faults bit. Inhibit Actual Position M0:s.
Setting Up Your SLC Servo Module 7-33 whether the final move to the marker is required. Four options are outlined in the table below. Option Final Move to Which Marker? parameter is set to: Final Move to Marker? parameter is set to: 1 0 No (0) 2 0 Yes (1) 3 1 No (0) 4 1 Yes (1) An example of each option is given on the following pages.
7-34 Setting Up Your SLC Servo Module If the current axis position is x, then the following occurs: • The axis moves one revolution of the feedback device in the direction and at a speed specified by the Home Axis command (i.e., toward Marker #2 for this example). • Marker #2 is found during the move, but because Final Move to Marker? is set to No (0): • The final axis move does not take place. • The current position of the axis is set to the configured Home Position + the distance to Marker #1 (i.e.
Setting Up Your SLC Servo Module EXAMPLE Marker #1 7-35 Current PositionMarker #2 – . . . . | . . . . . . . . . . .x . . . . . . . . . . . . . . . . . . . . . . . . . | . . . . + If the current axis position is x, then the following occurs: • The axis moves one revolution of the feedback device in the direction and at a speed that is specified by the Home Axis command (i.e., toward Marker #2 for this example).
7-36 Setting Up Your SLC Servo Module EXAMPLE Marker #1 Current PositionMarker #2 – . . . . | . . . . . . . . . . . . . . . . . . . x . . . . . . . .. . . . . . . . . | . . . . + If the current axis position is x, the following occurs: • The axis moves one revolution of the feedback device in the direction and at the speed specified by the Home Axis command (i.e., toward Marker #2 for this example) and stops.
Setting Up Your SLC Servo Module EXAMPLE Marker #1 7-37 Current PositionMarker #2 – . . . . | . . . . . . . . . . . . . .X . . . .. . . . . . . . . . . . . . . . . . . | . . . . + If the current axis position is x, the following occurs: • The axis moves one revolution of the feedback device in the direction and at the speed specified by the Home Axis command (i.e., toward Marker #2 for this example) and stops.
7-38 Setting Up Your SLC Servo Module The current position of the axis is set to the configured Home Position + Home Calibration. IMPORTANT To configure and program for a unidirectional axis, the signs of both the speed specified in the Home Axis command and the Speed/Direction of Move Off the Limit Switch must be the same and Final Move to Marker? is set to No (0).
Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Overview This chapter provides configuration information for the SLC processor and the SLC Servo Module. It also contains instructions for programming the module for the command mode of operation.
8-2 Programming the SLC Processor to Run the SLC Servo Module You can download to the module using two copy file instructions to the M0 file of the SLC Servo Module: • First copy instruction copies discrete information • Second copy instruction copies floating-point information Depending on the values specified in the configuration, the module can accept the data or generate configuration errors through the module input status words described in the Understanding Configuration Errors section of this chapt
Programming the SLC Processor to Run the SLC Servo Module Block Command Parameters Blend Move Profile Number of Blend Points Source N File Location1 Nn:0 Nn:1 Destination M File Location2 Format Possible Values M0:s.0 M0:s.1 BITS 11XX XXXX XXXX PPPP USHORT 1 to 32 1 Nn -Source N file number containing the module configuration data. 2 s - Slot number for the SLC Servo Module to be downloaded 8-3 Default 0.0 0.0 .
8-4 Programming the SLC Processor to Run the SLC Servo Module corrupt the M File data before it gets transferred in the SLC Servo Module to the profile storage or module configuration location. If an error is generated, the CONFIG INV LED is turned on and errors are reported in I:2.4 and the CONFIG INVALID bit I:2.1/14 (I:2/30) is set. Command and Status Information This primary interface to the module remains active while you are configuring the module to report errors flagged during configuration.
Programming the SLC Processor to Run the SLC Servo Module 8-5 Figure 8.2 SLC Processor/Servo Module Communication SLC LADDER EXECUTION SLC SERVO I/O Image Table SLC LADDER I/O SCAN 12 OUTPUT WORDS 12 INPUT WORDS SLC Servo Module Every Coarse Iteration 4.8 to 9.6 Milliseconds IMPORTANT Discrete Bit Commands from the SLC Processor While developing the ladder logic, take into account the update rate of the SLC Servo Module.
8-6 Programming the SLC Processor to Run the SLC Servo Module Word 0 Discrete Bit Commands Bit Specifications Location1 Description Estop Request O:s.0/0 The Estop request (word 0, bit 0) causes the SLC Servo Module to enter Estop and cancels all executing moves when the request occurs. If an old move needs to be executed again, the SLC Ladder resubmits the move after recovering from the Estop condition. The move complete bit is set when the SLC Servo Module enters Estop.
Programming the SLC Processor to Run the SLC Servo Module 8-7 Bit Specifications Location1 Description Turn On/Off Fast Output O:s.0/7 Turn On/Off Fast Output (FOUT) (word 0, bit 7) turns the fast output on (1) and off (0). Turn On/Off Module Requests for Service O:s.0/8 Turn On/Off Module Requests for Service (word 0, bit 8) turns module requests for service on (1) and off (0).
8-8 Programming the SLC Processor to Run the SLC Servo Module Word 1 Discrete Bit Commands Bit Specifications Location1 Reserved O:s.1/0 Reserved O:s.1/1 On Home Limit O:s.1/2 Reserved O:s.1/3 through 1/7 Clear Fault O:s.1/8 Clear Fault (word 1, bit 8), when set, clears the informational message or fault, currently reported in the fault code word I:s.4 by the SLC Servo Module. Toggle this bit to clear each informational message or fault reported by the SLC Servo Module.
