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Micro830 and Micro850 Programmable Controllers

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2. 1 2 3 4 5 6 7 8 Status indicators O me Q i jooo Wiedeepoedgececoeoed 16 oada E ES 17 H 19 am BN 20 zo at oo oa a 23 a z Jooo 000 D oo ie j T 1 45910 1514 133 12 11 10 6 10 8 Ho Controller Description Description Description 1 Status indicators Expansion I O slot cover 2 Optional power supply slot 0 DIN rail mounting latch 3 Plug in latch 1 Mode switch 4 Plug in screw hole 2 Type B connector USB port 5 40 pin high speed plug in connector 3 RS232 RS485 non isolated combo serial port 6 Removable 1 0 terminal block 4 RJ 45 Ethernet connector with embedded green and yellow LED indicators 7 Right side cover 5 Optional power supply 8 Mounting screw hole mounting foot Status Indicator Description Description Description 16 Input status 21 Fault status 17 Module Status 22 Force status 18 Network Status 23 Serial communications status 19 Power status 24 Output status 20 Run status 1 For detail
3. 1 2 3 4 5 6 7 8 Status indicator Controller a O a Joooodoogoood 5 eacan 16 5 7 TT i 18 Bee 1s i j 20 m 503 0 45031 7 000000000000 13 12 11 10 6 9 7 45030 Micro830 24 point controllers and status indicators Controller 1 2 8 Status indicator O 0000 14__ ooto mimjmjm ono 15 im 16 E 17 a 18 m 19 E a Oooo D ao00f L 20 o000 00 Ee WOO DOOOOOOOODOOOOL ay Ce 45017 Fat a 45016 13 12 11 10 9 6 9 8 Rockwell Automation Publication 2080 UM002F EN E December 2013 Hardware Overview Chapter 1 Micro830 48 point controllers and status indicators
4. Controller 12 3 4 8 6 7 8 Status indicator T ETa 7 0000000000 LO i hO 14 0000000000 222220300 Poons Ponana e ee ba 5 lo Soegeoge Sn eee Sime 16 17 O 5n fe fi 18 19 geongogs Na a A i 2 2000000000 F F oo00000000 i 9 SOAAADIIDDAAAAADIS S GAAIAAADIDDATIAARS 45037 a 13 12 0 10 6 9 g 45036 Controller Description Description Description 1 Status indicators 8 Mounting screw hole mounting foot 2 Optional power supply slot 9 DIN rail mounting latch 3 Plug in latch 10 Mode switch 4 Plug in screw hole 11 Type B connector USB port 5 40 pin high speed plug in connector 12 RS 232 RS 485 non isolated combo serial port 6 Removable 1 0 terminal block 13 Optional AC power supply 7 Right side cover Status Indicator Description Description Description 14 Input status 18 Force status 15 Power status 19 Serial communications status 16 Run status 20 Output status 17 Fault status 1 For detailed description of the different status LED indicators see Troubleshooting on page 227 Rockwell Automation Publication 2080 UM002F EN E December 2013 Chapter 1 Hardware Overview Micro850 Controllers Micro850 24 point controllers and status indicators
5. elelelelejejeleleleleye oo 0g BE og OO000 55 100 mm 3 94 in OOO0O00000000 orf Ve U ou 45325 24 Rockwell Automation Publication 2080 UM002F EN E December 2013 Install Your Controller Chapter 3 Micro830 24 Point Controllers 2080 LC30 240WB 2080 LC30 240VB 2080 LC30 240BB 131 mm 5 16 in AWOQWOO W OOOOOWOWOWOSY 100 mm 3 94 in __ VOS SOOOOOOOOOOOOOOD sle Sey Qe sli 45326 Micro850 24 Point Controllers 2080 LC50 24AWB 2080 LC50 240BB 2080 LC50 24QVB 2080 LC50 24QWB 131 mm 5 16 in
6. 0 5 1 0 2 0 3 0 45629 Switching capacity A Micro850 Controllers The following tables provide specifications ratings and certifications for the 24 point and 48 point Micro850 controllers Rockwell Automation Publication 2080 UM002F EN E December 2013 165 Appendix A Specifications Micro850 24 Point Controllers General Specifications 2080 L 50 24AWB 2080 LC50 240WB 2080 LC50 240VB 2080 LC50 240BB Attribute 2080 LC50 24AWB 2080 LC50 240WB 2080 LC50 240VB 2080 LC50 240BB Number of 0 24 14 inputs 10 outputs Dimensions 90 x 158 x 80 mm HxWxD 3 54 x 6 22 x 3 15 in Shipping weight approx 0 423 kg 0 933 Ib Wire size 0 2 2 5 mm 24 12 AWG solid copper wire or 0 2 2 5 mm2 24 12 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports 2 on communication ports Wire type Use Copper Conductors only Terminal screw torque Input circuit type 0 4 0 5 Nm 3 5 4 4 Ib in using a 0 6 x 3 5 mm flat blade screwdriver Note Use a handheld screwdriver to hold down the screws at the side 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink standard and high speed 24V DC source standard and high speed Power consumption 28 W 20 4 26 4V DC Class 2 Power supply voltage range 0 rating I
7. Micro800 Source output 45626 Source input wiring example 45625 Embedded Serial Port The embedded serial port is a non isolated RS232 RS485 serial port which is Wiring targeted to be used for short distances lt 3 m to devices such as HMIs See Embedded Serial Port Cables on page 7 for a list of cables that can be used with the embedded serial port 8 pin Mini DIN connector For example the 1761 CBL PM02 cable is typically used to connect the embedded serial port to Panel View Component HMI using RS232 Rockwell Automation Publication 2080 UM002F EN E December 2013 39 Chapter4 Wire Your Controller Embedded Serial Port Pinout table Pin Definition RS 485 Example RS 232 Example 1 RS 485 B not used 2 GND GND GND 3 RS 232 RTS not used RTS 4 RS 232 RxD not used RxD 5 RS 232 DCD not used DCD 6 RS 232 CTS not used CTS 7 RS 232 TxD not used TxD 8 RS 485 A not used 40 Rockwell Automation Publication 2080 UM002F EN E December 2013 Overview Supported Communication Protocols Chapter 5 Communication Connections This chapter describes how to communicate with your control system and configure communication settings The method you use and cabling required to connect your controller depends on what type of system you are employing This chapter also describes how the controller establishes co
8. Data Type Description BOOL Logical Boolean with values TRUE and FALSE SINT Signed 8 bit integer value INT Signed 16 bit integer value DINT Signed 32 bit integer value LINT Signed 64 bit integer value USINT Unsigned 8 bit integer value UINT Unsigned 16 bit integer value UDINT Unsigned 32 bit integer value ULINT Unsigned 64 bit integer value REAL 32 bit floating point value LREAL2 64 bit floating point value STRING character string 1 byte per character Logix MSG instruction can read write SINT INT DINT LINT and REAL datatypes using CIP Data Table Read and CIP Data Table Write message types BOOL USINT UINT UDINT ULINT LREAL STRING and SHORT_STRING datatypes are not accessible with the Logix MSG instruction 2 Not supported in PanelView Component Rockwell Automation Publication 2080 UM002F EN E December 2013 43 Chapter5 Communication Connections CIP Communications Pass thru The user can download a program from the PC to controller1 over USB Also the program can be downloaded to controller2 and controller3 over USB to EtherNet IP free 44 CIP Client Messaging CIP Generic and CIP Symbolic messages are supported on Micro800 controllers through the Ethernet and serial ports These client messaging features are enabled by the MSG_CIPSYMBOLIC and MSG_CIPGENERIC function blocks See Micro800 Programmable Controllers Getting Started with CIP Client Messaging publication 2080
9. OxF250 There is a non recoverable error and the expansion I O module s could not be detected Perform the following e Cycle power to your Micro800 controller If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp OxF26z z indicates the slot number of the expansion 1 0 If z 0 then the slot number cannot be identified OxF27z z indicates the slot number of the expansion 1 0 If z 0 then the slot number cannot be identified An expansion I O master fault is detected on the system A non recoverable communication fault has occurred on the expansion I 0 module Perform the following e Cycle power to your Micro800 controller If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp Perform the following e Cycle power to the Micro800 controller or e Replace the slot number z module If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp OxF28z z indicates the slot number of the expansion 1 0 If z 0 then the slot number cannot be identified Expansion 1 0 baudrate error Rockwell Automation Publi
10. Execute Busy1 Rockwell Automation Publication 2080 UM002F EN E December 2013 For simple moves the movement function block finishes Busy output indicates that the function block is executing and must be allowed to finish before Execute input is toggled again If Execute is toggled again before Busy is false the new command is ignored No error is generated 46053 73 Chapter 7 74 Motion Control with PTO and PWM Example Successful Aborted Move Velocity Aborted move is possible if using two instances of MC_MoveRelative MC_MoveAbsolute The second instance can immediately abort the first instance and vice versa for applications where on the fly corrections are needed Time Execute1 Busy1 CommandAborted1 Execute2 Busy2 46052 Example Changing Velocity With No Abort When changing velocity generally an aborted move is not necessary since the function block is only Busy during acceleration or deceleration Only a single instance of the function block is required To bring the axis to a standstill use MC_Halt Rockwell Automation Publication 2080 UM002F EN E December 2013 Velocity Execute Motion Control with PTO and PWM Chapter 7 Time Busy Halt Execute Busy 46051 It is possible for the movement function blocks and MC_Halt to abort another motion function block during acceleration decel
11. 0 90 W 2085 0B16 1 00 W 2085 0V16 1 00 W 2085 OW8 1 80 W 2085 0W16 3 20W 2085 IF4 170W 2085 IF8 175W 2085 0F4 370W 2085 IRT4 200W Calculate Total Power for Your Micro830 Micro850 Controller To calculate Total Power for your Micro830 and Micro850 controller use the following formula Total Power Main Unit Power No of Plug ins Plug in Power Sum of Expansion I O Power Example 1 Derive Total Power for a 24 point Micro830 controller with two plug ins Total Power 8 W 1 44 W 2 0 10 88 W Example 2 Derive Total Power for a 48 point Micro850 controller with 3 plug ins and 2085 IQ16 and 2085 IF4 expansion I O modules attached Total Power 11 W 3 1 44 W 0 85 W 1 7 W 17 87 W Rockwell Automation Publication 2080 UM002F EN E December 2013 247 Appendix G 248 System Loading Calculate External AC Power Supply Loading for your Micro830 Controller To calculate External AC Power Supply Loading e Get total sensor current loading For this example assume it is 250 mA e Calculate Total Power Loading by Sensor using this formula 24V 250 mA 6 W e Derive External AC Power Supply Loading using this formula AC Power Supply Loading Total Power calculated for a Micro800 system with Plug in Total power loading by Sensor As an example a 48 point Micro850 controller with2 plug ins and 2085 IQ16 and 2085 IF4 expansion I O and 250mA sensor current 6W sensor pow
12. Loss of Power Source The optional Micro800 AC power supply is designed to withstand brief power losses without affecting the operation of the system The time the system is operational during power loss is called program scan hold up time after loss of power The duration of the power supply hold up time depends on power consumption of controller system but is typically between 10 milliseconds and 3 seconds Rockwell Automation Publication 2080 UM002F EN E December 2013 15 Chapter2 About Your Controller Preventing Excessive Heat Master Control Relay 16 Input States on Power Down The power supply hold up time as described above is generally longer than the turn on and turn off times of the inputs Because of this the input state change from On to Off that occurs when power is removed may be recorded by the processor before the power supply shuts down the system Understanding this concept is important The user program should be written to take this effect into account Other Types of Line Conditions Occasionally the power source to the system can be temporarily interrupted It is also possible that the voltage level may drop substantially below the normal line voltage range for a period of time Both of these conditions are considered to be a loss of power for the system For most applications normal convective cooling keeps the controller within the specified operating range Ensure that the specified tem
13. Notes vi Rockwell Automation Publication 2080 UM002F EN E December 2013 Preface Hardware Overview About Your Controller Install Your Controller Table of Contents Who Should Use this Manual coe couch un eetiae ec tegen ouek vs iii P rposeof this Mania Jostein are Sete toe ENEE oe iii Additional Resources teen tcratenaten od tetenor ties Punta teshabaao snes iii Chapter 1 Hardware Features ss scutes boa rameters ban we Pues S a arabes 1 Micro830 Controllers seats acats aed sod atin tar anie a ieoteed indica arabia ee 2 Micro850 Controllers nes sie wou is Ss ee eee ees 4 Programming Cables sedis towsunyoreenghe eh aoutaiiatutye tages 6 Embedded Serial Port Cables 0 ccc ccucecseceuceceeecs 7 Embedded Ethernet Support edtusdes ese aus ooa itis daveateracse 7 Chapter 2 Programming Software for Micro800 Controllers 006 9 Obtain Connected Components Workbench 006 9 Use Connected Components Workbench 0 eee eee 9 Agency Certifications cece ia dnd aati eeaeeiwas Paes 9 Compliance to European Union Directives 00sec ee ee eee 9 EME Directivei c cascwa ai needa SANAA EEEE ONA Sable 10 Low Voltage Directive os uviva ctaxiciedesoved eid eveangieerses 10 Installation Considerations gawisss052 Scans nd senad dah dws cow eenere 10 Environment and Enclosure 0ccecececescvcncvececs 12 Preventing Electrostatic Dischanve vecdvswte euamrarcealwe
14. Structured Text ST is much more efficient and easier to use than Ladder Logic when used for equations if you are used to using the RSLogix 500 CPT Compute instruction ST combined with UDFB is a great alternative Asan example for an Astronomical Clock Calculation Structured Text uses 40 less Instructions Display_Output LD Memory Usage Code 3148 steps Memory Usage Data 3456 bytes Display_Output ST Memory Usage Code 1824 steps Memory Usage Data 3456 bytes e You may encounter an Insufficient Reserved Memory error while downloading and compiling a program over a certain size One workaround is to use arrays especially if there are many variables Rockwell Automation Publication 2080 UM002F EN E December 2013 59 Chapter6 Program Execution in Micro800 Notes 60 Rockwell Automation Publication 2080 UM002F EN E December 2013 Chapter 7 Motion Control with PTO and PWM Certain Micro830 and Micro850 controllers see table below support motion control through high speed pulse train outputs PTO PTO functionality refers to the ability of a controller to accurately generate a specific number of pulses at a specified frequency These pulses are sent to a motion device such as a servo drive which in turn controls the number of rotations position of a servo motor Each PTO is exactly mapped to one axis to allow for control of simple positioning in stepper motors and servo drives with pulse direction inpu
15. Troubleshooting Appendix E List of Error Codes for Micro800 controllers Error Code OxF005 Description The user program failed an integrity check while the Micro800 controller was in Run mode Recommended Action Perform one of the following e Cycle power on your Micro800 controller Then download your program using Connected Components Workbench and start up your system e Refer to the Wire Your Controller on page 29 OxF006 The user program is incompatible with the Micro800 controller s firmware revision Perform one of the following e Upgrade the Micro800 controller s firmware revision using ControlFlash e Contact your local Rockwell Automation technical support representative for more information about firmware revisions for your Micro800 controller For more information on firmware revision compatibility go to http www rockwellautomation com support firmware html OxF010 The user program contains a function function block that is not supported by the Micro800 controller Perform the following e Modify the program so that all functions function blocks are supported by the Micro800 controller e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode OxF014 A memory module memory error occurred Reprogram the memory module If the error persists replace the memory module OxF015 An unexpected software erro
16. e set HSCAppData underflow setting UF Setting and low preset setting LPSetting to a value less than 0 to avoid possible HSC malfunction when the HSC accumulator is reset to 0 e set HSCAppData overflow setting OFSetting and high preset setting HPSetting to a value greater than 0 to avoid possible HSC malfunction when the HSC accumulator is reset to 0 In some cases a sub counter will be disabled by master counter mode See the section HSC Mode HSCAPP HSCMode on page 118 TIP HSCO is used in this document to define how any HSC works IMPORTANT The HSC function can only be used with the controller s embedded 1 0 It cannot be used with expansion I O modules All Micro830 and Micro850 controllers except 2080 LCxx xxAWB have 100 kHz high speed counters Each main high speed counter has four dedicated inputs and each sub high speed counter has two dedicated inputs Micro830 and Micro850 High Speed Counters 10 16 point 24 point 48 point Main high speed counters 1 counter 0 2 counter 0 2 3 counters 0 2 and 4 Sub high speed counters 1 counter 1 2 counter 1 3 3 counters 1 3 and 5 High Speed Counter Inputs used HSCO 0 1 2 3 HSC1 2 3 HSC2 4 5 6 7 HSC3 6 7 HSC4 8 9 10 11 HSC5 10 11 Rockwell Automation Publication 2080 UM002F EN E December 2013 113 Chapter 8 HSC Input Wiring Mapping Use the High Speed Counter and Programmable Limit Switch HSCO0 s sub counte
17. C 86 F Off state current max 1 5mA On state current min 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 8 8 mA 24V DC 8 5 mA 24V DC On state current max 12 0 mA 30V DC Nominal impedance 3 kQ 3 74 kQ IEC input compatibility Type 3 AC input filter setting 150 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded 1 0 configuration window to reconfigure the filter setting for each input group Isolated AC Inputs 2080 LC30 100WB 2080 LC30 100VB Inputs 0 3 Attribute Value On statevoltage non Ss 12 24VAC 50 0Hz tst lt i i SOSC S Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Rockwell Automation Publication 2080 UM002F EN E December 2013 Specifications Appendix A Outputs Attribute 2080 LC30 100WB 2080 LC30 100VB Relay Output Hi Speed Output Standard Output Outputs 0 1 Outputs 2 3 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA 10 mA Load current max 2 0A 100 mA high speed operation 1 0A 30 C 1 0 A 30 C 0 3 A 65 C standard operation 0 3 A 65 C standard operation Surge current per point Refer to Relay Contacts Ratings on page 151 4 0 A every 1s 30 C every 2s 65 C Current per common max 5A 2A Current per controller max 1440V A 2A Turn
18. Hscld Input See HSC APP Describes which HSC status to set Data Structure on page 117 Mode1Done Input BOOL Mode 1A or 1B counting is done HPReached Input BOOL High Preset reached This bit can be reset to FALSE when HSC is not counting LPReached Input BOOL Low Preset reached This bit can be reset to FALSE when HSC is not counting OFOccurred Input BOOL Overflow occurred This bit can be reset to FALSE when necessary UFOccurred Input BOOL Underflow occurred This bit can be reset to FALSE when necessary Sts Output UINT HSC function block execution status Refer to HSC Function Block Status Codes on age 136 for HSC status code description except p 0x02 and 0x04 Programmable Limit Switch The Programmable Limit Switch function allows you to configure the PLS Function High Speed Counter to operate as a PLS programmable limit switch or rotary cam switch When PLS operation is enabled HSCAPP PLSEnable True the HSC High Speed Counter uses PLS data for limit cam positions Each limit cam position has corresponding data parameters that are used to set or clear physical outputs on the controller s base unit The PLS data block is illustrated below Rockwell Automation Publication 2080 UM002F EN E December 2013 137 Chapter 8 138 Use the High Speed Counter and Programmable Limit Switch Ty Miros30 gt Fy Programs PCD untried a Locol Yeriables E URED untkteaoz ai Locol Va
19. If the front of the controller is visible and not blocked by the cabinet enclosure Micro830 and Micro850 controllers have a Force LED indicator 1 0 Forces After a Power Cycle After a controller is power cycled all I O forces are cleared from memory Rockwell Automation Publication 2080 UM002F EN E December 2013 Appendix D User Interrupts Interrupts allow you to interrupt your program based on defined events This chapter contains information about using interrupts the interrupt instructions and interrupt configuration The chapter covers the following topics Topic a ST Pag Information About Using Interrupts S a User Interrupt Instructions 215 Using the Selectable Timed Interrupt STI Function 221 Selectable Time Interrupt STI Function Configuration and Status 221 Using the Event Input Interrupt Ell Function 223 For more information on HSC Interrupt see Use the High Speed Counter and Programmable Limit Switch on page 111 Information About Using The purpose of this section is to explain some fundamental properties of the User interru pts Interrupts including e What is an interrupt e When can the controller operation be interrupted e Priority of User Interrupts e Interrupt Configuration e User Fault Routine What is an Interrupt An interrupt is an event that causes the controller to suspend the Program Organization Unit POU it is currently performing perform a different POU and then re
20. List of Error Codes for Micro800 controllers Error Code Description Recommended Action OxF8A0 The TOW parameters are invalid Perform the following e Correct the program to ensure that there are no invalid parameters e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode OxF8A1 The DOY parameters are invalid Perform the following e Correct the program to ensure that there are no invalid parameters e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode OxFFzz A user created fault from Connected Components Contact your local Rockwell Automation technical support representative if the Note zz indicates Workbench has occurred error persists the last byte of the program number Only program numbers up to OxFF can be displayed For program numbers 01x00 to OXFFFF only the last byte is displayed 236 Rockwell Automation Publication 2080 UM002F EN E December 2013 Troubleshooting Appendix E Controller Error Recove ry Use the following error recovery model to help you diagnose software and M 0 d el hardware problems in the micro controller The model provides common questions you might ask to help troubleshoot your system Refer to the recommended pages within the model for further help Identify the error code and Is the error description hardware relat
21. 20 65 C 4 149 F Temperature surrounding 65 C 149 F air max Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions CISPR 11 Group 1 Class A 168 Rockwell Automation Publication 2080 UM002F EN E December 2013 Specifications Appendix A Environmental Specifications Attribute Value ESD immunity IEC 61000 4 2 6 kV contact discharges 8 kV air discharges IEC 61000 4 3 V m with 1 kHz sine wave 80 AM from 80 2000 MHz V m with 200 Hz 50 Pulse 100 AM 900 MHz V m with 200 Hz 50 Pulse 100 AM 1890 MHz V m with 1 kHz sine wave 80 AM from 2000 2700 MHz C 61000 4 4 2 kV 5 kHz on power ports 2 kV 5 kHz on signal ports kV 5 kHz on communication ports C 61000 4 5 kV line line DM and 2 kV line earth CM on power ports kV line line DM and 2 kV line earth CM on signal ports kV line earth CM on communication ports C 61000 4 6 V rms with 1 kHz
22. Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Conformity Certificates and other certification details Micro830 48 Point Controllers General Specifications 2080 LC 30 48AWB 2080 LC30 480WB 2080 LC30 480VB 2080 LC30 480BB Attribute 2080 LC30 48AWB 2080 LC30 480WB 2080 LC30 480VB 2080 LC30 480BB Number of 0 48 28 inputs 20 outputs Dimensions 90 x 230 x 80 mm HxWxD 3 54 x 9 06 x 3 15 in Shipping weight approx 0 725 kg 1 60 Ib Wire size 0 2 2 5 mm 24 12 AWG solid copper wire or 0 2 2 5 mm 24 12 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports Wire type Use copper conductors only Terminal screw 0 6 Nm 4 4 Ib in max torque using a 2 5 mm 0 10 in flat bla
23. If the HSCSTS CountEnable bit is set the Count Down bit is set 1 If the HSCSTS CountEnable bit is clear the Count Down bit is cleared 0 Mode Done HSCSTS Mode1Done Description Data Format HSC Modes User Program Access HSCSTS Mode1Done bit Oor1 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 The Mode Done status flag is set 1 by the HSC sub system when the HSC is configured for Mode 0 or Mode 1 behavior and the accumulator counts up to the High Preset Overflow HSCSTS OVF Description Data Format HSC Modes JUser Program Access HSCSTS OVF bi 1 For Mode descriptions see HSC Mode HSCAPPRHSCMode on page 118 t 0 9 read write The HSCSTS OVE status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator has counted through the overflow variable HSCAPP OFSetting This bit is transitional and is set by the HSC sub system It is up to the control program to utilize track if necessary and clear 0 the overflow condition Overflow conditions do not generate a controller fault Rockwell Automation Publication 2080 UM002F EN E December 2013 129 Chapter 8 130 Use the High Speed Counter and Programmable Limit Switch Underflow HSCSTS UNF Description Data Format HSC Modes User Program Access HSCSTS UNF bit 0 9 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMod
24. Rockwell Automation Publication 2080 UM002F EN E December 2013 25 Chapter3 Install Your Controller 108 mm 4 25 in 108 mm 4 25 in Sigal A Weeeeeeoee eee eee odMeceoeoeeoeeoceeeO Trp TD OD OD DO oD oD op po TUT VT OCI a VT OCU ITD E 100mm Te 3 9 in I o U O oO 5 O o _ D bho Pei DoD a DADA ACHAT ee a A A Dessoessecss00000 JOeeeeeoggee0geee0O yY AT Sey phe es Noa AY var 45917 26 Rockwell Automation Publication 2080 UM002F EN E December 2013 Install Your Controller Chapter 3 System Assembly Micro83
25. Select the catalog number of your controller 1 2 3 4 When requested provide the controller password 5 Build and save your project 6 Debug Download to a Password Protected Controller 1 Launch the Connected Components Workbench software 2 Click Connect 3 Select the target controller 4 When requested provide the controller password 5 Build and save the project if needed 6 Click Download 7 Click Disconnect Transfer Controller Program and Password Protect Receiving Controller In this scenario the user needs to transfer user application from controller locked to another Micro800 controller with the same catalog number The transfer of the user application is done through the Connected Components Workbench software by uploading from controller1 then changing the target controller in the Micro800 project and then downloading to controller2 Finally controller2 will be locked On the Device Toolbox open Discover and click Browse Connections Select target controller When requested enter the controller password for controller1 1 2 3 4 Build and save the project 5 Click Disconnect 6 Power down controller Rockwell Automation Publication 2080 UM002F EN E December 2013 147 Chapter9 Controller Security Configure Controller Password Recover from a Lost Password 148 7 Swap controller hardware with controller2 hardware 8 Power up controller2 9 Click C
26. Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI 65536 bit 16 STI Selectable Timed Interrupt STIO 32768 bit 15 Ell Event Input Interrupt Event 7 16384 bit 14 Ell Event Input Interrupt Event 6 8192 bit 13 Ell Event Input Interrupt Event 5 4096 bit 12 Ell Event Input Interrupt Event 4 2048 bit 11 HSC High Speed Counter HSC5 1024 bit 10 HSC High Speed Counter HSC4 512 bit 9 HSC High Speed Counter HSC3 256 bit 8 HSC High Speed Counter HSC2 128 bit 7 HSC High Speed Counter HSC1 64 bit 6 HSC High Speed Counter HSCO 32 bit 5 Ell Event Input Interrupt Event 3 16 bit 4 Ell Event Input Interrupt Event 2 8 bit 3 Ell Event Input Interrupt Event 1 4 bit 2 Ell Event Input Interrupt Event 0 2 bit 1 UFR User Fault Routine Interrupt UFR 1 bit 0 reserved 220 Rockwell Automation Publication 2080 UM002F EN E December 2013 User Interrupts Appendix D Using the Selectable Timed Configure the STI function from the Interrupt Configuration window Interrupt STI Function Add Selectable Timed Interrupt STI Properties Interrupt Type Selectable Timed Interrupt ST STIID STIO STI Description STio General Memory Program 1 Communication Ports ri Serial Port Parameters UntitledLD USB Port Auto Start False v Date and Time i Interrupts Set Point 0 Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules Empty gt oK Cancel Apply H
27. The quadrature encoder is used for determining direction of rotation and position for rotating such as a lathe The Bidirectional Counter counts the rotation of the Quadrature Encoder The figure below shows a quadrature encoder connected to inputs 0 and 1 The count direction is determined by the phase angle between A and B If A leads B the counter increments If B leads A the counter decrements Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C A Input 0 g Quadrature Encoder e Input 1 B i Forward Rotation Reverse Rotation A ry ry A Y Y y B a 1 2 3 2 1 Count This quickstart includes the following sections e Create the HSC Project and Variables on page 198 e Assign Values to the HSC Variables on page 201 e Assign Variables to the Function Block on page 204 e Run the High Speed Counter on page 205 e Use the Programmable Limit Switch PLS Function on page 207 Rockwell Automation Publication 2080 UM002F EN E December 2013 197 Appendix Quickstarts 198 Create the HSC Project and Variables 1 Start Connected Components Workbench and open a new project From the Device Toolbox go to Catalog Controllers Double click your controller or drag and drop it onto the Pro
28. Update_PWM_Duty_Cycle Update_PWM_Duty_Cycle MC_WriteParameter_1 N MC_WriteParameter EN ENO PWM0 AxisIn Axis Update_PWM_Duty_Cycle Execute Done 1005 Parameter_Number Busy G_PWM_Duty_Cycle Value Error 0 MC_ExecutionMode ErrorlD ne 110 Rockwell Automation Publication 2080 UM002F EN E December 2013 __SYSVA_FIRST_SCAN s MC_MoveVelocity_1 N MC_MoveVelocity A a ENO PWM0 AxisIn Axis TRUE Execute InVelocity G_PWM_Frequency Velocity Busy _ 50000 0 Acceleration Active 50000 0 Acceleration Direction 0 0 Deceleration CommandAborted 1 Jerk Error 0 Directionln ErrorlD j XS yA POU PWM_Program The POU defines four variables Variable MC_Power_1 a Direction VAR Data Type MC_Power Attribute ReadWrite Direct variable Channel Motion Control with PTO and PWM Chapter 7 After first scan use MC_MoveVelocity to continually set the PWM frequency for example 50 000 gt 50 KHz from global variable G_PWM_ Frequency PWM axis will run forever until Program Mode MC_Halt and so on Variable MC_MoveVelocity_1 Direction VAR Data Type MC_MoveVelocity Attribute ReadWrite Direct variable Channel Variable Update_PWM_Duty_Cycle Pa Direction Var Data type BOOL Attribute ReadWrite Direct variable Channel Rockwell Automation Publication 2080 UM002F EN
29. ending axis move at a specified velocity Standstill Discrete Motion Continuous Motion MC_Home This function block commands the axis to perform the search home sequence The Position input is used to set the absolute position when reference signal is detected and configured Home offset is reached This function block completes at StandStill if the homing sequence is successful Standstill MC_Stop This function block commands an axis stop and transfers the axis to the state Stopping It aborts any ongoing function block execution While the axis is in state Stopping no other function block can perform any motion on the same axis After the axis has reached velocity zero the Done output is set to TRUE immediately The axis remains in the state Stopping as long as Execute is still TRUE or velocity zero is not yet reached As soon as Done is SET and Execute is FALSE the axis goes to state StandStill N Standstill Discrete Motion Continuous Motion Homing MC_Halt This function block commands an axis to a controlled motion stop The axis is moved to the state DiscreteMotion until the velocity is zero With the Done output set the state is transferred to StandStill Standstill Discrete Motion Continuous Motion A these variable inputs and outputs ATTENTION Each motion function block has a set of variable inputs and outputs that allow
30. from current position Velocity Input Velocity can be a signed value Users are advised to use positive velocity Direction input for the MC_MoveVelocity function block can be used to define the direction of the move that is negative velocity x negative direction positive velocity For MC_MoveRelative and MC_MoveAbsolute function blocks the absolute value of the velocity is used Velocity input does not need to be reached if Jerk input is equal to 0 Direction Input For MC_MoveAbsolute direction input is ignored This is reserved for future use For MC_MoveVelocity direction input value can be 1 positive direction 0 current direction or 1 negative direction For any other value only the sign is taken into consideration For example 3 denotes negative direction 2 denotes positive direction and so on For MC_MoveVelocity the resulting sign of the product value derived from velocity x direction decides the motion direction if the value is not 0 For example if velocity x direction 300 then direction is positive Acceleration Deceleration and Jerk Inputs e Deceleration or Acceleration inputs should have a positive value If Deceleration or Acceleration is set to be a non positive value an error will be reported Error ID MC_FB_ERR_RANGE e The Jerk input should have a non negative value If Jerk is set to be a negative value error will be reported Error ID MC_FB_ERR_RANGE
31. home position and decelerate to stop Move to the configured home position The mechanical home position recorded during moving right sequence plus the home offset configured for the axis in the Connected Components Workbench software Scenario 4 Moving part at left negative side of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part is at the proper location before homing starts Rockwell Automation Publication 2080 UM002F EN E December 2013 107 Chapter 7 108 Motion Control with PTO and PWM MC_HOME_REF_PULSE IMPORTANT f Lower Limit switch or Ref Pulse is not configured as Enabled MC_HOME_REF_PULSE 3 homing fails ErrorID MC_FB_ERR_PARAM For Homing against Lower Limit switch one positive home offset can be configured for Homing against Upper Limit switch one negative home offset can be configured MC_HOME_REF_PULSE 3 homing procedure performs a homing operation against Limit switch plus fine Ref Pulse signal The actual motion sequence is dependent on the limit switch configuration and the actual status for the switches before homing starts that is when the MC_Home function block is issued Scenario 1 Moving part at right positive side of Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part m
32. i 1r 1 1 1r 1r 1r 1r 1 DC24 CM0 CM1 CM2 CM3 CM4 CM5 CM6 DC24 0 00 0 01 0 02 0 03 0 04 0 05 0 06 TERMINAL BLOCK 2 jj 1r 1T 1 CM7 0 08 0 10 CM8 0 13 0 15 0 16 0 18 0 07 0 09 0 11 0 12 0 14 CM9 0 17 0 19 TERMINAL BLOCK 4 45039 Output terminal block TIP 2080 LC30 48AWB has no high speed inputs 2080 LC30 48QVB 2080 LC30 480BB 2080 LC50 48QVB 2080 LC50 480BB Input terminal block ji 1 1r como 1 01 1 03 1 05 1 06 1 08 1 10 com2 1 00 1 02 1 04 com1 1 07 1 09 1 11 1 12 TERMINAL BLOCK 1 DOOOOOHDOHOH OQOO TERMINAL BLOCK 3 i 1r 1r 1 DC24 CM0 0 01 0 03 CM1 0 05 0 07 0 09 DC24 0 00 0 02 CM0 0 04 0 06 0 08 CM1 TERMINAL BLOCK 2 some 0 11 0 13 0 15 IT ema 0 17 0 19 ne 0 10 0 12 0 14 CM2 0 16 0 18 CM3 NC TERMINAL BLOCK 4 45040 Output terminal block This section contains some relevant information about minimizing electrical noise and also includes some wiring examples Rockwell Automation Publication 2080 UM002F EN E December 2013 Wire Your Controller Chapter 4 Minimize Electrical Noise Because of the variety of applications and environments where controllers are installed and operating it is impossible to ensure that all environmental noise will be removed by input filters To help reduce the effects of environmental noise install the Micro800 system in a properly rated for example NEMA enclosure Make sure that the Micro800
33. 000 0 sees 204 Run the High Speed Counter 2052 Ficeatbeskessianee care elys 205 Use the Programmable Limit Switch PLS Function 207 PORNO OS dcraccahirsienearnahotamtar a Mean ath eta E E atest 209 Checking if Forces locks are Enabled 000000 209 I O Forces After a Power Cycler sds spc vous tae cue 210 Appendix D Information About Using Interrupts 00 ccc eee eee 211 Whatisan Interrupt esee iraneno n a a 211 When Can the Controller Operation be Interrupted 212 Priority of User iiterripts s dc d ae ane h miei deneueeents 212 User Interrupt Gontiguratioties jux 232 cuits ch cutan es soe e eles 214 User Fault Routine ute orate eres a a A nerd 214 User Interrupt Instructions 22 wv mace panies tte tet weno 215 STIS Selectable Timed Start cei cat pice ua esau tates 215 UID User Interrupt Disable s3 2 ssaeinkceuatebeosran eens 216 UIE User Interrupt Enable 74 45 bandon dak scyddasen ae iene 218 UIF User Interrupt Plush wccice 6 srira eenean eins 219 UIC User Interrupt Clears cnc civic csenteciiietaeseieee 220 Using the Selectable Timed Interrupt STI Function 221 Selectable Time Interrupt STI Function Configuration and Status 221 STI Function Conheurationy 242 24 ck cus enctadeet eee oko 222 STI Function Status Information 0 cece cence eee ees 222 Using the Event Input Interrupt EI Function 223 Event Input Interrupt EI Fu
34. 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 The main high speed counters support 10 types of operation mode and the sub high speed counters support 5 types mode 0 2 4 6 8 If the main high speed counter is set to mode 1 3 5 7 or 9 then the resub high speed counter will be disabled For more information on HSC Function Operating Modes and Input Assignments see HSC Inputs and Wiring Mapping on page 113 HSC Mode 0 Up Counter HSC Mode 0 Examples Input Terminals Embedded Input 0 Embedded Input Embedded Input Embedded Input CE Bit Comments 1 2 3 Function Count Not Used Not Used Not Used Example 1 if on 1 HSC Accumulator 1 count Example 2 T Jon 1 U loff 0 off 0 Hold accumulator value Blank cells don t care fl ris HSC Mode 1 Examples ing edge y falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 1 Up Counter with External Reset and Hold Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Not Used Reset Hold Example 1 tT on V Jo off jon 1 HSC Accumulator 1 count 1 0 0 Example 2 on Y Jo on Hold accumulator value 1 0 1 Example3
35. 60068 2 14 Test Nb Operating Thermal Shock 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions CISPR 11 Group 1 Class A ESD immunity IEC 61000 4 2 Radiated RF immunity 6 kV contact discharges 8 kV air discharges IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV 5 kHz on power ports 2 kV 5 kHz on signal ports Surge transient immunity IEC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports Conducted RF immunity Rockwell Automation Publication 2080 UM002F EN E December 2013
36. ATTENTION Additional information is available on the HSC function Online Help that comes with your Connected Components Workbench installation This chapter describes how to use the HSC function and also contains sections on the HSC and HSC_ SET_STS function blocks as follows High Speed Counter HSC Data Structures HSC High Speed Counter Function Block HSC_SET_STS Function Block Programmable Limit Switch PLS Function HSC Interrupts Programmable Limit Switch The Programmable Limit Switch function allows you to configure the Overview High Speed Counter to operate as a PLS Programmable Limit Switch or rotary cam switch For more information see Programmable Limit Switch PLS Function on page 137 Rockwell Automation Publication 2080 UM002F EN E December 2013 111 Chapter8 Use the High Speed Counter and Programmable Limit Switch What is High Speed Counter 112 High Speed Counter is used to detect narrow fast pulses and its specialized instructions to initiate other control operations based on counts reaching preset values These control operations include the automatic and immediate execution of the high speed counter interrupt routine and the immediate update of outputs based on a source and mask pattern you set The HSC functions are different than most other controller instructions Their operation is performed by custom circuitry that runs in parallel with the main system processor This is necessary beca
37. Click the Local Variables tab to see any real time changes being made to the variables Expand the MyAppData and MyInfo variable list by clicking the sign 5 Turn On the encoder to see the counter count up down For example if the encoder is attached to a motor shaft then turn on the motor to trigger the HSC count The counter value will be displayed on MyInfo Accumulator MyStatus variable should display a Logical Value of 1 which means that the HSC is running TIP See HSC Function Block Status Codes on page 136 for the complete list of status codes For example if the MyStatus value is 04 a configuration error exists and the controller will You need to check your parameters in this case 206 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C S Yariable Monitoring Global Variables Micro830 Local Variables UntitledLD1 System Variables Micro830 170 Micro830 HSC_1 MyCommand MyAppData MyAppData PlsEnable MyAppData HsclD MyAppD ata HscMode MyAppD ata Accumulator MyAppD ats HPSetting MyAppDats LPSetting MyAppDats OFSetting MyAppData UFSetting MyAppDats OutputMask MyAppDats HPOutput MyAppData LPOutput MyInfo CountE nable Mylnfo ErrorD etected MylInfo CountUpFlag Mylnfo CountD wnFlag Mylnfo Mode1 Done MyInfo OVF Mylnfo UNF MylInfo CountDir Mylnfo HPReached Mylnfo LPReached Mylnfo OFCauselnter Mylnfo UFCauselnter Mylnfo HPCauselnter Mylnfo LPCauselnte
38. Connected Components Workbench mapping tool checks the number of characters entered for the Modbus Address If only five digits are entered the address is treated as a five digit Modbus address This means that the Discrete Inputs are mapped from 00001 09999 Coils are mapped from 10001 19999 Input Registers are mapped from 30001 39999 and Holding Registers are mapping from 40001 49999 Example 1 PanelView Component HMI Master to Micro800 Slave The embedded serial port is targeted for use with HMIs using Modbus RTU The maximum recommended cable distance is 3 meters Use the 2080 SERIALISOL serial port plug in module if longer distances or more noise immunity is needed The HMI is typically configured for Master and the Micro800 embedded serial port is configured for Slave From the default Communications Settings for a PanelView Component HMI PVC there are three items that must be checked or modified in order to set up communications from PVC to Micro800 176 Rockwell Automation Publication 2080 UM002F EN E December 2013 Modbus Mapping for Micro800 Appendix B 1 Change from DF1 to Modbus protocol Protocol Serial Modbus x O Ethermet Allen Bradley SLC PLC Driver BUS Sues Use Ethernet Encapsulation Fi PanelView Component Settings Write Optimization 19200 Controller Settings Add Controller Delete Selected Controller
39. DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA 10 mA 10 mA 154 Rockwell Automation Publication 2080 UM002F EN E December 2013 Outputs Attribute Load current max Relay Output 2080 LC30 16AWB 2080 LC30 160WB only 2 0A Hi Speed Output Outputs 0 1 100 mA high speed operation 1 0 A 30 C 0 3 A 65 C standard operation 2080 LC30 160VB only Specifications Appendix A Standard Output 2080 LC30 160VB only Outputs 2 5 1 0 A 30 C 0 3 A 65 C standard operation Surge current per point Refer to Relay Contacts Ratings on page 155 4 0 A every 1s 30 C every 2s 65 ol Current per common max 5A Turn on time 10 ms 2 5 us ON 0 1 ms Turn off time max OFF 1 ms 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes Continuous Make Break 120V AC 15A 1800V A 180V A 240V AC 7T5A 0 75 A 24V DC 1 0A 1 0A 28V A 125V DC 0 22 A Environmental Specifications Attribute Temperature operating Value IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature non operating Relative humidity
40. Flashing Green No connections An IP address is configured but no Ethernet application is connected Steady Green Connected At least one EtherNet IP session is established Flashing Red Connection timeout not implemented Steady Red Duplicate IP The device has detected that its IP address is being used by another device in the network This status is applicable only if the device s duplicate IP address detection ACD feature is enabled Flashing Green and Red Self test The device is performing power on self test POST During POST the network status indicator alternates flashing green and red The POWER and RUN indicators are on If a force condition is active the FORCE indicator turns on and remains on until all forces are removed If an error exists within the controller the controller indicators operate as described in the following table Rockwell Automation Publication 2080 UM002F EN E December 2013 Troubleshooting Appendix E Indicator Behavior All indicators off Probable Error No input power or power supply error Probable Cause No line power Recommended Action Verify proper line voltage and connections to the controller Power supply overloaded This problem can occur intermittently if power supply is overloaded when output loading and temperature varies Power and FAULT indicators on solid Hardware faulted Processor hardware error Cycl
41. For more information on configuring your Micro800 controller for Modbus protocol refer to the Connected Components Workbench Online Help For more information about the Modbus protocol refer to the Modbus Protocol Specifications available from http www modbus org See Modbus Mapping for Micro800 on page 175 for information on Modbus mapping To configure the Serial port as Modbus RTU see Configure Modbus RTU on page 49 TIP Use MSG_MODBUS instruction to send Modbus messages over serial port Modbus TCP Client Server The Modbus TCP Client Server communication protocol uses the same Modbus mapping features as Modbus RTU but instead of the Serial port it is supported over Ethernet Modbus TCP Server takes on Modbus Slave features on Ethernet The Micro850 controller supports up to 16 simultaneous Modbus TCP Client connections and 16 simultaneous Modbus TCP Server connections No protocol configuration is required other than configuring the Modbus mapping table For information on Modbus mapping see Modbus Mapping for Micro800 on page 175 TIP Use MSG_MODBUS2 instruction to send Modbus TCP message over Ethernet port CIP Symbolic Client Server CIP Symbolic is supported by any CIP compliant interface including Ethernet EtherNet IP and Serial Port CIP Serial This protocol allows HMIs to easily connect to the Micro830 Micro850 controller Micro850 controllers support up to 16 simultaneous EtherNet IP Client co
42. HSC Output Mask on Embedded Outputs Output Variable 32 Bit Signed Integer Data Word Embedded output 48 point 32 20 19 0 18 17 1 16 15 14 13 12 11 10 9 8 7 6 5 The outputs shown in the black boxes are the outputs under the control of the HSC sub system The mask defines which outputs can be controlled The high preset output or low preset output values HSCAPP HPOutput or HSCAPP LPOutput define if each output is either ON 1 or OFF 0 Another way to view this is that the high or low preset output is written through the output mask with the output mask acting like a filter The bits in the gray boxes are unused For the 10 point controller the first 4 bits of the mask word are used and the remaining mask bits are not functional because they do not correlate to any physical outputs on the base unit For the 16 24 and 48 point controllers the first 6 10 and 20 bits of the mask word are used respectively The mask bit pattern can be configured only during initial setup High Preset Output HSCAPP HPOutput Data Format long word 32 bit binary User Program Access read write Description HSCAPP HPOutput The High Preset Output defines the state 1 ON or 0 OFF of the outputs on the controller when the high preset is reached For more information on how to directly turn outputs on or off based on the high preset being reached see Outpu
43. Homing Function Block The homing function block MC_Home commands the axis to perform the search home sequence The Position input is used to set the absolute position when the reference signal is detected and configured home offset is reached This function block completes at StandStill if the homing sequence is successful MC_Home only can be aborted by the function blocks MC_Stop or MC_Power Any abort attempt from other moving function blocks will result in function block failure with Error ID MC_FB_ERR_STATE However homing operation is not interrupted and can be executed as usual If MC_Home is aborted before it completes the previously searched home position is considered as invalid and the axis Homed status is cleared After axis power on is done the axis Homed status is reset to 0 not homed On most scenarios the MC_Home function block needs to be executed to calibrate the axis position against the axis home configured after MC_Power On is done There are five homing modes supported on Micro830 and Micro850 controllers Homing Modes Homing Homing Mode name Homing Mode Description Mode Value 0x00 MC_HOME_ABS_ SWITCH Homing process searches for Home Absolute switch 0x01 MC_HOME_LIMIT_SWITCH Homing process searches for limit switch 0x02 MC_HOME_REF_WITH_ABS Homing process searches for Home Absolute switch plus using encoder reference pulse 0x03 MC_HOME_REF_PULSE Homing process searches for limit swi
44. Indicates whether the axis is in constant velocity movement or not Stationary axis is not considered to be in constant velocity AccFlag UINT8 Indicates whether the axis is in an accelerating movement or not DecFlag UINT8 Indicates whether the axis is in a decelerating movement or not AxisState UINT8 Indicates the current state of the axis For more information see Axis States on page 79 ErrorlD UINT16 Indicates the cause for axis error when error is indicated by ErrorFlag This error usually results from motion function block execution failure See Motion Function Block and Axis status Error ID on page 87 ExtraData UINT16 Reserved TargetPos REAL Indicates the final target position of the axis for MoveAbsolute and float MoveRelative function blocks 84 For MoveVelocity Stop and Halt function blocks TargetPos is 0 except when the TargetPos set by previous position function blocks is not cleared Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Data Elements for Axis_Ref Element Data Type Description name CommandPos REAL On a moving axis this is the current position the controller float commands the axis to go to TargetVel REAL The maximum target velocity issued to the axis by a move function float block The value of TargetVel is same as the velocity setting in current function block or smaller depending on other parameters in the
45. Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity EC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration EC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating EC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating EC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions CISPR 11 Group 1 Class A ESD immunity IEC 61000 4 2 6 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV at 5 kHz on power ports 2 kV at 5 kHz on signal ports EC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports EC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz Surge transient immunity I I Se PP S ans Conducted RF immunity Rockwell Automation Publication 2080 UM002F EN E December 2013 159 Appendix A Specifications Certifications Certification when Value product is marked c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class
46. Outputs North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Input Specifications Attribute Number of Inputs Input group to backplane isolation 2080 LC50 48AWB 120V AC Input 28 Verified by the following dielectric tests 1950V AC for 2 s 150V working voltage IEC Class 2 reinforced insulation 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB High Speed DC Input Standard DC Input Inputs 0 11 Inputs 12 and higher 12 16 Verified by the following dielectric tests 720V DC for 2 s 50V DC working voltage IEC Class 2 reinforced insulation Voltage category 110V AC Operating voltage range 132V 60Hz AC max 24V DC sink source 16 8 26 4V DC 65 C 149 F 10 26 4V DC 65 C 149 F 16 8 30 0V DC 30 C 86 F 10 30 0V DC 30 C 86 F Off state voltage max 20V AC 5V DC Off state current max 1 5mA 1 5mA On state current min 5 mA 79V AC 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 12 mA 120V AC 7 6 mA 24V DC 6 15 mA 24V DC On state current max 16 mA 132V AC 12 0 mA 30V DC Nominal impedance 2 KQ 50 Hz 3kQ 3 74 KQ 10 kQ 60 Hz IEC input compatibility Type 3 Inrush current max 250 mA 120V AC Input frequency max 63 Hz 170 Rockwell Automation Publication
47. Overview of Program Execution Chapter 6 Program Execution in Micro800 This section provides a brief overview of running or executing programs with a Micro800 controller IMPORTANT This section generally describes program execution in Micro800 controllers Certain elements may not be applicable or true for certain models for example Micro820 does not support PTO motion control A Micro800 cycle or scan consists of reading inputs executing programs in sequential order updating outputs and performing housekeeping datalog recipe communications Program names must begin with a letter or underscore followed by up to 127 letters digits or single underscores Use programming languages such as ladder logic function block diagrams and structured text Up to 256 programs may be included in a project depending on available controller memory By default the programs are cyclic executed once per cycle or scan As each new program is added to a project it is assigned the next consecutive order number When you start up the Project Organizer in Connected Components Workbench it displays the program icons based on this order You can view and modify an order number for a program from the program s properties However the Project Organizer does not show the new order until the next time the project is opened The Micro800 controller supports jumps within a program Call a subroutine of code within a program by encapsulating that cod
48. Selectable Timed Interrupt STIO 32768 bit 15 Ell Event Input Interrup Event 7 16384 bit 14 Ell Event Input Interrup Event 6 8192 bit 13 Ell Event Input Interrup Event 5 4096 bit 12 Ell Event Input Interrup Event 4 2048 bit 11 HSC High Speed Counter HSC5 1024 bit 10 HSC High Speed Counter HSC4 512 bit 9 HSC High Speed Counter HSC3 256 bit 8 HSC High Speed Counter HSC2 128 bit 7 HSC High Speed Counter HSC1 64 bit 6 HSC High Speed Counter HSCO 32 bit 5 Ell Event Input Interrupt Event 3 16 bit 4 Ell Event Input Interrupt Event 2 8 bit 3 Ell Event Input Interrupt Event 1 4 bit 2 Ell Event Input Interrupt Event 0 2 bit 1 UFR User Fault Routine Interrupt UFR 1 bit 0 reserved To disable interrupt s Select which interrupts you want to disable Find the Decimal Value for the interrupt s you selected 1 2 3 Add the Decimal Values if you selected more than one type of interrupt 4 Enter the sum into the UID instruction For example to disable EII Event 1 and EII Event 3 EII Event 1 4 EII Event 3 16 4 16 20 enter this value Rockwell Automation Publication 2080 UM002F EN E December 2013 217 Appendix D User Interrupts UIE User Interrupt Enable UIE Enable UIE name or Pin ID IROType or ENO Pin ID 45640 The UIE instruction is used to enable selected user interrupts The table below shows the types of interrupts with their corr
49. Shutdown through the Device Configuration tree in Connected Components Workbench Rockwell Automation Publication 2080 UM002F EN E December 2013 Communication Connections Chapter 5 Configure CIP Serial Driver 1 Open your Connected Components Workbench project On the device configuration tree go to the Controller properties Click Serial Port Controller General Memory Serial Port USB Port E Ethernet Internet Protocol Port Settings Port Diagnostics Date and Time Interrupts Startup Faults Modbus Mapping Embedded I O Plug In Modules lt Empty gt lt Empty gt lt Empty gt B Expansion Modules lt Empty gt lt Empty gt lt Empty gt lt Empty gt 2 Select CIP Serial from the Driver field Controller Serial Port Common Settings Driver CIP Serial gt Baud Rate 38400 Parity None x Station Address 1 Protocol Control DF1 Mode DF1 Full Duplex Control Line No Handshake Error Detection Embedded Responses ACK Timeout x20ms NAK Retries CRC x After One Received 7 7 Duplicate Packet Detection 50 ENQ Retries w w 3 Transmit Retries 3 Specify a baud rate Select a communication rate that all devices in your system support Configure all devices in the system for the same communication rate Default baud rate is set at 38400 bps 4 In most cases parity and station address should be left at default settings Rockwell
50. Standard Output Outputs 2 and higher Number of outputs 10 2 8 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current max 2 0 A 100 mA high speed operation 1 0 A 30 C 1 0 A 30 C 0 3 A 65 C standard operation 0 3 A 65 C standard operation Surge current per point Refer to Relay Contacts Ratings 4 0 A every 1 s 30 C every 2 s 65 o on page 158 Current per common max 5A Turn on time 10 ms 2 5 us 0 1 ms Turn off time max 1 ms 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes Make Continuous Break 120V AC 15A 1800V A 180V A 240V AC 7 5A 0 75 A 24V DC 1 0 A 1 0A 28V A 125V DC 0 22 A 158 Rockwell Automation Publication 2080 UM002F EN E December 2013 Specifications Appendix A Environmental Specifications Attribute Value Temperature operating IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock 20 65 C 4 149 F Temperature surrounding 65 C 149 F air max Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold EC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat EC 60068 2 14 Test
51. Workbench When a motion control function block ends with an error and the axis is in ErrorStop state in most cases MC_Reset function block or MC_Power Off On and MC_Reset can be used to have the axis to be recovered With this the axis can get back to normal motion operation without stopping the controller operation In case the controller encounters issues where recovery is not possible through the Stop Reset or Power function blocks controller operation will be stopped and a major fault will be reported The following motion related major fault codes are defined for Micro830 and Micro850 controllers Major Fault Error Codes and Description Major Fault Fault ID MACRO Value OxF100 EP_MC_CONFIG_GEN_ERR There is general configuration error detected in Major Fault description the motion config uration downloaded from Connected Components Workbench such as Num of Axis or Motion execution interval being configured out of When this major range ault is reported there could be no axis in ErrorStop state OxF110 EP_MC_RESOURCE_MISSING Motion configura ion has mismatch issues with motion resource downloaded to the controller There are some motion resources missing When this major no axis in ErrorStop state ault is reported there could be OxF12x EP_MC_CONFIG_AXS_ERR Motion configura supported by this ion for axis cannot be catalog or the configuration has some resource
52. according to Limit Switch Hard Stop configuration 3 Moving part moves back in positive direction in creep velocity to detect Lower Limit switch On gt Off edge 4 Once Lower Limit switch On gt Off edge is detected record the position as mechanical home position and decelerate to stop 5 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software Scenario 2 Moving part on Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows Rockwell Automation Publication 2080 UM002F EN E December 2013 105 Chapter 7 106 Motion Control with PTO and PWM 1 Moving part moves to its right side in positive direction in creep velocity to detect Lower Limit switch On gt Off edge 2 Once Lower Limit switch On gt Offedge is detected record the position as mechanical home position and decelerate to stop 3 Move to the configured home position The mechanical home position recorded during moving right sequence plus the home offset configured for the axis through the software Scenario 3 Moving part at left negative side of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part is at the proper loca
53. as for PID it is recommended that STI Selectable Timed Interrupt be used to execute the program STI provides precise time intervals It is not recommended that the system variable __ SYSVA_TCYCYCTIME be used to periodically execute all programs as this also causes all communication to execute at this rate WARNING Communication timeouts may occur if programmed cycle time is set too slow for example 200 ms to maintain communications System Variable for Programmed Cycle Time Variable __SYSVA_TCYCYCTIME Description Programmed cycle time Note Programmed cycle time only accepts values in multiples of 10 ms If the entered value Is not a multiple of 10 it will be rounded up to the next multiple of 10 On firmware revision 2 and later all digital output variables driven by the I O scan gets cleared on powerup and during transition to RUN mode Two system variables are also available from revision 2 and later System Variables for Scan and Powerup on Firmware Release 2 and later Variable Type Description _SYSVA_FIRST_SCAN BOOL First scan bit Can be used to initialize or reset variables immediately after every transition from Program to Run mode Note True only on first scan After that it is false SYSVA_POWER_UP_BIT BOOL Powerup bit Can be used to initialize or reset variables immediately after download from Connected Components Workbench or immediately after being loaded from memory backup module for e
54. block Check the velocity or target position settings for the function block or adjust Soft Limit setting 11 MC_FB_ERR_HARD_LIMIT This function block is aborted as the Hard Limit The axis is not operational due to hard limit error switch active state has been detected during axis detected movement or aborted as the Hard Limit switch Reset the state of the axis using the MC_Reset active state has been detected before axis function block and then move the axis away from movement starts the hard limit switch in the opposite direction Move the axis away from the hard limit switch in the opposite direction 12 MC_FB_ERR_LOG_LIMIT This function block cannot execute as it will end up The axis is not operational due to PTO Accumulator moving beyond the PTO Accumulator logic limit or logic limit error detected or due to expected PTO the function block is aborted as the PTO accumulator logic limit error in a function block Accumulator logic limit has been reached Reset the state of the axis using the MC_Reset Check the velocity or target position settings for function block the function block Or use MC_SetPosition Check the velocity or target position settings for function block to adjust the axis coordinate system the function block Or use MC_SetPosition function block to adjust the axis coordinate system 13 MC_FB_ERR_ENGINE A motion engine execution error is detected during The axis is not operational due to a motion engine the exe
55. conditions are detected e High Preset Interrupt occurs e Underflow Interrupt occurs e Overflow Interrupt occurs Programmable Limit Switch Position HSCSTS PLSPosition Description Data Format HSC Modes JUser Program Access HSCSTS PLSPosition Word INT 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 When the HSC is in Counting mode and PLS is enabled this parameter indi cates which PLS element is used for the current HSC configuration Error Code HSCSTS ErrorCode Description Data Format HSC Modes JUser Program Access HSCSTS ErrorCode Word INT 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPRHSCMode on page 118 The Error Codes detected by the HSC sub system are displayed in this word Errors include Error Code Sub element HSC counting Error Error Description Code Bit 15 8 high byte 0 255 The non zero value for high byte indicates that he HSC error is due to PLS data setting The value of high byte indicates which element of PLS data triggers the error Bit 7 0 low byte 0x00 No error 0x01 nvalid HSC counting mode 0x02 nvalid High preset 0x03 nvalid overflow 0x04 Invalid underflow 0x05 No PLS data Writing to this element is no
56. conflict with some other motion axis whic h has been configured earlier The possible reason could be maximum velocity max acceleration range x the logic Axis is configured out of supported ID 0 3 OxF15x EP_MC_ENGINE_ERR There is a motion engine logic error firmware logic issue or memory crash for one axis detected during motion engine cyclic operation One possible reason can be motion engine data memory crash This is motion engine operation error and should not happen in normal condition x the logic Axis ID 0 3 A maximum of three motion axes can be configured through the Connected Components Workbench software To add configure update delete and monitor an axis in Connected Components Workbench refer to the next sections TIP Configuration changes must be compiled and downloaded to the controller to take effect Rockwell Automation Publication 2080 UM002F EN E December 2013 89 Chapter 7 Motion Control with PTO and PWM TIP Values for the different motion axis parameters are validated based on a set of relationships and pre determined absolute range See Motion Axis Parameter Validation on page 100 for a description of the relationships between parameters Add New Axis IMPORTANT Motion Engine Execution Time m Motion Motion Engine Execution Time 2 ms Maximum Number of Axes 2 When an axis is added to the configuration t
57. controller onto the DIN rail and then press the bottom until the controller snaps onto the DIN rail 2 Push the DIN rail latch back into the latched position Use DIN rail end anchors Allen Bradley part number 1492 EAJ35 or 1492 E AHJ35 for vibration or shock environments To remove your controller from the DIN rail pry the DIN rail latch downwards until it is in the unlatched position Rockwell Automation Publication 2080 UM002F EN E December 2013 23 Chapter3 Install Your Controller Panel Mounting The preferred mounting method is to use four M4 8 screws per module Hole spacing tolerance 0 4 mm 0 016 in Follow these steps to install your controller using mounting screws 1 Place the controller against the panel where you are mounting it Make sure the controller is spaced properly 2 Mark drilling holes through the mounting screw holes and mounting feet then remove the controller 3 Drill the holes at the markings then replace the controller and mount it Leave the protective debris strip in place until you are finished wiring the controller and any other devices IMPORTANT For instructions on how to install your Micro800 system with expansion 1 0 see the User Manual for Micro800 Expansion I O Modules 2080 UM003 Panel Mounting Dimensions Micro830 10 and 16 Point Controllers 2080 LC30 10QWB 2080 LC30 10QVB 2080 LC30 16AWB 2080 LC30 16QWB 2080 LC30 16QVB 86 mm 3 39 in a e
58. controller2 IMPORTANT Micro800 controllers do not support more than one hop for example from EtherNet IP gt CIP Serial gt EtherNet IP Use Modems with Serial modems can be used with the Micro830 and Micro850 controllers Micro800 Controllers Making a DF1 Point to Point Connection You can connect the Micro830 and Micro850 programmable controller to your serial modem using an Allen Bradley null modem serial cable 1761 CBL PM02 to the controller s embedded serial port together with a 9 pin null modem adapter a null modem with a null modem adapter is equivalent to a modem cable The recommended protocol for this configuration is CIP Serial Rockwell Automation Publication 2080 UM002F EN E December 2013 45 Chapter 5 Communication Connections Configure Serial Port 46 Construct Your Own Modem Cable If you construct your own modem cable the maximum cable length is 15 24 m 50 ft with a 25 pin or 9 pin connector Refer to the following typical pinout for constructing a straight through cable DTE Device Micro830 850 DCE Device Channel 0 Modem etc 8 Pin 25 Pin 9 Pin 7 TXD gt TXD 2 3 4 RXD lt RXD 3 2 2 GND lt gt GND 7 5 1 B DCD 8 1 8 Al DTR 20 4 5 DCD DSR 6 6 6 CTS lt CTS 5 8 3 RTS gt RTS 4 7 You can configure the Serial Port driver as CIP Serial Modbus RTU ASCII or
59. data values of Parameters Parameter ist Powertlex 4M_I 1 Cutput Freq 2 Commanded Freg 0 0 Hz D 0 0 3 Output Current 0 00 A D p 0 00 4 Output Yoltage 0 0 Y D 0 0 5 OC Bus Voltage 314 T 314 o 6 Drive Status ODD000000000001D 2 0000000000000 0000000000000 7 From the Parameter window change the following Parameters to set the communications for Modbus RTU so that the PowerFlex 4M Drive will communicate with Micro830 850 via Modbus RTU communication Parameter Description Setting C302 Comm Data Rate Baud Rate 4 19200 bps 4 C303 Communication Node Address address range is 1 127 2 C304 Comm Loss Action Action taken when loss communication 0 0 Fault with coast stop C305 Comm Loss Time Time remain in communication before taking 5 action set in C304 5 sec Max 60 C306 Comm Format Data Parity Stop RTU 8 Data Bit Parity None 1 0 Stop bit 8 Disconnect the Communications and save your project x Powerflex 4AN_1 PowerFlex 4M t Fe 6 t p Downpnd Upload Parameters Properties Wizerds Fouls Reset_ eooo 9 Turn off the power to the drive until the PowerFlex 4M display blanks out completely then restore power to the PowerFlex 4M The drive is now ready to be controlled by Modbus RTU communication commands initiated from the Micro830 850 controller Modbus devices can be 0 based registers are numbered starting at 0 or 1 based registers are numbered start
60. device configuration tree go to Controller properties Click Ethernet B Controller General Memory Serial Port USB Port Ethernet Internet Protocol Port Settings Port Diagnostics 52 Rockwell Automation Publication 2080 UM002F EN E December 2013 Communication Connections Chapter 5 2 Under Ethernet click Internet Protocol Configure Internet Protocol IP settings Specify whether to obtain the IP address automatically using DHCP or manually configure IP address subnet mask and gateway address Ethernet Internet Protocol Internet Protocol IP Settings Obtain IP address automatically using DHCP Configure IP address and settings Detect duplicate IP address Save Settings To Controller TIP The Ethernet port defaults to the following out of the box settings e DHCP dynamic IP address e Address Duplicate Detection On 3 Click the checkbox Detect duplicate IP address to enable detection of duplicate address 4 Under Ethernet click Port Settings Ethernet Port Settings Port State Set Port State Enabled MAC Address of Port Disabled Auto Negotiate speed and duplexity Connection Speed Mbps Connection Duplexity Save Settings To Controller 5 Set Port State as Enabled or Disabled 6 To manually set connection speed and duplexity uncheck the option box Auto Negotiate speed and duplexity Then set Speed 10 or 100 Mbps and Duplexity Half or Full values 7 Click Sav
61. e f maximum Jerk is configured as zero in Connected Components Workbench motion configuration all jerk parameters for the motion function block has to be configured as zero Otherwise the function block reports an error Error ID MC_FB_ERR_RANGE e f Jerk is set as a non zero value S Curve profile is generated If Jerk is set as zero trapezoidal profile is generated e f the motion engine fails to generate the motion profile prescribed by the dynamic input parameters the function block reports an error Error ID MC_FB_ERR_PROFILE See Function Block and Axis Status Error Codes on page 86 for more information about error codes Rockwell Automation Publication 2080 UM002F EN E December 2013 69 Chapter7 Motion Control with PTO and PWM General Rules for the Motion Function Block Parameter Output Exclusivity General Rules With Execute The outputs Busy Done Error and CommandAborted indicate the state of the function block and are mutually exclusive only one of them can be true on one function block If execute is true one of these outputs has to be true The outputs Done Busy Error ErrorID and CommandAborted are reset with the falling edge of Execute However the falling edge of Execute does not stop or even influence the execution of the actual function block Even if Execute is reset before the function block completes the corresponding outputs are set for at least one cycle If an instance of a funct
62. e Input 0 Quadrature Encoder e Input 1 B Forward Rotation Reverse Rotation A A A A _ i L B 1 2 3 2 1 Count HSC Mode 6 Quadrature Counter phased inputs A and B HSC Mode 6 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count A Count B Not Used Not Used Example qi I off 0 on 1 HSC Accumulator 1 count Example 22 y off 0 on 1 HSC Accumulator 1 count Example3 off 0 Hold accumulator value Example 4 on 1 Hold accumulator value Example 5 on 1 Hold accumulator value Example 6 off 0 Hold accumulator value 1 Count input A leads count input B 2 Count input B leads count input A Blank cells don t care ft rising edge y falling edge TIP 122 Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 HSC Mode 7 Quadrature Counter phased inputs A and B With External Reset and Hold HSC Mode 7 Examples Input Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input3 CE Bit Comments Terminals Function Count A Count B Z reset Hold Example qi T off 0 off 0 on 1 HSC Accumulator 1 count Example 22 ly off 0 off 0 off 0 on 1 HSC Accumulator 1
63. on IY Jo off 0 Hold accumulator value 1 0 Example 4 on U loff on Y Jo Hold accumulator value 1 0 1 0 Example 5 f Clear accumulator 0 Blank cells don t care fl rising edge U falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 2 Counter with External Direction HSC Mode 2 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Direction Not Used Not Used Example 1 1 off on 1 HSC Accumulator 1 count 0 Example 2 on on 1 HSC Accumulator 1 count 1 Example3 off 0 Hold accumulator value Rockwell Automation Publication 2080 UM002F EN E December 2013 119 Chapter8 Use the High Speed Counter and Programmable Limit Switch Blank cells don t care lz rising edge y falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 3 Counter with External Direction Reset and Hold HSC Mode 3 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Direction Reset Hold Example 1 if off on V off off jon 1 HSC Accumulator 1 count 0 1 0 0 Example 2 tt on on off
64. or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures Fadl al ol IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley Rockwell Software Rockwell Automation Micro800 Micro830 Micro850 Connected Components Workbench and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Preface Who Should Use this Manual Purpose
65. parameters See Motor and Load Parameters on page 93 using Range 0 10 000 000 pulse sec Default 10 000 000 pulse sec Emergency Stop Profile Stop Type Rockwell Automation Publication 2080 UM002F EN E December 2013 Defines stop type velocity deceleration and jerk values Set as Deceleration Stop default or Immediate Stop 95 Chapter 7 Motion Control with PTO and PWM Dynamics Parameters Parameter Values Stop Velocity The range is based on Motor and Load parameters See Motor and Load Parameters on page 93 using Range 1 100 000 pulse sec Default 300 rpm Stop Deceleration The range is based on Motor and Load parameters See Motor and Load Parameters on page 93 using Range 1 10 000 000 pulse sec Default 300 0 rpm Stop Jerk The range is based on Motor and Load parameters See Motor and Load Parameters on page 93 using Range 0 10 000 000 pulse sec Default 0 0 rpm Disabled 1 The parameter is set as REAL float value in Connected Components Workbench To learn more about conversions and rounding of REAL values see Real Data Resolution on page 97 2 The formula for deriving rpm to user unit and vice versa v in user unit sec x 60 s v in rpm travel per revolution in user unit 3 To convert from parameter value from pulse to user units Travel per revolution Value in user unit Value in pulse x sm Pulse per re
66. products At http www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Use the Worldwide Locator at http www rockwellautomation com support americas phone_en html or contact Canada your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributo
67. s Sort by Name Ascending Name Controller Type PLC 1 Modbus 2 Set the Address of Micro800 slave to match the serial port configuration for the controller Settings Zero based addressing Zero based addressing within registers Holding register bit mask writes Modbus function 06 for single register writes Modbus function 05 for single coil writes Default Modbus byte order First word low in 32 bit data types First Dword low in 64 bit data types Modicon bit ordering bit 0 is MSB OXFORD 3 Deactivate Tags on Error This is to prevent the requirement of power cycling PVC when new Modbus Mappings are downloaded from Connected Components Workbench to Micro800 controller Modbus TCP re GAE EEE Framing address exception Oo io Example 2 Micro800 Master to PowerFlex 4M Drive Slave The following is the overview of the steps to be taken for configuring a PowerFlex 4M drive Rockwell Automation Publication 2080 UM002F EN E December 2013 171 Appendix B 178 Modbus Mapping for Micro800 Parameter numbers listed in this section are for a PowerFlex 4M and will be different if you are using another PowerFlex 4 Class drive Parameter Name Parameter Number 4M 4 40 40P 400 400N 400P Start Source P106 P36 Speed Reference P108 P38 Comm Data Rate C302 A103 C103 Comm Node Addr C303 A104 C104 Comm Loss Action C304 A105 C105 Comm Loss Time C305 A106 C106 Comm Form
68. same function block This element is a signed value indicating direction information See PTO Pulse Accuracy on page 100 for more information CommandVel REAL During motion this element refers to the velocity the controller float commands the axis to use This element is a signed value indicating direction information 0 See Real Data Resolution on page 97 for more information on REAL data conversion and rounding IMPORTANT Once an axis is flagged with error and the error ID is not zero the user needs to reset the axis using MC_Reset before issuing any other movement function block IMPORTANT The update for axis status is performed at the end of one program scan cycle and the update is aligned with the update of Motion Axis status Axis Error Scenarios In most cases when a movement function block instruction issued to an axis results in a function block error the axis is also usually flagged as being in Error state The corresponding ErrorID element is set on the axis_ref data for the axis However there are exception scenarios where an axis error is not flagged The exception can be but not limited to the following scenarios e A movement function block instructs an axis but the axis is in a state where the function block could not be executed properly For example the axis has no power or is in Homing sequence or in Error Stop state e A movement function block instructs an axis but
69. see Count Down HSCSTS CountDownFlag on page 129 The MN Underflow Mask control bit is used to enable allow or disable not allow a underflow interrupt from occurring If this bit is clear 0 and a Underflow Reached condition is detected by the HSC the HSC user interrupt is not executed This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit Rockwell Automation Publication 2080 UM002F EN E December 2013 HSC Interrupt Status Information Use the High Speed Counter and Programmable Limit Switch Chapter 8 Mask for IH HSCO MH Description Data Format HSC Modes JUser Program Access MH High Preset Mask bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 129 The MH High Preset Mask control bit is used to enable allow or disable not allow a high preset interrupt from occurring If this bit is clear 0 and a High Preset Reached condition is detected by the HSC the HSC user interrupt is not executed This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit Mask for IL HSCO ML Description Data Format HSC Modes User Program Access ML Low Preset Mask bit 2 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 12
70. set in the function block deceleration or jerk set in a function block Correct the setting for the parameters for Reset the state of the axis using the MC_Reset example mode or position for the function block function block Correct the setting for the parameters for example mode or position for the function block 04 MC_FB_ERR_AXISNUM The function block cannot execute because the Motion internal Fault Error ID 0x04 axis does not exist the axis configuration data is Call Tech support corrupted or the axis is not correctly configured 05 MC_FB_ERR_MECHAN The function block cannot execute because the The axis is not operational due to drive or axis is faulty due to drive or mechanical issues mechanical issues Check the connection between the drive and the Check the connection between the drive and the controller Drive Ready and In Position signals controller Drive Ready and In Position signals and ensure the drive is operating normally and ensure the drive is operating normally Reset the state of the axis using the MC_Reset function block 06 MC_FB_ERR_NOPOWER The function block cannot execute because the The axis is not powered on axis is not powered on Power on the axis using MC_Power function block Power on the axis using MC_Power function block Reset the state of the axis using the MC_Reset function block 07 MC_FB_ERR_RESOURCE The function block cannot execute because the The axis is not operational due to
71. sine wave 80 AM from 150 kHz 80 MHz Radiated RF immunity EFT B immunity Surge transient immunity Conducted RF immunity Isolated AC Inputs 2080 LC50 240WB 2080 LC50 240VB 2080 LC50 240BB Inputs 0 7 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Micro850 48 Point Controllers General Specifications 2080 LC 50 48AWB 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Attribute 2080 LC50 48AWB 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Number of 1 0 48 28 inputs 20 outputs Dimensions 90 x 238 x 80 mm HxWxD 3 54 x 9 37 x 3 15 in Shipping weight approx 0 725 kg 1 60 Ib Wire size 0 2 2 5 mm 24 12 AWG solid copper wire or 0 2 2 5 mm 24 12 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports 2 on communication ports Wire type Use Copper Conductors only Terminal screw torque 0 4 0 5 Nm 3 5 4 4 Ib in using a 0 6 x 3 5 mm flat blade screwdriver Input circuit type 120V AC 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink standard and high speed 24V DC source standard and high speed Rockwell Automation Publication 2 080 UM002F EN E December 2013 169 AppendixA Specificatio
72. system is properly grounded A system may malfunction due to a change in the operating environment after a period of time We recommend periodically checking system operation particularly when new machinery or other noise sources are installed near the Micro800 system Analog Channel Wiring Guidelines Consider the following when wiring your analog channels e The analog common COM is not electrically isolated from the system and is connected to the power supply common e Analog channels are not isolated from each other e Use Belden cable 8761 or equivalent shielded wire e Under normal conditions the drain wire shield should be connected to the metal mounting panel earth ground Keep the shield connection to earth ground as short as possible e To ensure optimum accuracy for voltage type inputs limit overall cable impedance by keeping all analog cables as short as possible Locate the I O system as close to your voltage type sensors or actuators as possible Minimize Electrical Noise on Analog Channels Inputs on analog channels employ digital high frequency filters that significantly reduce the effects of electrical noise on input signals However because of the variety of applications and environments where analog controllers are installed and operated it is impossible to ensure that all environmental noise will be removed by the input filters Several specific steps can be taken to help reduce the effects of enviro
73. the following e Forced PTO Hardware Stop e Emergency Stop Profile Lower Hard Limit Click checkbox to enable a lower hard limit Active Level for Lower Hard Limit High or Low Upper Hard Limit Click checkbox to enable Active Level for Upper Hard Limit High or Low Soft Limits Defines upper and lower soft limits values Lower Soft Limit Lower soft limit should be less than upper soft limit 7 1 Click checkbox to enable an lower upper soft limit Upper Soft Limit 2 Specify a value in mm 1 To convert from user units to pulse Travel per revolution Pulse per revolution Value in user unit Value in pulse x 2 The parameter is set as REAL float value in Connected Components Workbench To learn more about conversions and rounding of REAL values see Real Data Resolution on page 97 TIP A red border on an input field indicates that an invalid value has been entered Scroll over the field to see tooltip message that will let you know the valid value range for the parameter Supply the valid value Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 3 Click Dynamics The lt Axis Name gt Dynamics tab appears Edit the Dynamics parameters based on the table below axisl Dynamics Normal Operation Profile En Start Stop Velocity 50 mm sec 300 0 rpm Max Velocity 500 0 mm sec 30000 0 r
