Specifications

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3401 Manual

Point I/O Stepper Module

Revision 2.0

Module Overview

The 3401 module is a one-axis stepper controller that occupies one slot in a Point I/O or a 1769-L18

system. This unit receives profile data from the PLC and outputs Step and Direction signals or

Clockwise/Counter Clockwise pulses to a stepper driver. Inputs on the module allow homing and

emergency stop operations.

The 3401 uses four 16 bit input words and eight 16 bit output words. Status information and the Current

Position data are reported to the Input Registers. The 8 output registers have two purposes. First, they are

used to configure the module with parameters such as Output Type, Homing Type, Inputs Used, Input Active

Level, and Starting Speed. Second, they are used to send the move commands, along with the distance,

speed, and acceleration and deceleration rates used to define the move profile.

32-bit parameters are divided into two words, MSW and LSW. The upper word (MSW) has the 1000s

places and the lower word (LSW) has the 1s, 10s and 100s places. Negative values are handled by setting

both the upper and lower words independently negative. For example:

Value MSW LSW

-12,345 -12 -345

12,000 12 0

-12,000 -12 0

345 0 345

-345 0 -345

Because the 3401 module does not use a non-volatile memory, it must be configured at every power up.

The 3401 module is not shipped with the 1734-TB (screw clamp) or the 1734-TBS (spring clamp) wiring

base assembly. These parts must be separately ordered from Rockwell Automation.

Sample programs showing how to program the 3401 module are available from the following page of our

website.

http://www.amci.com/sampleprograms.asp

Driver files that can be used to add the 3401 module to ControlNet, DeviceNet, or Profibus systems can

be downloaded from the following page of our website.

http://www.amci.com/driverfiles.asp

Summary of content (38 pages)