Programming the SLC Processor to Run the SLC Servo Module 8-9 As each block command is executed, the SLC Servo Module informs the SLC processor in a closed-loop fashion, using the SLC Servo Module to SLC processor discrete status bits. IMPORTANT If command parameter preparation requires more than one program scan, set up the accompanying parameters before setting the command bit.
8-10 Programming the SLC Processor to Run the SLC Servo Module The Incremental Position command is active all the time. It can execute along with other interpolated moves from the mutually exclusive interpolated moves described in the next section except for the blend profile move. This allows you to make offset position adjustments while an interpolated move (i.e., absolute/incremental move or speed move) is executing.
Programming the SLC Processor to Run the SLC Servo Module 8-11 Simple Move Commands All simple moves are mutually exclusive. The simple move commands are the Absolute/Incremental, Speed, Monitor, and Run Blend Move Profile commands. The currently executing move is considered complete when a new move is commanded by the SLC processor.
8-12 Programming the SLC Processor to Run the SLC Servo Module position, causing a positive or negative move, depending on the current axis position. Absolute and incremental move parameters for word 4, bit 0/1 appear in the table below. Block Command Parameters Absolute Move OR Incremental Move More Bit Specifications % Acceleration Ramp Speed Position/Decrement 1 Location1 Format Possible Values Default O:s.4 BITS O:s.5 O:s.6-O:s.7 O:s.8-O:s.9 O:s.10-O:s.
8-13 Programming the SLC Processor to Run the SLC Servo Module The Absolute/Incremental move ends if any one of the following occurs: • The move reaches its destination. • The SLC processor cancels the move. The Cancel Move bit is used to cancel the absolute or incremental component of the move. Setting the Cancel Move bit does not affect an incremental position command component (i.e., the specified incremental position command continues unless it is set to zero). • An Estop occurs.
8-14 Programming the SLC Processor to Run the SLC Servo Module The example initiates an absolute move: • To 20.0 position units • At 500.0 position units per time base • At 100% of the maximum acceleration specified in the configuration The absolute move described above occurs if: • The module is out of Estop • The maximum speed configured is more than 500.0 position units per minute • The axis is homed The speed profile for the move is trapezoidal or triangular as shown in Figure 8.5 and Figure 8.6.
Programming the SLC Processor to Run the SLC Servo Module 8-15 Typically, the absolute and incremental moves do the following: • • • • • • • Set the Absolute/Incremental Move in Progress bit. Set the Status Acceleration bit. Accelerate to the programmed velocity. Clear the Status Acceleration bit. Continue at the commanded velocity to the deceleration point. Set the Status Deceleration bit. Decelerate to a stop at the target position at the commanded deceleration rate.
8-16 Programming the SLC Processor to Run the SLC Servo Module The speed move ends if any one of the following occurs: • The move reaches an overtravel limit if overtravel limits are specified. • The SLC processor cancels the move. The Cancel Move bit is used to cancel the speed component of the move. Setting the Cancel Move bit does not affect an Incremental Position command component (i.e., the specified incremental position command continues unless it is set to zero). • An Estop occurs.
Programming the SLC Processor to Run the SLC Servo Module 8-17 The example initiates a speed move: • At 10 position units per timebase • At 100% of the maximum acceleration specified in the configuration The speed move occurs if: • The module is out of Estop • The maximum speed configured is more than 10 position units per minute Using the Monitor Move Command The monitor move command allows you to move the axis by external means with the following error set to 0 and the position monitored and updated.
8-18 Programming the SLC Processor to Run the SLC Servo Module Figure 8.8 Monitor Move Command Block Diagram The table below contains data for a typical monitor move. Word 0 1 2 3 4 5 N31:0 8 0 0 0 0 0 This example cancels an existing move and initiates a monitor move. Using the Run Blend Move Profile Command The Run Blend Move Profile command allows you to download a series of absolute moves and execute them by issuing a single Run Blend Move Profile command.
Programming the SLC Processor to Run the SLC Servo Module 8-19 The Run Blend Move Profile ends if any one of the following occurs: • Move reaches the end point of the last move in the move profile. • The SLC processor cancels the move. The Cancel Move bit is used to cancel the positioning component of the move. The Incremental Position command is not active while it is in the run blend move profile. • Estop occurs. • The SLC processor sends another move from the mutually exclusive move set.
8-20 Programming the SLC Processor to Run the SLC Servo Module Executing a Run Blend Move Profile Typically, a profile contains from 2 to 32 segments. In many applications, you must quickly execute a series of short sequential moves. Blend move profile provides this capability.
Programming the SLC Processor to Run the SLC Servo Module 8-21 Figure 8.11 Speed Increases, Direction Same, End Point Greater Velocity 0 Time 0 End point of the current move. The current move end point is less than the end point for the new move. The speed for the new move is greater than the speed for the old move. Figure 8.12 Speed Increases, Direction Opposite, End Point Less Velocity 0 Time 0 End point of the current move. The current move end point is less than the end point for the new move.
8-22 Programming the SLC Processor to Run the SLC Servo Module Figure 8.13 Speed Increases, Direction Opposite, End Point Less Velocity Execute several blend moves 0 Time 0 End point of the current move. The current move end point is less than the end point for the new move. The speed for the new move is opposite to the speed for the current move. Blending Moves An executing move is considered complete when a new move is commanded by the SLC processor.
Programming the SLC Processor to Run the SLC Servo Module 8-23 Figure 8.14 Speed Decreases, Direction Same, Position Greater Velocity Blended velocity profiles to permit high speed traverse and low speed absolute moves. 0 0 Time Initiate new Blend Absolute move. The current position is less than the target position for the new move. The speed for the new move is less than the speed for the old move. Figure 8.