74. to the rest of the system TIP Do not control the master control relay with the controller Provide the operator with the safety of a direct connection between an emergency stop switch and the master control relay Using Emergency Stop Switches When using emergency stop switches adhere to the following points e Do not program emergency stop switches in the controller program Any emergency stop switch should turn off all machine power by turning off the master control relay Rockwell Automation Publication 2080 UM002F EN E December 2013 17 Chapter 2 About Your Controller e Observe all applicable local codes concerning the placement and labeling of emergency stop switches e Install emergency stop switches and the master control relay in your system Make certain that relay contacts have a sufficient rating for your application Emergency stop switches must be easy to reach e In the following illustration input and output circuits are shown with MCR protection However in most applications only output circuits require MCR protection The following illustrations show the Master Control Relay wired in a grounded system TIP In most applications input circuits do not require MCR protection however if you need to remove power from all field devices you must include MCR contacts in series with input power wiring 18 Rockwell Automation Publication 2080 UM002F EN E December 2013 About Your Controller Chapter 2 Sc
75. with PTO and PWM Chapter 7 Motion Function Block and Axis status Error ID Error ID Error ID MACRO Error description for Function Block Error description for Axis Status 00 MC_FB_ERR_NO Function block execution is successful The axis is in operational state 01 MC_FB_ERR_WRONG_STATE The function block cannot execute because the The axis is not operational due to incorrect axis axis is not in the correct state Check the axis state detected during a function block execution state Reset the state of the axis using the MC_Reset function block 02 MC_FB_ERR_RANGE The function block cannot execute because there is The axis is not operational due to invalid axis invalid axis dynamic parameter s velocity dynamic parameter s velocity acceleration acce eration deceleration or jerk set in the deceleration or jerk set in a function block function block Reset the state of the axis using the MC_Reset Correct the setting for the dynamic parameters in function block the function block against Axis Dynamics Correct the setting for the dynamic parameters in configuration page the function block against Axis Dynamics configuration page 03 MC_FB_ERR_PARAM The function block cannot execute because there is The axis is not operational due to invalid invalid parameter other than velocity acceleration parameters other than velocity acceleration deceleration or jerk
76. with embedded yellow and green LED indicators 7 Right side cover 15 Optional AC power supply 8 Mounting screw hole mounting foot Status Indicator Description Description Description 16 inputstaus o a Sautstas SS 17 Module status 22 Force status 18 Network status 23 Serial communications status 19 Power status 24 Output status 20 Run status 1 For detailed descriptions of these LED status indicators see Troubleshooting on page 227 Micro830 Controllers Number and Type of Inputs Outputs Catalog Number Inputs Outputs PTO Support HSC Support 110V AC 24V DC V AC Relay 24V Sink 24V Source 2080 LC30 100WB 6 4 2 2080 LC30 100VB 6 4 1 2 2080 LC30 16AWB 10 6 2080 LC30 160 WB 10 6 2 Rockwell Automation Publication 2080 UMO002F EN E December 2013 Chapter 1 Hardware Overview Micro830 Controllers Number and Type of Inputs Outputs Catalog Number inputs Oups PTO Support HSC Support 110V AC 24V DC V AC Relay 24V Sink 24V Source 2080 LC30 160VB 10 6 1 2 2080 LC30 240BB 14 10 2 4 2080 LC30 240VB 14 10 2 4 2080 LC30 240WB 14 10 4 2080 LC30 48AWB 28 20 2080 LC30 480BB 28 20 3 6 2080 LC30 480VB 28 20 3 6 2080 LC30 480WB 28 20 6 Micro850 Controllers Number and Types of Inputs and Outputs Catalog Number Iinuts Oups PTOSuppot HSC Support
77. 0 9 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 The High Preset Interrupt status bit is set 1 when the HSC accumulator reaches the high preset value and the HSC interrupt is triggered This bit can be used in the control program to identify that the high preset condition caused the HSC interrupt If the control program needs to perform any specific control action based on the high preset this bit is used as conditional logic This bit can be cleared 0 by the control program and is also cleared by the HSC sub system whenever these conditions are detected e Low Preset Interrupt occurs e Underflow Interrupt occurs e Overflow Interrupt occurs Low Preset Interrupt HSCSTS LPCauselnter Description Data Format HSC Modes User Program Access HSCSTS LPCauselnter bit 29 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 The Low Preset Interrupt status bit is set 1 when the HSC accumulator reaches the low preset value and the HSC interrupt has been triggered This bit can be used in the control program to identify that the low preset condition caused the HSC interrupt If the control program needs to perform any specific control action based on the low preset this bit would be used as conditional logic This bit can be cleared 0 by the control program and is also be cleared by the HSC sub system whenever these
78. 0 1 om000 1 OOOO Lio 8 te 8 9 9 2 2 3 3 4 4 E 5 5 E 6 6 T 7 oo00 7 0000000000 oo000 00 45934 45935 Status Indicator Description Description State Indicates 1 Input status off Input is not energized On Input is energized terminal status 2 Power status off No input power or power error condition Green Power on 3 Run status off Not executing the user program Green Executing the user program in run mode Flashing green Memory module transfer in progress Rockwell Automation Publication 2080 UM002F EN E December 2013 227 Appendix E Troubleshooting Error Conditions 228 Status Indicator Description Description State Indicates Fault status Off No fault detected Red Controller hard fault Flashing red Application fault detected Force status Of No force conditions are active Amber Force conditions are active Serial Of No traffic for RS 232 RS 485 E ree Traffic through RS 232 RS 485 Output status Of Output is not energized On Output is energized logic status Module status Steady Off No power Flashing Green Standby Steady Green Device operational Flashing Red Minor fault minor and major recoverable faults Steady Red Major Fault non recoverable fault Flashing Green Self test and Red Network status Steady Off Not powered no IP address Normal Operation The device is powered off or is powered on but with no IP address
79. 0 240VB 2080 LC50 240BB 2080 LC50 24AWB Relay Output Hi Speed Output Standard Output Outputs 0 1 Outputs 2 and higher Number of outputs 10 2 8 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Rockwell Automation Publication 2080 UM002F EN E December 2013 167 AppendixA Specifications Output Specifications Attribute 2080 LC50 240WB 2080 LC50 240VB 2080 LC50 240BB 2080 LC50 24AWB Relay Output Hi Speed Output Standard Output Outputs 0 1 Outputs 2 and higher Load current 2 0A 100 mA high speed 1 0 A 30 C continuous max operation 0 3 A 65 C standard 1 0A 30 C operation 0 3A 65 C standard operation Surge current per point See Relay Contacts 40A for 10 ms every 1 s 30 C every 2 s Ratings on page 158 65 acl Current percommon 5A max Turn on time 10 ms 2 5 us 0 1 ms Turn off time max 1 ms 1 Applies for general purpose operation only does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes Continuous Make Break 120V AC 15A 1800VA 180VA 240V AC 7 5A 24V DC 1 0 A 1 0A 28V A 125V DC 0 22 A Environmental Specifications Attribute Value Temperature operating IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock
80. 0 48Q0WB 2080 LC30 480VB 2080 LC30 480BB Inputs 0 11 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Outputs Attribute 2080 LC30 48AWB 2080 L30 480WB 2080 LC30 480VB 2080 LC30 480BB Relay Output Hi Speed Output Standard Output Outputs 0 3 Outputs 4 and higher Number of outputs 20 4 16 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current max 2 0 A 100 mA high speed operation 1 0 A 30 C 1 0 A 30 C 0 3 A 65 C standard 0 3 A 65 C standard operation operation Surge current per point Refer to Relay Contacts Ratings on page 162 4 0 A every 1 s 30 C every 2 s 65 och Current per common max 5A Turn on time 10 ms 2 5 us 0 1 ms Turn off time max 1 ms 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes Make Continuous Break 120V AC 15A i 1800V A 180V A 240V AC 7 5A 24V DC 1 0 A 1 0 A 28V A 125V DC 0 22 A 162 Rockwell Automation Publication 2080 UM002F EN E December 2013 Specifications Appendix A Environmental Specifications Attribute Temperature operating Value IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC
81. 0 and Micro850 24 point Controllers Front 27 8 lt 4 F gt 45 145 2 44 4 14 4 7 2 7 8 78 33 8 131 0o000000000909090900909 0 L NO Input 2 e o S S foo pa o 110 8 100 90 3 S 0 oo fo S o l Ouiput DC DEVa S OK e m e eseeeeeeeeeeee9es S 0 72 w 131 36 6 Micro830 Micro850 24pt Controller with Micro800 Power Supply Measurements in millimeters Expansion 1 0 Slots Applicable to Micro850 only Single width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 and Micro850 24 point Controllers Side Micro830 Micro850 24pt Controller with Micro800 Power Supply Measurements in millimeters Rockwell Automation Publication 2080 UM002F EN E December 2013 Expansion 1 0 Slots Applicable to Micro850 only Single width 1st slot Double width 2nd slot 2085 ECR terminator 27 Chapter3 Install Your Controller Micro830 and Micro850 48 point Controllers Front 44 4 530 278 14 4 7 8 108 108 a a leeeeeeeeeeeeeees eseeeeeeeeeeeseees 0 LN pa Z input o S S i oo S rs o S S 100 1 90 P a g 0 110 8 p 9P ja S OK al o0o090999099000909090909099 oo0o00909909099099990990099 li 216 22 8 36 6 Expansion 1 0 Slots Applicable to Micro850 only Sing
82. 0001 TimeDerivative 0 0 Rockwell Automation Publication 2080 UM002F EN E December 2013 241 Appendix F _ PID Function Block e Set the AT_Parameter as follows AT_Parameter Values AT Parameter Recommendation Load Every Load provides a saturated process value over a period of time Adjust the load to the value for the saturated process value you want IMPORTANT If a load of 40 gives you a process value of 30 C over a period of time and you want to tune your system to 30 C you should set the load to 40 Deviation This parameter plays a significant role in the autotune process The method of deriving this value is explained later in this section It is not necessary to set this parameter prior to autotuning However if you already know the deviation it is fine to set it first Step Step value should be between 3 Deviation and load The step provides an offset for the load during autotuning It should be set to a value high enough to create a significant change in process value ATDynamSet Set this value to a reasonably long time for the autotune process Every system is different so allow more time to a system with a process value that takes longer to react to change ATReset Set this parameter to TRUE to reset the output to zero after the autotune process completes Set this parameter to FALSE to leave the output at load value after the autotune process completes To autotune pe
83. 013 Motion Control with PTO and PWM Chapter 7 3 Move to the configured home position The mechanical home position recorded during moving right sequence plus the home offset configured for the axis in the Connected Components Workbench software Scenario 4 Moving part at left negative side of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part at the proper location before homing starts MC_HOME_LIMIT_SWITCH IMPORTANT f Lower Limit switch is not configured as Enabled MC_HOME_LIMIT_SWITCH 1 homing will fail Error ID MC_FB_ERR_PARAM For Homing against Lower Limit switch one positive home offset can be configured for Homing against Upper Limit switch one negative home offset can be configured MC_HOME_LIMIT_SWITCH 1 homing procedure performs a homing operation against Limit switch The actual motion sequence is dependent on the limit switch configuration and the actual status for the switch before homing starts that is when the MC_Home function block is issued Scenario 1 Moving part at right positive side of Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side in negative direction 2 When Lower Limit switch is detected the moving part decelerates to stop or stops immediately
84. 120V AC 24V DC V AC Relay 24V Sink 24V Source 2080 LC50 24AWB 14 10 2080 LC50 24QBB 14 10 2 4 2080 LC50 24QVB 14 10 2 4 2080 LC50 24QWB 14 10 4 2080 LC50 48AWB 28 20 2080 LC50 480BB 28 20 3 6 2080 LC50 480VB 28 20 3 6 2080 LC50 480WB 28 20 6 Programming Cables Micro800 controllers have a USB interface making standard USB cables usable as programming cables Use a standard USB A Male to B Male cable for programming the controller 45221 6 Rockwell Automation Publication 2080 UM002F EN E December 2013 Hardware Overview Chapter 1 Embedded Serial Port Cables Embedded serial port cables for communication are listed here All embedded serial port cables must be 3 meters in length or shorter Embedded Serial Port Cable Selection Chart Connectors Length Cat No Connectors Length Cat No 8 pin Mini DIN to 8 pin Mini DIN 0 5 m 1 5 ft 1761 cBL AMoo 8 pin Mini DIN to 9 pin D Shell 0 5m 1 5ft 4761 CBL APoo 8 pin Mini DIN to 8 pin Mini DIN 2 m 6 5 ft 4761 cBL HMo2 8 pin Mini DIN to 9 pin D Shell 2 m 6 5 ft 1761 CBL PMo2 8 pin Mini DIN to 6 pin RS 485 30 cm 11 8in 1763 NCO1 series A terminal block 1 Series C or later for Class 1 Div 2 applications Embedded Ethernet Support For Micro850 controllers a 10 100 Base T Port with embedded green and yellow LED indicators is available for connection to an Ethernet network through any
85. 2080 UM002F EN E December 2013 Output Specifications Specifications Appendix A Attribute 2080 LC50 48AWB 2080 LC50 480WB_ 2080 LC50 480VB 2080 LC50 480BB Relay Output Hi Speed Output Standard Output Outputs 0 3 Outputs 4 and higher Number of outputs 20 4 16 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current 2 0A 100 mA high speed operation 1 0 A 30 C continuous max 1 0 A 30 C 0 3 A 65 C standard 0 3 A 65 C standard operation operation Surge current per point See Relay Contacts Ratings on page 162 4 0 A for 10 ms every 1 s 30 C every 2 s 65 ecl Current per common max 5A Turn on time 10 ms 2 5 us 0 1 ms Turn off time max 1ms 1 Applies for general purpose operation only Does not apply for high speed operation Isolated AC Inputs 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Inputs 0 11 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Relay Contacts Ratings Maximum Volts Amperes Amperes Continuo Make 120V AC 15A 240V AC 75A 24V DC 1 0A 1 0A 125V DC 0 22 A Rockwell Automation Publication 2080 UM002F EN E December 2013 Volt Amperes Break 180V A us 1800V A 28V A 171 Environmental Specifications A
86. 37 277V AC 181 250 V DC 100 KFSV277 12 250V DC 100 KFSD250 Diode Bulletin 100C C09 C97 24 48V AC 100 FSc4g RC 110 280V AC 100 FSC280 380 480V AC 100 FSc4go 12 55V AC 12 77V DC 100 FSV55 MOV 56 136V AC 78 180V DC 100 FSV136 137 277V AC 181 250V DC 100 FSV277 278 575V AC 100 FSV575 12 250V DC 100 FSD250 Diode Bulletin 509 Motor Starter Size 0 5 12 120V AC 599 K04 MOV 240 264V AC 599 KA04 32 Rockwell Automation Publication 2080 UM002F EN E December 2013 Recommended Surge Suppressors Wire Your Controller Chapter 4 Device Coil Voltage Suppressor Catalog Number Type Bulletin 509 Motor Starter Size 6 12 120V AC 199 FSMA1 2 RC 12 120V AC 199 GSMA1 3 MOV Bulletin 700 R RM Relay AC coil Not Required 24 48V DC 199 FSMA9 MOV 50 120V DC 199 FSMA10 130 250V DC 199 FSMA11 Bulletin 700 Type N P PK or PH Relay 6 150V AC DC 700 N24 RC 24 48V AC DC 199 FSMA9 MOV 50 120V AC DC 199 FSMA10 130 250V AC DC 199 FSMA11 6 300V DC 199 FSMZ 1 Diode Miscellaneous electromagnetic devices 6 150V AC DC 700 N24 RC limted to 35 sealed VA 1 becomes 100 CRFSV55 and so on 2 3 4 For use on the interposing relay For use on the contactor or starter Grounding the Controller Wiring Diagrams Rockwell Automation Publication 2080 UM002F EN E December 2013 A RC Type not to be used with Tri
87. 6 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV at 5 kHz on power ports 2 kV at 5 kHz on signal ports Surge transient immunity Conducted RF immunity IEC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz Certifications Certification when Value product is marked 1 c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class Division 2 Group A B C D Hazardous Locations certified or U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions 1 See the Product Certification link at http www rockw
88. 8 125 Underflow Setting HSCAPP UFSetting 0000 125 Output Mask Bits HSCAPP OutputMask 26 126 High Preset Output HSCAPP HPOutput 0 127 Low Preset Output HSCAPP LPOutput n oeuse 127 HSC STS HSC Status Data Structures coi ce vesae cd snedeeeasn 128 Counting Enabled HSCSTS CountEnable 128 Error Detected HSCSTS ErrorDetected 6 00 ceca 128 Count Up HSCSTS GoutitUpFlag s o 42 2sehes esse aie ees 129 Count Down HSCSTS CountDownFlag 045 129 Mode Done HSCSTS Model1Done cececeeeecees 129 Overflow HISES TS OVE sctnchte ds areal tacit neea eu 129 Underflow HSCSTS UNF icdegnuct diasawshanaeeneevatanans 130 Count Direction HSCSTS CountDir 00 cee eee ee 130 High Preset Reached HSCSTS HPReached 4 130 Low Preset Reached HSCSTS LPReached 00 0008 131 Overflow Interrupt HSCSTS OFCauselnter 2 6 131 Underflow Interrupt HSCSTS UFCauselnter 131 High Preset Interrupt HSCSTS HPCauselInter 132 Low Preset Interrupt HSCSTS LPCauselnter 45 132 Programmable Limit Switch Position HSCSTS PLSPosition 132 Error Code HSCSTS ErrorCode cccecescnceecncees 133 Accumulator HSCSTS Accumulator 0 cece eee ee 133 High Preset HSCSTS HP sucien os bt cde ees taeas thee 133 Low Preset EISCSV SALP ie tc ey attacderdyc
89. 800 Motion Control Feature 00000es 62 Input and Output Signals si ey caja aaa ts ences es 64 Motion Control Function Blocks 0c cece e cence een enes 67 General Rules for the Motion Control Function Blocks 69 Motion Axis and Parameters 44005 Seek aces beowsdaaehe ek eee II Motion Axis State Diagram ssssnusnsssnrensrrrsrrrrsrs 78 AIS States sacer n a a a e A a S 79 Tent S233 esc des seeds A Saye ae ake Oe rok BA E E AS 80 Motion StoP Sears aaa gS eRe A ee Ligne RRR SSE arora ee Ear 82 Motion Direction isare rererere iir e ae Rha ee gue aT 83 Axis Elements and Data Types tn uabchot tite cgia ee eo ya koa 84 Axis Error Scenarios osc nd cs che coe sed ee bee case ee TEE 85 MG Racine Diag Data Type si5s5 ord ak tancsawdh ah dernees he 86 Function Block and Axis Status Error Codes 0 0cee ee eeee 86 Major Fault Handling scutes gh custas watney cele eeists es enannetias Anater s 89 Motion Axis Configuration in Connected Components Workbench 89 PIN Cat sc anan oh coceecnan Bie aeneneae hae oewa 90 Edit Axis Configuration Jos usta kaha chomtbies tide te AEE beats 91 Axis Start Stop Velocity serina paLa E cee AERAR RKE A 97 Real Data Resolutioits Se stectise sod viet aeanmacn aceden a Suita wewnbedacwatons 97 PEO Pulse Accuracy 2 scene cesedph ed bivdeddl ue ev erei iiias 100 Motion Axis Parameter Validation 0cccceceeseees 100 Delete an A Xise Lessa daa n A antes ia e
90. 9 The ML Low Preset Mask control bit is used to enable allow or disable not allow a low preset interrupt from occurring If this bit is clear 0 and a Low Preset Reached condition is detected by the HSC the HSC user interrupt is not executed This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit User Interrupt Enable HSC0 Enabled The Enabled bit is used to indicate HSC interrupt enable or disable status User Interrupt Executing HSCO EX Description Data HSC User Program Format Modes Access HSCO0 Enabled bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 129 Description Data HSC Modes User Program Format Access HSCO0 EX bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 129 The EX User Interrupt Executing bit is set 1 whenever the HSC sub system begins processing the HSC subroutine due to any of the following conditions Rockwell Automation Publication 2080 UM002F EN E December 2013 143 Chapter 8 Use HSC 144 Use the High Speed Counter and Programmable Limit Switch e Low preset reached High preset reached e Overflow condition count up through the overflow value Underflow condition count down through the underflow value The HSC EX bit can be used in the contro
91. ATWarning Auto OutGains K Initialize Gains AutoTune ATParameters The following table explains the arguments used in this function block IPIDCONTROLLER Arguments Parameter Parameter Data Type Description Type EN Input BOOL Function block enable When EN TRUE execute function When EN FALSE do not execute function Only applicable to LD EN is not required in FBD programming Process nput REAL Process value measured from the output of controlled process SetPoint nput REAL Set point value for desired process Feedback nput REAL Feedback signal measured from control input to a process Auto nput BOOL Operating modes of PID controller e TRUE controller runs in normal mode e FALSE controller out value equals to feedback value Initialize Input BOOL A change in value True to False or FALSE to TRUE causes the controller to eliminate any proportional gain during that cycle It Also initializes AutoTune sequences Gains Input GAIN_PID Gains for IPIDCONTROLLER See GAIN_PID Data type Rockwell Automation Publication 2080 UM002F EN E December 2013 239 Appendix F _ PID Function Block IPIDCONTROLLER Arguments Parameter Parameter Data Type Description Type AutoTune Input BOOL Start AutoTune sequence ATParameters Input AT_Param Autotune parameters See AT_Param Data Type Outpu
92. Automation Publication 2080 UM002F EN E December 2013 47 Communication Connections 5 Click Advanced Settings and set Advanced parameters Refer to the table CIP Serial Driver Parameters on page 48 for a description of the CIP Serial parameters CIP Serial Driver Parameters Parameter Options Default Baud rate Toggles between the communication rate of 1200 2400 38400 4800 9600 19200 and 38400 Parity Specifies the parity setting for the serial port Parity None provides additional message packet error detection Select Even Odd or None Station Address The station address for the serial port on the DF1 master The only valid address is 1 DF1 Mode DF1 Full Duplex read only Configured as full duplex by default Control Line No Handshake read only Configured as no handshake by default Duplicate Packet Detects and eliminates duplicate responses to a Enabled Detection message Duplicate packets may be sent under noisy communication conditions when the sender s retries are not set to 0 Toggles between Enabled and Disabled Error Detection Toggles between CRC and BCC CRC Embedded To use embedded responses choose Enabled After One Responses Unconditionally If you want the controller to use Received embedded responses only when it detects embedded responses from another device choose After One Received If you are communicating with another Allen Bradley device ch
93. B Input terminal block OQOOOOOOOOO 000000000000 Output terminal block i TIP 2080 LC30 16AWB has no high speed inputs 34 Rockwell Automation Publication 2080 UM002F EN E December 2013 Wire Your Controller Chapter 4 2080 LC30 16QVB Input terminal block Fomo 1 01 1 03 1 04 1 06 1 08 OWOOOOOOOOO 1 00 1 02 coM1 1 05 1 07 1 09 I I Wl 1 DC24 CM0 0 01 CM1 0 03 0 04 DC24 0 00 CM0 0 02 CM1 0 05 Output terminal block 45029 2080 LC30 24QWB 2080 LC50 24AWB 2080 LC50 24Q WB Input terminal block coma 1 01 1 03 1 05 1 07 l 1 08 1 10 1 12 i OOOOOOOOOO OOOO O 1 00 1 02 1 04 1 06 comMi 1 09 1 11 1 13 I I I IT I 1 DC24 CM0 CM1 CM2 0 03 0 05 0 06 0 08 YMOWOOOOOOOUOOUO DC24 0 00 0 01 0 02 0 04 CM3 0 07 0 09 Output terminal block 43013 2080 LC30 24QVB 2080 LC30 24QBB 2080 LC50 240VB 2080 LC50 240BB Input terminal block COMO 1 01 S OOSOHOODHOHOOS I 1T 1 DC24 CMO 0 01 CM1 0 03 0 05 0 07 0 09 DC24 0 00 CM0 0 02 0 04 0 06 0 08 CM1 Output terminal block 45020 Rockwell Automation Publication 2080 UM002F EN E December 2013 35 Chapter4 Wire Your Controller Controller 1 0 Wiring 36 2080 LC30 48AWB 2080 LC30 48QWB 2080 LC50 48AWB 2080 LC50 48QWB Input terminal block FQOQGOSHSOOOGO SS TERMINAL BLOCK 1 A QDHOOGODOGHOHOOOOHDS TERMINAL BLOCK 3
94. C High Speed Counter Function Block HSC Parameters Use the High Speed Counter and Programmable Limit Switch Chapter 8 The HSC function block can be used to start stop HSC counting to refresh HSC status to reload HSC setting and to reset HSC accumulator HSC Enable STS HscCmd HscAppData HscStsInfo PlsData 45631 Parameter Parameter Data Type Parameter Description Type Enable Input BOOL Enable function block When Enable TRUE perform the HSC operation specified in HSC command parameter When Enable FALSE there is no HSC operation and no HSC status update HscCmd Input USINT Refer to HSC Commands on page 136 HscAppData Input See HSC APP Data Structure on HSC application configuration Only initial configuration is needed usually page 117 PlsData Input See array of Programmable Limit Programmable Limit Switch PLS Data Switch PLS Function on page 137 HscStsInfo Output See HSC STS HSC Status Data HSC dynamic status Status info is usualy continuously updated during HSC Structure on page 128 counting Sts Output UINT HSC function block execution status Rockwell Automation Publication 2080 UM002F EN E December 2013 HSC Commands HScCmd HscCmd is an input parameter with data type USINT All HSC commands 1 4 are Level commands Users are advised to disable the instruction before updating the command HscCmd 1 starts the HSC m
95. C30 48QVB 2080 LC30 480BB 210 8 27 8013 15 8013 i a 00 o 90 3 54 W So oO OF le ae oe joo 0 mE i 5 m seel E Measurements in millimeters inches 030 Micro850 24 Point Controllers 2080 LC50 24AWB 2080 LC50 240BB 2080 LC50 24QVB 2080 LC50 24QWB 158 6 22 i 80 3 15 90 3 54 Measurements in millimeters inches saz 22 Rockwell Automation Publication 2080 UM002F EN E December 2013 Install Your Controller Chapter 3 Micro850 48 Point Controllers 2080 LC50 48AWB 2080 LC50 48QWB 2080 LC50 480BB 2080 LC50 48QVB 238 9 37 8013 15 T lt Maintain spacing from objects such as enclosure walls wireways and adjacent equipment Allow 50 8 mm 2 in of space on all sides for adequate ventilation If optional accessories modules are attached to the controller such as the power supply 2080 PS120 240VAC or expansion I O modules make sure that there is 50 8 mm 2 in of space on all sides after attaching the optional parts DIN Rail Mounting The module can be mounted using the following DIN rails 35 x 7 5 x 1 mm EN 50022 35 x75 TIP For environments with greater vibration and shock concerns use the panel mounting method instead of DIN rail mounting Before mounting the module on a DIN rail use a flat blade screwdriver in the DIN rail latch and pry it downwards until it is in the unlatched position 1 Hook the top of the DIN rail mounting area of the
96. CApp_0 HscMode UINT ReadWrite HSCApp_0 Accumulator DINT ReadWwrite HSCApp_0 HPSetting DINT Readwrite HSCApp_0 LPSetting DINT ReadWrite HSCApp_0 OFSetting DINT ReadWrite HSCA4pp_0 UFSetting DINT ReadWrite HSCApp_0 OutputMask UDINT Readwrite HSCApp_0 HPOutput UDINT ReadWrite HSCApp_0 LPOutput UDINT Readwrite TIP HSC1 HSC3 and HSC5 support mode 0 2 4 6 and 8 only and HSCO HSC2 and HSC4 support all counting modes PLS Enable HSCAPP PLSEnable Description Data Format PLSEnable bit User Program Access read write This bit enables and disables the HSC Programmable Limit Switch PLS function When the PLS function is enabled the setting in e HSCAPP HpSetting HSCAPP LpSetting e HSCAPP HPOutput e HSCAPP LPOutput are superseded by corresponding data values from PLS data See Programmable Limit Switch PLS Function on page 137 for more information Rockwell Automation Publication 2080 UM002F EN E December 2013 117 Chapter8 Use the High Speed Counter and Programmable Limit Switch HSCID HSCAPP HSCID Description Data Format User Program Access HSCID Word UINT read write The following table lists the definition for HSCID HSCID Definition Bits Description 15 13 N C Module Type 0 Embedded 1 Expansion not yet implemented 02 Plug in module dule Slot ID 0 Embedded 1 0x1F Expansion not yet implemented 1 0x05 Plug in module dule int
97. Clear Password OK Cancel 3 Click OK The controller requires the new password to grant access to any new session Clear Password With an authorized session you can clear the password on a target controller through the Connected Components Workbench software Rockwell Automation Publication 2080 UM002F EN E December 2013 195 Appendix C Quickstarts 1 On the Device Details toolbar click Secure button Select Clear Password Micro850 Micro850 Program Major Fault Not Faul Run Controller Mode Run Upload Micro850 l Change Password g Clear Password 2080 LC50 24QB 2 The Clear Password dialog appears Enter Password 3 Click OK to clear the password The controller will require no password on any new session Use the High Speed Counter To use HSC you first need to establish the HSC counting mode required by 196 your application See HSC Mode HSCAPP HSCMode on page 118 for available modes on Micro800 controllers The following sample project guides you through the creation of a project which uses HSC mode 6 a quadrature counter with phased inputs A and B It shows you how to write a simple ladder program with the HSC function block create variables and assign variables and values to your function block You will also be guided through a step by step process on how test your program and enable a Programmable Light Switch PLS This sample project makes use of a quadrature encoder
98. Connected Components Workbench is available check the Variable Monitor while debugging online Forcing is performed by first Locking an I O variable and then setting the Logical Value for Inputs and Physical Value for Outputs Rockwell Automation Publication 2080 UM002F EN E December 2013 209 Appendix C 210 Quickstarts Remember you cannot force a Physical Input and cannot force a Logical Output _IO_EM_DO_00 BOOL IO_EM_DO_01 BOOL _10_EM_DO_02 BOOL 10_EM_DO_03 BOOL J0_EM_DO_04 BOOL T _IO_EM_DO_05 BOOL OEM 0100 Boon a A 1O_EM_DI_01 BOOL _IO_EM_DI_02 BOOL _10_EM_DI_03 BOOL 10_EM_DI_04 BOOL I0_EM_DI_05 BOOL 10_EM_DI_06 BOOL Able Monitoring MRE In many cases the front of the controller is not visible to the operator and Connected Components Workbench is not online with the controller If you want the force status to be visible to the operator then the User Program must read the force status using the SYS_INFO function block and then display the force status on something that the operator can see such as the human machine interface HMI or stack light The following is an example program in Structured Text 1 Read System Information including Force Enable bit 2 SYS_INFO_1 TRUE 3 4 Turn on Warning Light if Forces are Enabled 5 If SYS_INFO_1 5ts ForcesInstall TRUE THEN 6 _IO EM D 05 TRUE 7 ELSE 8 _IO_EM DO 05 FALSE 9 END_IF
99. Counter HSC2 128 bit 7 HSC High Speed Counter HSC1 64 bit 6 HSC High Speed Counter HSCO 32 bit 5 Ell Event Input Interrupt Event 3 16 bit 4 Ell Event Input Interrupt Event 2 8 bit 3 Ell Event Input Interrupt Event 1 4 bit 2 Ell Event Input Interrupt Event 0 2 bit 1 UFR User Fault Routine Interrupt UFR 1 bit 0 reserved To flush interrupt s 1 Select which interrupts you want to flush Rockwell Automation Publication 2080 UMO002F EN E Decembe r 2013 219 Appendix D User Interrupts 2 Find the Decimal Value for the interrupt s you selected 3 Add the Decimal Values if you selected more than one type of interrupt 4 Enter the sum into the UIF instruction For example to disable EII Event 1 and EII Event 3 EI Event 1 4 EII Event 3 16 4 16 20 enter this value UIC User Interrupt Clear UIC Enable UIC name or Pin ID IROType or ENO Pin ID 46055 This C function clears Interrupt Lost bit for the selected User Interrupt s Types of Interrupts Disabled by the UIC Instruction Interrupt Type Element J Decimal Value Corresponding Bit Plug In Module UPM4 8388608 bit 23 Plug In Module UPM3 4194304 bit 22 Plug In Module UPM2 2097152 bit 21 Plug In Module UPM1 1048576 bit 20 Plug In Module UPMO 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI
100. E December 2013 Variable MC_Power_1 Direction VAR Data Type MC_Power Attribute ReadWrite Direct variable Channel 111 Chapter7 Motion Control with PTO and PWM 112 Rockwell Automation Publication 2080 UM002F EN E December 2013 Chapter 8 Use the High Speed Counter and Programmable Limit Switch High Speed Counter All Micro830 and Micro850 controllers except for 2080 LCxx AWB support Overview up to six high speed counters HSC The HSC feature in Micro800 consists of two main components the high speed counter hardware embedded inputs in the controller and high speed counter instructions in the application program High speed counter instructions apply configuration to the high speed counter hardware and updates the accumulator have a basic understanding of the following ATTENTION To use the Micro800 HSC feature effectively you need to e HSC components and data elements The first sections of the chapter provides a detailed description of these components Quickstart instructions see page 181 are also available to guide you through setting up a sample HSC project e Programming and working with elements in Connected Components Workbench The user needs to have a working knowledge of programming through ladder diagram structured text or function block diagram to be able to work with the HSC function block and variables block and its elements in the Connected Components Workbench
101. HSCO Input 1 HSCO Input 2 HSC0 3 HSCO A B Reset Hold A OFF X TRUE Count Up Acc Value A ON X TRUE Count Down Acc Value Vv OFF X TRUE Count Down Acc Value h ON X TRUE Count Up Acc Value OFF A X TRUE Count Down Acc Value ON A X TRUE Count Up Acc Value OFF v X TRUE Count Up Acc Value ON v X TRUE Count Down Acc Value OFF or ON OFF or ON OFF X X Hold Acc Value OFF OFF ON X X Reset Acc to Zero X X OFF ON X Hold Acc Value X X OFF X FALSE Hold Acc Value 124 Accumulator HSCAPP Accumulator Data Format User Program Access long word 32 bit INT read write Description HSCAPP Accumulator This parameter is the initial HSC Accumulator value that need to be set when starting the HSC This parameter is updated by the HSC sub system automatically when the HSC is in Counting mode reflecting the actual HSC accumulator value High Preset HSCAPP HPSetting Data Format long word 32 bit INT User Program Access read write Description HSCAPP HPSetting The HSCAPP HPSetting is the upper setpoint in counts that defines when the HSC sub system generates an interrupt The data loaded into the high preset must be less than or equal to the data resident in the overflow HSCAPP OFSetting parameter or an HSC error is generated Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch C
102. IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock nonoperating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 45 g Emissions Rockwell Automation Publication 2080 UM002F EN E December 2013 CISPR 11 Group 1 Class A 155 AppendixA Specifications Environmental Specifications Attribute Value ESD immunity IEC 61000 4 2 6 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV 5 kHz on power ports 2 kV 5 kHz on signal ports Surge transient immunity IEC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports Conducted RF immunity IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz Certifications Certification Value wh
103. IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz 163 AppendixA Specifications Certifications Certification when Value product is marked 1 c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Conformity Certificates and other certification details 164 Rockwell Automation Publication 2080 UM002F EN E December 2013 Specifications Appendix A Micro830 and Micro850 Relay Charts Relay life 100 50 30 20 AC 125V resistive ldad DC 30V resistive Idad AC 250V 10 i i resistive I ad Number of operations X104 DC 30V T 7 ms 5 i I AC 250 V cos p 0 4 3
104. Input 6 HSC3 Input 7 HSC3 Input 8 HSC4 Input 9 HSC4 Input 10 HSC5 Input 11 HSC5 Quadrature Counter with A Type input B Type input Z Type Reset Hold 7 External Reset and Hold mode Ab Quadrature X4 Counter A Type input B Type input Not Used 8 mode 5a Quadrature X4 Counter with A Type input B Type input Z Type Reset Hold 9 External Reset and Hold 116 Rockwell Automation Publication 2080 UM002F EN E December 2013 High Speed Counter HSC Data Structures ame Project th Micro830 A Programs E Untitled i Local Variables EC untitledLoz i Local Variables k Global Variables DataTypes aa Function Blocks Use the High Speed Counter and Programmable Limit Switch Chapter 8 The following section describes HSC data structures HSC APP Data Structure Define a HSC App Data configuration data data type HSCAPP when programming a HSC During HSC counting the data should not be changed except if the configuration needs to be reloaded To reload HSC configuration change the HSC APP Data then call HSC function block with command 0x03 set reload Otherwise the change to HSC App Data during HSC counting will be ignored Data Type Dimension Initial Yalue Attribute oft of of of gt z SCALER_1 SCALER PH Read Write HSC_1 HSC w Readwrite HSC_cmd_0 USINT X Readwrite FSA fasca CT ff HSCApp_0 PlsEnable BOOL Readwrite HSCApp_O HscID UINT ReadWwrite HS
105. M_DI_05 BOOL Micro830 UntitledLD1 User Global Variables Micro830 Local Variables N A System Variables Micro830 1 0 Micro830 Defined Words Micro830 pe _10_EM_D0_17 _10_EM_D0_18 _I0_EM_DO_19 _10_EM_DI_00 _10_EM_DI_01 _10_EM_DI_02 _10_EM_DI_03 _I0_EM_DI_04 _10_EM_DI_05 _10_EM_DI_06 _10_EM_DI_07 Im Cha MI NO BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL C a BOOL BOOL pant Rockwell Automation Publication 2080 UM002F EN E December 2013 Data Type v Eak 199 Appendix Quickstarts 6 To the right of the Direct Contact add a function block by double clicking function block from the Toolbox or dragging and dropping the function block onto the rung UntitledLD POU 7 Double click the function block to open up Instruction Selector dialog Choose HSC You can do a quick search for HSC function block by typing hsc on the name field Click OK E Instruction Block Selector HSC c Controller 2080LC3048QBBB z m HSC_SET_STS Input Output Manually set reset H o Parameters Dimensic C EN ZENO CT Com 200 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C Your ladder rung should appear as shown below _ O_EM_DI_06 8 On the Project Organizer pane double click Local Varia
106. Module Wiring Diagrams 2080 WD002 Micro800 RS232 485 Isolated Serial Port Plug in Module Micro800 Non isolated Unipolar Analog Input Information on mounting and wiring the Plug in Module Wiring Diagrams 2080 WD003 Micro800 Non isolated Unipolar Analog Input Plug in Module Micro800 Non isolated Unipolar Analog Output Information on mounting and wiring the Plug in Module Wiring Diagrams 2080 WD004 Micro800 Non isolated Unipolar Analog Output Plug in Module Micro800 Non isolated RTD Plug in Module Information on mounting and wiring the Wiring Diagrams 2080 WD005 Micro800 Non isolated RTD Plug in Module Micro800 Non isolated Thermocouple Plug in nformation on mounting and wiring the Module Wiring Diagrams 2080 WD006 Micro800 Non isolated Thermocouple Plug in Module Micro800 Memory Backup and High Accuracy nformation on mounting and wiring the RTC Plug In Module Wiring Diagrams Micro800 Memory Backup and High Accuracy 2080 WDO007 RTC Plug In Module Micro800 6 Channel Trimpot Analog Input Plug In Information on mounting and wiring the Module Wiring Diagrams 2080 WD008 Micro800 6 Channel Trimpot Analog Input Plug In Module Micro800 Digital Relay Output Plug in Module Information on mounting and wiring the Wiring Diagrams 2080 WD010 Micro800 Digital Relay Output Plug in Module Micro800 Digital Input Output and Combination Information on mounting and wiring the Plug in Modules Wiring Diagrams 2080 WD011 Micro800 Digital Input
107. Number FFFFFFFF Faults Configure Co ntroller Set change and clear the password on a target controller through the Connected Password Components Workbench software 192 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C IMPORTANT The following instructions are supported on Connected Components Workbench revision 2 and Micro800 controllers with firmware revision 2 For more information about the controller password feature on Micro800 controllers see Controller Security on page 145 Set Controller Password IMPORTANT After creating or changing the controller password you need to power down the controller in order for the password to be saved In the following instructions the Connected Components Workbench software is connected to the Micro800 controller 1 On the Connected Components Workbench software open the project for the target controller 2 Click Connect to connect to the target controller On the Device Details toolbar roll over the Secure button The tooltip message Set Change or Clear Micro800 Controller Password Protection is displayed Micro850 Micro850 Program Major Fault Not Faulted Run Controller Mode Run t f V Upload Secure _ Micro850 Set Change or Clear Micro800 Controller Password Protection 2080 LC50 24QBB ve o O o Wi i g o 5 Rockwell Automation Publication 2080 UM002F EN E December 2013 193 Appen
108. Output and Combination Plug in Modules Industrial Automation Wiring and Grounding Provides general guidelines for installing a Guideli nes publication 1770 4 1 Rockwell Automation industrial system Rockwell Automation Publication 2080 UM002F EN E December 2013 Resource Product Certifications website http ab com Preface Description Provides declarations of conformity certificates and other certification details Application Considerations for Solid State Controls SGI 1 1 A description of important differences between solid state programmable controller products and hard wired electromechanical devices National Electrical Code Published by the National Fire Protection Association of Boston MA An article on wire sizes and types for grounding electrical equipment Allen Bradley Industrial Automation Glossary AG 7 1 A glossary of industrial automation terms and abbreviations You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative You can download the latest version of Connected Components Workbench for your Micro800 at the URL below http ab rockwellautomation com Programmable Controllers Connected Components Workbench Software Rockwell Automation Publication 2080 UM002F EN E December 2013 Preface