PAGE 1
3401 Manual Point I/O Stepper Module Revision 2.0 Module Overview The 3401 module is a one-axis stepper controller that occupies one slot in a Point I/O or a 1769-L18 system. This unit receives profile data from the PLC and outputs Step and Direction signals or Clockwise/Counter Clockwise pulses to a stepper driver. Inputs on the module allow homing and emergency stop operations. The 3401 uses four 16 bit input words and eight 16 bit output words.
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3401 Manual Point I/O Stepper Module Revision 2.0 General Information Important User Information The products and application data described in this manual are useful in a wide variety of different applications. Therefore, the user and others responsible for applying these products described herein are responsible for determining the acceptability for each application.
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401 Manual Point I/O Stepper Module Revision 2.
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3401 Manual Point I/O Stepper Module Revision 2.0 Chapter 1: Installing the 3401 module Disconnect power before attempting to install or remove the 3401 module. Installation Notes • Verify that your system’s power supply has adequate reserve current capacity. The 3401 module requires 85mA @5Vdc • A maximum of five (5) 3401 modules can be installed in one network base.
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3401 Manual Point I/O Stepper Module Revision 2.0 Module Specifications • • • Pointbus Current Draw: 85mA @5Vdc A maximum of five 3401 modules can be installed in one Point I/O base. It is possible to add more 3401 modules to the Point I/O base by adding a 1734-EP24DC to the system. Throughput Time: 250 µs (Inputs must be on for 250 µs to be scanned by the module) The throughput time represents how long the 3401 module will need between receiving a command and acting on it.
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3401 Manual Point I/O Stepper Module Revision 2.0 Connector Pin Out The following diagram shows the function of the 8 pin 1734-RTB terminal block when it is used with the 3401 module.
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3401 Manual Point I/O Stepper Module Revision 2.0 Wiring Notes: • • • • • • • Stepper signals are generally low voltage, low power signals. If you are using A-B guidelines for cabling installation, treat the cable as a Category 2 cable. It can be installed in conduit along with other low power cabling such as communication cables and low power ac/dc I/O lines. It cannot be installed in conduit with ac power lines or high power ac/dc I/O lines.
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3401 Manual Point I/O Stepper Module Revision 2.0 Installing the 3401 module in 1769-L18 PLC 1. 2. 3. 4. Open RSLogix 5000 and the project in which you want to install the AMCI 3401 module. Right click on I/O Configuration in the Project Tree. Select New Module. Select the following module type and description from the list that appears. Type = 1769-MODULE Description = Generic 1769 Module 5. Click on OK. 6. Enter the following module properties.
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3401 Manual Point I/O Stepper Module Revision 2.0 Installing the 3401 module in a ControlNet system 1. Create or open a new Ladder Logic program. 2. If it does not already exist, add a ControlNet adapter module, such as the 1756-CNBR/D module, to the rack configuration 3. Right click on the ControlNet adapter module and then select New Module. 4. Select the 1734-ACNR module from the list of modules that appears. The Module Properties window will open. Enter the following parameters.
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3401 Manual Point I/O Stepper Module Revision 2.0 Because the data from the 3401 module is updated at the RPI time asynchronously to the program scan, AMCI recommends that the input data be buffered before it is used by the ladder logic program. 11. Save the project. 12. Download the new configuration to the processor. RSNetWorx Setup Although it is not required to make the 3401 module operate in a ControlNet system, adding the 3401 module’s EDS file to RSNetWorx will allow it to appear in your network.
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3401 Manual Point I/O Stepper Module Revision 2.0 Installing the 3401 module in a DeviceNet system Before the 3401 can be attached to a network, it must be added to the RSNetWorx for DeviceNet software. The EDS file is available in the Driver File Download section of our website, www.amci.com. The following procedure to add the EDS file to RSNetWorx assumes that you have already downloaded this file and un-zipped it. Please note that the 3401 does not support ADR (Automatic Device Replacement). 1. 2. 3. 4.
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3401 Manual Point I/O Stepper Module Revision 2.0 Installing the 3401 module in an Ethernet system 10. Create or open a new Ladder Logic program. 11. If it does not already exist, add an Ethernet bridge module to the rack configuration. For example the 1756-ENET/B module. 12. Enter the IP address, for example 192.168.001.002, and then click on Finish >> to accept the configuration. 13. Right click on the 1756-ENET/B module and then select New Module. 14.
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3401 Manual Point I/O Stepper Module Revision 2.0 20. The following tags will have been created. The adapter name shown here was selected for the 1734-AENT in Step 5 above. Also, X = slot number and Y = word number. adapter_name:X:I.data[Y] Input Data sent from the 3401 module to the PLC. Words 0 and 1 will always be zero. adapter_name:X:O.data[Y] Output Data sent from the PLC to the 3401 module. adapter_name:X:C.data[Y] Configuration Data, not used by the 3401 module.
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3401 Manual Point I/O Stepper Module Revision 2.0 10. Add the GSD file to your Profibus program by clicking on Library in the toolbar and then select Add GSD file. Choose the directory where the GSD file is located, and then select the file. When registered this module will appear under Slaves as: Allen Bradley, 1734-APB [1.15]. 11. If SST-PBF-SLC module is not already present, click on Masters. Click and drag the Master (Rev 1.4) into the network.
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3401 Manual Point I/O Stepper Module Revision 2.0 Chapter 2: Calculating Move Profiles Before starting a move operation, the 3401 module completely calculates each portion of the move profile. That is, it calculates how many steps of the move profile will be required for acceleration and how many steps will be required for deceleration. Depending on the data used to define the move profile, this can result in two types of velocity profiles, either a Trapezoidal Profile or a Triangular Profile.
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3401 Manual Point I/O Stepper Module Revision 2.0 Calculation Notes 1. The acceleration and deceleration values sent to the 3401 module as part of the move profile have units of steps/ms/sec. If you are using the above formulas to calculate Ta (the time to accelerate), multiply the acceleration value sent to the 3401 module by 1000 before using it in the formulas.
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3401 Manual Point I/O Stepper Module Revision 2.0 Chapter 3: Configuration Programming Configuration Mode The Configuration Mode provides the ability to select the proper setup configuration to match the stepper application without having to set any switches. The configuration file, consisting of four 16-bit words, allows the following parameters to be defined. 1. 2. 3. 4. 5. 6. 7. 8. 9.
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3401 Manual Point I/O Stepper Module Revision 2.0 Configuration Bits MSW Bit 0: Set when the Limit Input is configured to be used as an Emergency Stop input. When this bit is set, an active Limit Input will immediately stop all motion. Bit 1: Set when the Limit Input is configured to be used as a CW Over Travel Limit Switch. When this bit is set, an active Limit Input will stop Absolute, Relative, and Blend Move profiles. It will also stop CW Manual Move operations, but not CCW Manual Move operations.