8-24 Programming the SLC Processor to Run the SLC Servo Module Blending Incremental Moves If an incremental move is initiated while: Another incremental move is executing An absolute move is executing A speed move is executing The resulting move is: The sum of the two move distances. Equal to the sum of the target position for the absolute move and the distance for the incremental move. The sum of the current position and the distance for the new incremental move.
Programming the SLC Processor to Run the SLC Servo Module 8-25 Figure 8.18 Speed Increases, Direction Same Velocity 0 Time 0 Initiate new Blend Speed move. The speed direction for the new move is the same as the speed direction for the old move. The speed for the new move is greater than the speed for the old move. Figure 8.19 Speed Slows to Stop, Direction Reverses Velocity Time 0 0 Initiate new Blend Speed move.
8-26 Programming the SLC Processor to Run the SLC Servo Module The Plan Synchronized Move bit: • Can be set along with a move in the mutually exclusive move set. • Tells the motion environment to hold the execution of the associated move until a synchronize signal is received from the backplane or as a fast input from the termination panel. • Can be used to synchronize the execution of a mutually exclusive move or several moves to be executed on different modules.
Chapter 9 Programming System Variables Overview This chapter provides information to help you program the module for the command mode of operation.
9-2 Programming System Variables The Speed/Direction to Start Homing Axis value is signed. The sign specifies the direction the axis is to move. If: The speed specified is greater than the maximum axis speed Any error occurs while homing the axis Then: The speed for the move is limited to the maximum axis speed. The SLC processor is notified with an appropriate fault code. Planning a Home Axis Move Figure 9.
Programming System Variables 9-3 A home axis move is initiated if the float data table is: Word 0 (Accel/Decel) 1 (Velocity) F27:0 1.0 2 3 4 5 20.0 And the integer data table is: Word 0 1 2 3 4 5 N32:0 0 0 0 0 0 1 Using the Set Home Command The Set Home command sets the current commanded position equal to the specified set home position and tells the system that the axis is homed. Set Home parameters for word 5, bit 1 appear in the table below.
9-4 Programming System Variables Typical Set Home Move Data Tables Before executing a Set Home move, set Source B for the Equal instruction in Figure 9.1 to 2. A Set Home command to set the command position to –1.0 is initiated if the float data table is: Word 0 (Position) F27:0 –1.
9-5 Programming System Variables After the Set Retract Position is executed, the position is valid for performing the Retract Position operation if the following conditions exist: • Axis is homed • Specified speed is greater than the maximum axis speed if the speed for the move is limited to the maximum axis speed. Typical Set Retract Position Move Data Tables Before executing a Set Retract move, set Source B for the Equal instruction in Figure 9.1 to 4.
9-6 Programming System Variables This command is useful when you want to set the current position of the axis to a certain predetermined or preset value. If the Preset Position command fails, the SLC processor is notified with an appropriate error message. Typical Preset Position Move Data Tables Before executing a Preset Position move, set Source B for the Equal instruction in Figure 9.1 to 8. A Preset Position command to set the command position to 5.
Programming System Variables 9-7 successfully homed. Set Offset parameters for word 5, bit 4 appear in the table below. Block Command Parameters Location1 O:s.4 O:s.5 O:s.6-O:s.7 Bit Specifications Set Offset Offset 1 Format Possible Values Default Bits Bits Float 0000 0000 0000 0000 0000 0000 0001 0000 –axis travel limit to +axis travel limit 0 0 0.0 s = Slot number for the SLC Servo Module.
9-8 Programming System Variables If the Set In-Position Band command fails, the SLC processor is notified with an appropriate error message. Typical Set In-Position Band Move Data Tables Before executing a Set In-Position Band move, set Source B for the Equal instruction in Figure 9.1 to 256. A Set In-Position Band command to 0.1 is initiated if the float data table is: Word 0 (Position) F27:0 0.
Programming System Variables 9-9 Typical Set Excess FE Limit Move Data Tables Before executing a Set Excess FE Limit move, set Source B for the Equal instruction in Figure 9.1 to 512. A Set Excess FE command to 0.1 is initiated if the data tables are: Word 0 F27:0 0.1 N32:0 0 1 2 3 4 5 0 0 0 0 512 Using the Set Axis Gain Command The Set Axis Gain command sets the current axis gain to equal the specified value. Set Axis Gain parameters for word 5, bit 10 appear in the table below.
9-10 Programming System Variables For example, the following three tables show how the gain can be manipulated for and during a given motion: • Gain can be manipulated for and during a given motion when the SLC sends Set Axis Gain with a gain value of 1: Word # 0 through 3 4 5 6, 7 Value 0000 0000 0000 0000 0000 0000 0000 0000 0000 0100 0000 0000 1.0 Description Bit commands N/A Set Axis Gain Gain = 1.
Programming System Variables 9-11 Using the Set VFF Command The Set VFF command specifies the amount of position command fed forward to reduce the amount of following error during axis motion. Set VFF parameters for word 5, bit 11 appear in the table below. Block Command Parameters Location1, 2 O:s.4 O:s.5 O:s.6-O:s.7 Bit Specifications Set VFF Velocity Feedforward Constant Format Possible Values Default Bits Bits Float 0000 0000 0000 0000 XXXX 1XXX 0000 0000 0.0 to 1.0 0 0 0.
9-12 Programming System Variables Word 0 Discrete Bit Status Specifications The bit specifications, given in the table below, are illustrated in Figure 9.2. 1 Bit Specifications Location1 Series/major Rev/minor Rev I:s.0/0 through 0/10 Reserved I:s.0/11 through 0/15 s = Slot number for the SLC Servo Module. Figure 9.