109. Pesda 2 HstHP output i Readwrite 7 PtSbeta 2 Hor AOUPut ae o Pisbaba O03 HsteP Plsbata q3 HstLP PLSbats fa HstHP Qutu PtSData 3 HscL OPa PLS Operation When the PLS function is enabled and the controller is in the run mode the HSC counts incoming pulses When the count reaches the first preset HSCHP or HSCLP defined in the PLS data the output source data HSCHP Output or HSCLPOutput is written through the HSC mask HSCAPP OutputMask Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 At that point the next presets HSCHP and HSCLP defined in the PLS data become active When the HSC counts to that new preset the new output data is written through the HSC mask This process continues until the last element within the PLS data block is loaded At that point the active element within the PLS data block is reset to zero This behavior is referred to as circular operation TIP The HSCHPOutput is only written when HSCHP is reached The HSCLPOutput is written when HSCLP is reached TIP Output High Data is only operational when the counter is counting up Output Low Data is only operational when the counter is counting down If invalid data is loaded during operation an HSC error is generated and causes a controller fault You can use the PLS in Up high Down low or both directions If your applicatio
110. QBB Notes 1 Drive Enable Pin 3 and Reset Drive Pin 7 will be operating as sinking inputs when Pin 1 2 connected to of the Power Supply 2 To help you configure Kinetix3 drive parameters so the drive can communicate and be controlled by a Micro830 Micro850 controller see publication CC OS025 Motion Control Function Motion control function blocks instruct an axis to a specified position distance B oc ks velocity and state Function Blocks are categorized as Movement driving motion and Administrative Administrative Function Blocks Function Block Name Function Block Name MC Power tsti s SC MC_ReadAxisError MC_Reset MC_ReadParameter MC_TouchProbe MC_ReadBoolParameter MC_AbortTrigger MC_WriteParameter MC_ReadStatus i ttstCS S MC_WriteBoolParameter MC_SetPosition Rockwell Automation Publication 2080 UM002F EN E December 2013 67 Chapter 7 Motion Control with PTO and PWM Movement Function Blocks Function Block Name MC_MoveAbsolute Description This function block commands an axis to a specified absolute position Correct Axis State for issuing Function Block Standstill Discrete Motion Continuous Motion MC_MoveRelative This function block commands an axis of a specified distance relative to the actual position at the time of execution Standstill Discrete Motion Continuous Motion MC_MoveVelocity This function block commands a never
111. QS002 for more information and sample quickstart projects to help you use the CIP Client Messaging feature ASCII ASCII provides connection to other ASCII devices such as bar code readers weigh scales serial printers and other intelligent devices You can use ASCII by configuring the embedded or any plug in serial RS232 RS485 port for the ASCII driver Refer to the Connected Components Workbench Online Help for more information To configure the serial port for ASCII see Configure ASCII on page 50 The Micro830 and Micro850 controllers support pass thru on any communications port that supports Common Industrial Protocol CIP Micro830 and Micro850 support a maximum of one hop A hop is defined to be an intermediate connection or communications link between two devices in Micro800 this is through EtherNet IP or CIP Serial or CIP USB Examples of Supported Architectures USB to EtherNet IP USB EtherNet IP Micro850 controller1 controller2 APARE li RSE BE E F a aan controller3 Rockwell Automation Publication 2080 UM002F EN E December 2013 Communication Connections Chapter 5 EtherNet IP to CIP Serial EtherNet IP CIP Serial Micro850 Micro830 controller1
112. T 750 ReadWrite HS5C_PLS 3 HscLP DINT 2 ReadWrite 7 HS5C_PLS 3 HscHPOutPut UDINT 15 ReadWrite MSc _PLS 3 HscLPoutPut UDINT o Readwrite B rsa PLS H Readwrite HS5C_PLS 4 HscHP DINT 1000 Readwrite HSC_PLS 4 HscLP DINT 2 Readwrite HS5C_PLS 4 HscHPOutPut UDINT 31 ReadWrite MB Sc_PLS 4 HscLPoutPut UDINT o ReadWrite Once the values above for all 4 PLS data elements have been entered the PLS is configured Assume that HSCAPP OutputMask 31 HSC mechanism controls Embedded Output 0 4 only and HSCAPP HSCMode 0 PLS Operation for This Example When the ladder logic first runs HSCSTS Accumulator 1 therefore all the outputs are turned off The value of HSCSTS HP 250 When HSCSTS Accumulator 250 the HSC_PLS 1 HscHP Output is sent through the HSCAPP OutputMask and energizes the outputs 0 and 1 This will repeat as the HSCSTS Accumulator reaches 500 750 and 1000 The controller energizes outputs 0 2 0 3 and 0 4 respectively Once completed the cycle resets and repeats from HSCSTS HP 250 An interrupt is an event that causes the controller to suspend the task it is currently performing perform a different task and then return to the suspended task at the point where it suspended Micro800 supports up to six HSC interrupts Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 An HSC interrupt is a mechanism that Micro830 a
113. TS Accumulator is greater than or equal to the high preset variable HSCAPP HPSetting This bit is updated continuously by the HSC sub system whenever the controller is in an executing mode Writing to this element is not recommended Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 Low Preset Reached HSCSTS LPReached Description Data Format HSC Modes User Program Access HSCSTS LPReached bit 2 9 read only 1 For Mode descriptions see HSC Mode HSCAPPRHSCMode on page 118 The Low Preset Reached status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator is less than or equal to the low preset variable HSCAPP LPSetting This bit is updated continuously by the HSC sub system whenever the controller is in an executing mode Writing to this element is not recommended Overflow Interrupt HSCSTS OFCauselnter Description Data Format HSC Modes User Program Access HSCSTS OFCauselnter bit 0 9 read write 1 For Mode descriptions see HSC Mode HSCAPPRHSCMode on page 118 The Overflow Interrupt status bit is set 1 when the HSC accumulator counts through the overflow value and the HSC interrupt is triggered This bit can be used in the control program to identify that the overflow variable caused the HSC interrupt If the control program needs to per
114. Test failed Micro810 only OxF050 The embedded I 0 configuration in the user Perform the following program is invalid D e Correct the embedded 0 configuration in the user program to match that of the actual hardware configuration e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode e If the error persists be sure to use Connected Components Workbench programming software to develop and download the program OxF100 There is general configuration error detected in Perform the following the motion configuration downloaded from the ec tth figuration in th Connected Components Workbench software orrect the axes configuration in the user program such as number of axis or motion execution e f fault is consistent upgrade to the latest software revision of Connected interval being configured out of range Components Workbench See Motion Axis Configuration in Connected Components Workbench on page 89 OxF110 There is motion resource missing such as Perform the following Motion_DIAG variable not defined ae e Correct the axes configuration in the user program e If fault is consistent upgrade to the latest Connected Components Workbench software revision See Motion Axis Configuration in Connected Components Workbench on page 89 232 Rockwell Automation Publication 2080 UM002F EN E December 2013 Troubleshooting Appendix E List of Error Codes for Micro800 cont
115. The Lower limit switch is configured as enabled and wired The different homing modes as defined see table Homing Modes on page 102 can have different but still similar motion sequence The concept discussed below is applicable to various homing configurations MC_HOME_ABS_SWITCH IMPORTANT _ f home switch is not configured as enabled MC_HOME_ABS_SWITCH 0 homing fails with MC_FB_ERR_PARAM MC_HOME_ABS_SWITCH 0 homing procedure performs a homing operation against the home switch The actual motion sequence is dependent on the home switch limit switch configuration and the actual status for the switches before homing starts that is when the MC_Home function block is issued Rockwell Automation Publication 2080 UM002F EN E December 2013 103 Chapter 7 Motion Control with PTO and PWM Scenario 1 Moving part at right positive side of home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to the left side negative direction 2 When home switch is detected the moving part decelerates to stop 3 Moving part moves back positive direction in creep velocity to detect home switch On gt Off edge 4 Once home switch On gt Off is detected record the position as mechanical home position and decelerate to stop 5 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for th
116. Types Since Micro800 uses symbolic variable names instead of physical memory addresses a mapping from symbolic Variable name to physical Modbus addressing is supported in Connected Components Workbench software for example InputSensorA is mapped to Modbus address 100001 By default Micro800 follows the six digit addressing specified in the latest Modbus specification For convenience conceptually the Modbus address is mapped with the following address ranges The Connected Components Workbench mapping screen follows this convention Rockwell Automation Publication 2080 UM002F EN E December 2013 175 Appendix B Modbus Mapping for Micro800 Variable Data Type 0 Coils 1 Discrete Inputs 3 Input Registers 4 Holding Registers 000001 to 065536 100001 to 165536 300001 to 365536 400001 to 465536 Supported Modbus Supported Modbus Supported Modbus Supported Modbus Address Used Address Used Address Used Address Used BOOL Y 1 Y 1 SINT Y 8 Y 8 BYTE Y 8 Y 8 USINT Y 8 Y 8 NT Y 16 Y 16 Y 1 Y 1 UINT Y 16 Y 16 Y 1 Y 1 WORD Y 16 Y 16 Y 1 Y 1 wee ee a a RR a OY es aa e y ee DINT Y 32 Y 32 Y 2 Y 2 Mone a aaa a Re a ee a a eae is See DWORD Y 32 Y 32 Y 2 Y 2 JWD ee 0 8 ee pe ee ae ee ie Se oe a ol Me oa ULINT Y 64 Y 64 Y 4 Y 4 ane T y T wya y T ee y a y Can LREAL Y 64 Y 64 Y 4 Y 4 NOTE Strings are not supported In order to make it easier to map variables to five digit Modbus addresses the
117. Us execution time varies depending on the number of active instructions When a cycle exceeds the specified time the loop continues to execute the cycle but sets an overrun flag In such a case the application no longer runs in real time When a cycle time is not specified a resource performs all steps in the loop then restarts a new cycle without waiting Within one program scan cycle the execution of the main steps as indicated in the Execution Rules diagram could be interrupted by other controller activities which have higher priority than the main steps Such activities include 1 User Interrupt events including STI EH and HSC interrupts when applicable 2 Communication data packet receiving and transmitting 3 PTO Motion engine periodical execution if supported by the controller When one or several of these activities occupy a significant percentage of the Micro800 controller execution time the program scan cycle time will be prolonged The Watchdog timeout fault 0xD011 could be reported if the impact of these activities is underestimated and the Watchdog timeout is set Rockwell Automation Publication 2080 UM002F EN E December 2013 Power Up and First Scan Program Execution in Micro800 Chapter 6 marginally The Watchdog setting defaults to 2 s and generally never needs to be changed Periodic Execution of Programs For applications where periodic execution of programs with precise timing is required such
118. User Manual Allen Bradley Micro830 and Micro850 Programmable Controllers Catalog Numbers Bulletin 2080 LC30 and 2080 LC50 Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment
119. V 2 GP A B C D ne conviennent qu une utilisation en environnements de Classe Division 2 Groupes A B C D dangereux et non dangereux Chaque produit est livr avec des marquages sur sa plaque d identification qui indiquent le code de temp rature pour les environnements dangereux Lorsque plusieurs produits sont combin s dans un syst me le code de temp rature le plus d favorable code de temp rature le plus faible peut tre utilis pour d terminer le code de temp rature global du syst me Les combinaisons d quipements dans le syst me sont sujettes a inspection par les autorit s locales qualifi es au moment de l installation EXPLOSION HAZARD Do not disconnect equipment unless power has been removed or the area is known to be nonhazardous e Do not disconnect connections to this equipment unless power has been removed or the area is known to be nonhazardous Secure any external connections that mate to his equipment by using screws sliding latches threaded connectors or other means provided with this product e Substitution of any component may impair suitability for Class Division 2 e If this product contains batteries they must only be changed in an area known to be nonhazardous RISQUE D EXPLOSION e Couper le courant ou s assurer que l environnement est class non dangereux avant de d brancher l quipement e Couper le courant ou s assurer que l environnement est class non danger
120. Wiring Wiring Requirements and Recommendation Rockwell Automation Publication 2080 UMO002F EN E D A A the controller system 39 WARNING Before you install and wire any device disconnect power to WARNING Calculate the maximum possible current in each power and common wire Observe all electrical codes dictating the maximum current allowable for each wire size Current above the maximum ratings may cause wiring to overheat which can cause damage United States Only If the controller is installed within a potentially hazardous environment all wiring must comply with the requirements stated in the National Electrical Code 501 10 b e Allow for at least 50 mm 2 in between I O wiring ducts or terminal strips and the controller ecember 2013 29 Chapter4 Wire Your Controller e Route incoming power to the controller by a path separate from the device wiring Where paths must cross their intersection should be perpendicular TIP Do not run signal or communications wiring and power wiring in the same conduit Wires with different signal characteristics should be routed by separate paths e Separate wiring by signal type Bundle wiring with similar electrical characteristics together e Separate input wiring from output wiring e Label wiring to all devices in the system Use tape shrink tubing or other dependable means for labeling purposes In addition to labeling use colored insulation to identif
121. _DATA_LOST is set the If the fault persists contact your local Rockwell Automation technical support controller is able to recover the user program eal i elles Be i but the user data is cleared If not the Micro800 controller program is cleared e A Micro800 controller revision 1 xx clears the program Note that the system variable SYSVA_USER_DATA_LOST is not available on Micro800 controllers revision 1 x OxDOOF A particular hardware type for example Perform one of the following embedded 0 was selected in the user program eh Ss le ae did not match the sa g e Connect to the hardware that is specified in the user program hardware base e Reconfigure the program to match the target hardware type OxF003 One of the following occurred Perform one of the following e The memory module hardware faulted e Remove the memory module and plug it in again e The memory module connection faulted e Obtain a new memory module e The memory module was incompatible with e Upgrade the Micro800 controller s firmware revision to be compatible with the Micro800 controller s firmware revision the memory module For more information on firmware revision compatibility go to http www rockwellautomation com support firmware html OxF004 A failure occurred during the memory module Attempt the data transfer again If the error persists replace the memory 230 data transfer module Rockwell Automation Publication 2080 UM002F EN E December 2013
122. a HSCAPP E MyAppData PlsEnable BOOL FALSE MyAppData HscID UINT 0 MyAppData HscMode UINT MyAppData Accumulator DINT MyAppData HPSetting DINT 40 MyAppData LPSetting DINT 40 MyAppData OFSetting DINT 50 MyAppData UFSetting DINT 50 MyAppData OutputMask UDINT g MyAppData HPOutput UDINT 1 MyAppData LPOutput UDINT 2 MyCommand USINT al a MyInfo HSCSTS i MyPLS PLS MyStatus UINT IMPORTANT MyAppData variable has sub variables which determine the settings of the counter It is crucial to know each one in order to determine how the counter will perform A quick summary is provided below but you can also see HSC APP Data Structure on page 117 for detailed information MyAppData PlsEnable allows the user to either enable or disable the PLS settings It should be set to FALSE disabled if the MyAppData variable is to be used MyAppData HscID allows the user to specify which embedded inputs will be used depending on the mode and the type of application See the table HSC Inputs and Wiring Mapping on page 113 to know the different IDs that can be used as well as the embedded inputs and its characteristics If ID 0 is used ID 1 cannot be used on the same controller since the inputs are being used by the Reset and Hold MyAppData HscMode allows the user to specify the type of operation in which the HSC will use to count See HSC Mode HSCAPP HSCMode Rockwell Automation Publication 2080 UM002F EN E December 2013 Qu
123. ac outputs Varistor is not recommended for use on the relay outputs Catalog numbers for screwless terminals include the string CR after 100 For example Cat No 100 FSC48 becomes Cat No 100 CRFSC48 Cat No 100 FSV55 WARNING All devices connected to the RS 232 485 communication port must be referenced to controller ground or be floating not referenced to a potential other than ground Failure to follow this procedure may result in property damage or personal injury This product is intended to be mounted to a well grounded mounting surface such as a metal panel Refer to the Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 for additional information The following illustrations show the wiring diagrams for the Micro800 controllers Controllers with DC inputs can be wired as either sinking or sourcing inputs Sinking and sourcing does not apply to AC inputs High speed inputs and outputs are indicated by O 33 Chapter4 Wire Your Controller 2080 LC30 10QWB Input terminal block BHOOQOQHOOOHS f I I IT I 1 DC24 CM0 CM1 CM2 CM3 NC DC24 0 00 0 01 0 02 0 03 NC Output terminal block antes 2080 LC30 100QVB Input terminal block HQOQSOQOHOOOOS k ak lho 45 4 DC24 CM0 0 01 CM1 0 03 NC DC24 0 00 CM0 0 02 CM1 NC Output terminal block a 2080 LC030 16AWB 2080 LC30 16QW
124. and Programmable Limit Switch HSC Interrupt POU This is the name of the Program Organizational Unit POU which is executed immediately when this HSC Interrupt occurs You can choose any pre programmed POU from the drop down list Auto Start HSC0 AS Description Data Format HSC Modes User Program Access AS Auto Start bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 129 The Auto Start is configured with the programming device and stored as part of the user program The auto start bit defines if the HSC interrupt function automatically starts whenever the controller enters any run or test mode Mask for IV HSCO MV Description Data Format HSC Modes JUser Program Access MV Overflow Mask bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 129 The MV Overflow Mask control bit is used to enable allow or disable not allow an overflow interrupt from occurring If this bit is clear 0 and an overflow reached condition is detected by the HSC the HSC user interrupt is not executed This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit Mask for IN HSCO MN Description Data Format HSC Modes User Program Access MN Underflow Mask bit 2nd read only 1 For Mode descriptions
125. and offers controller programming device configuration and integration with HMI editor Use this software to program your controllers configure your devices and design your operator interface applications Connected Components Workbench provides a choice of IEC 61131 3 programming languages ladder diagram function block diagram structured text with user defined function block support that optimizes machine control Obtain Connected Components Workbench A free download is available at http ab rockwellautomation com Programmable Controllers Connected Components Workbench Software Use Connected Components Workbench To help you program your controller through the Connected Components Workbench software you can refer to the Connected Components Workbench Online Help it comes with the software e UL Listed Industrial Control Equipment certified for US and Canada UL Listed for Class I Division 2 Group A B C D Hazardous Locations certified for U S and Canada e CE marked for all applicable directives e C Tick marked for all applicable acts e KC Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of Radio Waves Act Clause 3 This product has the CE mark and is approved for installation within the European Union and EEA regions It has been designed and tested to meet the following directives Rockwell Automation Publication 2080 UM002F EN E December 2013 9 Chapter2 Abo
126. ardware Found New Hardware Wizard Please wait while the wizard searches CN Y Q Rockwell Automation USB CIP lt Back Nest gt Cancel Rockwell Automation Publication 2080 UM002F EN E December 2013 187 AppendixC Quickstarts 6 Click Finish when the wizard completes the installation Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for Rockwell Automation USB CIP Click Finish to close the wizard lt Back Cancel 7 Open RSLinx Classic and run RSWho by clicking the 4 icon If the proper EDS file is installed the Micro830 Micro850 controller should be properly identified and show up under both the Virtual Backplane VBP driver and the USB driver which was automatically created RSLinx Classic Gateway RSWho 1 a5 File Edit View Communications Station DDE OPC Security Window Help 5 amp s lle amp IV Autobrowse By Ea Browsing node 0 found 9 AB_VBP 1 1789 A17 A Virtual Chassis A a 00 workstation RSLinx Server Micro830 2080 LC30 16QWB HE 16 Micro830 2080 LC30 16QWB USB m 16 Micro830 2080 LC30 16QWB iin For Help press F1 l Num 07 14 10 02 10PM 4 If instead the Micro830 Micro850 shows up as a 1756 Module under the AB_VBP 1 Virtual Chassis driver then the proper EDS file for this major revision of firmware has not yet been installed or t
127. at C306 A107 C102 e Connect the 1203 USB to the PowerFlex Drive and to the Computer e Launch Connected Components Workbench Connect to the Drive and set parameters To configure PowerFlex 4M perform the following steps 1 Double click the PowerFlex 4M if it is not already open in Connected Components Workbench 2 Click Connect 3 In the Connection Browser expand the AB_DF1 DH Driver Select the AB DSI PF4 Port and click OK 4 Once the Drive has connected and been read in select the Start up wizard and change the following items Select Finish to save the changes to the drive e Select the Comm Port as the Speed Reference Set P108 Speed Reference to 5 Comm Port e Set Start Source to Comm Port Set P106 Start Source to 5 Comm Port e Defaults for the remaining Inputs e Accept Defaults for the remainder and click Finish 5 Select Parameters from the Connected Components Workbench window Connected Components Workbench Fle Edit View Build Debug Tools Communications Window Help Da id 4a a 5 ae J Project Organizer Ix Powerflex 4M_1 Name PF4 Start Up PowerFlex 4M gt B ponerFlex _1 Disconnect t a e Upload Parameters Properties Wizards Faults Reset M Rockwell Automation Publication 2080 UM002F EN E December 2013 Modbus Mapping for Micro800 Appendix B 6 The Parameter window opens Resize it to view the parameters From this window you can view and set
128. ature X4 Counter with A Type input B Type input Z Type Reset Hold 9 External Reset and Hold Modes of Operation Input 0 HSCO Input 1 HSCO Input 2 HSCO Input 3 HSCO Mode Value in User Input 2 HSC1 Input 3 HSC1 Input 6 HSC2 Input 7 HSC2 Program Input 4 HSC2 Input 5 HSC2 Input 10 HSC4 Input 11 HSC4 Input 6 HSC3 Input 7 HSC3 Input 8 HSC4 Input 9 HSC4 Input 10 HSC5 Input 11 HSC5 Counter with Internal Direction Count Up Not Used 0 mode 1a Counter with Internal Count Up Not Used Reset Hold 1 Direction External Reset and Hold mode 1b Counter with External Count Up Down Direction Not Used 2 Direction mode 2a Counter with External Count Up Down Direction Reset Hold 3 Direction Reset and Hold mode 2b Two Input Counter mode 3a Count Up Count Down Not Used 4 Two Input Counter with Count Up Count Down Reset Hold 5 External Reset and Hold mode 3b Quadrature Counter mode 4a A Type input B Type input Not Used 6 Rockwell Automation Publication 2080 UM002F EN E December 2013 115 Chapter8 Use the High Speed Counter and Programmable Limit Switch Micro830 Micro850 48 point Controller HSC Input Wiring Mapping Modes of Operation Input 0 HSCO Input 1 HSCO Input 2 HSCO Input 3 HSCO Mode Value in User Input 2 HSC1 Input 3 HSC1 Input 6 HSC2 Input 7 HSC2 Program Input 4 HSC2 Input 5 HSC2 Input 10 HSC4 Input 11 HSC4
129. bles to bring up the Variables window Add the following variables with the corresponding data types as specified in the table VariableName Daa ye MyCommand USINT MyAppData HSCAPP Mylnfo HSCSTS MyPLS PLS MyStatus UINT After adding the variables your Local Variables table should look like this UntitledLD AR UntitledLD POU m MyCommand MyAppData MyInfo MyPLS MyStatus Data Type USINT HSCAPP SESS PLS X UINT x X Assign Values to the HSC Variables Next you need to assign values to the variables you have just created Typically a routine is used to assign values to your variables For illustration purposes this quickstart assigns values through the Initial Value column of the Local Variables table TIP Rockwell Automation Publication 2080 UM002F EN E December 2013 In a real program you should write a routine to assign values to your variable according to your application 201 Appendix C 202 Quickstarts 1 On the Initial Value field for the MyCommand variable type 1 See HSC Commands HScCmd on page 135 for more information on the description for each value Assign values to the MyAppData variables Expand the list of MyAppData sub variables clicking the sign Set the values of the different sub variables as shown in the following screenshot Data Type Initial alue 7 f Zippe 7 MyAppDat
130. box to enable the input Input The list of digital input variables Select an input Active Level Set as High default or Low Touch probe input Configure whether an input for touch probe is used Check the option box to enable touch probe input Input List of digital input variables Select an input Active Level Set the active level for touch probe input as High default or Low PTO Channel Naming Names of embedded PTO channels have the prefix EM embedded and each available PTO channel is enumerated starting from 0 For example a controller that supports three axes will have the following PTO channels available e EM_0 e EM 1 e EM 2 Motor and Load Edit the Motor Load properties as defined in the table axisl Motor and Load User Defined Unit Position mm bd Time sec Motor Revolution Modifying Motor Revolution parameters may cause Axis runaway Pulses per Revolution 200 0 Travel per Revolution 10 mm Direction Polarity Non inverted Mode BiDirectional Change Delay Time 10 gt ms IMPORTANT Certain parameters for Motor and Load are Real values For more information see Real Data Resolution on page 97 92 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Motor and Load Parameters Parameter User defined unit Description and Values Defines user unit scaling that matches your mechanical system values Th
131. c for motion rotation direction Also referred to as counter clockwise direction for rotation motion 0 Data type short integer Rockwell Automation Publication 2080 UM002F EN E December 2013 83 Chapter 7 Motion Control with PTO and PWM Axis Elements and Data Types Axis_Ref Data Type Axis Refisa data structure that contains information on a motion axis It is used as an input and output variable in all motion function blocks One axis_ref instance is created automatically in the Connected Components Workbench software when the user adds one motion axis to the configuration The user can monitor this variable in controller debug mode through the software when the motion engine is active or in the user application as part of user logic It can also be monitored remotely through various communication channels Data Elements for Axis_Ref Element Data Type Description name Axis_ D UINT8 The logic axis ID automatically assigned by the Connected Components Workbench software This parameter cannot be edited or viewed by user ErrorFlag UINT8 Indicates whether an error is present in the axis AxisHomed UINT8 Indicates whether homing operation is successfully executed for the axis or not When the user tries to redo homing for an axis with AxisHomed already set homing performed successfully and the result is not successful the AxisHomed status will be cleared ConsVelFlag UINT8
132. cation 2080 UM002F EN E December 2013 Perform the following e Cycle power to the Micro800 controller or e Replace the slot number z module If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp 233 Appendix E Troubleshooting List of Error Codes for Micro800 controllers Error Code OxF29z z indicates the slot number of the expansion I O If z 0 then the slot number cannot be identified Description A module fault is detected on your expansion 1 0 module Recommended Action Perform the following e Cycle power the Micro800 controller or e Replace the slot number z module If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp OxF2Az z indicates the slot number of the expansion I O If z 0 then the slot number cannot be identified Expansion I O power failure Perform the following e Cycle power the Micro800 controller or e Replace the slot number z module If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp OxF2Bz z indicates the slot number of the expansion 1 0 If z 0 then the slot number ca
133. ccurred Perform the following A data overflow error is generated when the ec tth that there i iat ladder structured text or function block diagram OTE EE Me Program TOENSUTS iat MELD ISNO Gata Ove OW execution encounters a divide by zero e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode OxF870 An index address was out of data space Perform the following e Correct the program to ensure that there is no index address out of data space e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode OxF880 A data conversion error occurred Perform the following Correct the program to ensure that there is no data conversion error e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode OxF888 The call stack of the controller cannot support the Change the project to reduce the quantity of blocks being called within a block sequence of calls to function blocks in the current project Too many blocks are within another block OxF898 An error occurred in the user interrupt Correct the user interrupt configuration for plug in 1 0 module in the user configuration for the plug in 1 0 module Rockwell Automation Publication 2080 UM002F EN E December 2013 program to match that of the actual hardware configuration 235 AppendixE Troubleshooting
134. count Example3 U off 0 off 0 on 1 Reset accumulator to zero Example 4 on 1 Hold accumulator value Example 5 on 1 Hold accumulator value Example 6 off 0 on 1 Hold accumulator value Example 7 off 0 off 0 Hold accumulator value 1 Count input A leads count input B 2 Count input B leads count inp tA Blank cells don t care ft rising edge y falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 8 Quadrature X4 Counter HSC Mode 8 Examples Embedded Input 1 HSC0 Embedded Input 1 HSC0 Value of CE Bit Accumulator and Counter Action A B A OFF TRUE Count Up Acc Value A ON TRUE Count Down Acc Value v OFF TRUE Count Down Acc Value v ON TRUE Count Up Acc Value OFF A TRUE Count Down Acc Value ON A TRUE Count Up Acc Value OFF Vv TRUE Count Up Acc Value ON v TRUE Count Down Acc Value OFF or ON OFF or ON X Hold Acc Value X X FALSE Hold Acc Value Rockwell Automation Publication 2080 UM002F EN E December 2013 123 Chapter 8 HSC Mode 9 Examples Use the High Speed Counter and Programmable Limit Switch HSC Mode 9 Quadrature X4 Counter with External Reset and Hold Embedded Embedded Embedded Embedded Input Value of CE Bit Accumulator and Counter Action Input 0
135. cuting binary bit read only The EX User Interrupt Executing bit is set whenever the EII mechanism detects a valid input and the controller is scanning the EII POU The EI mechanism clears the EX bit when the controller completes its processing of the EII subroutine The EII EX bit can be used in the control program as conditional logic to detect if an EI interrupt is executing Ell User Interrupt Enable Ell0 Enabled Sub Element Description Data Format User Program Access Enabled User Interrupt Enable binary bit read only The Enabled User Interrupt Enable bit is used to indicate the EII enable or disable status Ell User Interrupt Lost EII0 LS Sub Element Description Data Format User Program Access LS User Interrupt Lost binary bit read write LS User Interrupt Lost is a status flag that represents an interrupt has been lost The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit This bit is set by the controller It is up to the control program to utilize or track the lost condition if necessary EIl User Interrupt Pending EII0 PE Sub Element Description Data Format User Program Access PE User Interrupt Pending binary bit read only PE User Interrupt Pending is a status flag that represents an interrupt is pending This status bit can be monitored or used for logic purpos
136. cution of this function block execution error Power cycle the whole motion setup including Power cycle the whole motion setup including controller drives and actuators and re download controller drives and actuators and re download the User Application the User Application If the fault is persistent call Tech support If the fault is persistent contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySuppor t asp 16 MC_FB_ERR_NOT_HOMED The Function Block cannot execute because the The axis is not operational because the axis is not axis needs to be homed first homed Execute homing against the axis using MC_Home_ Reset the state of the axis using the MC_Reset Function Block Function Block 128 MC_FB_PARAM_MODIFIED Warning The requested motion parameter for the Motion internal Fault Error ID 0x80 1 You can view axis status through the Axis Monitor feature of the Connected Components Workbench software 88 axis has been adjusted The function block executes successfully Contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySuppor Lasp Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Major Fault Handling Motion Axis Configuration in Connected Components
137. d axis configuration parameters and detailed descriptions of the variables for the Motion Function Blocks you can refer to Connected Components Workbench Online Help that comes with your Connected Components Workbench installation ATTENTION To learn more about Connected Components Workbench IMPORTANT The PTO function can only be used with the controller s embedded 1 0 It cannot be used with expansion I O modules Use the Micro800 Motion Control Feature The Micro800 motion control feature has the following elements New users need to have a basic understanding of the function of each element to effectively use the feature Components of Motion Control Element Description Page Pulse Train Outputs Consists of one pulse output and e Input and Output Signals on one direction output A standard page 64 interface to control a servo or stepper drive Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Components of Motion Control Axis From a system point of view an axis Motion Axis and Parameters is a mechanical apparatus that is on page 77 driven by a motor and drive i i oe combination The drive receives e Motion Axis Configuration in position commands through the Connected Components Micro800 pulse train outputs Workbench on page 89 interface based upon the PLC execution of motion function blocks On the Micro800 controller it is a
138. de is suitable A 1N4004 diode is acceptable for most applications A surge suppressor can also be used See Recommended Surge Suppressors on page 32 As shown below these surge suppression circuits connect directly across the load device 24V DC Relay or solid state DC outputs A IN4004 diode A surge suppressor can also be used 24V DC common Suitable surge suppression methods for inductive AC load devices include a varistor an RC network or an Allen Bradley surge suppressor all shown below These components must be appropriately rated to suppress the switching Rockwell Automation Publication 2080 UM002F EN E December 2013 31 Chapter4 Wire Your Controller transient characteristic of the particular inductive device See Recommended Surge Suppressors on page 32 for recommended suppressors Surge Suppression for Inductive AC Load Devices Q Output device Output device Output device Surge suppressor Varistor RC network Recommended Surge Suppressors Use the Allen Bradley surge suppressors shown in the following table for use with relays contactors and starters Recommended Surge Suppressors Device Coil Voltage Suppressor Catalog Number Type Bulletin 100 104K 700K 24 48V AC 100 KFSC50 RC 110 280VAC Jokse 380 480V AC 100 KFSC480 12 55 VAC 12 77V DC 100 KFSV55 MOV 56 136VAC 78 180VDC 100 KFSV136 S 1
139. de screwdriver Input circuit type 120V AC 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink standard and 24V DC source standard and Event input interrupt support high speed high speed Yes inputs 0 15 only Power consumption Power supply voltage range 160 18 2 W 20 4 26 4V DC Class 2 Rockwell Automation Publication 2080 UM002F EN E December 2013 Specifications Appendix A General Specifications 2080 LC30 48AWB 2080 LC30 480WB 2080 LC30 480VB 2080 LC30 480BB Attribute 2080 LC30 48AWB 2080 LC30 480WB 2080 LC30 480VB 2080 LC30 480BB 0 rating Input 120V AC 16 mA Output 2 A 240V AC Input 24V DC 8 8 mA Output 2 A 240V AC Input 24V DC 8 8 mA Output 24V DC 1 A per point Surrounding air temperature general use general use 30 C 24 V DC 0 3 A per point Surrounding air temperature 65 C Insulation stripping 7 mm 0 28 in length Enclosure type Meets IP20 rating Pilot duty rating C300 R150 Isolation voltage 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 3250V DC 1 0 to Aux and Network Inputs to Outputs 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 720V DC Inputs to Aux and Network 3250V DC Outputs to Aux and Network Inputs to Output
140. ding interrupts 219 Flush from the system Use this function to clear Interrupt Lost bit for the selected 220 User Interrupt s UIC User Interrupt Clear STIS Selectable Timed Start STIS Enable t STIS name or Pin ID IRQType or ENO Pin ID SetPoint 45638 STIO is used in this document to define how STIS works Rockwell Automation Publication 2080 UM002F EN E December 2013 215 Appendix D User Interrupts STIS Parameters Parameter Parameter Data Parameter Description Type Type Enable Input BOOL Enable Function When Enable TRUE function is performed When Enable FALSE function is not performed IROType Input UDINT Use the STI defined DWORD IRQ_STIO IRO_STI1 IRO_STI2 IRO_STI3 SetPoint Input UINT The user timer interrupt interval time value in milliseconds When SetPoint 0 STI is disabled When SetPoint 1 65535 STI is enabled STIS or ENO Output BOOL Rung Status same as Enable The STIS instruction can be used to start and stop the STI function or to change the time interval between STI user interrupts The STI instruction has two operands e IRQType This is the STI ID that a user wants to drive e SetPoint This is the amount of time in milliseconds which must expire prior to executing the selectable timed user interrupt A value of zero disables the STI function The time range is from 0 65 535 millisecond
141. dixC Quickstarts 3 Click Secure button Select Set Password Micro850 j Micro850 Program Major Fault Not Fat Run Controller Mode Run t loa Upload Micro850 2080 LC50 24QBH 4 The Set Controller Password dialog appears Provide password Confirm the password by providing it again in the Confirm field Set Controller Password Password FSS SERSERSERSERSE SEE RSES Confirm PERSE E SELLE SES SEE EE SS OK Cancel TIP Passwords must have at least eight characters to be valid 5 Click OK Once a password is created any new sessions that try to connect to the controller will have to supply the password to gain exclusive access to the target controller Change Password With an authorized session you can change the password on a target controller through the Connected Components Workbench software The target controller must be in Connected status 194 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C 1 On the Device Details toolbar click Secure button Select Change Password Micro850 Micro850 i hes program Mejor auki iR Run Controller Mode R Upload Micro850 AAA AAA 2080 LC50 24QBH 2 The Change Controller Password dialog appears Enter Old Password New Password and confirm the new password Change Controller Password Old Password R EKEEKKEKKEKKEKKER EER AEE OF New Password New Password Confirm
142. e has no delay less than 1 us axis_1 Limits Hard Limits When hard limit is reached apply E Lower Hard Limit uate M Upper Hard Limit Po E Active Level A Active Level lw Switch Input 10_EM_DI_00 Switch Input 10_EM_DI_01 Immediate Soft Stop The maximum possible response delay for this type of stop could be as much as the Motion Engine Execution time interval This type of stop is applicable in the following scenarios e During motion when axis PTO Pulse Limit is reached e One Hard Limit is enabled for an axis but Hard Stop on Hard Limit switch is configured as Off If the Emergency Stop is configured as Immediate Software Stop during motion when the Hard Limit switch is detected e One Soft Limit is enabled for an axis and the axis has been homed If the emergency stop is configured as Immediate Soft Stop during motion when the Soft Limit reach is detected Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 e The Emergency Stop is configured as Immediate Soft Stop During motion MC_Stop function block is issued with Deceleration parameter equal to 0 Decelerating Soft Stop Decelerating soft stop could be delayed as much as Motion Engine Execution Time interval This type of stop is applied in the following scenarios e One Hard Limit is enabled for an axis but Hard Stop on Hard Limit switch is configured as Off If the emergency stop is c