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3401 Manual Point I/O Stepper Module Revision 2.0 Input Active Level This parameter defines the active level of the inputs. These bits will be set for high level active, Normally Open (NO), or reset for low level active or Normally Closed (NC). High-level active means that supplying current to the input will activate it. Low-level active means that removing current from the input will activate it.
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3401 Manual Point I/O Stepper Module Revision 2.0 Configuration Mode Input Data (Four 16 bit words sent from the 3601 module to the PLC) While in configuration mode, the input registers will mirror the configuration data that was sent to the 3401 module in the output registers. The exceptions are the Module OK bit, input word 0, status bit 14 and the Configuration Error bit, input word 0, status bit 13.
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3401 Manual Point I/O Stepper Module Revision 2.0 Chapter 4: Command Mode Operations The following is a description of the various commands that the module accepts and the operations that it will perform while in Command Mode. When switching from Configuration Mode to Command Mode, the position will be invalid and the Current Position will be zero. Absolute/Relative Move The current position must to be valid in order to perform an ABSOLUTE MOVE.
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3401 Manual Point I/O Stepper Module Revision 2.0 Hold Move The HOLD MOVE command causes the move operation to decelerate at the programmed deceleration rate to the Starting Speed and stop. When this operation is successfully performed, the Hold State Input Bit is set. While the Hold operation is in affect, the velocity and acceleration deceleration parameters can be changed, however, entering a new position will have no affect.
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3401 Manual Point I/O Stepper Module Revision 2.0 Find Home +/(CW), Find Home -/(CCW) There are two homing options available. They are, 1. Home Limit Switch Only 2. Home Limit Switch with a backplane Home Proximity bit. When the homing operation is complete, the 3401 will set the At Home input bit, and then resets the current position to zero. The Find Home commands require that the 3401 module has been configured to allow homing in the specified direction.
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3401 Manual Point I/O Stepper Module Revision 2.0 Backplane Home Proximity Bit with Home Limit Switch 1. Accelerates to programmed speed 2. Runs at the programmed speed 4. Detects backplane proximity bit and decelerates to the starting speed. 5. Runs at the starting speed. 6. Detects Home Limit Switch and stops. Reaching an End Limit Switch During a Homing Operation 1. Runs at the Programmed Speed 2. Reaches the end Limit Switch, stops without deceleration, and waits for two seconds 4.
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3401 Manual Point I/O Stepper Module Revision 2.0 End Limit Switch Active when the Home Command is issued 3. Home input is detected going on and off 2. Motor turns at the programmed speed in the direction opposite of the requested homing operation 4. Motor decelerates and stops 1. End Limit Switch active when home command is issued 5. Runs at the starting speed until the home input again turns on. Continues to Marker Pulse if applicable.
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3401 Manual Point I/O Stepper Module Revision 2.0 acceleration and or the deceleration parameters can also be changed, although these changes do not take affect until the programmed speed is changed. Both the acceleration and deceleration parameters must be valid when the speed is changed. If the changed velocity, acceleration, or deceleration parameters are invalid, motion will stop, command and invalid profile errors will be generated, and the position will become invalid.
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3401 Manual Point I/O Stepper Module Revision 2.0 Blend Move This command allows the user to create more complicated move profiles consisting of two to sixteen segments, as the following diagram illustrates. 2. Accelerates from the starting speed to the first programmed speed using the first programmed rate and type 3. Runs at the first programmed target speed 4. Runs at the final programmed speed 5.
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3401 Manual Point I/O Stepper Module Revision 2.0 Acceleration Types With the exception of homing operations, all of the move operations defined above allow the type of acceleration to be selected. The three options are described below. Constant Acceleration: The module accelerates at a constant rate until the programmed speed is reached.
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3401 Manual Point I/O Stepper Module Revision 2.0 Chapter 5: Command Mode Output Data (Eight 16 bit words sent from the PLC to the 3401 module) All stepper motor operations are performed in command mode. This mode is entered, after a successful configuration file has been transferred to the stepper controller, by resetting the Mode Flag bit 15 of Output Word 0. In Command Mode, the PLC program can issue commands and activate different operations or moves.
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3401 Manual Point I/O Stepper Module Revision 2.
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3401 Manual Point I/O Stepper Module Revision 2.0 Blend Move Programming A Blend Move consists of two to sixteen segments consisting of a Relative Segment Length, a Target Velocity, the Acceleration and Deceleration parameters. The blend move operation will be run each time bit 12 or 13 in the output Command Word MSW 1 transitions from 0 to 1.
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3401 Manual Point I/O Stepper Module Revision 2.0 Segment Length Restrictions • • • The sum of all of the segment lengths cannot exceed 8,388,607. The segments must be positive. The LSW of the segment length has a range of 0 to 999. Acceleration Type Every two bits in these words define the acceleration type of each segment. When the least significant bit of the two is reset, the acceleration type of the segment will be Constant.
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3401 Manual Point I/O Stepper Module Revision 2.0 BLEND MOVE PROGRAMMING ROUTINE The following is a description of how the Blend Move Profile will be programmed. For this description, the 3401 module is plugged into slot 2 of the Point I/O rack. Note: Programming the configuration data will clear a stored blend move profile from the 3401 modules memory. 1. 2. 3. 4. 5. 6.
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01 Manual Point I/O Stepper Module Revision 2.
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3401 Manual Point I/O Stepper Module Revision 2.
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3401 Manual Point I/O Stepper Module Revision 2.0 The Home Invalid bit will be set under the following conditions 1. 2. 3. 4. Issuing a Home command if the Programmed Speed is less than the starting speed. Issuing a Homing command with the Target Position registers not equal to zero. Issuing a Home Command in a direction that has not been configured. If the opposite End Limit Switch is reached during a homing operation. For example, if the CCW Limit Switch is first reached during a CW homing operation.
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3401 Manual Point I/O Stepper Module Revision 2.0 A Command Error will be generated under the following conditions 1. If the RPI time is set to too small a value for your system. Even though the command data itself is correct, it may not be transferred to the 3401 module correctly. For example, the module may receive only half of the new command data during one transfer cycle. If the combination of half new data and half old data is not valid, the module will generate a command error. 2.
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3401 Manual Point I/O Stepper Module Revision 2.0 Limit Input Configured as an Emergency Stop The Emergency Stop Input causes the current move operation to stop without any deceleration. The pulse signal is simply removed. The Position Invalid Input Bit will be set if the channel was moving when this input became active. The channel will have to be Preset or Homed again before an Absolute Move operation can be performed.