Programming System Variables 9-13 Word 1 Discrete Bit Status Specifications Bit Specifications Location1 Description Axis Ready I:s.1/0 Bit 0 signals that the motion control has powered up successfully. Other I/O bits are not valid unless this bit is set. Estop State I:s.1/1 This bit is set when the SLC Servo Module is in Estop. The bit is cleared when the operator or SLC Ladder Logic has performed an Estop reset. Information Message I:s.
9-14 Programming System Variables Word 2 Discrete Bit Status Specifications SLC Servo Module Bit Specifications Location1 Description In-Position I:s.2/0 This bit is set when the actual position for the axis is within the in-position band of the end position of the currently executing move. The in-position band must be greater than or equal to the system’s standing following error but smaller than the magnitude of the position move.
Programming System Variables 9-15 Word 3 Discrete Bit Status Specifications Bit Specifications Location1 Description Absolute Move In Progress I:s.3/0 Absolute move is in progress. Incremental Move In Progress I:s.3/1 Incremental move is in progress. Speed Move In Progress I:s.3/2 Speed move is in progress. Monitor Move In Progress I:s.3/3 Monitor move is in progress. Blend Move In Progress I:s.3/4 This bit is set when the corresponding move is in progress. Reserved I:s.3/5 through I:s.
9-16 Programming System Variables Status Block Parameters Informational Message Or Fault Code Reserved Actual Position Location1 Format Possible Values Default I:s.4 USHORT 0 to 65,535 0 I:s.5 I:s.6-I:s.7 STDSHORT Float 0 0.0 Following Error I:s.8-I:s.9 Float Current Speed I:s.10-I:s.11 Float –32,767 to +32,767 –axis travel limit to +axis travel limit –axis travel limit to +axis travel limit -physical limit to +physical limit 1 0.0 0.
Chapter 10 Troubleshooting Overview This chapter contains information that helps you to perform the troubleshooting and error handling procedures.
10-2 Troubleshooting Hardware Setup Check wiring to diagram, get the FDBK/UPWR light out. This insures that you have feedback, and all of the required user power. 1. Do you have 0.00 – 0.80 for off state or 4.75 – 5.25 VDC on the encoder signals. 2. Are all of the DC commons tied together and to ground as shown in the manual. 3. Are all of the voltages present 5V, +15V, -15V, 24VDC. Do a battery box test. (If unable to control drive) 1.
Troubleshooting 10-3 You can download to the module using two copy file instructions to the M0 file of the SLC Servo Module: • • The first copy file instruction copies discrete information. • • The second copy file instruction copies floating-point information. Depending on the values specified in the configuration, the module accepts the data or generates configuration errors through module input status words. If CONFIG INV LED is Lit • • Errors are reported in word I:1.4 in decimal format.
10-4 Troubleshooting The following diagram shows the Data Table with the values in file F8. Figure 10.2 Data table for File F8 The following diagram is of the Data table for file N7. It displays the integer values used in the rung. Figure 10.3 Data Table for file N7 The above config. is for a Y-series servo 4500 rpm motor and 2000 line encoder, units are scaled for the RPM. The bits set in the Integer are basically homing to limit sw. and marker, with the home switch connected to FIN 3 on the HT panel.
Troubleshooting 10-5 Jog the Axis Using the Speed Move Command The speed move command generates a move at the specified speed in the direction determined by the sign of the speed specified. The speed move ends if any one of the following occurs: • • The move reaches an overtravel limit if overtravel limits are specified. • • The SLC processor cancels the move. The Cancel Move bit is used to cancel the speed component of the move.
10-6 Troubleshooting Figure 10.6 Data table for File N31 The above configuration is for a SPEED move at 100% accel/decel at 50 (RPM). Troubleshooting LED Indicators The RUN, FDBK/U. PWR, and CONFIG INV LED indicators on the SLC Servo Module serve as diagnostic tools for troubleshooting. Refer to the table below for general conditions. General Condition Potential Cause The RUN LED is not green. Indicates a major SLC Servo Module malfunction or lack of power from the backplane or the user supplies.
Troubleshooting 10-7 The following table shows the status indicators for the LEDs and what action might need to be taken. When the LED status indicators Your system status is: are: And the action to take is: RUN FDBK/U.PWR CONFIG INV On Off Off System O.K. Continue RUN FDBK/U.PWR CONFIG INV Off Off Off Power is not applied or there is a catastrophic failure. Apply power RUN FDBK/U.PWR CONFIG INV Off Off On Hardware failure 1. Troubleshoot RUN FDBK/U.
10-8 Troubleshooting Informational Messages Informational Potential Cause Message No. Possible Resolution 2 Tried to exit Estop after a nonrecoverable Estop has occurred. 1. Remove watchdog disable jumper. 2. Cycle power. 3 A set Initialize Retract Position command was attempted from the SLC processor while the SLC Servo Module was in Estop. The axis is not homed, or the motion is not complete. • If in Estop, reset Estop. • If not homed, home the axis.
Troubleshooting Informational Potential Cause Message No. 10-9 Possible Resolution 18 Speed move was attempted in Estop. 1. Reset Estop. 2. Reinitiate the command. 19 Monitor move was attempted in Estop. 1. Reset Estop. 2. Reinitiate the command. 22 Blend move profile was attempted in Estop. 1. Reset Estop. 2. Reinitiate the command. 25 Home was attempted in Estop. 1. Reset Estop. 2. Reinitiate the command. 26 Absolute move was attempted when not homed. 1. Home the axis. 2.
10-10 Troubleshooting Informational Potential Cause Message No. Possible Resolution 45 Manufacturing test command was issued. Verify that the SLC processor never initiates this command. 46 Blend move profile was attempted while Incremental Position command is enabled. Blend move profile command can execute only if the Incremental Position command is disabled. Minor Fault Messages Minor Fault Potential Cause Message No. Possible Resolution 1024 Program motion queue is full.