143. e on page 118 The Underflow status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator has counted through the underflow variable HSCAPP UFSetting This bit is transitional and is set by the HSC sub system It is up to the control program to utilize track if necessary and clear 0 the underflow condition Underflow conditions do not generate a controller fault Count Direction HSCSTS CountDir Description Data Format HSCModes User Program Access HSCSTS CountDir bit 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 The Count Direction status flag is controlled by the HSC sub system When the HSC accumulator counts up the direction flag is set 1 Whenever the HSC accumulator counts down the direction flag is cleared 0 If the accumulated value stops the direction bit retains its value The only time the direction flag changes is when the accumulated count reverses This bit is updated continuously by the HSC sub system whenever the controller is in a run mode High Preset Reached HSCSTS HPReached Description Data Format HSC Modes User Program Access HSCSTS HPReached bit 2 9 read write 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 129 The High Preset Reached status flag is set 1 by the HSC sub system whenever the accumulated value HSCS
144. e Click Debug menu then choose Start Debugging e Click the green play button below the menu bar or e Hit the F5 windows key d Components Workbench Step Into E Step Over Programs ARO Untitiedto1 i Local Variables Global Variables DataTypes Function Blocks Rockwell Automation Publication 2080 UM002F EN E December 2013 205 AppendixC Quickstarts Now that we are on debug mode we can see the values of the HSC output The HSC function block has two outputs one is the STS MyStatus and the other is the HSCSTS MyInfo 2 Double click the Direct Contact labeled _IO_EM_DI_05 to bring up the Variable Monitoring window 3 Click the I O Micro830 tab Select the _IO_EM_DI_05 row Check the boxes Lock and Logical Value so that this input will be forced in the ON position j Variable Monitoring Global Variables Micro830 Local Variables UntitledLD1 System Variables Micro830 1 0 Micto830 Defined Words O Logical Value Physical Value Lock Data Type Dimension Ae gt iat a 3 TA Ja z 10_EM_D0_00 BOOL 10_EM_D0_01 BOOL _10_EM_D0_02 BOOL _l0_EM_DO_03 BOOL _ 0_EM_DO_04 BOOL _ 0_EM_DO_05 BOOL 10_EM_D0_06 BOOL 10_EM_D0_07 BOOL 10_EM_D0_08 BOOL _ 0_EM_DO_09 BOOL 10_EM_DI_00 BOOL _ 0_EM_DI_01 BOOL _ 0_EM_DI_02 BOOL _ 0_EM_DI_03 BOOL _10_EM_DI_04 BOOL _I0_EM_DI_05 10_EM_DI_06 10_EM_DI_07 10_EM_DI_08 10_EM_DI_09 _ 0_EM_DI_10 _ 0_EM_DI_11 _10_EM_DI_12 10_EM_DI_13 4
145. e HSC The diagram below gives an example of a range of values that can be set for these variables Variable HscAppData OFSetting Overflow z 42 147 483 647 maximum HscAppData HPSetting High Preset y HscAppData LPSetting Low Preset v Ht HscAppData UFSetting Underflow 0 gt 2 147 483 648 minimum MyAppData OutputMask along with MyAppData HP Output and MyAppData LP Output allows the user to specify which embedded Rockwell Automation Publication 2080 UM002F EN E December 2013 203 Appendix C 204 Quickstarts outputs can be turned on when a High Preset or Low Preset is reached These variables use a combination of decimals and binary numbers to specify the embedded outputs that are able to turn on off Thus in our example we first set the Output Mask to a decimal value of 3 which when converted to binary is equal to 0011 This means that now outputs O0 and O1 can be turned On Off We have set the HP Output to a decimal value of 1 which when converted to binary is equal to 0001 This means that when a High Preset is reached output OO will turn on and stay on until the HSC is reset or the counter counts back down to a Low Preset The LPOutput works same way as the HPOutput except an output will be turned on when a Low Preset is reached Assign Variables to the Function Block 1 Go back to the ladder diagram and assign the variables you have just configured to the corresponding el
146. e Revision Control Control 184 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C The next screen shows the download progress Progress Catalog Number 2080 LC10 120 WB Serial Number FFFFFFFF Current Revision 1 2 New Revision 1 4 Transmitting update 2 of 6 block 317 of 2253 _ 5FS SCStCS lt If you see the following error message instead check to see if the controller is faulted or in Run mode If so clear the fault or switch to Program mode click OK and try again xi Failed to update firmware Either the target device does not support Flash updates using this programming tool or the target hardware revision is not compatible with the selected version of firmware re 8 When the flash update is complete you see a status screen similar to the following Click OK to complete the update Update Status x Catalog Number 2080 LC10 120 WB DK Serial Number FFFFFFFF Lx Current Revision 1 4 View Log New Revision 1 4 T irae ene ages Rockwell Automation Publication 2080 UM002F EN E December 2013 185 Appendix Quickstarts Establish Communications This quick start shows you how to get RSLinx RSWho to communicate with a Between RSLinx anda Micro830 or Micro850 controller through a USB Micro830 Micro850 1 RSLinx Classic is installed as part of the Connected Components Controller th rough USB Workbench software
147. e Settings to Controller if you would like to save the settings to your controller 8 On the device configuration tree under Ethernet click Port Diagnostics to monitor Interface and Media counters The counters are available and updated when the controller is in Debug mode Rockwell Automation Publication 2080 UM002F EN E December 2013 53 Chapter5 Communication Connections Ethernet Host Name Micro800 controllers implement unique host names for each controller to be used to identify the controller on the network The default host name is comprised of two parts product type and MAC address separated by a hyphen For example 2080LC50 xxxxxxxxxxxx where xxxxxxxxxxxx is the MAC address The user can change the host name using the CIP Service Set Attribute Single when the controller is in Program Remote Program mode Configure CIP Serial Driver 1 Open your Connected Components Workbench project On the device configuration tree go to the Controller properties Click Serial port 2 Select CIP Serial from the Driver field 3 Specify a baud rate Select a communication rate that all devices in your system support Configure all devices in the system for the same communication rate Default baud rate is set 38400 bps 4 In most cases parity and station address should be left at default settings 5 Click Advanced Settings and set Advanced parameters 54 Rockwell Automation Publication 2080 UM002F EN E December 2013
148. e as a User Defined Function Block UDFB Although a UDFB can be executed within another UDFB a maximum nesting depth of five is supported A compilation error occurs if this is exceeded Alternatively you can assign a program to an available interrupt and have it executed only when the interrupt is triggered A program assigned to the User Fault Routine runs once just prior to the controller going into Fault mode In addition to the User Fault Routine Micro800 controllers also support two Selectable Timed Interrupts STI STIs execute assigned programs once every set point interval 1 65535 ms The Global System Variables associated with cycles scans are e _ SYSVA_CYCLECNT Cycle counter Rockwell Automation Publication 2080 UM002F EN E December 2013 55 Chapter6 Program Execution in Micro800 Controller Load and Performance Considerations 56 e SYSVA_TCYCURRENT Current cycle time e SYSVA_TCYMAXIMUM Maximum cycle time since last start Execution Rules This section illustrates the execution of a program The execution follows four main steps within a loop The loop duration is a cycle time for a program Read inputs Execute POUs programs 3 Write outputs Housekeeping datalog recipe communications 1 Program Organizational Unit When a cycle time is specified a resource waits until this time has elapsed before starting the execution of a new cycle The PO
149. e axis in the Connected Components Workbench software Scenario 2 Moving part is in between Lower Limit and Home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side negative direction 2 When lower limit switch is detected the moving part decelerates to stop or stop immediately according to limit switch hard stop configuration 3 Moving part moves back in positive direction in creep velocity to detect home switch On gt Off edge 4 Once home switch On gt Off edge is detected record the position as mechanical home position and decelerate to stop 5 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis in the Connected Components Workbench software TIP If Lower Limit switch is not configured or not wired the homing motion fails and moves continuously to the left until the drive or moving part fails to move Scenario 3 Moving part on Lower Limit or Home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its right side in positive direction in creep velocity to detect home switch On gt Off edge 2 Once home switch On gt Off edge is detected record the position as mechanical home position and decelerate to stop 104 Rockwell Automation Publication 2080 UM002F EN E December 2
150. e control signal used to activate deactivate Servo Drive This signal becomes Active when MC_Power on is commanded Can be shared with more than one drive Lower Negative Limit switch INPUT The input for hardware negative limit switch to be conn negative li ected to mechanical electrical mit sensor Not Shared Upper Positive Limit switch Absolute Home switch INPUT INPUT The input for hardware positive limit switch to be connected to mechanical electrical positive limit sensor The input for hardware home switch sensor to be connected to mechanical electrical home sensor Not Shared Not Shared Touch Probe Input switch INPUT The input for hardware touch probe signal to be used with Motion MC_TouchProbe and MC_AbortTrigger function blocks to capture axis commanded position during the motion path Not Shared Servo Drive Ready INPUT The input signal that indicates Servo Drive is ready to receive PTO pulse and direction signal from controller No moving function blocks can be issued to an axis before the axis has this signal ready if this signal is Enabled in the motion axis configuration or axis properties page Can be shared with more than one drive In Position signal from Servo motor INPUT The input signal that indicates the moving part is in the commanded position This signal has to be Active after the mo
151. e power Contact your local Allen Bradley representative if the error persists Loose wiring Verify connections to the controller Power on with solid indicator and FAULT indicator flashing Application fault Hardware software major fault detected For error codes and status information refer to the Connected Components Workbench online Help Power on with solid indicator and FAULT indicator flashing Error codes Rockwell Automation Publication 2080 UM002F EN E December 2013 Operating system fault Firmware upgrade unsuccessful See Flash Upgrade Your Micro800 Firmware on page 181 This section lists possible error codes for your controller as well as recommended actions for recovery If an error persists after performing the recommended action contact your local Rockwell Automation technical support representative For contact information go to http support rockwellautomation com MySupport asp 229 Appendix E Troubleshooting List of Error Codes for Micro800 controllers Error Code Description Recommended Action OxF000 The controller was unexpectedly reset due to a Perform one of the following Lal oran internal hardware e Download the program through Connected Components Workbench e A Micro800 controller revision 2 xx and e Refer to Wiring Requirements and Recommendation on page 29 later attempts to save the program and clea
152. e reed liaieuatee se hedete 134 High Preset Output HSCSTS HPOutput 0000 134 Low Preset Output HSCSTS LPOutput e eee ee 134 HSC High Speed Counter Function Block 04 135 HSC Commands FIScC iid ices caesar ane er aee 135 HSC SET STS Function Block c icdsisAiuuhaoaacsticeeevecesans 137 Programmable Limit Switch PLS Function 04 137 PLS Data strietuteitcs y s silitiouewenh sdk ot Ra N a aA 138 PES Operation srani eeri sos pane ae xacet dees dae porate 138 PES Exam ple roino i a penoeas ace E A EA E E eines 139 HSC terriptss eree oe Eaa e S OAA tee ines Lely 140 HSC Interrupt Configuration ssssssrerrererrsrererrere 141 HSC Interrupt PO Oss 3 psa Rn ei naaa pio ipae 142 Auto Start EIS COAG occas tose id endeu Stg estat a ede 142 x Rockwell Automation Publication 2080 UM002F EN E December 2013 Chapter 1 Mask for IV HSC0 MV isciaccscs cteassewaveriardeeeseuasss 142 Mask for IN TISEO MIN st sdsca samt mardace cay dulisthsiewemaciy aes 142 Mask for IH HSC0 MH Sei hicte Reals ora hae io aE nit dear 143 Mask for Mot EIS GON estes cennara tt caravans 143 HSC Interrupt Status Information 1 0 cncuei as tsa ee es wliey 143 User Interrupt Enable HSCO Enabled 0c02e0e 143 User Interrupt Executing HSCO0 EX 0 2 e eee ee eee 143 User Interrupt Pending HSCO PE 2 320 4008 neveteiess 144 User Interrupt Lost HSCOLS ccicere ches bansakigeawcn
153. each First peak in time Likely unsuccessful Increase ATDynamSet Water In Water Level g N Water Out The illustration above shows a basic water level control system to maintain a preset water level in the tank A solenoid valve is used to control incoming water filling the tank at a preset rate Similarly outflowing water is controlled at a measureable rate IPID Autotuning for First and Second Order Systems Autotune of IPID can only work on first and second order systems A first order system can be described by a single independent energy storage element Examples of first order systems are the cooling of a fluid tank the flow of fluid from a tank a motor with constant torque driving a disk flywheel or an electric RC lead network The energy storage element for these systems are heat energy potential energy rotational kinetic energy and capacitive storage energy respectively This may be written in a standard form such as f t tdy dt y t where T is the system time constant fis the forcing function and y is the system state variable In the cooling of a fluid tank example it can be modeled by the thermal capacitance C of the fluid and thermal resistance R of the walls of the tank The system time constant will be RC the forcing function will be the ambient temperature and the system state variable will be the fluid temperature A second order system can be described by two independent energy sto
154. echanism Once the HSC is in running mode the HscCmd 2 must be issued to stop counting Setting the Enable input parameter to False does not stop counting while in running mode HscCmd 3 reloads the following parameter values HighPreset LowPreset OverFlow UnderFlow HighPreset Output and LowPreset Output The parameter values shown in the Variable Monitor may not match the values in the Hardware Command 3 must be executed to load the values from the variables to the hardware without stopping the HSC If the HSC Enable is True HscCmd 3 will continuously load the parameters Trigger HscCmd 3 only once 135 Chapter8 Use the High Speed Counter and Programmable Limit Switch HscCmd 4 reset sets the Acc value to the HSC AppData Accumalator value The HscCmd 4 does not stop HSC counting IF HSC is counting when the HscCmd 4 is issued some counting may be lost To reset the Acc value and then continue the counting trigger the HscCmd 4 only once If the command is enabled continuously it may cause errors HSC AppData Accumalator value is updated automatically by the HSC mechanism with the same value as the HSC Sts Accumulator To set one specific value to HSC Acc while counting write the value to HSC AppData Accumalator immediately before HscCmd 4 is issued HSC Commands HSC Command Description 0x00 Reserved 0x01 HSC RUN e Start HSC if HSC in Idle mode and Rung is Enabled e Update HSC Status Info o
155. ected bit 0 9 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 The Error Detected flag is a status bit that can be used in the control program to detect if an error is present in the HSC sub system The most common type of error that this bit represents is a configuration error When this bit is set 1 you should look at the specific error code in parameter HSCSTS ErrorCode This bit is maintained by the controller and is set when there is an HSC error This bit can be cleared by the user if necessary 128 Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 Count Up HSCSTS CountUpFlag Description Data Format HSCModes User Program Access HSCSTS CountUpFlag bit 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 The Count Up bit is used with all of the HSCs modes 0 9 If the HSCSTS CountEnable bit is set the Count Up bit is set 1 If the HSCSTS CountEnable is cleared the Count Up bit is cleared 0 Count Down HSCSTS CountDownFlag Description Data Format HSC Modes User Program Access SCSTS CountDownFlag bit 2 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 The Count Down bit is used with the bidirectional counters modes 2 9
156. ed Refer to page 230 for probable cause and recommended action Are the wire connections tight Tighten wire connections Yes No Is the Power LED on Clear Fault controller have power Check power supplied Yes Yes Refer to page 230 for Correct the condition Is the RUN No probable cause and causing the fault LED on recommended action Is an input LED No accurately showing status Is the Fault Return controller to RUN or LED on any of the REM test modes Yes Refer to page 230 for probable cause and Refer to page 230 for probable cause and recommended action recommended action Test and verify system operation Rockwell Automation Publication 2080 UM002F EN E December 2013 237 AppendixE Troubleshooting Calling Rockwell If you need to contact Rockwell Automation or local distributor for assistance it Automation for Assistance is helpful to obtain the following prior to calling controller type series letter revision letter and firmware FRN number of the controller e controller indicator status 238 Rockwell Automation Publication 2080 UM002F EN E December 2013 Appendix F IPID Function Block This function block diagram shows the arguments in the IPIDCONTROLLER function block IPIDCONTROLLER EN ENO Process Output SetPoint AbsoluteError FeedBack
157. ed descriptions of the different status LED indicators see Troubleshooting on page 227 Rockwell Automation Publication 2080 UM002F EN E December 2013 Hardware Overview Chapter 1 Micro850 48 point controllers and status indicators 12 345 8 6 7 8 i Status indicators re Q O 0o00000000 T O0s6s66666 6666666600666666666666666 oll 16 OboOooooooooo0 ee pe ee Cn oI i 00000000 Fe 0 1g le 19 g N o 20 2 21 22 D i Al al E 23 EL a E n Oo00000000 cy Deseecccssssessssyy jeeeseesecssessesg oOoooooooooO Sey ey CY 7 ig 45918 15141312 11 6 10 8 9 45915 Controller Description Description Description 1 Status indicators 9 Expansion I O slot cover 2 Optional power supply slot 10 DIN rail mounting latch 3 Plug in latch 11 Mode switch 4 Plug in screw hole 12 Type B connector USB port 5 40 pin high speed plug in connector 13 RS232 RS485 non isolated combo serial port 6 Removable 1 0 terminal block 14 RJ 45 EtherNet IP connector
158. electric tests 1 414V DC for 2 s 75V DC working voltage IEC Class 2 reinforced insulation Voltage category 110V AC 24V DC sink source On state voltage range 79 132V AC 16 8 26 4V DC 10 26 4V DC 47 63 Hz Off state voltage max 20V AC 5V DC Off state current max 1 5mA On state current min 5 mA 79V AC 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 12 mA 120V AC 7 66 mA 24V 6 15 mA 24V On state current max 6 mA 132V AC 12 0 mA 30V DC Nominal impedance 12 kQ 50 Hz 3 kQ 3 74 kQ 10 kQ 60 Hz Inrush current max 250 mA 120V AC Turn on time ON 1 ms ON 3 2 us ON 33 us 0 1 ms Turn off time max OFF 8 ms OFF 0 6 us OFF 22 us 0 02 ms without filtering IEC input compatibility Type 3 AC input filter setting 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded 1 0 configuration window to reconfigure the filter setting for Outputs Attribute each input group Isolated AC Inputs 2080 LC30 160WB 2080 LC30 160VB Inputs 0 3 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60 Hz Operating frequency nom 50 60 Hz Relay Output 2080 LC30 16AWB 2080 LC30 160WB only Hi Speed Output 2080 LC30 160VB only Outputs 0 1 Standard Output 2080 LC30 160VB only Outputs 2 5 Number of outputs 6 2 4 Output voltage min 5V DC 5V AC 10 8V DC 10V
159. electrical noise 37 emergency stop switches using 17 embedded serial port cables 7 41 EMC Directive 10 enable and valid status general rules 71 encoder quadrature 120 Endian configuration 173 error 71 codes 231 232 conditions 230 general rules 71 handling recovery model 238 ErrorStop 77 Ethernet configuration settings 53 EtherNet IP Server 43 European Union Directive compliance 9 EMC Directive 10 event input interrupt Ell function file 224 excessive heat prevent 16 exclusive access 143 execution rules 56 F fault routine description of operation 213 operation in relation to main control program 209 priority of interrupts 212 faults recoverable and non recoverable 213 force status 230 forcing I Os 207 Rockwell Automation Publication 2080 UM002F EN E December 2013 250 Index G general considerations 10 grounding the controller 33 guidelines and limitations for advanced users 58 H hardware features 1 overview 1 9 heat protection 16 High Speed Counter HSC 110 function block 133 224 function file 133 home marker 64 APP Data Structure 115 function file 133 interrupt configuration 139 interrupt POU 140 interrupt status information 141 overview 109 using 109 HSC STS Data Structure 126 HSC_SET_STS Function Block 135 l in position signal 65 input parameters 68 input states power down 16 installation considerations 10 process 21 INT instruction 214 215 interrupts 209 interrupt instruction
160. ellautomation com products certification for Declaration of Conformity Certificates and other certification details Rockwell Automation Publication 2080 UM002F EN E December 2013 Micro830 16 Point Controllers General 2080 LC30 16AWB 2080 LC30 16QWB 2080 LC30 160VB Specifications Appendix A Attribute 2080 LC30 16AWB 2080 LC30 160WB 2080 LC30 160VB Number of 0 16 10 inputs 6 outputs Dimensions 90 x 100 x 80 mm HxWxD 3 54 x 3 94 x 3 15 in Shipping weight approx 0 302 kg 0 666 Ib Wire size 0 14 2 5 mm 26 14 AWG solid copper wire or 0 14 1 5 mm 26 14 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports Wire type Use Copper Conductors only Terminal screw torque 0 6 Nm 4 4 Ib in max using a 2 5 mm 0 10 in flat blade screwdriver Input circuit type 120V AC 12 24V sink source standard 24V sink source high speed Output circuit type Relay 12 24V DC sink transistor standard and high speed Event input interrupt Yes support Power consumption 7 88 W Power supply voltage range 20 4 26 4V DC Class 2 1 0 rating Input 120V AC 16 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Outpu Surro 24V D 24V DC 1 A per point unding air temperature 30 C C 0 3 A per poi
161. elp lt Empty gt The Selectable Timed Interrupt STI provides a mechanism to solve time critical control requirements The STI is a trigger mechanism that allows you to scan or solve control program logic that is time sensitive Example of where you would use the STI are PID type applications where a calculation must be performed at a specific time interval A block of logic that needs to be scanned more often How an STI is used is typically driven by the demands requirements of the application It operates using the following sequence 1 The user selects a time interval 2 When a valid interval is set and the STI is properly configured the controller monitors the STI value 3 When the time period has elapsed the controller s normal operation is interrupted 4 The controller then scans the logic in the STI POU 5 When the STI POU is completed the controller returns to where it was prior to the interrupt and continues normal operation This section covers the configuration and status management of the STI function Selectable Time Interrupt STI Function Configuration and Status Rockwell Automation Publication 2080 UM002F EN E December 2013 221 Appendix D 222 User Interrupts STI Function Configuration STI Program POU This is the name of the Program Organizational Unit POU which is executed immediately when this STI Interrupt occurs You can choose any pre programmed POU from the d
162. ements of the HSC function block The HSC function block should appear as shown in the screenshot To assign a variable to a particular element in your function block double click the empty variable block On the Variable selector that appears choose the variable you have just created For example for the input element HSC AppDaata select the variable MyAppData Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C 2 Next click the Micro830 controller under the Project Organizer pane to bring up the Micro830 Controller Properties pane Under Controller Properties click Embedded I O Set the input filters to a correct value depending on the characteristics of your encoder Controller General Memory Serial Port USB Port Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Motion lt New Axis gt Plug In Modules lt Empty gt lt Empty gt lt Empty gt lt Empty gt lt Empty gt Controller Embedded I O Input Filters Input Latch and EII Edge Be notion a oO o 3 Make sure that your encoder is connected to the Micro830 controller 4 Power up the Micro830 controller and connect it to your PC Build the program in Connected Components Workbench and download it to the controller Run the High Speed Counter 1 To test the program go into debug mode by doing any of the following
163. en prod ct is marked c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Conformity Certificates and other certification details Micro830 24 Point Controllers General Specifications 2080 LC 30 24QWB 2080 LC30 240VB 2080 LC30 240BB Attribute 2080 LC30 240WB 2080 LC30 240VB 2080 LC30 240BB Number of 1 0 24 14 inputs 10 outputs Dimensions 90 x 150 x 80 mm HxWxD 3 54 x 5 91 x 3 15 in Shipping weight approx 0 423 kg 0 933 Ib 156 Rockwell Automation Publication 2080 UM002F EN E December 2013 General Specifications 2080 LC30 24QWB 2080 LC30 240VB 2080 LC30 240BB Attribute Wire size 2080 LC30 240WB 0 2 2 5 mm 24 12 AWG solid copper wire o
164. eneral parameters You can refer to the table for a description of the general configuration parameters for a motion axis IMPORTANT To edit these general parameters you can refer to Input and Output Signals on page 64 for more information about fixed and configurable outputs General Parameters Parameter Description and Values Axis Name User defined Provides a name for the motion axis PTO Channel Shows the list of available PTO channels Pulse output Presents the logical variable name of the Direction Output channel based on the PTO channel value that has been assigned Direction output Presents the logical variable name of the Direction Output channel based on the PTO channel value that has been assigned Drive Enable Output Servo On Output Enable flag Check the option box to enable Output The list of available digital output variables that can be assigned as servo drive output Active Level Set as High default or Low In position Input Check the option box to enable in position input monitoring Input List of digital input variables for in position input monitoring Select an input Rockwell Automation Publication 2080 UM002F EN E December 2013 91 Chapter 7 Motion Control with PTO and PWM General Parameters Parameter Description and Values Active Level Set as High default or Low Drive ready input Servo Ready Input Enable flag Check the option
165. enever the STI mechanism completes timing and the controller is scanning the STI POU The EX bit is cleared when the controller completes processing the STI subroutine Rockwell Automation Publication 2080 UMO002F EN E December 2013 Using the Event Input Interrupt Ell Function User Interrupts Appendix D The STI EX bit can be used in the control program as conditional logic to detect if an STI interrupt is executing STI User Interrupt Enable STI0 Enabled Sub Element Description Data Format User Program Access Enabled User Interrupt Enable binary bit read only The User Interrupt Enable bit is used to indicate STI enable or disable status STI User Interrupt Lost STIO LS Sub Element Description Data Format User Program Access LS User Interrupt Lost binary bit read write The LS is a status flag that indicates an interrupt was lost The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit This bit is set by the controller It is up to the control program to utilize track the lost condition if necessary STI User Interrupt Pending STIO PE Sub Element Description Data Format User Program Access PE User Interrupt Pending binary bit read only The PE is a status flag that represents an interrupt is pending This status bit can be monitored or used for logic purposes in the control p
166. er is affected by the Program Scan because messages are serviced when the message instruction is executed in a program For example if the program scan is 100 ms and six serial ports are used then the theoretical maximum for serial ports is 60 messages second total This theoretical maximum may not be possible since MSG_MODBUS is a master slave request response protocol so performance is affected by several variables such as message size baud rate and slave response time The performance of Micro800 when receiving Modbus request messages Micro800 is slave is also affected by the Program Scan Each serial port is serviced only once per program scan Rockwell Automation Publication 2080 UM002F EN E December 2013 Flash Upgrade Your Micro800 Firmware Appendix C Quickstarts This chapter covers some common tasks and quickstart instructions that are aimed to make you familiar with the in Connected Component Workbench The following quickstarts are included Topic Page Flash Upgrade Your Micro800 Firmware 181 Establish Communications Between RSLinx and a Micro830 Micro850 186 Controller through USB Configure Controller Password 192 Use the High Speed Counter 196 Forcing I Os 209 This quick start will show you how to flash update the firmware in a Micro800 controller using ControlFLASH ControlFLASH is installed or updated with the latest Micro800 firmware when Connected Components Workbench software is installed o
167. er will have the following Total Loading for AC Power Supply Total loading for AC power supply 17 87W 6W 23 87 W ATTENTION Maximum loading to AC Power Supply is limited to 38 4 W with maximum surrounding ambient temperature limited to 65 C Rockwell Automation Publication 2080 UM002F EN E December 2013 Numerics 1761 CBL PM02 47 2080 PS120 240VAC 23 2711P CBL EX04 8 A absolute home switch 63 64 additional resources iii analog cable grounding 38 analog channel wiring guidelines 37 analog inputs analog channel wiring guidelines 37 ASCII 43 45 47 configuration 51 autotune 243 axis 62 general rules 69 state diagram 77 state update 78 states 78 before calling for assistance 239 C cables programming 6 serial port 7 calling for assistance 239 CE mark 9 10 certifications 9 CIP communications pass thru 46 CIP Serial 47 parameters 49 configure 48 parameters 49 CIP Symbolic Addressing 45 communication connections 43 ports 43 protocols 43 RSLinx and a Micro830 via USB 184 Connected Components Workbench v 9 78 144 145 controller description 3 grounding 33 1 0 wiring 36 minimizing electrical noise 37 mounting dimensions 21 password 143 preventing excessive heat 16 Index D deceleration 68 DF1 point to point connection 46 DHCP Client 43 DIN rail mounting 23 direction input 68 disconnecting main power 13 E Ell Function configuration 224 file 224 status information 225
168. er tes 144 Mel sie E SC Ae tad toads hao eng te onc nse gst ah a Nahata pater catn es eta ois 144 Chapter 9 Controller Security Exclusive ACCESS adda DY a A EE T eta date 145 Password Protection ssuuuusccsscrrrrrreerrrrrrrresreerree 145 Compatibility oreren neren a Aa E A E A ES E 145 Work with a Locked Controller 0c c cece cee cn ec eeeeeees 146 Upload from a Password Protected Controller 146 Debug a Password Protected Controller 0005 147 Download to a Password Protected Controller 147 Transfer Controller Program and Password Protect Receiving Gia merOuen ot occ a a eas a OT 147 Back Up a Password Protected Controller 04 148 Configure Controller Password ervaniicucvs ines twarse tens ce sed 148 Recover from a Lost Passwotd i is asin bs ean se take ees ioanen dead 148 Appendix A Specifications Mietos30 Controllers c us aves ceunvewe i adaas ey eee totes 149 Micro830 10 Point Controllers 000s cece eee eee ee 149 Micro830 16 Point Controllers 0 0 00 cece cece ceeee 153 Micro830 24 Point Controllers 0 c cece cece e ee 156 Micro830 48 Point Controllers 0 ccc cece eee eee 160 Micro830 and Micro850 Relay Charts 0 0 e eee ee eee 165 Micro850 Controllers ic c 1coc packaenada Hinde vod eereeadrone eea pets 165 Micro850 24 Point Controllers 0 c cece cece e eee e ee 166 Micro850 48 Point Co
169. eration This is not recommended as the resulting motion profile may not be consistent A ATTENTION If MC_Halt aborts another motion function block during acceleration and the MC_Halt Jerk input parameter is less than the Jerk of the currently executing function block the Jerk of the currently executing function block is used to prevent an excessively long deceleration Rockwell Automation Publication 2080 UM002F EN E December 2013 75 Chapter 7 Motion Control with PTO and PWM Example Aborted Movement Function Block During Acceleration Deceleration Velocity Time Execute Busy CommandAborted Halt Execute Busy 46050 IMPORTANT f MC_Halt aborts another movement function block during acceleration and the MC_Halt Jerk input parameter is less than the Jerk of the currently executing FB the Jerk of the currently executing function block is used to prevent excessively long deceleration 76 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Axis and Parameters Motion Control with PTO and PWM Chapter 7 Example Error Stop using MC_Stop cannot be Aborted Velocity This command is ignored Time MC_Stop Execute Busy Motion function block Execute 46049 MC_Halt and MC_Stop are both used to bring an axis to a Standstill but MC_Stop is used when an abnormal situation occurs TIP MC_Stop can abort other motion function blocks but can n
170. ernal HSC ID 0 0x0F Embedded 0 0x07 Expansion not yet implemented 0 0x07 Plug in module rn A oioo x XK Xx N co oz ao mimi x lt x lt fs lt rs gt x lt ooo pad pad oOo For Embedded HSC valid HSCID value is only 0 5 HSC Mode HSCAPP HSCMode Description Data Format User Program Access HSC Mode word UINT read write The HSCMode variable sets the High Speed Counter to one of 10 types of operation This integer value is configured through the programming device and is accessible in the control program HSC Operating Modes Mode Type Number 0 Up Counter The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode 1 Up Counter with external reset and hold The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode Counter with external direction Counter with external direction reset and hold Two input counter up and down Two input counter up and down with external reset and hold Quadrature counter phased inputs A and B Quadrature counter phased inputs A and B with external reset and hold Quadrature X4 counter phased inputs A and B o ojl NN ajl oy A wr N Quadrature X4 counter phased inputs A and B with external reset and hold 118 Rockwell Automation Publication
171. es in the Rockwell Automation Publication 2080 UM002F EN E December 2013 225 Appendix D User Interrupts control program if you need to determine when a subroutine cannot execute immediately This bit is automatically set and cleared by the controller The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit 226 Rockwell Automation Publication 2080 UMO002F EN E December 2013 Appendix E Troubleshooting Status Indicators on the Micro830 Controllers Controller Status Indicators 10 16 Point Controllers 24 Point Controllers 48 Point Controllers ries SS I o000 T 1 om000 mi OOOO 1a 0 oO o 2 E 3 Br 4 N Z 2 5 E 4 4 cr 5 0a 6 z 5 L 6 T 0000 EES T 0000 7 J e 00 0 45031a 45017a 45037a Micro850 Controllers om00
172. es 8 pg Monae 101 Monitor at Aki ereraa nae aaa teeaas Vow be bw aes 101 Homing Function Blocks sucidyausa stale ce Sue eee os eee Moles 101 Conditions for Successful Homing 0 cee eee 102 MC HOME ABS SWITCH 2 ce cc ren a a 103 MG HOME VIM SVITO ot 38 EO aan 104 ME HOME REF WITH ABS Aee AAN 105 ME HOME REF PULSE aa Seu el r 107 MC HOME DIRECT arnasia a a R aa cteace 108 Use PTO for PW MiGente led cnrveve id coda Seka eawedededes 108 POU PIV IM Prostatic criss stenc asst vig wane S eso SS 110 Chapter 8 High Speed Counter Overview i dilowsosacole aerate ews oe ce 111 Programmable Limit Switch Overview 0 000 c eee ee ee eens 111 What is High Speed Comntertcatuvdnatiataneee ewan venanans 112 Features and Operation vais ley abou eke kN se ee ies 112 HSC Inputs and Wiring Mapping sasutesct soit beactveakdaomnes 113 Rockwell Automation Publication 2080 UM002F EN E December 2013 ix Table of Contents High Speed Counter HSC Data Structures piccccse esdeseideanes 117 FISG A PP Dea Struct r enc tch carat E e E A ia 117 PLS Enable HSCAPP PLSEnable 0ceccececeeces 117 HSGCID HSCAPPHSCID otoniana ae sen 118 HSC Mode HSCAPP HSCMode ccececesceceeces 118 Accumulator HSCAPP Accumulator 0 0 cece eee 124 High Preset HSCAPP HPSetting 22 oi avexan aah saSaekanaes 124 Low Preset HSCAPP LPSetting 025 2i cctseuese ples 125 Overflow Setting HSCAPP OFSetting 000
173. ese units shall be carried forward into all command and monitor axis in user unit values throughout programming configuration and monitoring functions Position Select from any of the following options mm cm inches revs custom unit ASCII format of up to 7 characters long Time Read only Predefined in seconds Motor revolution Pulse per revolution Defines pulse per revolution and travel per revolution values Defines the number of pulses needed to obtain one revolution of the drive motor Range 0 0001 8388607 Default 200 0 Travel per revolution Travel per revolution defines the distance either linear or rotational that the load moves per revolution of the motor Range 0 0001 8388607 Default 1 0 user unit Direction Polarity Defines polarity mode and change of delay time values Direction polarity determines whether the direction signal received by the controller as a discrete input should be interpreted on the input as received by the motion controller that is the non inverted case or whether the signal should be inverted prior to interpretation by the motion control logic Set as Inverted or Non inverted default Mode Set as Bi directional default Positive clockwise or Negative counter clockwise direction Change delay time Configure from 0 100 ms Default value is 10 ms 0 The parameter is set as REAL float val
174. esponding enable bits Types of Interrupts Enabled by the UIE Instruction Interrupt Type Element Decimal Value Corresponding Bit Plug In Module UPM4 8388608 bit 23 Plug In Module UPM3 4194304 bit 22 Plug In Module UPM2 2097152 bit 21 Plug In Module UPM1 1048576 bit 20 Plug In Module UPMO 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI 65536 bit 16 STI Selectable Timed Interrupt STIO 32768 bit 15 Ell Event Input Interrupt Event 7 16384 bit 14 Ell Event Input Interrupt Event 6 8192 bit 13 Ell Event Input Interrupt Event 5 4096 bit 12 Ell Event Input Interrupt Event 4 2048 bit 11 HSC High Speed Counter HSC5 1024 bit 10 HSC High Speed Counter HSC4 512 bit 9 HSC High Speed Counter HSC3 256 bit 8 HSC High Speed Counter HSC2 128 bit 7 HSC High Speed Counter HSC1 64 bit 6 HSC High Speed Counter HSCO 32 bit 5 Ell Event Input Interrupt Event 3 16 bit 4 Ell Event Input Interrupt Event 2 8 bit 3 Ell Event Input Interrupt Event 1 4 bit 2 Ell Event Input Interrupt Event 0 2 bit 1 1 bit 0 reserved To enable interrupt s 1 Select which interrupts you want to enable 2 Find the Decimal Value for the interrupt s you selected 3 Add the Decimal Values if you selected more than one type of interrupt 4 Enter the s
175. etween Lower Limit and Home switch before homing starts The homing motion sequence for this scenario is as follows 1 2 Moving part moves to its left side in negative direction When Lower Limit switch is detected the moving part decelerates to stop or stops immediately according to Limit Switch Hard Stop configuration Moving part moves back in positive direction in creep velocity to detect Home switch On gt Off edge Once Home Abs switch On gt Off is detected start to detect first Ref Pulse signal Once the first Ref Pulse signal comes record the position as mechanical home position and decelerate to stop Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software IMPORTANT _ In this case if Lower limit switch is not configured or not wired the homing motion will fail and moves continuously to the left until the drive or moving part fails to move Scenario 3 Moving part on Lower Limit or Home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its right side in positive direction in creep velocity to detect Home switch On Off edge Once Home Abs switch On Off is detected start to detect first Ref Pulse signal Once the first Ref Pulse signal comes record the position as mechanical
176. eux avant de d brancher les connecteurs Fixer tous les connecteurs externes reli s a cet quipement a l aide de vis loquets coulissants connecteurs filet s ou autres moyens fournis avec ce produit e La substitution de tout composant peut rendre cet quipement inadapt a une utilisation en environnement de Classe Division 2 e S assurer que l environnement est class non dangereux avant de changer les piles Disconnecting Main Power WARNING Explosion Hazard Do not replace components connect equipment or disconnect equipment unless power has been switched off The main power disconnect switch should be located where operators and maintenance personnel have quick and easy access to it In addition to disconnecting electrical power all other sources of power pneumatic and hydraulic should be de energized before working on a machine or process controlled by a controller Rockwell Automation Publication 2080 UM002F EN E December 2013 Chapter 2 14 About Your Controller Safety Circuits WARNING Explosion Hazard Do not connect or disconnect connectors while circuit is live Circuits installed on the machine for safety reasons like overtravel limit switches stop push buttons and interlocks should always be hard wired directly to the master control relay These devices must be wired in series so that when any one device opens the master control relay is de energized thereby removing power to the mac
177. ever be aborted itself TIP MC_Stop goes to the Stopping state and normal operation cannot resume The following state diagram illustrates the behavior of the axis at a high level when multiple motion control function blocks are activated The basic rule is that motion commands are always taken sequentially even if the controller has the capability of real parallel processing These commands act on the axis state diagram The axis is always in one of the defined states see diagram below Any motion command is a transition that changes the state of the axis and as a consequence modifies the way the current motion is computed Rockwell Automation Publication 2080 UM002F EN E December 2013 77 Chapter 7 Motion Control with PTO and PWM Motion Axis State Diagram MC_MoveAbsolute MC_MoveRelative MC_MoveVelocity MC_Halt MC_MoveAbsolute MC_MoveRelative MC_Halt MC_MoveVelocity s k Error o SBME Stopping Note 6 Error N Pi Note 1 ET MC_MoveAbsolute s Sy An ran MC_Stop MC_MoveRelative i 4 y MC_MoveVelocity s ErrorStop i MC_Stop 5 a A i Note 4 Error 3 iera Frror x MC_Reset and E 3 MC_Power Status FALSE Homing StandsStill Note 3 Disabled Note 5 MC_Home NOTES 1 In the ErrorStop and Stopping states all function blocks except MC_Reset can be called although they will not be executed MC_Reset generates a transition to the S
178. form any specific control action based on the overflow this bit is used as conditional logic This bit can be cleared 0 by the control program and is also cleared by the HSC sub system whenever these conditions are detected e Low Preset Interrupt executes e High Preset Interrupt executes e Underflow Interrupt executes Underflow Interrupt HSCSTS UFCauselnter Description Data Format HSC Modes User Program Access HSCSTS UFCauselnter bit 229 read write 1 For Mode descriptions see HSC Mode HSCAPPRHSCMode on page 118 The Underflow Interrupt status bit is set 1 when the HSC accumulator counts through the underflow value and the HSC interrupt is triggered This bit can be used in the control program to identify that the underflow condition caused the HSC interrupt If the control program needs to perform any specific control action based on the underflow this bit is used as conditional logic This bit can be cleared 0 by the control program and is also cleared by the HSC sub system whenever these conditions are detected e Low Preset Interrupt occurs Rockwell Automation Publication 2080 UM002F EN E December 2013 131 Chapter 8 132 Use the High Speed Counter and Programmable Limit Switch e High Preset Interrupt occurs 8 p e Overflow Interrupt occurs High Preset Interrupt HSCSTS HPCauselnter Description Data Format HSC Modes JUser Program Access HSCSTS HPCauselnter bit
179. ggered before the hard limit PTO Pulse Limits This limit parameter is not configurable by the user and is the physical limitation of the embedded PTO The limits are set at 0x7 FFF0000 and 0x7FFF0000 pulses for upper and lower limits respectively PTO pulse limits are checked by the controller unconditionally that is the checking is always ON Rockwell Automation Publication 2080 UM002F EN E December 2013 81 Chapter 7 82 Motion Control with PTO and PWM On anon continuous motion to prevent a moving axis going to ErrorStop status with Motion PTO Pulse limits detected user needs to prevent current position value going beyond PTO Pulse limit On a continuous motion driven by MC_MoveVelocity function block when the current position value goes beyond PTO pulse limit PTO pulse current position will automatically roll over to 0 or the opposite soft limit if it is activated and the continuous motion continues For a continuous motion if the axis is homed and the soft limit in the motion direction is enabled soft limit will be detected before PTO pulse limit being detected Motion Stop There are three types of stops that can be configured for an axis Immediate Hardware Stop This type of Immediate Stop is controlled by the hardware If a Hard Stop on a Hard Limit switch is enabled and the Hard Limit has been reached the PTO pulse for the axis will be cut off immediately by the controller The stop respons
180. gned in such a way that all PTO related values are integers at the hardware level when converting to PTO pulse For example if the user configures Motor Pulses per Revolution as 1 000 and Travel per Revolution as 10 cm and the user wants to drive velocity at 4 504 cm sec The target velocity is 4 504 cm sec that is 450 4 pulse sec In this case the actual commanded velocity will be 4 5 cm sec that is 450 pulse sec and the 0 4 pulse sec is rounded off Motor Revolution Modifying Motor Revolution parameters may cause Axis runaway Pulses per Revolution 1000 0 Travel per Revolution 10 0 cm This rounding scheme also applies to other input parameters such as Position Distance Acceleration Deceleration and Jerk For instance with above motor Rockwell Automation Publication 2080 UM002F EN E December 2013 Monitor an Axis Motion Control with PTO and PWM Chapter 7 revolution configuration setting Jerk as 4 504 cm sec is the same as setting Jerk as 4 501 cm sec as both are rounded off to 4 5 cm sec This rounding applies to both axis configuration input in the Connected Components Workbench software and function block input Motion Axis Parameter Validation Besides falling within the pre determined absolute range motion axis parameters are validated based on relationships with other parameters These relationships or rules are listed below Error is flagged whenever there is violation to these rela
181. h Micro800 controller firmware revision 1 Connected Components Workbench revision 2 is capable of discovering and connecting to Micro800 controllers with firmware revision earlier than revision 2 that is not supporting the Controller Password feature However the Controller Password feature will not be available to these controllers The user will not be able see interfaces associated with the Controller Password feature in the Connected Components Workbench session Users are advised to upgrade the firmware See Flash Upgrade Your Micro800 Firmware on page 181 for instructions The following workflows are supported on compatible Micro800 controllers firmware revision 2 and Connected Components Workbench software revision 2 Upload from a Password Protected Controller 1 Launch the Connected Components Workbench software On the Device Toolbox expand Catalog by clicking the sign Select the target controller Select Upload A ob Ww N When requested provide the controller password Rockwell Automation Publication 2080 UM002F EN E December 2013 Controller Security Chapter 9 Debug a Password Protected Controller To debug a locked controller you have to connect to the controller through the Connected Components Workbench software and provide the password before you can proceed to debug Launch the Connected Components Workbench software On the Device Toolbox expand Catalog by clicking the sign
182. hapter 8 Low Preset HSCAPP LPSetting Description Data Format User Program Access HSCAPPLPSetting long word 32 bit INT read write The HSCAPP LPSetting is the lower setpoint in counts that defines when the HSC sub system generates an interrupt The data loaded into the low preset must be greater than or equal to the data resident in the underflow HSCAPP UFSetting parameter or an HSC error is generated If the underflow and low preset values are negative numbers the low preset must be a number with a smaller absolute value Overflow Setting HSCAPP OFSetting Description Data Format Type User Program Access HSCAPP OF Setting long word 32 bit INT control read write The HSCAPP OFSetting defines the upper count limit for the counter If the counter s accumulated value increments past the value specified in this variable an overflow interrupt is generated When the overflow interrupt is generated the HSC sub system rolls the accumulator over to the underflow value and the counter continues counting from the underflow value counts are not lost in this transition The user can specify any value for the overflow position provided it is greater than the underflow value and falls between 2 147 483 648 and 2 147 483 647 TIP Data loaded into the overflow variable must be greater than or equal to the data resident in the high preset HSCAPPHPSetting or an HSC error is generated Underflo
183. he Motion Engine Execution Time can be configured from 1 10 ms default 1 ms This global parameter applies to all motion axis configurations 1 On the Device Configuration tree right click lt New Axis gt Click Add E Motion lt New Axia Plug In Modul Add of rb te 2 Provide an axis name Click Enter TIP Name must begin with a letter or underscore character followed by a letter or single underscore characters TIP You can also press F2 to edit axis name 3 Expand the newly created Axis to see the following configuration categories e General Motor and Load e Limits e Dynamics Homing Motion General Motor and Load Limits Dynamics Homing 90 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 TIP To help you edit these motion properties see Edit Axis Configuration on page 91 You can also learn more about axis configuration parameters Edit Axis Configuration General Parameters 1 On the axis configuration tree click General The lt Axis Name gt General properties tab appears Simulator General Axis Name Simulator PTO Channel EM_0 v Pulse Output 10_EM_DO_00 Direction Output I0_EM_DO_03 Drive Enable Output L_JIn Position Input Output I0_EM_DO_06 w Active Level High v Drive Ready Input v Touch Probe Input Input 10_EM_DI_03 Active Level High v 2 Edit G
184. he controller is running pre release firmware Major Revision 0 RSLinx Classic Gateway RSWho 1 ss File Edit Yiew Communications Station DDE OPC Security Window Help S amp 218 Blk x I Autobrowse S AB_VBP 1 1789 A17 4 Virtual Chassis a 00 workstation RSLinx Server workstation RSLinx Server 1756 module 2080 LC30 16QWB For Help press F1 Num 07 14 10 02 15PM 4 188 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C Since Micro830 Micro850 controllers support embedded EDS files right click this device and select Upload EDS file from device Remove Driver Diagnostics Configure Driver Upload E Device Properties 8 On the EDS wizard that appears click Next to continue Rockwell Automation s EDS Wizard Welcome to Rockwell Automation s EDS Wizard The EDS Wizard allows you to 1a e graphic image ate an f file fr an unknown de upload EDS file s stored in a device To continue click Next Cancel Rockwell Automation Publication 2080 UM002F EN E December 2013 189 AppendixC _Quickstarts 9 Follow the prompts to upload and install the EDS file Rockwell Automation s EDS Wizard Upload EDS File This will upload EDS file s from a device File location C WINDOWS TEMP RS _EMBEDDED_EDS This device s EDS file Size 2 718 KB 2718 bytes Embedded filename EDS txt File revision 11 Related EDS files Cance
185. hematic Using IEC Symbols L1 L2 230V AC Disconnect Fuse MCR 230V AC o to bd circuits Isolation l Operation of either of these contacts will transformer remove power from the external 1 0 Master Control Relay MCR X1 1 15V AC x2 circuits stopping machine motion Cat No 700 PK400A1 or 230V AC Emergency stop Stop Start Suppressor Fuse gt push button Overtravel T Cat No 700 N24 m limit switch rm 1 1 I e l l oie cr Sf Sf O t gt i G KCR t Suppr MCR 115V AC or 230VAC o hd 1 0 circuits DC power supply Use IEC 950 EN 60950 z MCR 24V DC Lo Hi i 1 0 Line Terminals Connect to terminals of power circuits supply Line Terminals Connect to 24V DC terminals of Rockwell Automation Publication 2080 UM002F EN E December 2013 power supply 44564 19 Chapter2 About Your Controller Schematic Using ANSI CSA Symbols L1 L2 230V AC Disconnect Fuse MCR 230V AC i t output e i circuits Isolation l Operation of either of these contacts will Transformer remove power from the external 1 0 Master Control Relay MCR x1 LOVATO 2 circuits stopping machine motion Cat No 700 PK400A1 30V AC Emergency
186. hine Never alter these circuits to defeat their function Serious injury or machine damage could result Power Distribution There are some points about power distribution that you should know e The master control relay must be able to inhibit all machine motion by removing power to the machine I O devices when the relay is de energized It is recommended that the controller remain powered even when the master control relay is de energized e Ifyou are using a DC power supply interrupt the load side rather than the AC line power This avoids the additional delay of power supply turn off The DC power supply should be powered directly from the fused secondary of the transformer Power to the DC input and output circuits should be connected through a set of master control relay contacts Periodic Tests of Master Control Relay Circuit Any part can fail including the switches in a master control relay circuit The failure of one of these switches would most likely cause an open circuit which would be a safe power off failure However if one of these switches shorts out it no longer provides any safety protection These switches should be tested periodically to assure they will stop machine motion when needed Rockwell Automation Publication 2080 UM002F EN E December 2013 Power Considerations About Your Controller Chapter 2 The following explains power considerations for the micro controllers Isolation Transformers You may
187. ickstarts Appendix C on page 118 for more information about HSC modes You can also quickly refer to the table below for the list of ten available modes HSC Operating Modes Mode Type Number 0 Up Counter The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode Up Counter with external reset and hold The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode Counter with external direction Counter with external direction reset and hold Two input counter up and down Two input counter up and down with external reset and hold Quadrature counter phased inputs A and B Quadrature counter phased inputs A and B with external reset and hold Quadrature X4 counter phased inputs A and B co coo NN Mm om A wy N Quadrature X4 counter phased inputs A and B with external reset and hold Modes 1 3 5 7 and 9 will only work when an ID of 0 2 or 4 is set due to the fact that these modes use reset and hold Modes 0 2 4 6 and 8 will work on any ID Modes 6 9 will only work when an encoder is connected to the controller Use the HSC ID chart as a reference to wire the encoder to the controller MyAppData HPSetting MyAppData LPSetting MyAppData OF Setting and MyAppData UFSetting are all user defined variables which represent the counting range of th
188. ifficulties with electromagnetic compatibility in residential and other environments due to conducted and radiated disturbances This equipment is supplied as open type equipment It must be mounted within an enclosure that is suitably designed for those specific environmental conditions that will be present and appropriately designed to prevent personal injury resulting from accessibility to live parts The enclosure must have suitable flame retardant properties to prevent or minimize the spread of flame complying with a flame spread rating of 5VA V2 V1 VO or equivalent if non metallic The interior of the enclosure must be accessible only by the use of a tool Subsequent sections of this publication may contain additional information regarding specific enclosure type ratings that are required to comply with certain product safety certifications In addition to this publication see Industrial Automation Wiring and Grounding Guidelines Rockwell Automation publication 1770 4 1 for additional installation requirements NEMA Standard 250 and IEC 60529 as applicable for explanations of the degrees of protection provided by different types of enclosure Preventing Electrostatic Discharge A This equipment is sensitive to electrostatic discharge which can cause internal damage and affect normal operation Follow these guidelines when you handle this equipment e Touch a grounded object to discharge potential static e Wear an appr
189. igured for the axis through the Connected Components Workbench software Scenario 3 Moving part at left negative side of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part at the proper location before homing starts MC_HOME_DIRECT MC_HOME_DIRECT 4 homing procedure performs a static homing by directly forcing an actual position No physical motion is performed in this mode This is equivalent to a MC_SetPosition action except that Axis Homed status will be on once MC_Home mode 4 is performed successfully Rockwell Automation Publication 2080 UM002F EN E December 2013 109 Chapter 7 Motion Control with PTO and PWM Use PTO for PWM Control The following example shows you how to use a PTO axis as a PWM Launch Connected Components Workbench and create the following ladder program 1 Enable power up the PWM axis immediately after going to RUN mode PWM axis will remain powered ON until Program mode and so on a T MC_Power_1 __SYSVA_FIRST_SCAN MC_Power s A ENO PWMO0 Axis Axis TRUE Enable Status _ TRUE Enable_Positive Busy TRUE Enable_Negative Active Error ErrorlD a x Continually use MC_WriteParameter Parameter 1005 to change the Duty Cycle from global variable G_PWM_Duty_Cycle example 0 5 gt 50
190. in the Homing direction configured in the Connected Components Workbench software Mode MC_HOME_ABS SWITCH or MC_HOME REF WITH_ABS See Homing Function Block on page 101 Soft Limits Soft limits refer to data values that are managed by the motion controller Unlike hardware limits which detect the presence of the physical load at specific points in the allowable motion of the load soft limits are based on the stepper commands and the motor and load parameters Soft limits are displayed in user defined units The user can enable individual soft limits For non enabled soft limits whether upper or lower an infinite value is assumed Soft Limits are activated only when the corresponding axis is homed Users can enable or disable soft limits and configure an upper and lower limit setting through the Connected Components Workbench software Soft Limits Checking on the Function Blocks Function Block Limits Checking MC_MoveAbsolute The target position will be checked against the soft limits before motion MC_MoveRelative a MC_MoveVelocity The soft limits will be checked dynamically during motion When a soft limit is enabled the axis comes to a stop when the limit is detected during motion The motion is stopped using emergency stop parameters If both hard and soft limits are configured as enabled for two limits in the same direction upper or lower the limits should be configured such that the soft limit is tri
191. ing at 1 When PowerFlex 4 Class drives are used with Micro800 family controllers the register addresses listed in the PowerFlex User Manuals need to be offset by n 1 For example the Logic Command word is located at address 8192 but your Micro800 program needs to use 8193 8192 1 to access it Modbus Address n 1 value shown 8193 Logic Command word Stop Start Jog etc Rockwell Automation Publication 2080 UM002F EN E December 2013 179 Appendix B 180 Modbus Mapping for Micro800 8194 Speed Reference word Xxx x format for 4 4M 40 where 123 12 3 Hz xxx xx format for 40P 400 400N 400P where 123 1 23 Hz 8449 Logic Status word Read Active Fault and so on 8452 Speed Feedback word uses same format as Speed Reference 8450 Error Code word n 1 To access Parameter n TIP e f the respective PowerFlex drive supports Modbus Function Code 16 Preset Write Multiple Registers use a single write message with a length of 2 to write the Logic Command 8193 and Speed reference 8194 at the same time e Use a single Function Code 03 Read Holding Registers with a length of 4 to read the Logic status 8449 Error Code 8450 and Speed Feedback 8452 at the same time Refer to the respective PowerFlex 4 Class drive User Manual for additional information about Modbus addressing See Appendix E Modbus RTU Protocol on publication 22C UM001G Performance The performance of MSG_MODBUS Micro800 is mast
192. installation process The minimum version of RSLinx Classic with full Micro800 controller support is 2 57 build 15 released March 2011 2 Power up the Micro830 Micro850 controller 3 Plug USB A B cable directly between your PC and the Micro830 Micro850 controller 4 Windows should discover the new hardware Click No not this time and then click Next Found New Hardware Wizard Welcome to the Found New ey Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software C Yes this time only Yes now and every time connect a device No not this time Click Next to continue lt Back 186 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C 5 Click Install the software automatically Recommended and then click Next Found New Hardware Wizard L This wizard helps you install software for Rockwell Automation USB CIP O If your hardware came with an installation CD lt 3 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue lt Back Cancel The Wizard searches for new h
193. ion block receives a new Execute command before it completes as a series of commands on the same instance the new Execute command is ignored and the previously issued instruction continues with execution With Enable The outputs Valid and Error indicate whether a read function block executes successfully They are mutually exclusive only one of them can be true on one function block for MC_ReadBool MC_ReadParameter MC_ReadStatus The Valid Enabled Busy Error and ErrorlD outputs are reset with the falling edge of Enable as soon as possible Axis output 70 When used in Function Block Diagram you can connect the axis output parameter to the Axis input parameter of another motion function block for convenience for example MC_POWER to MC_HOME When used in a Ladder Diagram you cannot assign a variable to the Axis output parameter of another motion function block because it is read only Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 General Rules for the Motion Function Block Parameter General Rules Behavior of Done Output The output Done is set when the commanded action has completed successfully With multiple function blocks working on the same axis in a sequence the following rule applies When one movement on an axis is aborted with another movement on the same axis without having reached the final goal output Done will not be set on the fir
194. ion in the user program e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode OxFOEz 234 The plug in I O module configuration does not match the actual 1 0 configuration detected Perform the following e Correct the plug in 1 0 module configuration in the user program e Build and download the program using Connected Components Workbench e Put the Micro800 controller into Run mode Rockwell Automation Publication 2080 UM002F EN E December 2013 Troubleshooting Appendix E List of Error Codes for Micro800 controllers Error Code Description Recommended Action 0xD011 The program scan time exceeded the watchdog Perform one of the following timeout value e Determine if the program is caught in a loop and correct the problem e In the user program increase the watchdog timeout value that is set in the system variable _SYSVA_TCYWDG and then build and download the program using Connected Components Workbench OxF830 An error occurred in the Ell configuration Review and change the Ell configuration in the Micro800 controller properties OxF840 An error occurred in the HSC configuration Review and change the HSC configuration in the Micro800 controller properties OxF850 An error occurred in the STI configuration Review and change the STI configuration in the Micro800 controller properties OxF860 A data overflow o
195. ject Organizer windows Device Toolbox v Discover Catalog qit 2080 LC10 12QWB qit 2080 LC30 10QVB qt 2080 LC30 10QWB qrt 2080 LC30 164WB qrt 2080 LC30 16QVB qt 2080 LC30 16QWB att 2080 LC30 24QBB Ti 2080 LC30 24QVB Ww 2080 LC30 24QWB qrt 2080 LC30 48AWB qit 2080 LC30 48QBB qt 2 B qrt 2080 LC30 48QWB 2 Under Project Organizer right click Programs Click Add New LD Ladder Diagram to add a new ladder logic program Project Organizer SWRI amp Name Project20 Programs ee E YPCP untitled i Local Variables 40 New LD Ladder Diagram a New FBD Function Block Diagram 1 The HSC is supported on all Micro830 and Micro850 controllers except on 2080 LCxx xxAWB types Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C 3 Right click UntitledLD and select Open UntitledLD POU Project Organizer Name Project20 TH Micro830 D Programs E AKO untitled i Local Variables i Global Variables 4 From the Toolbox double click Direct Contact to add it to the rung or drag and drop Direct Contact onto the Rung UntitledLD POU 5 Double click the Direct Contact you have just added to bring up the Variable Selector dialog Click I O Micro830 tab Assign the Direct Contact to input 5 by selecting _IO_EM_DI _05 Click OK EE Variable Selector Name Type Global Scope Local Scope _ 0_E
196. k is defined as For Direct Operation Second peak PV1 3 x Deviation For Reverse Operation Second peak PV1 3 x Deviation Once the process value reaches or falls below second peak calculations commence and a set of gain will be generated to parameter OutGains Troubleshooting an You can tell what is going on behind the autotune process from the sequences of control output Here are some known sequences of control output and what it Autotune Process ae eae P means if autotune fails For the ease of illustrating the sequence of control output we define Load 50 Step 20 Output Sequence 1 50 gt 70 gt 30 Sequence Condition Autotune Result Action for Autotune Fail Process value reached first peak and Likely successful NA second peak in time Output Sequence 2 50 gt 70 gt 50 Sequence Condition Autotune Result Action for Autotune Fail Process value not able to reach Likely unsuccessful Reduce Deviation or Increase Step first peak Output Sequence 3 50 gt 70 gt 30 gt 50 Sequence Condition Autotune Result Action for Autotune Fail Process value not able to reach Likely unsuccessful Increase Deviation or increase Step second peak Rockwell Automation Publication 2080 UM002F EN E December 2013 243 Appendix F __ PID Function Block PID Application Example 244 Output Sequence 4 50 gt 70 Sequence Condition Autotune Result Process value not able to r
197. l Rockwell Automation s EDS Wizard EDS File Installation Test Results This test evaluates each EDS file for errors in the EDS file This test does not guarantee EDS file validity Installation Test Results C WINDOWSS TEMPSASI_EMBEDDED_EDS EDS eds View file Cancel 190 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C Rockwell Automation s EDS Wizard Change Graphic Image p You can change the graphic image that is associated with a device Product Types Change icon lt Back Cancel Rockwell Automation s EDS Wizard Final Task Summary This is a review of the task you want to complete You would like to register the following device Micro830 Cancel Rockwell Automation Publication 2080 UM002F EN E December 2013 191 AppendixC Quickstarts 10 Click Finish to complete Rockwell Automation s EDS Wizard E You have successfully completed the EDS Wizard If the Micro830 Micro850 still shows up as a 1756 Module then you are probably running pre release firmware which is reporting itself as Major Revision 0 which does not match the embedded EDS file To confirm right click the device and select Device Properties firmware Revision is Major Minor AB_VBP 1 16 Device Name 2080LC30 240WB Vendo Allen Bradley Compay Product Type mooo Product Code 1S0 Revision pa 80 t i N NRN SCC O Serial
198. l Program POU This is the name of the Program Organizational Unit POU which is executed immediately when this EII Interrupt occurs You can choose any pre programmed POU from the drop down list EII Auto Start EII0 AS Sub Element Description Data Format User Program Access AS Auto Start binary bit read only AS Auto Start is a control bit that can be used in the control program The auto start bit is configured with the programming device and stored as part of the user program The auto start bit automatically sets the Event User Interrupt Enable bit when the controller enters any executing mode EII Input Select EI 0 1S Sub Element Description Data Format User Program Access IS Input Select word INT read only The IS Input Select parameter is used to configure each EII to a specific input on the controller Valid inputs are 0 N where N is either 15 or the maximum input ID whichever is smaller Rockwell Automation Publication 2080 UMO002F EN E December 2013 User Interrupts Appendix D This parameter is configured with the programming device and cannot be changed from the control program Ell Function Status Information EII Function status bits can be monitored either in the User Program or in Connected Components Workbench in Debug mode EIl User Interrupt Executing EII0 EX Sub Element Description Data Format User Program Access EX User Interrupt Exe
199. l program as conditional logic to detect if an HSC interrupt is executing The HSC sub system will clear 0 the EX bit when the controller completes its processing of the HSC subroutine User Interrupt Pending HSCO PE Description Data Format HSC Modes User Program Access HSCO PE bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 129 The PE User Interrupt Pending is a status flag that represents an interrupt is pending This status bit can be monitored or used for logic purposes in the control program if you need to determine when a subroutine cannot be executed immediately This bit is maintained by the controller and is set and cleared automatically User Interrupt Lost HSCO LS Description Data Format HSC Modes User Program Access HSCO LS bit 0 9 read write 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 129 The LS User Interrupt Lost is a status flag that represents an interrupt has been lost The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit This bit is set by the controller It is up to the control program to utilize track the lost condition if necessary To use HSC refer to Use the High Speed Counter on page 196 Rockwell Automation Publication 2080 UM002F EN E December 2013 Exclusive Access Password Protection Co
200. le width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 Micro850 48pt Controller with Micro800 Power Supply Measurements in millimeters Micro830 and Micro850 48 point Controllers Side c gt SS o000 E DS s C _ a G S e GG a E G G OC E E O S So a c 2 gt gt gt C gt 80 ae 87 GS cS GS E SSE cS a a gt G5 aS Ca gt a gt a S I oom om on om Micro830 Micro850 48pt Controller with Micro800 Power Supply Measurements in millimeters Expansion I Applicable to Single width Double width 0 Slots Micro850 only 1st slot 2nd slot 2085 ECR terminator 28 Rockwell Automation Publication 2080 UM002F EN E December 2013 Chapter 4 Wire Your Controller This chapter provides information on the Micro830 and Micro850 controller wiring requirements It includes the following sections To W pic iring Requirements and Recommendation Page 29 Us e Surge Suppressors 30 Re commended Surge Suppressors 32 Grounding the Controller 33 Wi ring Diagrams 33 Co ntroller 1 0 Wiring 36 Mi nimize Electrical Noise 37 Analog Channel Wiring Guidelines 37 Mi nimize Electrical Noise on Analog Channels 37 Grounding Your Analog Cable 38 Wi ring Examples 38 Embedded Serial Port
201. lf SS Ee et HSCTS O CountEnable BO0L Read Write 1 amp YRKO untitledLoz j HSCSts O ErrorDetected BOOL Read Write HSCSts O CountUpFlaa BOOL Read Write ln i Local Variables ys HSCSts_O CountDwnFlag BOOL Read Write i Global Variables HSCSts_O ModelDone BOOL Read Write HSCSts_O OVF BOOL Read Write B e Data Types HSCSts O UNF 5 BOOL___ Read Write 7 HSCSts_O CountDir BOOL Read Write R Function Blocks HSCSts_O HPReached BOOL Read Write HSCSts_O LPReached BOOL _ Read Write HSCSts_O OFCauselnter BOOL Read Write HSCSts_O UFCauselnter____ BOOL__ Read Write HSCSts_O poeemi BOOL Read Write CSt Gaii o o E Read Write i Read Write Read Write Read Write HSCSts_ 0 HP Read Write HSCSts_O LP Read Write 7 HSCSts_O HPOutput Read Write 1 HSCSts_O LPOutput Read Write Counting Enabled HSCSTS CountEnable Description Data Format HSC Modes User Program Access HSCSTS CountEnable bit 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 118 The Counting Enabled control bit is used to indicate the status of the High Speed Counter whether counting is enabled 1 or disabled 0 default Error Detected HSCSTS ErrorDetected Description Data Format HSC Modes User Program Access HSCSTS ErrorDet
202. llautomation com support firmware html 231 Appendix E Troubleshooting List of Error Codes for Micro800 controllers Error Code Description Recommended Action OxF021 The 1 0 configuration in the user program is Perform the following Rit Rae not exist in the Micro800 e Verify that you have selected the correct Micro800 controller from the Device Toolbox e Correct the plug in I O module configuration in the user program to match that of the actual hardware configuration e Recompile and reload the program e Put the Micro800 controller into Run mode e If the error persists be sure to use Connected Components Workbench programming software to develop and download the program OxF022 The user program in the memory module is Perform one of the following Meaga e the Microaddcontrallers Upgrade the Micro800 controller s firmware revision using ControlFlash to be compatible with the memory module e Replace the memory module e Contact your local Rockwell Automation technical support representative for more information about firmware revisions for your Micro800 controller For more information on firmware revision compatibility go to http www rockwellautomation com support firmware html OxF023 The controller program has been cleared This e Download or transfer the program happened because a power down occurred during program download or transfer from the memory module e the Flash Integrity
203. low HSCAPP UFSetting parameter or an HSC error is generated If the underflow and low preset values are negative numbers the low preset must be a number with a smaller absolute value This is the latest low preset setting which may be updated by PLS function from the PLS data block High Preset Output HSCSTS HPOutput Description Data Format User Program Access HSCSTS HPOutput long word 32 bit binary read only The High Preset Output defines the state 1 ON or 0 OFF of the outputs on the controller when the high preset is reached See Output Mask Bits HSCAPP OutputMask on page 126 for more information on how to directly turn outputs on or off based on the high preset being reached This is the latest high preset output setting which may be updated by PLS function from the PLS data block Low Preset Output HSCSTS LPOutput Description Data Format User Program Access HSCSTS LPOutput long word 32 bit binary read only The Low Preset Output defines the state 1 on 0 off of the outputs on the controller when the low preset is reached See Output Mask Bits HSCAPP OutputMask on page 126 for more information on how to directly turn outputs on or off based on the low preset being reached This is the latest low preset output setting which may be updated by PLS function from the PLS data block Rockwell Automation Publication 2080 UM002F EN E December 2013 HS
204. lse sec Default 0 0 pulse sec 0 0 mm sec NOTE Homing Jerk should not be greater than Maximum Jerk Creep Velocity Range 1 5 000 pulse sec Default 1000 0 pulse sec 5 0 mm sec NOTE Homing Creep Velocity should not be greater than Maximum Velocity Homing Offset Range 1073741824 1073741824 pulse Default 0 0 pulse 0 0 mm Home Switch Input Enable home switch input by clicking the checkbox Input Read only value specifying the input variable for home switch input Active Level High default or Low Home Marker Input Enable the setting of a digital input variable by clicking the checkbox Input Specify digital input variable for home marker input Active Level Set the active level for the home switch input as High default or Low The parameter is set as REAL float value in Connected Components Workbench To learn more about conversions and rounding of REAL values see Real Data Resolution on page 97 Rockwell Automation Publication 2080 UM002F EN E December 2013 97 Chapter 7 98 Motion Control with PTO and PWM Axis Start Stop Velocity Start Stop velocity is the initial velocity when an axis starts to move and the last velocity before the axis stops moving Generally Start Stop velocity is configured at some low value so that it is smaller than most velocity used in the motion function block e When the target veloci
205. ments Function Count Direction Reset Hold Example 1 f on JU off on 0 off jon 1 HSC Accumulator 1 count 1 0 1 0 0 Example 2 on U 1 on 0 off jon 1 HSC Accumulator 1 count 1 1 0 0 Example3 on of on Hold accumulator value 1 0 1 Example 4 on of off 0 Hold accumulator value 1 0 Example 5 on U on of Hold accumulator value 1 1 0 Example 6 Clear accumulator 0 Blank cells don t care ft rising edge ling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used Rockwell Automation Publication 2080 UM002F EN E December 2013 121 Chapter8 Use the High Speed Counter and Programmable Limit Switch Using the Quadrature Encoder The Quadrature Encoder is used for determining direction of rotation and position for rotating such as a lathe The Bidirectional Counter counts the rotation of the Quadrature Encoder The figure below shows a quadrature encoder connected to inputs 0 1 and 2 The count direction is determined by the phase angle between A and B If A leads B the counter increments If B leads A the counter decrements The counter can be reset using the Z input The Z outputs from the encoders typically provide one pulse per revolution A
206. mmunication with the appropriate network Topics include Topic Page Supported Communication Protocols 41 Use Modems with Micro800 Controllers 45 Configure Serial Port 46 Configure Ethernet Settings 52 The Micro830 and Micro850 controllers have the following embedded communication channels e anon isolated RS 232 485 combo port e anon isolated USB programming port In addition the Micro850 controller has an RJ 45 Ethernet port Micro830 Micro850 controllers support the following communication protocols through the embedded RS 232 RS 485 serial port as well as any installed serial port plug in modules e Modbus RTU Master and Slave e CIP Serial Client Server RS 232 only e ASCII In addition the embedded Ethernet communication channel allows your Micro850 controller to be connected to a local area network for various devices providing 10 Mbps 100 Mbps transfer rate Micro850 controllers support the following Ethernet protocols EtherNet IP Client Server e Modbus TCP Client Server e DHCP Client Rockwell Automation Publication 2080 UM002F EN E December 2013 4 Chapter 5 42 Communication Connections Modbus RTU Modbus is a half duplex master slave communications protocol The Modbus network master reads and writes bits and registers Modbus protocol allows a single master to communicate with a maximum of 247 slave devices Micro800 controllers support Modbus RTU Master and Modbus RTU Slave protocol
207. mpatibility Chapter 9 Controller Security Micro800 security generally has two components Exclusive Access which prevents simultaneous configuration of the controller by two users e Controller Password Protection which secures the Intellectual Property contained within the controller and prevents unauthorized access Exclusive access is enforced on the Micro800 controller regardless of whether the controller is password protected or not This means that only one Connected Components Workbench session is authorized at one time and only an authorized client has exclusive access to the controller application This ensures that only one software session has exclusive access to the Micro800 application specific configuration Exclusive access is enforced on Micro800 firmware revision 1 and 2 When a Connected Components Workbench user connects to a Micro800 controller the controller is given exclusive access to that controller By setting a password on the controller a user effectively restricts access to the programming software connections to the controller to software sessions that can supply the correct password Essentially Connected Components Workbench operation such as upload and download are prevented if the controller is secured with a password and the correct password is not provided Micro800 controllers with firmware revision 2 and later are shipped with no password but a password can be set through the Connected Component
208. n 2080 UM002F EN E December 2013 Specifications Appendix A DC Input Specifications 2080 LC50 240BB 2080 LC50 240VB 2080 LC50 240WB Attribute High Speed DC Input Standard DC Input Inputs 0 7 Inputs 8 and higher Number of Inputs 8 6 Voltage category 24V sink source Input group to backplane isolation Verified by one of the following dielectric tests 720V DC for 2 s 50V DC working voltage IEC Class 2 reinforced insulation On state voltage range 6 8 26 4V DC 65 C 149 F 6 8 30 0V DC 30 C 86 F 10 26 4V DC 65 C 149 F 10 30 0V DC 30 C 86 F Off state voltage 5V DC max Off state current 5 mA max On state current 5 0 mA 16 8V DC min 7 6 mA 24V DC nom 2 0 mA 30V DC max 1 8 mA 10V DC min 6 15 mA 24V DC nom 12 0 mA 30V DC max Nominal impedance 3 kQ 3 74 KQ IEC input compatibility Type 3 AC Input Specifications 2080 LC50 24AWB Attribute Value Number of Inputs 14 On state voltage 79 V AC min 132V AC max On state current 5 mA min 16 mA max Input frequency 50 60 Hz nom 47 Hz min 63 Hz max Off state voltage 20V AC 120V AC max Off state current 2 5 mA 120V AC max Inrush current Inrush delay time constant max 250 mA 120V AC max 22 ms IEC input compatibility Type 3 Output Specifications Attribute 2080 LC50 240WB_ 2080 LC5
209. n only counts in one direction ignore the other parameters The PLS function can operate with all of the other HSC capabilities The ability to select which HSC events generate a user interrupt are not limited PLS Example Setting Up the PLS data Using Connected Components Workbench define the PLS data HSC_PLS s dimension as 1 4 PLS Data Definition Data Description Data Format HSCHP High Preset 32 bit signed integer HSCLP Low Preset HSCHPOutput Output High Data 32 bit binary HSCLPOutput Output Low Data Oo 0000 0000 0000 0000 0000 0000 Rockwell Automation Publication 2080 UM002F EN E December 2013 139 Chapter8 Use the High Speed Counter and Programmable Limit Switch Name Projects n HSC Interrupts 140 qr Micro830 nN A Programs EAE untitled ie Local Variables i Global Variables DataTypes Function Blocks lE ze HSC HSC lt x ReadWrite HSC_STS HSCSTS m Readwrite HSC_APP HSCAPP w ReadWrite W scs PLS gt 1 4 i ReadWrite E tec pista PLS T ReadWrite J HSc_PLs t HscHe DINT 250 ReadWrite HSC_PLS 1 HscLP DINT 2 Readwrite HSC_PLS 1 HscHPOutPut UDINT 3 ReadWrite HS5C_PLS 1 HscLPOutPut UDINT o ReadWrite E sosa PLS T ReadWrite HS5C_PLS 2 HscHP DINT 500 Readwrite HSC_PLS 2 HscLP e CO HS5C_PLS 2 HscHPOutPut UDINT 7 ReadWrite MB HSC_PLS 2 HscLPoutPut UDINT o Readwrite E crsa PLS iS ReadWrite JJ HSc_PLs 3 HscH DIN