Troubleshooting Minor Fault Potential Cause Message No. Possible Resolution 1040 Speed of move off the limit switch is out of range. If the speed specified is less than one feedback count per coarse iteration time or greater than the maximum speed configured, change the parameter specification. 1041 Speed of move to marker is out of range. If the speed specified is less than one feedback count per coarse iteration time or greater than the maximum speed configured, change the parameter specification.
10-12 Troubleshooting Minor Fault Potential Cause Message No. Possible Resolution 1063 The excess follower error is out of range. If the excess FE is too big or too small, change the parameter. 1064 The in position band is out of range. If the in position band is too big or too small, change the parameter. 1065 The loop type specified is out of range. Valid loop types for the two bit field are: 00 - Open Loop 10 - FE Loop 01 - ZFE Loop (VFF) 1066 The home type specified is out of range.
Troubleshooting Major Fault Potential Cause Message No. 2051 No communication with the SLC Servo Module has occurred within the last 5 seconds. This error causes Estop. 10-13 Possible Resolution 1. Reset from Estop. 2. If the problem occurs again check the SLC processor. Note: Switching from run mode to program mode on the SLC Servo Module also causes this error to appear. 2052 Set on power-up. Issue a Clear Fault (O:s.1/8) or a Clear all faults (O:s.1/9) 2053 SLC Servo Module requesting Estop.
10-14 Troubleshooting Publication 1746-6.1.
Appendix A Input/Output Quick Reference Configuration Output Bit Parameters Use the following tables to locate word 0, word 1, word 2 and multi-word configuration output bit parameters. Word 0 Parameters Parameter Name (Parameter Group) Destination M1 FileLocation Range Default Additional Information DAC Enable (Servo Loop) M0:s.0/0 Yes (1) / No (0) Yes Move commands are executed but, all motion is inhibited.
A-2 Input/Output Quick Reference Parameter Name (Parameter Group) Destination M1 FileLocation Range Default Additional Information Loop Type (Servo Loop) M0:s.0/5, M0:s.0/4 00 - Open Loop, (5=0, 4=0) Standard The feedback loop is not closed and incremental position commands are scaled to the DAC output. They are sent as the velocity command voltage to the servo drive that is used to calibrate the drive.
Input/Output Quick Reference Parameter Name (Parameter Group) Destination M1 FileLocation Range Default A-3 Additional Information 01 – Homing to a Marker, (10=0, 9=1), Specifies that the axis is homed by moving to a marker. The two parameters, Final Move to Which Marker? and Final Move to Marker?, specify which marker to move to and whether the final move to the marker is required or not.
A-4 Input/Output Quick Reference Word 1 Parameters Parameter Name (Parameter Group) Limit Source (Homing) Synchronized Move Source (Motion) Reserved Discrete Bit Status Word 0 Definition (System) Destination M File Location1 M0:s.1/0 M0:s.1/1 M0:s.1/2 through M0:s.1/5 M0:s.1/7, M0:s.1/6 Range Default Additional Information Term Panel (1) / Backplane (0) Term Panel (1) / Backplane (0) Backplane Assign the home limit from the termination panel.
Input/Output Quick Reference A-5 Word 2 Parameters Parameter Name (Parameter Group) Fits per CIT (System) Reserved Reserved Destination M Range FileLocation1 M0:s.2/0 through 3 to 6 M0:s.2/3 Default Additional Information 3 One coarse iteration represents the servo loop closure time. The fine iteration time on the SLC Servo Module is 1.6 msec. The default Fits per CIT provides a 4.8 msec servo loop closure time.2 M0:s.2/4 through M0:s.2/15 M0:s.3 0 0 1 s = Slot number for the SLC Servo Module.
A-6 Input/Output Quick Reference Parameter Name (Parameter Group) Destination M File Location1 Range Default Additional Information Positive Overtravel Limit (Axis) M0:s.8,s.9 Negative Overtravel Limit to +axis travel limit 100.0 Value can be positive or negative, but must be more positive than the Negative Overtravel Limit. Control checks this parameter only if the Software Overtravels Used parameter is set to yes. Overtravels are active only after the axis is homed.
Input/Output Quick Reference A-7 Parameter Name (Parameter Group) Destination M File Location1 Range Default Additional Information Output Voltage at + Max Speed – Volts (Servo Loop) M0:s.24,s.25 0.0 to 10.0 10.0 This parameter has a default value of (+10.0V). This default uses the full range of the control’s DAC (2048 counts). If you specify a value that is less than the default value, the control scales the number of DAC counts in use accordingly. For example, if you enter +2.
A-8 Input/Output Quick Reference Parameter Name (Parameter Group) Destination M File Location1 Range Default Additional Information Velocity Feed Forward Constant (Servo Loop) M0:s.32,s.33 0.0 to 1.0 0.0 This parameter is active only when the Loop Closure Method is set to velocity feedforward. Units are in percentage and represent the portion of the velocity command controlled by the pre–calculated final velocity.
Input/Output Quick Reference Parameter Name (Parameter Group) Destination M File Location1 Excess Following Error M0:s.38,s.39 Limit –Position Units (Servo Loop) Range Default Additional Information 0.0 to axis travel limit 3.
A-10 Input/Output Quick Reference Discrete Bit Output Command (Word 0) Location1 O:s.0/0 O:s.0/1 O:s.0/2 O:s.0/3 O:s.0/4 O:s.0/5 O:s.0/6 O:s.0/7 O:s.0/8 O:s.0/9 through O:s.14 O:s.0/15 1 Bit Specifications Estop Request Retract Position Hold/Unhold Move Cancel Move Reserved Execute Synchronized Move Initialize Retract Position Turn On / Off Fast Output Turn On / Off Module Requests for Service Reserved Mode Flag s = Slot number for the SLC Servo Module.