210. n your computer a ControlFlash firmware upgrade For users who need to use the same static IP address as previously set for example use the Memory Module to store project settings prior to a flash upgrade so that you can have the option to restore your original Ethernet settings i ATTENTION All Ethernet settings are reverted to factory default after On Micro850 controllers users can use flash upgrade their controllers through the Ethernet port in addition to the USB 1 Through USB Verify successful RSLinx Classic communications with your Micro800 controller by USB using RSWho Micro810 12 pt controller uses the 12PtM810_xxxxx driver and the Micro830 Micro850 uses the AB_VBP x driver Workstation ROCK WELL D804EF Ss Linx Gateways Ethernet 12PtMS10_30001 DF1 feaJ601 MicroS10 2080 LC10 1 AB_VBP 1 1789 417 4 Virtual Chassis M 16 Micro830 2080 LC30 16QWB f Rockwell Automation Publication 2080 UM002F EN E December 2013 181 AppendixC Quickstarts 2 Start ControlFLASH and click Next ControlFLASH Untitled ControlFLASH 9 00 015 Welcome to controfiash Welcome to ControlFLASH the firmware update tool ControlFLASH needs the following information from you before it can begin updating a device BUCHER 1 The Catalog Number of the target device 2 The Network Configuration parameters optional 3 The Network Path to the target device 4 The Firmware Revi
211. nclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Inputs Attribute High Speed DC Input Standard DC Input Inputs 0 7 Inputs 8 and higher Number of Inputs 8 6 Voltage category 24V DC sink source Operating voltage range 16 8 26 4V DC 10 26 4V DC Off state voltage max 5V DC Off state current max 1 5mA On state current min 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 8 8 mA 24V DC 8 5 mA 24V DC On state current max 12 0 mA 30V DC Rockwell Automation Publication 2080 UM002F EN E December 2013 157 AppendixA Specifications Inputs Attribute High Speed DC Input Standard DC Input Inputs 0 7 Inputs 8 and higher Nominal impedance 3kQ 3 74 KQ IEC input compatibility Type 3 AC input filter setting 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded 1 0 configuration window to re configure the filter setting for each input group Isolated AC Inputs 2080 LC30 240WB 2080 LC30 240VB 2080 LC30 240BB Inputs 0 7 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Outputs Attribute 2080 LC30 240WB 2080 LC30 240VB 2080 LC30 240BB Relay Output Hi Speed Output Outputs 0 1
212. nction Configuration and Status 224 EII Function Connetationyd c c 4 eis revi bu ee iovigies waog we 224 EII Function Status Information 0 ccccececeeceeees 225 Rockwell Automation Publication 2080 UM002F EN E December 2013 Troubleshooting IPID Function Block System Loading Chapter 1 Appendix F Status Indicators on the Controller 0 0 cee eee eee eee ee 227 Normal Operation serian ei aman bie a a cin etre 228 Error Conditions 0 c cece ccc eee cece eeeeeceeneeenaes 228 ErrOreGdesi6 ou E EEA EEE ae ey bide Aloe EEN 229 Controller Error Recovery Model 2 2 xcsecddasieiee eben eie ee 237 Calling Rockwell Automation for Assistance 0 000 e 00s 238 Appendix G Howto Avitotiinie v 35 ies ea eb csaet oo ana neeae ca deda S ENE 241 How Autotune Works 0 cece cece cece cece e eee ee en 242 Troubleshooting an Autotune Process 000 cece eee eee 243 PID Application Exanipless igiueu iok Tage y eed ede eiodes 244 PID Code Sani ple sede be a shen ei diaaa Kea a E a ar 245 Appendix H Calculate Total Power for Your Micro830 Micro850 Controller 247 Index Rockwell Automation Publication 2080 UM002F EN E December 2013 xiii Table of Contents Notes xiv Rockwell Automation Publication 2080 UM002F EN E December 2013 Chapter 1 Hardware Overview This chapter provides an overview of the Micro830 and Micro850 hardware features It has the f
213. nd Micro850 controllers provide to execute selected user logic at a pre configured event Microg3u sai rrugiant map run E i Micro830 Run Controller Mode E j ad Programs eee EA 2080 LC30 48QWB E O untitled f Local Variables Micro830 YRC untitleatoz Local Variables ee Global Variables an Properties L DataTypes Interrupt Type Function Blocks HSC ID HSC Description HSCO_ ay Program UntitledLD lemory S Communication Ports a Serial Port Parameters USE Port Auto Start Fale v Date and Time Interrupts Mask for IV True x Mask for IH Fake iv Startup Faults Mask for IN Fase v Mask foriL Tue E Modbus Mapping L L Embedded 1 0 Plug In Modules Hep ei er lt Empty gt HSC 0 is used in this document to define how HSC interrupts work HSC Interrupt Configuration In the User Interrupt configuration window select HSC and HSC ID which is the interrupt triggering the User Interrupt The following diagram shows the selectable fields in the Interrupt configuration window Configure High Speed Counter HSC User Interrupt HSCO ed Properties Interrupt Type HSC ID HSC Description HSCO Program UntitledLD v Untithe 2 Parameters Auto Start Fase v Mask for IV True v Mask forll Fase v Mask for IN False w Mask for IL Tue Rockwell Automation Publication 2080 UM002F EN E December 2013 141 Chapter 8 142 Use the High Speed Counter
214. nfigured as any embedded input from input 0 15 These I O can be configured through the axis configuration feature in Connected Components Workbench Any outputs assigned for motion should not be controlled in the user program See Motion Axis Configuration in Connected Components Workbench on page 89 IMPORTANT If an output is configured for motion then that output can no longer be controlled or monitored by the user program and cannot be forced For example when a PTO Pulse output is generating pulses the corresponding logical variable IO_EM_DO_ xx will not toggle its value and will not display the pulses in the Variable Monitor but the physical LED will give an indication If an input is configured for motion then forcing the input only affects the user program logic and not motion For example if the input Drive Ready is false then the user cannot force Drive Ready to true by forcing the corresponding logical variable O_EM_DI_xx to be true Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Motion Wiring Input Output Description Motion Signals PTO pulse Input Output OUTPUT Description PTO pulse from the embedded fast output to be connected to Drive PTO input Uniqueness Not Shared PTO direction OUTPUT PTO pulse direction indication to be connected to Drive Direction input Not Shared Servo Drive On OUTPUT Th
215. nly if HSC already in RUN mode and Rung is Enabled e Update HSC status Info only if Rung is disabled 0x02 HSC Stop Stop a HSC counting if HSC is in RUN mode and Rung is Enabled 0x03 HSC Load reload HSC Configuration if Rung is Enabled for 6 input elements HPSetting LPSetting HPOutput LPOutput OFSetting and UFSetting HSC accumulator is NOT reloaded by cmd 0x03 0x04 HSC Reset set Accumulator to assigned value and reset HSC status information if Rung is Enabled HSC Function Block Status Codes HSC Status Code 0x00 Description No action from Controller because the function block is not enabled 0x01 0x02 HSC function block successfully executed HSC command invalid 0x03 HSC ID out of range 0x04 136 HSC Configuration Error Rockwell Automation Publication 2080 UM002F EN E December 2013 HSC_SET_STS Function Block Enable Hscld Mode1Done HPReached LPReached OFOccured UFOccured Use the High Speed Counter and Programmable Limit Switch Chapter 8 HSC SIS 45646 The HSC Set Status function block can be used to change the HSC counting status This function block is called when the HSC is not counting stopped HSC Parameters Parameter Parameter Data Type Parameter Description Type Enable Input BOOL Enable function block When Enable TRUE set reset the HSC status When Enable FALSE there is no HSC status change
216. nmental noise on analog signals e install the Micro800 system in a properly rated enclosure for example NEMA Make sure that the shield is properly grounded e use Belden cable 8761 for wiring the analog channels making sure that the drain wire and foil shield are properly earth grounded e route the Belden cable separately from any AC wiring Additional noise immunity can be obtained by routing the cables in grounded conduit Rockwell Automation Publication 2080 UM002F EN E December 2013 37 Chapter4 Wire Your Controller Grounding Your Analog Cable Use shielded communication cable Belden 8761 The Belden cable has two signal wires black and clear one drain wire and a foil shield The drain wire and foil shield must be grounded at one end of the cable Foil shield Clear wire 44531 IMPORTANT Do not ground the drain wire and foil shield at both ends of the cable Wiring Examples Examples of sink source input output wiring are shown below Sink output wiring example User side 1 Logic side t ere eee 1 24V supply Micro800 Sink output 38 Rockwell Automation Publication 2080 UM002F EN E December 2013 Wire Your Controller Chapter 4 Sink input wiring example Com 24V DC l I P Fuse 45627 Source output wiring example Logic side User side 24V supply
217. nnections and 16 simultaneous EtherNet IP Server connections CIP Serial supported on both Micro830 and Micro850 controllers makes use of DF1 Full Duplex protocol which provides point to point connection between two devices Rockwell Automation Publication 2080 UM002F EN E December 2013 Communication Connections Chapter 5 The Micro800 controllers support the protocol through RS 232 connection to external devices such as computers running RSLinx Classic software Panel View Component terminals firmware revisions 1 70 and above or other controllers that support CIP Serial over DF1 Full Duplex such as ControlLogix and CompactLogix controllers that have embedded serial ports EtherNet IP supported on the Micro850 controller makes use of the standard Ethernet TCP IP protocol The Micro850 controller supports up to 16 simultaneous EtherNet IP Server connections To configure CIP Serial see Configure CIP Serial Driver on page 47 To configure for EtherNet IP see Configure Ethernet Settings on page 52 CIP Symbolic Addressing Users may access any global variables through CIP Symbolic addressing except for system and reserved variables One or two dimension arrays for simple data types are supported for example ARRAY OF INT L 10 1 10 are supported but arrays of arrays for example ARRAY OF ARRAY are not supported Array of strings are also supported Supported Data Types in CIP Symbolic
218. nnot be identified Expansion I O configuration fault Perform the following e Correct the expansion IO module configuration in the user program to match that of the actual hardware configuration e Check the expansion I O module operation and condition e Cycle power to the Micro800 controller e Replace the expansion I O module For the following four error codes z is the slot number of the plug in module If z 0 then the slot number cannot be identified OxFOAz The plug in 1 0 module experienced an error during operation Perform one of the following e Check the condition and operation of the plug in 1 0 module e Cycle power to the Micro800 controller e f the error persists see the Micro800 Plug In Modules publication 2080 UM004 OxFOBz The plug in I O module configuration does not match the actual 1 0 configuration detected Perform one of the following e Correct the plug in 1 0 module configuration in the user program to match that of the actual hardware configuration Check the condition and operation of the plug in 1 0 module Cycle power to the Micro800 controller Replace the plug in 1 0 module If the error persists see the Micro800 Plug in Modules publication 2080 UM004 OxFODz When power was applied to the plug in 1 0 module or the plug in 1 0 module was removed a hardware error occurred Perform the following e Correct the plug in 1 0 module configurat
219. nput 120V AC 16 mA Output 2 A 240V AC 2A 24V DC Input 24V 8 8 mA Output 2 A 240V AC 2A 24V DC nput 24V 8 8 mA Output 24V DC Class 2 1 A per point Surrounding air temperature 30 C 24V DC Class 2 0 3 A per point Surrounding air emperature 65 C Isolation voltage 250V continuous Reinforced Insulation Type Output to Aux and Network Inputs to Outputs Type tested for 60s 3250V DC Output to Aux and Network Inputs to Outputs 150V continuous Reinforced Insulation Type Input to Aux and Network Type tested for 60 s 1950V DC Input to Aux and Network 250V continuous Reinforced Insulation Type Output to Aux and Network Inputs to Outputs Type tested for 60 s 3250V DC Output to Aux and Network Inputs to Outputs 50V continuous Reinforced Insulation Type Input to Aux and Network Type tested for 60 s 720V DC Input to Aux and Network 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs to Outputs Type tested for 60 s 720 V DC 1 0 to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 166 Rockwell Automation Publicatio
220. ns General Specifications 2080 L 50 48AWB 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Attribute 2080 LC50 48AWB 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Power consumption 33 W Power supply voltage range 20 4 26 4V DC Class 2 1 0 rating Input 120V AC 16 mA Output 2 A 240V AC Input 24V 8 8 mA Output 2 A 240V AC 2 A Input 24V 8 8 mA Output 24V DC 1 A per point surrounding air 2 A 24V DC 24V DC temperature 30 C 24V DC 0 3 A per point surrounding air temperature 65 C Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 Pilot duty rating C300 R150 Isolation voltage 250V continuous Reinforced 250V continuous Reinforced 50V continuous Reinforced Insulation Type 1 0 to nsulation Type Output to Aux and Network Inputs to Outputs Type tested for 60 s 3250V DC Output to Aux and Network Inputs to Outputs 150V continuous Reinforced nsulation Type Input to Aux and Network Type tested for 60 s 1950V DC Input to Aux and Network nsulation Type Output to Aux and Network Inputs to Outputs Type tested for 60 s 3250V DC Output to Aux and Network nputs to Outputs 50V continuous Reinforced nsulation Type Input to Aux and Network Type tested for 60 s 720V DC nputs to Aux and Network Aux and Network Inputs to Outputs Type tested for 60 s 720V DC 1 0 to Aux and Network Inputs to
221. ns for instruction and data size are typical numbers When a project is created for Micro800 memory is dynamically allocated as either program or data memory at build time This means that program size can exceed the published specifications if data size is sacrificed and vice versa This flexibility allows maximum usage of execution memory In addition to the user defined variables data memory also includes any constants and temporary variables generated by the compiler at build time The Micro800 controllers also have project memory which stores a copy of the entire downloaded project including comments as well as configuration memory for storing plug in setup information and so on Here are some guidelines and limitations to consider when programming a Micro800 controller using Connected Components Workbench software e Each program POU can use up to 64 Kb of internal address space It is recommended that you split large programs into smaller programs to improve code readability simplify debugging and maintenance tasks A User Defined Function Block UDFB can be executed within another UDEFB with a limit of five nested UDFBs Avoid creating UDFBs with references to other UDFBs as executing these UDFBs too many times may result in a compile error Rockwell Automation Publication 2080 UM002F EN E December 2013 Program Execution in Micro800 Chapter 6 Example of Five Nested UDFBs ere es UDFB2 Ez UDFB3 UDFB4 e UDFB5
222. nt Surrounding air temperature 65 C Isolation voltage 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs 2080 LC30 16AWB Type tested for 60 s 3250V DC 1 0 to Aux and Network Inputs to Outputs 2080 LC30 16QWB Type tested for 60 s 720V DC Inputs to Aux and Network 3250V DC Outputs to Aux and Network Inputs to Outputs 50V continuous Reinforced Insula ion Type 1 0 to Aux and Network Inputs to Outputs Type t ested for 60s 720 V DC 1 0 to Aux and Network Inputs to Outpu S Pilot duty rating C300 R150 Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Rockwell Automation Publication 2080 UM002F EN E December 2013 153 Appendix A Inputs Attribute Number of Inputs Specifications 120V AC Input 2080 LC30 16AWB only 10 High Speed DC Input 2080 LC30 160VB and 2080 LC30 16Q0WB only 2080 LC30 16Q0WB only Inputs 0 3 Inputs 4 9 4 6 Standard DC Input 2080 LC30 160VB and Input group to backplane isolation Verified by the following dielectric tests 1 400V AC for 2 s 132V working voltage IEC Class 2 reinforced insulation Verified by the following di
223. ntrollers 0 0 c cece eee eee ee 169 Micro800 Programmable Controller External AC Power SUD py acleuN hu a ceed ealek eho habeus O Mela 173 Appendix B Modbus Mapping for Micro800 Modbus Mapping 00 ccc eeee eee ence eee eenee tenes 175 Endian Conhguration iadviai eorh cute thew ds eed eu 175 Mapping Address Space and supported Data Types 175 Example 1 Panel View Component HMI Master to Micro800 ES Ee eaten eran ae ae en Cel nas sce nor LS E mre wate eee ey 176 Rockwell Automation Publication 2080 UM002F EN E December 2013 xi Table of Contents Quickstarts User Interrupts xii Example 2 Micro800 Master to PowerFlex 4M Drive Slave 177 Performance where rebel olla te winderdra sul A hd a 180 Appendix C Flash Upgrade Your Micro800 Firmware 0 cece eee eee 181 Establish Communications Between RSLinx and a Micro830 Micro850 Controller through USB 008 186 Configure Controller Password 9952 wensqansaaweceneaudvewsyorratvn 192 Set Controller Passwords siaisat 2 haua pie a tana rererere 193 Change Passwords sy cncsduesvsaatawayas busy atau Seed Task 194 Clear Password saneca oieee E sain tessa iS eter 195 Use the High Speed Counter cia oo ce blcawouriee deduct fies 196 Create the HSC Project and Variables cseomieiayaee eaters 198 Assign Values to the HSC Variables 00 0 cece eee eee 201 Assign Variables to the Function Block
224. o move Before MC_MoveRelative completes the state of the rung becomes False and MC_MoveRelative is no longer scanned In this case the state of this axis cannot switch from Discrete Motion to StandStill even after the axis fully stops and the velocity comes to 0 GE Variable Monitoring AxisO ExtraD ata AxisO TargetPos 2355 66 AsisO CommandPos 2355 66 AxisO TargetVel 100 0 AxisO Commandvel 0 0 Axist ah axisO_power axis1_power Rockwell Automation Publication 2080 UM002F EN E December 2013 79 Chapter 7 Motion Control with PTO and PWM 80 Limits The Limits parameter sets a boundary point for the axis and works in conjunction with the Stop parameter to define a boundary condition for the axis on the type of stop to apply when certain configured limits are reached There are three types of motion position limits e Hard Limits e Soft Limits e PTO Pulse Limits TIP See Motion Axis Configuration in Connected Components Workbench on page 89 for information on how to configure limits and stop profiles and the acceptable value range for each If any one of these limits is reached on a moving axis except on homing an over travel limit error will be reported and the axis will be stopped based on configured behavior axisl Limits Hard Limits When hard limit is reached apply Emergency Stop Profile A 7 Lower Hard Limit 7 Upper Hard Limit Active Level Low gt Active Levet Low X Swi
225. o850 48 point Controllers Micro800 16 point and 32 point 12 24V Sink Information on mounting and wiring the Source Input Modules Installation Instructions expansion O modules 2085 1016 2085 10327 2085 IN001 Micro800 Bus Terminator Module Installation Information on mounting and wiring Micro800 16 Point Sink and 16 Point Source 12 Information on mounting and wiring the 24V DC Output Modules Installation Instructions expansion 1 0 modules 2085 016 2085 0B16 2085 IN003 Micro800 8 Point and 16 Point AC DC Relay Information on mounting and wiring the Installa Voltage current Input and Output Modules tion Instructions 2085 IN006 expansion O modules 2085 IF4 2085 0F4 Output Modules Installation Instructions expansion I O modules 2085 OW8 2085 OW16 2085 IN004 Micro800 8 Point Input and 8 Point Output AC Information on mounting and wiring the Modules Installation Instructions 2085 INO05 expansion O modules 2085 IA8 2085 IM8 2085 0A8 Micro800 4 channel and 8 channel Analog Information on mounting and wiring the 2085 IF8 Micro8 00 4 channel Thermocouple RTD Input Module 2085 IN007 In ormation on mounting and wiri expansion I O module 2085 IRT4 ng the Micro800 RS232 485 Isolated Serial Port Plug in Information on mounting and wiring the
226. ode T4A 1 Any fluctuation in voltage source must be within 85V 264V Do not connect the adapter to a power source that has fluctuations outside of this range 2 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 174 Rockwell Automation Publication 2080 UM002F EN E December 2013 Appendix B Modbus Mapping for Micro800 Modbus Mapping All Micro800 controllers except the Micro810 12 point models support Modbus RTU over a serial port through the embedded non isolated serial port The 2080 SERIALISOL isolated serial port plug in module also supports Modbus RTU Both Modbus RTU master and slave are supported Although performance may be affected by the program scan time the 48 point controllers can support up to six serial ports one embedded and five plug ins and so consequently six separate Modbus networks In addition the Micro850 controller supports Modbus TCP Client Server through the Ethernet port Endian Configuration Modbus protocol is big endian in that the most significant byte of a 16 bit word is transmitted first Micro800 is also big endian so byte ordering does not have to be reversed For Micro800 data types larger than 16 bits for example DINT LINT REAL LREAL multiple Modbus addresses may be required but the most significant byte is always first Mapping Address Space and supported Data
227. of this Manual Additional Resources Read this preface to familiarize yourself with the rest of the manual It provides information concerning e who should use this manual e the purpose of this manual e related documentation e supporting information for Micro800 Use this manual if you are responsible for designing installing programming or troubleshooting control systems that use Micro800 controllers You should have a basic understanding of electrical circuitry and familiarity with relay logic If you do not obtain the proper training before using this product This manual is a reference guide for Micro800 controllers plug in modules and accessories It describes the procedures you use to install wire and troubleshoot your controller This manual e explains how to install and wire your controllers e gives you an overview of the Micro800 controller system Refer to the Online Help provided with Connected Components Workbench software for more information on programming your Micro800 controller These documents contain additional information concerning related Rockwell Automation products Resource Description Micro800 Analog and Discrete Expansion 0 Information on features configuration wiring Modules 2080 UM003 installation and specifications for the Micro800 expansion 1 0 modules Micro800 Plug in Modules 2080 UM004 Information on features configuration installation wiring and specifications f
228. off on 1 HSC Accumulator 1 count 1 1 0 0 Example3 on U off on Hold accumulator value 1 0 1 Example 4 on off off 0 Hold accumulator value 1 0 Example 5 on U Toff on off Hold accumulator value 1 0 1 0 Example 6 f Clear accumulator 0 Blank cells don t care fl rising edge y falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used 120 Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 HSC Mode 4 Two Input Counter up and down HSC Mode 4 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Up Count Down Not Used Not Used Example 1 f on JU off on 1 HSC Accumulator 1 count 1 0 Example 2 on U i on 1 HSC Accumulator 1 count 1 Example3 off 0 Hold accumulator value Blank cells don t care ft rising edge y falling edge TIP Inputs 0 through 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 5 Two Input Counter up and down with External Reset and Hold HSC Mode 5 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Embedded Input 3 ICE Bit Com
229. ollowing topics Topic Page Hardware Features 1 Micro830 Controllers 2 Micro850 Controllers 4 Programming Cables 6 Embedded Serial Port Cables 7 Embedded Ethernet Support 7 Hardware Features Micro830 and Micro850 controllers are economical brick style controllers with embedded inputs and outputs Depending on the controller type it can accommodate from two to five plug in modules The Micro850 controller has expandable features and can additionally support up to four expansion I O modules Rockwell Automation Publication 2080 UM002F EN E December 2013 1 Chapter 1 Hardware Overview IMPORTANT For information on supported plug in modules and expansion 1 0 see the following publications e Micro800 Discrete and Analog Expansion I O User Manual publication 2080 UM003 e Micro800 Plug in Modules User Manual publication 2080 UM004 The controllers also accommodate any class 2 rated 24V DC output power supply that meets minimum specifications such as the optional Micro800 power supply See Troubleshooting on page 227 for descriptions of status indicator operation for troubleshooting purposes Micro830 Controllers Micro830 10 16 point controllers and status indicators
230. oltage 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 720 V DC Inputs to Aux and Network 3250 V DC Outputs to Aux and Network Inputs to Outputs 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs to Outputs Type tested for 60 s 720 V DC 1 0 to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 Rockwell Automation Publication 2080 UM002F EN E December 2013 149 AppendixA Specifications General 2080 LC30 100WB 2080 LC30 100VB Attribute 2080 LC30 100WB 2080 LC30 100VB Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Inputs Attribute Number of Inputs Input group to backplane isolation High Speed DC Input Standard DC Input Inputs 0 3 inputs 4 and higher 4 2 Verified by one of the following dielectric tests 1 414V DC for 2 s 75V DC working voltage IEC Class 2 reinforced insulation Voltage category 24V DC sink source Off state voltage max 5V DC On state voltage nom 24V DC On state voltage range 16 8 26 4V DC 65 C 149 F 10 26 4V DC 65 C 149 F 16 8 30 0V DC 30 C 86 F 10 30 0V DC 30
231. on from the point where the controller program was interrupted When Can the Controller Operation be Interrupted The Micro830 controllers allow interrupts to be serviced at any point of a program scan Use UID UIE instructions to protect program block which should not be interrupted Priority of User Interrupts When multiple interrupts occur the interrupts are serviced based upon their individual priority 212 Rockwell Automation Publication 2080 UMO002F EN E December 2013 User Interrupts Appendix D When an interrupt occurs and another interrupt s has already occurred but has not been serviced the new interrupt is scheduled for execution based on its priority relative to the other pending interrupts At the next point in time when an interrupt can be serviced all the interrupts are executed in the sequence of highest priority to lowest priority Ifan interrupt occurs while a lower priority interrupt is being serviced executed the currently executing interrupt routine is suspended and the higher priority interrupt is serviced Then the lower priority interrupt is allowed to complete before returning to normal processing If an interrupt occurs while a higher priority interrupt is being serviced executed and the pending bit has been set for the lower priority interrupt the currently executing interrupt routine continues to completion Then the lower priority interrupt runs before returning to normal processing The p
232. on time 10 ms 2 5 us 0 1 ms Turn off time max 1 0m 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes Continuous Make 120V AC 1800V A 240V AC 75A 0 75 A 24V DC 1 0 A 1 0 A 28V A 125V DC 0 22 A Environmental Specifications Attribute Value Temperature operating IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock 20 65 C 4 149 F Temperature surrounding air max Temperature non operating 65 C 149 F IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity Vibration Rockwell Automation Publication 2080 UM002F EN E December 2013 IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing IEC 60068 2 6 Test Fc Operating 2g 10 500 Hz 151 Appendix A 152 Specifications Attribute Shock operating Environmental Specifications Value IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 45 g Emissions CISPR 11 Group 1 Class A ESD immunity IEC 61000 4 2
233. onfigured as decelerating stop during motion when the Hard Limit switch is detected e One Soft Limit is enabled for an axis and the axis has been homed If the emergency stop is configured as decelerating stop during motion when the soft limit reach is detected by firmware e The Emergency Stop is configured as Decelerating Stop During motion the MC_Stop function block is issued with deceleration parameter set to 0 e During motion MC_Stop function block is issued with Deceleration parameter not set to 0 Motion Direction For distance position motion with the target position defined absolute or relative the direction input is ignored For velocity motion direction input value can be positive 1 current 0 or negative 1 For any other value only the sign whether positive or negative is considered and defines whether the direction is positive or negative This means that if the product of velocity and direction is 3 then direction type is negative MC_MoveVelocity Supported Direction Types Direction Type Value used Direction description Positive direction 1 Specific for motion rotation direction Also called clockwise direction for rotation motion Current direction 0 Current direction instructs the axis to continue its motion with new input parameters without direction change The direction type is valid only when the axis is moving and the MC_MoveVelocity is called Negative direction 1 Specifi
234. onnect 10 Select target controller2 11 Click Download 12 Lock controller2 See Configure Controller Password on page 192 Back Up a Password Protected Controller In this workflow user application will be backed up from a Micro800 controller that is locked to a memory plug in device 1 On the Device Toolbox open Discover Click Browse Connections 2 Select the target controller 3 When requested enter the controller password 4 Back up controller contents from the memory module To set change and clear controller password see the quickstart instructions Configure Controller Password on page 192 IMPORTANT After creating or changing the controller password you need to power down the controller in order for the password to be saved If the controller is secured with a password and the password has been lost then it becomes impossible to access the controller using the Connected Components Workbench software To recover the controller must be set to Program Mode using the keyswitch for Micro830 and Micro850 controllers or the 2080 LCD for Micro810 controllers Then ControlFlash can be used to update the controller firmware which also clears the controller memory ATTENTION The project in the controller will be lost but a new project can be downloaded Rockwell Automation Publication 2080 UM002F EN E December 2013 Micro830 Controllers Specifications Appendix A IMPORTANT Specifications fo
235. oose Enabled Unconditionally Embedded responses increase network traffic efficiency NAK Retries The number of times the controller will resend a 3 message packet because the processor received a NAK response to the previous message packet transmission ENO Retries The number of enquiries ENQs that you want the 3 controller to send after an ACK timeout occurs Transmit Retries Specifies the number of times a message is retried after 3 the first attempt before being declared undeliverable Enter a value from 0 127 ACK Timeout Specifies the amount of time after a packet is 50 x20 ms transmitted that an ACK is expected Rockwell Automation Publication 2080 UM002F EN E December 2013 Configure Modbus RTU Communication Connections Chapter 5 1 Open your Connected Components Workbench project On the device configuration tree go to the Controller properties Click Serial Port E Controller General Memory Serial Port USB Port E Ethernet Internet Protocol Port Settings Port Diagnostics Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules lt Empty gt lt Empty gt lt Empty gt Expansion Modules lt Empty gt lt Empty gt lt Empty gt lt Empty gt 2 Select Modbus RTU on the Driver field Controller Serial Port Driver Baud Rate 19200 Parity None Modbus Role Modbus RTU Master Advanced Setting
236. or the Micro800 plug in modules Micro800 Programmable Controllers Getting Provides quickstart instructions for using CIP Started with CIP Client Messaging 2080 OS002 GENERIC and CIP Symbolic Messaging Micro800 Programmable Controller External AC Information on mounting and wiring the optional Power Supply Installation Instructions external power supply 2080 IN001 Micro830 Programmable Controllers Installation Information on mounting and wiring the Instructions 2080 IN002 Micro830 10 point Controllers Micro830 Programmable Controllers Installation Information on mounting and wiring the Instructions 2080 IN003 Micro830 16 point Controllers Micro830 Programmable Controllers Installation Information on mounting and wiring the Instructions 2080 IN004 Micro830 24 point Controllers Rockwell Automation Publication 2080 UM002F EN E December 2013 iii Preface Resource Micro830 Programmable Controllers Installation Instructions 2080 INO05 Description icro830 48 point Controllers ormation on mounting and wiri ng the Micro850 Programmable Controllers Installation ormation on mounting and wiri ng the Instruction 2085 IN002 he expansion 0 bus terminator 2085 ECR nstructions 2080 INO07 Micro850 24 point Controllers Micro850 Programmable Controllers Installation Information on mounting and wiring the nstructions 2080 IN008 Micr
237. our pairs of High and Low Presets Once again your High Presets should be set lower than the OFSetting and the Low Preset should be greater than the UFSetting The HscHPOutPut and HscLPOutPut values will determine which outputs will be turned on when a High Preset or Low Preset is reached 2 You can now build and download the program into the controller then debug and test it following the instructions for the last project 208 Rockwell Automation Publication 2080 UMO002F EN E December 2013 Forcing I Os Quickstarts Appendix C Inputs are logically forced LED status indicators do not show forced values but the inputs in the user program are forced Forcing is only possible with I O and does not apply to user defined variables and non I O variables and special functions such as HSC and Motion which execute independently from the User Program scan For example for motion Drive Ready input cannot be forced Unlike inputs outputs are physically forced LED status indicators do show forced values and the user program does not use forced values The following diagram illustrates forcing behavior Physical Outputs Physica Inputs Logical Logical Force gt Force p gt Inputs Outputs e LED status indicators always match the physical value of I O e Normal non physical internal variables cannot be forced e Special functions such as HSC and Motion cannot be forced Checking if Forces locks are Enabled If
238. outine is executed when any user fault occurs The fault routine is not executed for non user faults The controller goes to Fault mode after a User Fault Routine is executed and the User Program execution stops Creating a User Fault Subroutine To use the user fault subroutine 1 Create a POU 214 Rockwell Automation Publication 2080 UMO002F EN E December 2013 User Interrupts Appendix D 2 In the User Interrupt Configuration window configure this POU as a User General Memory Communication Ports Serial Port USB Port Fault routine Add User Fault Routine Properties Interrupt Type User Fault Routine UFR ID UFR x click an existing UFR Description UFR Program Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules lt Empty gt lt Empty gt i Y UntitledLD User Interrupt Instructions Instruction Used To Page STIS Selectable Use the STIS Selectable Timed Interrupt Start instruction to 215 Timed Start the start the STI timer from the control program rather than starting automatically Use the User Interrupt Disable UID and the User Interrupt 216 UID User Interrupt Disable Enable UIE instructions to create zones in which user interrupts cannot occur POr UIE User Interrupt 218 Enable UIF User Interrupt Use the UIF instruction to remove selected pen
239. oved grounding wriststrap e Do not touch connectors or pins on component boards e Do not touch circuit components inside the equipment e Use a static safe workstation if available Store the equipment in appropriate static safe packaging when not in use Safety considerations are an important element of proper system installation Actively thinking about the safety of yourself and others as well as the condition of your equipment is of primary importance We recommend reviewing the following safety considerations Rockwell Automation Publication 2080 UM002F EN E December 2013 About Your Controller Chapter 2 North American Hazardous Location Approval The following information applies when operating this equipment in hazardous locations Informations sur l utilisation de cet equipement en environnements dangereux Products marked CL I DIV 2 GP A B C D are suitable for use in Class Division 2 Groups A B C D Hazardous Locations and nonhazardous locations only Each product is supplied with markings on the rating nameplate indicating the hazardous location temperature code When combining products within a system the most adverse temperature code lowest T number may be used to help determine the overall temperature code of the system Combinations of equipment in your system are subject to investigation by the local Authority Having Jurisdiction at the time of installation Les produits marqu s CLI DI
240. oves to its left side in negative direction 2 When Lower Limit switch is detected the moving part decelerates to stop or stops immediately according to Limit Switch Hard Stop configuration 3 Moving part moves back in positive direction in creep velocity to detect Lower Limit switch On gt Off edge 4 Once Lower Limit switch On gt Off edge is detected start to detect first Ref Pulse signal 5 Once the first Ref Pulse signal comes record the position as the mechanical home position and decelerate to stop 6 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software Scenario 2 Moving part on Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its right side in Positive direction in creep velocity to detect Lower Limit switch On gt Off edge 2 Once Lower Limit switch On gt Off edge is detected start to detect first Ref Pulse signal 3 Once the first Ref Pulse signal comes record the position as the mechanical home position and decelerate to stop Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 4 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset conf
241. ower lines load lines and other sources of electrical noise such as hard contact switches relays and AC motor drives For more information on proper grounding guidelines see the Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 1 Pollution Degree 2 is an environment where normally only non conductive pollution occurs except that occasionally temporary conductivity caused by condensation shall be expected 2 Overvoltage Category II is the load level section of the electrical distribution system At this level transient voltages are controlled and do not exceed the impulse voltage capability of the products insulation Rockwell Automation Publication 2080 UM002F EN E December 2013 About Your Controller Chapter 2 WARNING When used in a Class Division 2 hazardous location this equipment must be mounted in a suitable enclosure with proper wiring method that complies with the governing electrical codes WARNING If you connect or disconnect the serial cable with power applied to this module or the serial device on the other end of the cable an electrical arc can occur This could cause an explosion in hazardous location installations Be sure that power is removed or the area is nonhazardous before proceeding WARNING The local programming terminal port is intended for temporary use only and must not be connected or disconnected unless the area is assured to be nonhazardous WARNING The USB po
242. ower ports 1 kV line line DM and 2 kV line earth CM on signal ports 1 kV line earth CM on communication ports Conducted RF immunity IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz Rockwell Automation Publication 2080 UM002F EN E December 2013 Certifications C ertification whe i product is marked c UL us Specifications Appendix A Value UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions EtherNet IP ODVA conformance tested to EtherNet IP specifications KC Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of Radio Waves Act Clause 3 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Conformity Certificates and other certifica
243. p for more information about each motion function block and their variable inputs and outputs Rockwell Automation Publication 2080 UM002F EN E December 2013 63 Chapter 7 Input and Output Signals Fixed PTO Input Output Motion Control with PTO and PWM Multiple input output control signals are required for each motion axis as described in the next tables PTO Pulse and PTO Direction are required for an axis The rest of the input outputs can be disabled and re used as regular I O Motion Signals PTOO EM_00 PTO1 EM_01 PTO2 EM_02 Logical Name Name on Logical Name Name on Logical Name in Name on in Software Terminal in Software Terminal Software Terminal Block Block Block PTO direction _l0_EM_DO_03 0 03 _I0_EM_DO_04 0 04 I0_EM_D0_05 0 05 Lower Negative Limit switch _I0_EM_DI_00 1 00 _I0_EM_DI_04 I 04 O_EM_DI_08 I 08 Upper Positive Limit switch _I0_EM_DI_01 I 01 _IO_EM_DI_05 I 05 O_EM_DI_09 I 09 Absolute Home switch _IO_EM_DI_02 1 02 _IO_EM_DI_06 I 06 O_EM_DI_10 I 10 Touch Probe Input switch _IO_EM_DI_03 1 03 _IO_EM_DI_07 I 07 O_EM_DI_11 l 11 64 Configurable input output Motion Signals Input Output Notes Servo Drive On OUTPUT Can be configured as any embedded output Servo Drive Ready INPUT Can be configured as any embedded input In Position signal from INPUT Servo motor Home Marker Can be configured as any embedded input INPUT Can be co