Input/Output Quick Reference A-11 Block Output Command (Word 4) Location1 O:s.4/0 O:s.4/1 O:s.4/2 O:s.4/3 O:s.4/4 O:s.4/5 through O:s.4/ 14 O:s.4/15 1 Bit Specifications Absolute Move Incremental Move Speed Move Monitor Move Run Blend Move Profile Reserved Plan Synchronized Move s = Slot number for the SLC Servo Module. Block Output Command (Word 5) Location1 O:s.5/0 O:s.5/1 O:s.5/2 O:s.5/3 O:s.5/4 O:s.5/5 though O:s.5/7 O:s.5/8 O:s.5/9 O:s.5/10 O:s.5/11 O:s.5/12 O:s.5/13 through O:s.
A-12 Input/Output Quick Reference 1 s = Slot number for the SLC Servo Module. Word 1 Location1 I:s.1/0 I:s.1/1 I:s.1/2 I:s.1/3 I:s.1/4 I:s.1/5 I:s.1/6 through I:s.1/7 I:s.1/8 I:s.1/9 I:s.1/10 I:s.1/11 I:s.1/12 I:s.1/13 I:s.1/14 I:s.
Input/Output Quick Reference A-13 Word 3 Location1 I:s.3/0 I:s.3/1 I:s.3/2 I:s.3/3 I:s.3/4 I:s.3/5 through I:s.3/12 I:s.3/13 I:s.3/14 I:s.3/15 Bit Specifications Absolute Move in Progress Incremental Move in Progress Speed Move in Progress Monitor Move in Progress Blend Move in Progress Reserved Blend Move Profile Configuration in Progress Servo Configuration in Progress Synchronized Move Ready 1 s = Slot number for the SLC Servo Module.
A-14 Input/Output Quick Reference Blended Configuration Use the table below with the Blend Move Output Profile (word 0, bit 14) . Block Command Parameters Destination M File Location1 Blend Move Profile M0:s.0 Number of Blend Points M0:s.1 % Acceleration Ramp 1 M0:s.2-s.3 Speed 1 M0:s.4-s.5 Absolute Position 1 M0:s.6-s.7 % Acceleration Ramp 2 M0:s.8-s.9 Speed 2 M0:s.10-s.11 Absolute Position 2 M0:s.12-s.13 Reserved % Acceleration Ramp 32 M0:s.188-s.189 Speed 32 M0:s.190-s.191 Absolute Position 32 M0:s.
Appendix B Cable Dimensions and Wiring Diagram 1746-HCA Cable 1 This appendix contains the dimensions and wiring diagram for the 1746-HCA cable (Figure B.1). Publication 1746-6.1.
B-2 Cable Dimensions and Wiring Diagram Figure B.1 1746-HCA Cable Dimensions and Wiring Diagram Pin 1 25-pin D- sub connector (AMP 205208-3 male or equivalent) 2.1m (84in.
Appendix C Programming Examples This appendix provides ladder rung diagrams and any associated data tables that can help you to construct actual programs for the SLC Servo Module using the SLC processor. The ladder rung diagrams provide examples for triggering a configuration, downloading a configuration, setting a timer delay, checking for download errors, and clearing fault errors.
C-2 Programming Examples The following table for a typical I/O configuration used in the previous diagram shows the possible slot occupants with their catalog and card numbers. (Rack 1=1746 A4 4 slot backplane) Slot 0 1 2 3 Ladder Rung Examples Catalog # 1747-L542 1746-HSRV OTHER OTHER Card Description 5/04 CPU -20K USER MEMORY SLC Servo Module I/O Module - ID code = 10114 I/O Module - ID code = 10114 The following ladder rung examples may be modified to suit your particular application.
Programming Examples C-3 Figure C.3 Rung 1 This table contains floating-point configuration data for rung 1 as it appears when accessed by the program. Figure C.4 File F8 Data Table This table shows a breakdown of the integer values for each address. Address F8:0 F8:5 F8:10 F8:15 F8:20 Data 2000 8000 0 0 0 0 0 45 -45 0 10 –10 4500 1 0 0 0.5 10 0.01 1 0 Publication 1746-6.1.
C-4 Programming Examples This table shows the integer configuration data for rung 1 as it would appear when accessed from the program. Figure C.5 Data Table for File N7 The following table more readily displays the same binary data information.
Programming Examples C-5 Rung 3 – Checking For Successful Configuration Rung 3 is an example of checking for a successful configuration. After the one second delay, this rung checks for successful configuration. IMPORTANT Error processing is not part of this example and application programmers must handle errors as appropriate to their application. Figure C.7 Rung 3 Rung 4 – Downloading Blend Profiles This rung example shows how to download your blend profiles.
C-6 Programming Examples Data for the blend move in rung 4 appear in the following tables. The figure below shows the data table for file F51 as it appears in the program. The following data table displays the F51 file data as it would appear when accessed directly in the program. Figure C.9 Data Table for File F51 The following table breaks the data down by the address and function. It is the same data that appears in the previous diagram.
C-7 Programming Examples Figure C.10 File N50 Data Table The following table shows the binary data for the values in data file N50. Address N50:0 N50:1 Binary Data 15 14 13 1 1 0 0 0 0 12 0 0 11 0 0 10 0 0 9 0 0 8 0 0 7 0 0 6 0 0 5 0 0 4 0 0 3 0 0 2 0 1 1 0 0 0 0 1 Rung 5 – Setting the Timer Delay Rung 5 is an example of setting the timer to delay for one second. This rung starts the timer for a one second delay to check for any configuration download errors. Figure C.
C-8 Programming Examples Rung 6 – Error Checking For Successful Download Rung 6 is an example of error checking to see if the download was successful. Following the one second delay, it checks for the successful configuration download or errors. IMPORTANT Error processing is not part of this example and application programmers must handle errors as appropriate to their application. Figure C.
Programming Examples C-9 Rung 8 – Clear All Faults Bit This rung is an example of a Clear all Faults bit command. Rung 8 clears all errors in the FAULT (FIFO) on the SLC Servo Module when the bit is toggled. For more detailed information on clearing all faults using discrete bit commands, see the Word 1 Discrete Bit Commands table in Chapter 8, Programming the SLC Processor to Run the SLC Servo Module. Figure C.
C-10 Programming Examples For more detailed information on putting a move on Hold/Unhold using discrete bit commands, see the Word 0 Discrete Bit Commands table in Chapter 8, Programming the SLC Processor to Run the SLC Servo Module. Figure C.16 Rung 10 Rung 11 – Program an Estop Request The following example in Rung 11 shows how to program an Estop Request. When the bit (B3:0/9) is toggled, the SLC Servo Module is commanded to switch to the Estop state.
Programming Examples C-11 Figure C.18 Rung 12 Data for the absolute move in rung 12 appear in the following tables. The following diagram is of the data table for file F42 as it would appear when accessed from the program. Figure C.19 Data Table for File F42 The following table shows the values for file F42 with the appropriate addresses. Address Acceleration F42:0 1 Velocity Units/ Minute 1000 Position 1000 The next diagram shows the Data Table for File N31 when accessed from the program.
C-12 Programming Examples Figure C.20 Data Table for File N31 The following is a table representation of the previous diagram showing the applicable values. Address N31:0 Command 1 (Absolute) 0 Rung 13 – INCREMENTAL Move The following rung diagram is an example of how to enter an INCREMENTAL move command. Rung 13 initiates an INCREMENTAL move. The move parameters are located in file F43. The bits to set for initiating the move are in N31.
Programming Examples C-13 The following diagram shows what the data table for file F43 looks like when accessed directly from the program. Figure C.22 Data Table for File F43 Data for the incremental move in rung 13 with appropriate addresses appear in the following table. Address Acceleration F43:0 1 Velocity Units/ Minute 500 Position 20 The next diagram shows the Data Table for File N31 as it appears when accessed from the program. Figure C.
C-14 Programming Examples Rung 14 – SPEED Command Rung 14 is an example of how to enter a SPEED command in your program. This rung initiates a SPEED move. The move parameters are located in file F44 and the bits to set for initiating the move are in N31. For more information on adding an SPEED Move, see the SPEED move sections in Chapter 8, Programming the SLC Processor to Run the SLC Servo Module. Figure C.24 Rung 14 Data for the speed move in rung 14 appear in the following tables.
Programming Examples C-15 This diagram shows the N31 Data table as it appears when accessed from within the program. Figure C.26 Data Table for File N31 The following data is for File N31 as shown in table format. Address N31:0 Command 4 (Speed) 0 Rung 15 – MONITOR Move Rung 15 gives an example of how to enter a MONITOR move command. This rung initiates a MONITOR move. The bit specifications are in file N31.
C-16 Programming Examples Figure C.28 Data table for File N31 This table shows the incremented value as represented in the previous diagram. Address N31:0 Command 8 (Monitor) 0 Rung 16 – BLEND Move An example of a BLEND move is shown in Rung 16. It initiates a BLEND move. The bit specifications for this move are in file N52. For more information on adding an BLEND Move, see the sections on the BLEND move in Chapter 8, Programming the SLC Processor to Run the SLC Servo Module. Figure C.
Programming Examples C-17 Figure C.30 Blend Move Data Table for File N52 The following is a table representation of the previous diagram. Address N52:0 Command 16 (Blend) 0 0 Rung 17 – Clearing Move Bits This is an example of how to clear the move bits. Rung 17 clears the move bits. The bit specifications are in file N31. Figure C.31 Rung 17 This diagram shows the Data table for File N31. Publication 1746-6.1.
C-18 Programming Examples Figure C.32 Data Table for File N31 The table below is a table of the values shown in the previous diagram. Address N31:0 Command 0 0 Rung 18 – Copying Status Information The following example shows how to copy the status information to the data file. Rung 18 copies the position, following error, and speed from the SLC Servo module status area to the floating-point file F48.
Programming Examples C-19 Figure C.34 File F48 Data Table The following table shows the data with the appropriate address headings for the previous diagram. Address F48:0 Actual Position Following Error Velocity Units/ Minute -196.008 –0.105227 -98.4375 Rung 19 – HOME Axis This rung is an example of how to enter a home axis move. The home axis parameters are in files N32 and F27.
C-20 Programming Examples Figure C.35 Rung 19 Data for the home axis move in rung 19 appear in the following tables. Figure C.36 Homing Data Table The following table shows the data under the appropriate addresses as shown in the previous diagram. Address Acceleration F27:0 1.0 Velocity Units/ Minute 20.0 The following diagram shows the data table for File N32 as it appears when accessed from the program. Publication 1746-6.1.
Programming Examples C-21 Figure C.37 Home Command Data Table The following is a table representation of the data in the previous diagram. Address N32:0 Data 0 0 0 0 0 1 Rung 20 – Final Rung The following example shows what the final rung in a ladder program looks like. Rung 20 ends the ladder file. Figure C.38 Rung 20 Publication 1746-6.1.
C-22 Programming Examples Publication 1746-6.1.
Appendix D Wiring Without the Termination Panel Overview This appendix covers how to wire your SLC Servo Module without a termination panel and includes the following topics: • Using fast inputs and outputs • Distances to user devices • Wiring your hardware If you don’t use a termination panel, you must wire from the connectors on the SLC Servo Module to these user devices: • • • • • Using Fast Inputs and Outputs Fast inputs and outputs Estop Reset push-button, Estop string, and Estop relay Power supp
D-2 Wiring Without the Termination Panel Figure D.1 Circuitry in the SLC Servo Module for Fast Inputs and Outputs Input Circuit 2 1 47 ohms P in #5, 4, or 3 24V circuit .01microfarads 15 ohms Output Circuit 1 2 P in #2 5V circuit SLC Sevo Module Distances to User Devices There are no distance limits for encoders or drives. Given the limits of your power supply, you must calculate the maximum distance at which the current requirements for the drive or encoder are met.
Wiring Without the Termination Panel D-3 Wiring diagrams supplied in this manual appear in the table below.
D-4 Wiring Without the Termination Panel Publication 1746-6.1.
A Absolute/Incremental Move block command parameters 8-12 typical data table 8-13 algorithm camming 8-9 gearing 8-9 interpolation 8-9 application examples processor file C-2 axis parameters Negative Overtravel Limit 7-30 Positive Overtravel Limit 7-30 Reversal Error Value 7-30 Rollover Position 7-30 Software Overtravels Used 7-30 B Blend Move Profiles 8-1 command block parameters 8-2 configuration downloading 8-1 errors 8-2 PPPP bits 8-3 block command parameters Absolute/Incremental Move 8-12 Monitor Move
I-2 simple move 8-11 Words 0 and 1 8-8 Words 2 and 3 8-8 Words 4 through 11 8-8 documentation related P-4 drive control module signal specifications 2-7 selecting 2-7 drives adjustment options 7-2 Allen-Bradley compatible 5-10 Allen-Bradley installation references 5-18 selecting 2-1 wiring diagram 1386 5-19 1388 5-20 1389 5-21 1391 5-23 1392 5-25 1394 5-26 wiring figure references 5-18 E encoder selecting 2-5 specifications 2-6 encoders 15V feedback connections 5-17 5V feedback connections 5-17 cable leng
I- 3 Word 0 A-10 Word 1 A-10 Word 4 A-11 Word 5 A-11 Words 2 and 3 A-10 configuration output bit parameters Word 0 A-1 Word 1 A-4 Word 2 A-5 Word or Multi-Word A-5 discrete control status A-13 status Word 0 A-11 Word 1 A-12 Word 2 A-12 Word 3 A-13 Installation 4-1 Mounting the Termination Panel 4-5 installation connecting the termination panel 4-7 grounding the SLC Servo Module 4-4 SLC Servo 4-2 wiring practices 3-1 L LED Indicators 10-6 M M files M0 7-11 M1 7-11 manual contents P-2 conventions used P-5
I-4 Limit Source 7-30 Speed/Direction of Move Off the Limit Switch 7-31 Speed/Direction of Move to the Marker 7-31 parameters, motion In-position Band 7-29 Maximum Axis Speed 7-29 Synchronized Move Source 7-29 Time to Maximum Axis Speed 7-29 Velocity Time Base 7-29 parameters, servo loop Acceleration Feedforward Constant 7-28 DAC Enable 7-28 Excess Following Error 7-29 Invert DAC 7-28 Loop Type 7-28 Maximum Axis Gain Value 7-28 Output Voltage at - Max Speed 7-29 Output Voltage at + Max Speed 7-29 Reverse F
I- 5 typical data table 8-19 S Safety Precautions P-1 servo loop parameters Acceleration Feedforward Constant 7-28 DAC Enable 7-28 Excess Following Error 7-29 Invert DAC 7-28 Loop Type 7-28 Maximum Axis Gain Value 7-28 Output Voltage at - Max Speed 7-29 Reverse Feedback 7-28 Velocity Feedforward Constant 7-28 Servo Module setting up determining acceleration feedforward 7-23 drive adjustments 7-2 motion control position loop 7-2 theory 7-2 specific parameters home 7-24 status information 8-4 testing Estop
I-6 grounding 4-4 diagram, typical 4-4 earth ground 4-4 EGND terminal 4-4 specifications for Estop relay 5-6 SLC Processor communication with Servo Module 7-13 discrete bit commands 8-5 discrete block commands 8-8 Incremental Position Command 8-9 Simple Move Commands 8-11 Absolute/Incremental Move 8-11 SLC Servo Module command information 8-4 communication interface 8-4 Compatibility 1-4 configuring 7-24 7-11 M0 file 7-25 Inspection 4-1 installation 4-1 interface 7-11 Operation 1-2 Command Mode 1-3 config
I- 7 minor fault messages 10-10 HSRV Quick Check 10-1 Hardware Setup battery box test 10-2 Check wiring to diagram 10-2 Jog the Axis 10-5 Software Setup 10-2 Configure the HSRV module 10-2 Configuration Errors 10-3 Downloading Your Configuration 10-2 If CONFIG INV LED is Lit 10-3 HSRV Quick Start Hardware Setup 10-2 LED Indicators 10-6 safety precautions 10-1 U unidirectional axis 7-35 W Wiring Estop Connections 5-6 power supplies 5-12 to Allen-Bradley Drives termination panel 5-18 wiring 5-1 classifying
I-8 Publication 1746-6.1.
Publication 1746-6.1.2 - July 2000 22 Supersedes Publication 1746-6.1.2 - March 1999 PN 40072-030-01(D) Copyright © 2007 Rockwell Automation, Inc. All rights reserved. Printed in Singapore.