244. page 20 WARNING Never alter these circuits to defeat their function since serious injury and or machine damage could result TIP If you are using an external DC power supply interrupt the DC output side rather than the AC line side of the supply to avoid the additional delay of power supply turn off The AC line of the DC output power supply should be fused Connect a set of master control relays in series with the DC power supplying the input and output circuits Place the main power disconnect switch where operators and maintenance personnel have quick and easy access to it If you mount a disconnect switch inside the controller enclosure place the switch operating handle on the outside of the enclosure so that you can disconnect power without opening the enclosure Whenever any of the emergency stop switches are opened power to input and output devices should be removed When you use the master control relay to remove power from the external I O circuits power continues to be provided to the controller s power supply so that diagnostic indicators on the processor can still be observed The master control relay is not a substitute for a disconnect to the controller It is intended for any situation where the operator must quickly de energize I O devices only When inspecting or installing terminal connections replacing output fuses or working on equipment within the enclosure use the disconnect to shut off power
245. perature range is maintained Proper spacing of components within an enclosure is usually sufficient for heat dissipation In some applications a substantial amount of heat is produced by other equipment inside or outside the enclosure In this case place blower fans inside the enclosure to assist in air circulation and to reduce hot spots near the controller Additional cooling provisions might be necessary when high ambient temperatures are encountered TIP Do not bring in unfiltered outside air Place the controller in an enclosure to protect it from a corrosive atmosphere Harmful contaminants or dirt could cause improper operation or damage to components In extreme cases you may need to use air conditioning to protect against heat build up within the enclosure A hard wired master control relay MCR provides a reliable means for emergency machine shutdown Since the master control relay allows the placement of several emergency stop switches in different locations its installation is important from a safety standpoint Overtravel limit switches or mushroom head push buttons are wired in series so that when any of them opens the master control relay is de energized This removes power to input and output Rockwell Automation Publication 2080 UM002F EN E December 2013 About Your Controller Chapter 2 device circuits See illustrations Schematic Using IEC Symbols on page 19 and Schematic Using ANSI CSA Symbols on
246. pm gt Max Acceleration 5000 0 mm sec ann ant Max Deceleration 5000 0 mm sec Max Jeric 50000 0 mm sec Emergency Stop Profile Stop Type Deceleration Stop X z Stop Velocity 50 mm sec 300 0 rpm Stop Deceleration 5000 0 mm sec Stop Jere 00 mm sec R t Dynamics Parameters Parameter Values Start Stop Velocity 2 Start Stop Velocity in Sans The range is based on Motor and Load parameters See Motor and Load Parameters on page 93 using Range 1 100 000 pulse sec Default 300 rpm For example you can configure the value from 0 005 500 mm s for 200 pulses per revolution and units of 1 mm per revolution Rpm value is automatically populated when a value in user units is specified but the user can also initially enter an rpm value Start stop velocity should not be greater than maximum velocity Max Velocity 2 The range is based on Motor and Load parameters See Motor and Load Parameters on page 93 using Range 1 10 000 000 pulse sec Default 100 000 0 pulse sec Max Acceleration The range is based on Motor and Load parameters See Motor and Load Parameters on page 93 using Range 1 10 000 000 pulse sec Default 10 000 000 pulse sec Max Deceleration The range is based on Motor and Load parameters See Motor and Load Parameters on page 93 using Range 1 100 000 pulse sec Default 10 000 000 pulse sec Max Jerk The range is based on Motor and Load
247. pu B Type inpu Not Used 8 mode 5a Quadrature X4 Counter with A Type inpu B Type inpu Z Type Reset Hold 9 External Reset and Hold 114 Rockwell Automation Publication 2080 UM002F EN E December 2013 Micro830 Micro850 24 point Controller HSC Input Wiring Mapping Use the High Speed Counter and Programmable Limit Switch Chapter 8 Micro830 Micro850 48 point Controller HSC Input Wiring Mapping Modes of Operation Input 0 HSCO Input 1 HSCO Input 2 HSCO Input 3 HSCO Mode Value in User Input 2 HSC1 Input 3 HSC1 Input 6 HSC2 Input 7 HSC2 Program Input 4 HSC2 Input 5 HSC2 Input 6 HSC3 Input 7 HSC3 Counter with Internal Direction Count Up Not Used 0 mode 1a Counter with Internal Count Up Not Used Reset Hold 1 Direction External Reset and Hold mode 1b Counter with External Count Up Down Direction Not Used 2 Direction mode 2a Counter with External Count Up Down Direction Reset Hold 3 Direction Reset and Hold mode 2b Two Input Counter mode 3a Count Up Count Down Not Used 4 Two Input Counter with Count Up Count Down Reset Hold 5 External Reset and Hold mode 3b Quadrature Counter mode 4a A Type input B Type input Not Used 6 Quadrature Counter with A Type input B Type input Z Type Reset Hold 7 External Reset and Hold mode 4b Quadrature X4 Counter A Type input B Type input Not Used 8 mode 5a Quadr
248. pulse train output and a set of inputs outputs and configuration Motion Function Blocks A set of instructions that configure Connected Components or act upon an axis of motion Workbench Online Help e Motion Control Function Blocks on page 67 e Axis Ref Data Type on page 84 e Function Block and Axis Status Error Codes on page 86 e Homing Function Block on page 101 Jerk Rate of change of acceleration The See Acceleration Jerk component is mainly of Deceleration and Jerk Inputs interest at the start and end of on page 69 motion Too high of a Jerk may induce vibrations To use the Micro800 motion feature you need to 1 Configure the Axis Properties See Motion Axis Configuration in Connected Components Workbench on page 89 for instructions Write your motion program through the Connected Components Workbench software For instructions on how to use the Micro800 motion control feature see the quickstart instructions Use the Motion Control Feature on Micro800 Controllers publication 2080 QS001 Wire the Controller a refer to Input and Output Signals on page 64 for fixed and configurable inputs outputs b See Sample Motion Wiring Configuration on 2080 LC30 xxOVB 2080 LC50 xxOVB on page 66 for reference The next sections provide a more detailed description of the motion components You can also refer to the Connected Components Workbench Online Hel
249. put for read function blocks is level sensitive On every program scan with the Enable input as true the function block will perform a read and update its outputs The Valid output parameter shows that a valid set of outputs is available The Valid output is true as long as valid output values are available and the Enable input is true The relevant output values will be refreshed as long as the input Enable is true If there is a function block error and the relevant output values are not valid then the valid output is set to false When the error condition no longer exists the values will be updated and the Valid output will be set again Relative Move versus Absolute Move Relative move does not require the axis to be homed It simply refers to a move in a specified direction and distance Absolute move requires that the axis be homed It is a move to a known position within the coordinate system regardless of distance and direction Position can be negative or positive value Buffered Mode Error Handling 72 For all motion control function blocks BufferMode input parameter is ignored Only aborted moves are supported for this release All blocks have two outputs which deal with errors that can occur during execution These outputs are defined as follows e Error Rising edge of Error informs that an error occurred during the execution of the function block where the function block cannot successfully complete e E
250. r Communication Connections Program Execution in Micro800 viii Panel Mounting Dimensions s9 00 anced span boreitwee eoeaases 24 System Assembly ca ou cela uk a eae A te e 26 Chapter 4 Wiring Requirements and Recommendation 0000005 29 Use Surge SUppressons serso porria E a eae eee leis 30 Recommended Surge Suppressors 000 cee cece e eee eee 32 Grounding the Controller aha 298 ad nacraensqin aie Memutawm areata 33 Wiring Diagrams eto od ital tole eta chat hen gE Ml ali 33 Controller T O Wilting esence iier eave e a Saas eee 36 Minimize Electrical Noise o 05 5 05 os os sone se eadieaentedessaves 37 Analog Channel Wiring Guidelines 0 0 c cee eee ee 37 Minimize Electrical Noise on Analog Channels 37 Grounding Your Analog Cable 0 cece eee eee eee ee 38 Witing Examples snuesuhonanceeweninks ook E TE EE 38 Embedded Serial Port Wiring coe ake ee thee eee Meteo s 39 Chapter 5 OVERVIEW sa sade Sahota ek dee Rene Wired Mena oes oe 41 Supported Communication Protocols cess eens eee ee ees 4 Nodbus Rl O RE T iateen cca ee E 42 Modbus TCP Client Server o n cieiaun des oieaewsdioawws 42 CIP Symbolic Client Servers 22405 5h pied east be haes 42 CIP Client Messaging owas Wittig ircdnceud savin wise aetna rcanters 44 PSC Pets pew a aidan sR ans e sei ae eR ou te ok 44 CIP Communications Pass thru 00 e cece cee cence eee neee 44 Examples of S
251. r If the fault persists contact your local Rockwell Automation technical support the user data If the system variable representative For contact information see SYSVA_USER_DATA_LOST is set the http support rockwellautomation com MySupport asp controller is able to recover the user program but the user data is cleared If not the Micro800 controller program is cleared e A Micro800 controller revision 1 xx clears the program Note that the system variable SYSVA_USER_DATA_LOST is not available on Micro800 controllers revision 1 x OxF001 The controller program has been cleared This Perform one of the following happened because e Download the program using Connected Components Workbench a power down occurred during program f 7 download or data transfer from the memory e Transfer the program using the memory module restore utility module If the fault persists contact your local Rockwell Automation technical support representative For contact information see R the cable was removed from the controller http support rockwellautomation com MySupport asp during program download e the RAM integrity test failed 0xF002 The controller hardware watchdog was activated Perform the following e A Micro800 controller revision 2 xx and e Establish a connection to the Micro800 controller later attempts to save the program and clear Download the program using Connected Components Workbench the user data If the system variable SYSVA_USER
252. r 0 2 2 5 mm 24 12 AWG stranded copper wire rated 90 C 194 F insulation max Specifications Appendix A 2080 LC30 240VB 2080 LC30 240BB Wiring category 2 on signal ports 2 on power ports Wire type Use Copper Conductors only Terminal screw torque 0 6 Nm 4 4 Ib in max using a 2 5 mm 0 10 in flat blade screwdriver Input circuit type 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink standard and high 24V DC source standard and high speed speed Event input interrupt support Yes Power consumption 12 32 W Power supply voltage range 20 4 26 4V DC Class 2 1 0 rating Input 24V DC 8 8 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 24V DC Class 2 1 A per point Surrounding air temperature 30 C 24 V DC Class 2 0 3 A per point Surrounding air temperature 65 C Isolation voltage 250V continuous Reinforced Insulation 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs Type Outputs to Aux and Network Inputs to Outputs to Outputs Type tested for 60 s 720V DC Inputs to Aux and Network 3250 V DC Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 720V DC 1 0 to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 2080 LC30 24QWB only _ Insulation stripping length 7 mm 0 28 in E
253. r MylInfo PlsPosition MylInfo ErrorCode Mylnfo Accumulator Mylnfo HP Mylnfo LP Mylnfo HPOutput Mylnfo LPOutput MyStatus For this example once the Accumulator reaches a High Preset value of 40 output 0 turns on and the HPReached flag turns on Once the Accumulator reaches a Low Preset value of 40 output 1 turns on and the LPReached flag turns on as well Use the Programmable Limit Switch PLS Function The Programmable Limit Switch function allows you to configure the High Speed Counter to operate as a PLS programmable limit switch or rotary cam switch The PLS is used when you need more than one pair of high and low presets up to 255 pairs of high and low presets are supported by the PLS Rockwell Automation Publication 2080 UM002F EN E December 2013 207 Appendix Quickstarts 1 Start a new project following the same steps and values as the previous project Set the values for the following variables as follows e HSCAPP PlsEnable variable should be set to TRUE Seta value only for UFSetting and OF Setting OutputMask is optional depending if an output is to be set or not Your new values should follow the example below UntitledLD1 VAR Name E oe ot T ot f 3 HSC see USINT A i Ni 3 28 Be a SESSSERREEE i4 Ba E stu amp a a T oBi ses 56E UINT bd In this example the PLS variable is given a dimension of 1 4 This means that the HSC can have f
254. r field Controller Serial Port Driver v Baud Rate 38400 v Parity None v Advanced Settings Protocol Control Control Line No Handshake v Append Chars 0x0D 0x0A Deletion Mode Ignore hi Term Chars 0x0D 0x04 Data Bits 8 v Stop Bits 1 v XON XOFF al Echo Mode a 3 Specify baud rate and parity ASCII Parameters Parameter Options Default Baud Rate 1200 2400 4800 9600 19200 38400 19200 Parity None Odd Even None Rockwell Automation Publication 2080 UM002F EN E December 2013 51 Chapter5 Communication Connections 4 Click Advanced Settings to configure advanced parameters E Advanced Settings Protocol Control Control Line Deletion Mode Data Bits Stop Bits XON XOFF Echo Mode No Handshake v Append Chars 0x0D 0x04 Ignore v 8 v 1 v ASCII Advanced Parameters Term Chars Ox0D 0x04 Parameter Options Default Control Line Full Duplex No Handshake Half duplex with continuous carrier Half duplex without continuous carrier No Handshake Deletion Mode CRT Ignore Ignore Printer Data bits 7 8 8 Stop bits 1 2 1 XON XOFF Enabled or Disabled Disabled Echo Mode Enabled or Disabled Disabled Append Chars 0x0D 0x0A or user specified value 0x0D 0x0A Term Chars 0x0D 0x0A or user specified value 0x0D 0x0A Configure Ethernet Settings 1 Open your Connected Components Workbench project for example Micro850 On the
255. r is HSC1 HSC2 s sub counter is HSC3 and HSC4 s sub counter is HSCS Each set of counters share the input The following table shows the dedicated inputs for the HSCs depending on the mode Embedded Input 0 01 02 03 04 05 06 07 08 09 10 11 HSCO A C B D Reset Hold HSC1 A C B D HSC2 A C B D Reset Hold HSC3 A C B D HSC4 A C B D Reset Hold HSC5 A C B D The following tables show the input wiring mapping for the different Micro830 and Micro850 controllers Micro830 10 and 16 point Controller HSC Input Wiring Mapping Modes of Operation Input 0 HSCO Input 1 HSCO Mode Value in Input 2 HSC1 Input 3 HSC1 User Program HSCAppData HSCMode Counter with Internal Direction Count Up Not Used 0 mode 1a Counter with Internal Count Up Not Used Reset Hold 1 Direction External Reset and Hold mode 1b Counter with External Count Up Down Direction Not Used 2 Direction mode 2a Counter with External Coun Direction Reset Hold 3 Direction Reset and Hold mode 2b Two Input Counter mode 3a Count Up Count Down Not Used 4 Two Input Counter with Count Up Count Down Reset Hold 5 External Reset and Hold mode 3b Quadrature Counter mode 4a A Type inpu B Type inpu Not Used 6 Quadrature Counter with A Type inpu B Type inpu Z Type Reset Hold 7 External Reset and Hold mode 4b Quadrature X4 Counter A Type in
256. r occurred Perform the following 1 Cycle power on your Micro800 controller 2 Build and download your program using Connected Components Workbench and then reinitialize any necessary data 3 Start up your system e Refer to the Wire Your Controller on page 29 0xF016 An unexpected hardware error occurred Perform the following 1 Cycle power on your Micro800 controller 2 Build and download your program using Connected Components Workbench and then reinitialize any necessary data 3 Start up your system e Refer to the Wire Your Controller on page 29 OxF019 An unexpected software error occurred due to memory or other controller resource issue Perform the following 1 Cycle power on your Micro800 controller 2 Build and download your program using Connected Components Workbench and then reinitialize any necessary data 3 Start up your system OxF020 The base hardware faulted or is incompatible with the Micro800 controller s firmware revision Rockwell Automation Publication 2080 UM002F EN E December 2013 Perform one of the following e Upgrade the Micro800 controller s firmware revision using ControlFlash e Replace the Micro800 controller e Contact your local Rockwell Automation technical support representative for more information about firmware revisions for your Micro800 controller For more information on firmware revision compatibility go to http www rockwe
257. r the analog and discrete Micro800 plug in and expansion I O modules are available in the following Rockwell Automation publications e Micro800 Discrete and Analog Expansion I O User Manual publication 2080 UM003 e Micro800 Plug in Modules User Manual publication 2080 UM004 General 2080 LC30 100WB 2080 LC30 100VB Micro830 10 Point Controllers Attribute 2080 LC30 100WB 2080 LC30 100VB Number of 1 0 10 6 inputs 4 outputs Dimensions 90 x 100 x 80 mm HxWxD 3 54 x 3 94 x 3 15 in Shipping weight approx 0 302 kg 0 666 Ib Wire size 0 14 2 5 mm 26 14 AWG solid copper wire or 0 14 1 5 mm 26 14 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports Wire type Use copper conductors only Terminal screw torque 0 6 Nm 4 4 Ib in max using a 2 5 mm 0 10 in flat blade screwdriver Input circuit type 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink transistor standard and high speed Event input interrupt support Yes Power consumption 7 88 W Power supply voltage range 20 4 26 4V DC Class 2 1 0 rating Input 24V DC 8 8 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 2 A 24V DC 1 A per point Surrounding air temperature 30 C 24 an 0 3 A per point Surrounding air temperature 65 Isolation v
258. r to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Rockwell Automation Publication 2080 UM002F EN E December 2013 Supersedes Publication 2080 UM002E EN E March 2013 Copyright 2013 Rockwell Automation Inc All rights reserved Printed in the U S A
259. rage elements which exchange stored energy Examples of second order systems are a Rockwell Automation Publication 2080 UM002F EN E December 2013 IPID Function Block Appendix F motor driving a disk flywheel with the motor coupled to the flywheel via a shaft with torsional stiffness or an electric circuit composed of a current source driving a series LR inductor and resistor with a shunt C capacitor The energy storage elements for these systems are the rotational kinetic energy and torsion spring energy for the former and the inductive and capacitive storage energy for the latter Motor drive systems and heating systems can be typically modeled by the LRand C electric circuit PID Code Sample PID Feedback PID_Feedback FB_EN FB RST FB OUT FB_IN F6 PREVAL The illustration PID Code Sample shows sample code for controlling the PID application example shown before Developed using Function Block Diagrams it consists of a pre defined function block IPIDCONTROLLER and four user defined function blocks These four are e PID_OutputRegulator This user defined function block regulates the output of IPIDCONTROLLER within a safe range to ensure that there is no damage to the hardware used in the process IF RMIN lt RIN lt RMAX then ROUT RIN IF RIN lt RMIN then ROUT RMIN IF RIN gt RMAX then ROUT RMAX Rockwell Automation Publication 2080 UM002F EN E December 2013 245 Appendix F 246 IPID F
260. rform the following steps Set the Initialize input to TRUE Set the AutoTune input to TRUE 1 2 3 Wait for the Process input to stabilize or reach a steady state 4 Note the temperature fluctuation of the process value 5 Calculate deviation value with reference to the fluctuation For example if the temperature stabilizes around 22 C 72 F with a fluctuation of 21 7 22 5 C 71 72 5 F the value of AT Params Deviation is For C aa 0 4 For F 0 75 Set the deviation value if you have not set it yet 6 7 Change the initialize input to FALSE 8 Wait until the AT_Warning shows 2 The autotune process is successful 9 Get the tuned value from the OutGains How Autotune Works The auto tune process begins when the Initialize is set to FALSE Step 7 At this moment the control output increases by the amount of Step and the process waits for the process value to reach or exceeds first peak 242 Rockwell Automation Publication 2080 UM002F EN E December 2013 IPID Function Block Appendix F First peak is defined as For Direct Operation First peak PV1 12 x Deviation For Reverse Operation First peak PV1 12 x Deviation Where PV1 is the process value when Initialize is set to FALSE Once the process value reaches first peak the control output reduces by the amount of Step and waits for the process value to drop to the second peak Second pea
261. riables 1 i Global Variables gt DetaTypes R m Fungian Blocks J IMPORTANT The PLS Function only operates in tandem with the HSC of a Micro830 controller To use the PLS function an HSC must first be configured PLS Data structure The Programmable Limit Switch function is an additional set of operating modes for the High Speed Counter When operating in these modes the preset and output data values are updated using user supplied data each time one of the presets is reached These modes are programmed by providing a PLS data block that contains the data sets to be used PLS data structure is a flexible array with each element defined as follows Element Order Data Type Element Description Word 0 1 DINT High preset setting Word 2 3 DINT Low preset setting Word 4 5 UDINT High preset Output data Word 6 7 UDINT Low preset Output data The total number of elements for one PLS data cannot be larger than 255 When PLS is not enabled PLS data are still required to be defined but can be not initialized SCALER_1 a 333 ReadWrite HSC1 ft ReadWrite H5C_and_Ds X Readwrite HSCApp_0 i ReadWrite PLSData_O lt i is Af ReadWrite AEEA a PS R adwinte 7 Pisb o DHE DINT Reade Pisb a d1 HerLe DAT Rdadwrits Piba diJ stHPGutPut DOIN Readilrite Pisbata U1 HstLPoutrut LOIN R adwite Eo iibi i i ReadWirite Psoas a Here WOO RaadWrte Piba MAHE i i ReadWrite
262. riorities from highest to lowest are User Fault Routine highest priority Event Interrupt0 Event Interrupt1 Event Interrupt2 Event Interrupt3 igh Speed Counter Interrupt0 igh Speed Counter Interrupt igh Speed Counter Interrupt2 igh Speed Counter Interrupt4 H H H High Speed Counter Interrupt3 H H ol igh Speed Counter Interrup Event Interrupt4 Event Interrupt Event Interrupt6 Event Interrupt7 Selectable Timed Interrupt0 Selectable Timed Interrupt Selectable Timed Interrupt2 Selectable Timed Interrupt3 Plug In Module Interrupt0 1 2 3 4 lowest priority Rockwell Automation Publication 2080 UM002F EN E December 2013 213 AppendixD User Interrupts User Interrupt Configuration User interrupts can be configured and set as AutoStart from the Interrupts window General Py Memory To add an interrupt right click an empty row and then click Add To delete an interrupt right click an existing E Communication Ports row and then click Delete Serial Port USB Port Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules lt Empty gt lt Empty gt Program Configure User Fault Routine The user fault routine gives you the option of doing the cleanup before a controller shutdown when a specific user fault occurs The fault r
263. rogram if you need to determine when a subroutine cannot execute immediately This bit is automatically set and cleared by the controller The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit The EII Event Input Interrupt is a feature that allows the user to scan a specific POU when an input condition is detected from a field device EIIO is used in this document to define how EII works Configure EI Input Edge from the Embedded I O configuration window Rockwell Automation Publication 2080 UM002F EN E December 2013 223 Appendix D User Interrupts Configure the EI from the Interrupt Configuration window Lor 22202 CARROS NAT Add Event Input Interrupt Ell General Propert Properties ae ee Toad Interrupt Type Event Input Interrupt Ell x ick an existing Communication Ports eats aam aak aak Serial Port EILID EIIO x USB Port Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules lt Empty gt lt Empty gt Ell Description feno Program Parameters UntitledLD Auto Start Fase ov Input Select o oK Cancel J Ap _ Hep Event Input Interrupt Ell Ell Function Configuration Function Configuration and Status 224 The Event Input Interrupt Function has the following related configuration parameters El
264. rollers Error Code OxF12z Note z indicates the logic axis ID Description Motion configuration for axis z cannot be supported by this controller model or the axis configuration has some resource conflict with some other motion axis which has been configured earlier Recommended Action Perform the following e Remove all axes and re configure motion with the guidance from the User Manual e f fault is consistent upgrade to the latest Connected Components Workbench software revision OxF15z Note z indicates the logic axis ID OxF210 There is a motion engine logic error firmware logic issue or memory crash for one axis detected during motion engine cyclic operation One possible reason can be motion engine data memory crash The expansion O terminator is missing Perform the following e Clear the fault and switch the controller to RUN mode again e f fault is consistent do power cycle for whole motion setup including controller drive and moving mechanism e Re download the User Application Perform the following e Power off the controller e Attach the expansion I O terminator on the last expansion I O module on the system e Power on the controller OxF230 The maximum number of expansion I O modules has been exceeded Perform the following e Power off the controller e Check that the number of expansion 1 0 modules is not more than four e Power on the controller
265. rop down list STI Auto Start STIO AS Sub Element Description Data Format User Program Access AS Auto Start binary bit read only The AS Auto Start is a control bit that can be used in the control program The auto start bit is configured with the programming device and stored as part of the user program The auto start bit automatically sets the STI Timed Interrupt Enable STI0 Enabled bit when the controller enters any executing mode STI Set Point Milliseconds Between Interrupts STIO SP Sub Element Data Format Range User Program Description Access SP Set Point Msec word INT 0 65 535 read write When the controller transitions to an executing mode the SP set point in milliseconds value is loaded into the STI If the STI is configured correctly and enabled the POU in the STI configuration is executed at this interval This value can be changed from the control program by using the STIS instruction TIP The minimum value cannot be less than the time required to scan the STI POUplus the Interrupt Latency STI Function Status Information STI Function status bits can be monitored either in the User Program or in Connected Components Workbench in Debug mode STI User Interrupt Executing STIO EX Sub Element Description Data Format User Program Access EX User Interrupt Executing binary bit read only The EX User Interrupt Executing bit is set wh
266. rrorlD Error number Types of errors e Function block logic such as parameters out of range state machine violation attempted e hard limits or soft limits reached e Drive failure Drive Ready is false For more information about function block error see Motion Function Block and Axis status Error ID on page 87 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Simultaneous Execution of Two Movement Function Blocks Busy Output True The general rule is that when a movement function block is busy then a function block with the same instance for example MC_MoveRelative2 cannot be executed again until the function block status is not busy TIP MC_MoveRelative MC_MoveAbsolute will be busy until final position is reached MC_MoveVelocity MC_Halt and MC_Stop will be busy until final velocity is reached Velocity MENON ani oe Sade ees le te Time Busy1 46054 When a movement function block is busy a function block with a different instance for example MC_MoveRelativel and MC_MoveAbsolute1 on the same axis can abort the currently executing function block This is mostly useful for on the fly adjustments to position velocity or to halt after a specific distance Example Move to Position Ignored Due to Busy Simple move position using one instance of MC_MoveRelative ii le is command is ignored MC_MoveAbsolute Velocity Time
267. rt is intended for temporary local programming purposes only and not intended for permanent connection If you connect or disconnect the USB cable with power applied to this module or any device on the USB network an electrical arc can occur This could cause an explosion in hazardous location installations Be sure that power is removed or the area is nonhazardous before proceeding The USB port is a nonincendive field wiring connection for Class Division2 Groups A B C and D WARNING Exposure to some chemicals may degrade the sealing properties of materials used in the Relays It is recommended that the User periodically inspect these devices for any degradation of properties and replace the module if degradation is found WARNING If you insert or remove the plug in module while backplane power is on an electrical arc can occur This could cause an explosion in hazardous location installations Be sure that power is removed or the area is nonhazardous before proceeding WARNING When you connect or disconnect the Removable Terminal Block RTB with field side power applied an electrical arc can occur This could cause an explosion in hazardous location installations WARNING Be sure that power is removed or the area is nonhazardous before proceeding ATTENTION To comply with the CE Low Voltage Directive LVD this equipment must be powered from a A source compliant with the following Safety Extra Low Voltage SELV or Protected Ex
268. s 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs to Outputs Type tested for 60 s 720V DC 1 0 to Aux and Network Inputs to Outputs North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Inputs Attribute 2080 LC30 48AWB 2080 LC30 480WB 2080 LC30 480VB 2080 LC30 480BB 120V AC Input High Speed DC Input Standard DC Input Inputs 0 11 Inputs 12 and higher Number of Inputs 28 12 16 Voltage category 110V AC 24V DC sink source Operating voltage 132V 60Hz AC max 16 8 26 4V DC 10 26 4V DC Off state voltage max 20V AC 5V DC Off state current max 1 5mA 1 5mA On state current min 5 mA 79V AC 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 12 mA 120V AC 8 8 mA 24V DC 8 5 mA 24V DC On state current max 16 mA 132V AC 12 0 mA 30V DC Nominal impedance 12 KQ 50 Hz 3 kQ 3 74 kQ 10 KQ 60 Hz IEC input compatibility Type 3 Inrush current max 250 mA 120V AC Input frequency max 63 Hz AC input filter setting 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded 1 0 configuration window to reconfigure the filter setting for each input group Rockwell Automation Publication 2080 UM002F EN E December 2013 161 AppendixA Specifications Isolated AC Inputs 2080 LC3
269. s The STIS instruction applies the specified set point to the STI function as follows STIO is used here as an example e Ifa zero set point is specified the STI is disabled and STIO Enable is cleared 0 e Ifthe STI is disabled not timing and a value greater than 0 is entered into the set point the STI starts timing to the new set point and ST10 Enable is set 1 e Ifthe STI is currently timing and the set point is changed the new setting takes effect immediately restarting from zero The STI continues to time until it reaches the new set point UID User Interrupt Disable UID Enable UID name or Pin ID IRQType or ENO Pin ID 45639 The UID instruction is used to disable selected user interrupts The table below shows the types of interrupts with their corresponding disable bits 216 Rockwell Automation Publication 2080 UMO002F EN E December 2013 User Interrupts Appendix D Types of Interrupts Disabled by the UID Instruction Interrupt Type Element Decimal Value Corresponding Bit Plug In Module UPM4 8388608 bit 23 Plug In Module UPM3 4194304 bit 22 Plug In Module UPM2 2097152 bit 21 Plug In Module UPM1 1048576 bit 20 Plug In Module UPMO 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI 65536 bit 16 STI
270. s Protocol Control RTS Pre Delay bo RTS Post Delay 0 x Media R5232 Data Bits Stop Bits 1 Response Timer 20 Broadcast Pause 200 Inter Char Timeout 0 Rockwell Automation Publication 2080 UM002F EN E December 2013 49 Chapter5 Communication Connections 3 Specify the following parameters e Baud rate e Parity e Unit address e Modbus Role Master Slave Auto Modbus RTU Parameters Parameter Options Default Baud Rate 1200 2400 4800 9600 19200 38400 19200 Parity None Odd Even None Modbus Role Master Slave Auto Master 4 Click Advanced Settings to set advanced parameters Refer to the table for available options and default configuration for advanced parameters Modbus RTU Advanced Parameters Parameter Options Default Media RS 232 RS 232 RTS CTS RS 485 RS 232 Data bits Always 8 8 Stop bits 1 2 1 Response timer 0 999 999 999 milliseconds 200 Broadcast Pause 0 999 999 999 milliseconds 200 Inter char timeout 0 999 999 999 microseconds 0 RTS Pre delay 0 999 999 999 microseconds 0 RTS Post delay 0 999 999 999 microseconds 0 Configure ASCII 1 Open your Connected Components Workbench project On the device configuration tree go to Controller properties Click Serial Port Rockwell Automation Publication 2080 UM002F EN E December 2013 Communication Connections Chapter 5 2 Select ASCII on the Drive
271. s Workbench software revision 2 or later The controller password is also backed up to the memory backup module that is 2080 MEMBAK RTC for Micro830 and Micro850 and 2080 LCD for Micro8 10 controllers TIP For instructions on how to set change and clear controller passwords see Configure Controller Password on page 192 The Controller Password feature is supported on e Connected Components Workbench revision 2 and later Rockwell Automation Publication 2080 UM002F EN E December 2013 145 Chapter9 Controller Security Work with a Locked Controller 146 e Micro800 controllers with revision 2 firmware For users with earlier versions of the software and or hardware refer to the compatibility scenarios below Connected Components Workbench revision 1 with Micro800 controller firmware revision 2 Connection to a Micro800 controller with firmware revision 2 using an earlier version of the Connected Components Workbench software revision 1 is possible and connections will be successful However the software will not be able to determine whether the controller is locked or not If the controller is not locked access to the user application will be allowed provided the controller is not busy with another session If the controller is locked access to the user application will fail Users will need to upgrade to revision 2 of the Connected Components Workbench software Connected Components Workbench revision 2 wit
272. s 214 overview 209 selectable timed start STS instruction 214 subroutine instruction 214 215 user fault routine 213 user interrupt disable UID instruction 216 user interrupt enable UIE instruction 217 user interrupt flush UIF instruction 218 IPID function block 241 1 0 forces 207 isolation transformers power considerations 15 Rockwell Automation Publication 2080 UM002F EN E December 2013 J jerk general rules 68 L Low Voltage Directive LVD 10 lower negative limit switch 63 64 master control relay 16 emergency stop switches 17 using ANSI CSA symbols schematic 20 using IEC symbols schematic 19 circuit periodic tests 14 MC_AbortTrigger 66 MC_Halt 67 72 74 76 MC_Home 67 MC_MoveAbsolute 67 72 MC_MoveRelative 67 72 MC_MoveVelocity 67 72 MC_Power 66 MC_ReadAxisError 66 MC_ReadBoolParameter 66 MC_ReadParameter 66 MC_ReadStatus 66 MC_Reset 66 77 MC_SetPosition 66 MC_Stop 67 72 76 MC_TouchProbe 66 MC_WriteBoolParameter 66 MC_WriteParameter 66 Micro830 controllers 2 inputs outputs types 6 Micro850 controllers inputs outputs types 6 Modbus mapping 173 Modbus RTU 43 44 47 configuration 50 Modbus TCP server 43 44 module spacing 22 motion control 61 62 administrative function blocks 66 general rules 68 wiring input output 64 motion control function blocks 62 66 motor starters bulletin 509 surge suppressors 32 mounting dimensions 21 network status 230 normal opera
273. s you to control a specific motion instruction Refer to the Connected Components Workbench Online Help for a description of 68 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 General Rules for the Motion Control Function Blocks To work with motion control function blocks users need to be familiar with the following general rules General Rules for the Motion Function Block Parameter Input parameters General Rules When Execute is True The parameters are used with the rising edge of the Execute input To modify any parameter it is necessary to change the input parameter s and to trigger motion again When Enable is True The parameters are used with the rising edge of the Enable input and can be modified continuously Inputs exceeding application limits If a function block is configured with parameters that result in a violation of application limits the instance of the function block generates an error The Error output will be flagged On and error information will be indicated by the output ErrorlD The controller in most cases will remain in Run mode and no motion error will be reported as a major controller fault Position Distance Input For MC_MoveAbsolute function block the position input is the absolute location commanded to the axis For MC_MoveRelative the distance input is the relative location considering current axis position is 0
274. s0 TargetVel 80 0 N A AxisO Commandvel 0 0 N A Axisl a j axisO_power WAIT N A axis1_power WAIT NAA For the motion function block parameters data validaton is performed during Run time The corresponding error will be given if the validation fails Rockwell Automation Publication 2080 UM002F EN E December 2013 99 Chapter 7 Motion Control with PTO and PWM 100 Axis Monitor Example The Axis Monitor displays seven significant digits with rounding i Running Connected Components Workbench File Edit View Build Debug Tools Communications Window Help ld J E Sh inExestop1 gt SR 3m BZU E hl Iml Mh I il Micro850 Axis Monitor micro850 Motion POU Project Organizer Axis Name AxisO Axis State Discrete Motion Axis Homed No H5C_rec Movement Constant Velocity T Local Variables Error Description ig Motion T Local Variables m Global Variables Position and Velocity DataTypes Command Position 946 363 mm Command Velocity 80 0 mm sec ition i T ity E User Defined Function Blocks Target Position 2345 678 mm arget Velocity 80 0 mm sec ATTENTION See Motion Axis Configuration in Connected Components Workbench on page 89 to learn more about the different axis configuration parameters PTO Pulse Accuracy Micro800 motion feature is pulse based and the value of distance and velocity are desi
275. sion the range of 0 0001 to 8388607 user unit Upper Soft Limit 10730175 1 073018E 7 Upper Soft limit must be greater than Lower Soft Limit The range is from 0 exclusive to 1 073217E 07 user unit Lower Soft Limit 10730175 1 073018E 7 Lower Soft limit must be smaller than Upper Soft Limit The range is from 1 073217E 07 to 0 exclusive user unit 1 Qn the axis configuration page in Connected Components Workbench an input field with a red border indicates that the value that has been entered is invalid A tooltip message should let you know the expected range of values for the parameter The range of values presented in the tooltip messages are also presented in REAL data format Variable Monitor Example The Variable Monitor displays six significant digits with rounding although the real data type still contains seven significant digits EE Variable Monitoring Global Variables MicroB50 Local Variables N A System Variables Micro850 I 1 0 Logical Value Physical alue Lock ot tt at _MOTION_DIAG J Aveo S a AxisD ErorFlag N A In this example the user has entered the PSOE WR Target Position value of 2345 678 AxisO Const el N A This value is rounded up to six digits Axis0 AccelFlag N A 2345 68 in the Variable Monitoring screen Arts DeceFlag NA Axis0 AxisState 1 N A Axis0 ErronlD a N A AxisO ExtraData 0 N A AxisO TargetPos 2345 68 N A Axis0 CommandPos 2345 68 N A Axi
276. sion for this update 3 Select the catalog number of the Micro800 controller that you are updating and click Next Catalog Number Enter the catalog number of the target device 2080LC1 0 120WB Eti 2080 LC10T zawa 2080 LC10 12DWD 2080 LC10 1 2088 2080 LC10 120WB 3080 L030 1 00VB 2080 LC30 100WB 2080 LC30 164WB 2080 LC30 160VB 2080 LC 30 160 WB 2080 LC 30 2408 2080 LC30 240VB 2080 LC30 240WB 2080 LC30 48AW B 2080 LC30 48088 182 Rockwell Automation Publication 2080 UM002F EN E December 2013 Quickstarts Appendix C 4 Select the controller in the browse window and click OK ControlFLASH Untitled Select the 2080 LC10 12QWB device to update and click OK IV Autobrowse F Workstation ROCK WELL D804EF 5 Linx Gateways Ethernet 12PEM810_30001 DF1 fea 01 Micro810 2 AB_VBP 1 1789 417 4 Virtual Chassis gt a Browsing node 1 found meeseee 0 LC10 12 5 Ifyou see the following dialog leave the Slot Number at 0 and click OK Slot Number You must specify a Slot Number corresponding to the selected device based on Backplane Slot Number jo Cancel This screen is available only for Micro810 controllers Rockwell Automation Publication 2080 UM002F EN E December 2013 183 Appendix Quickstarts 6 Click Next to continue and verify the revision Click Finish Firmwar
277. st function block Behavior of Busy Output Every function block has a Busy output indicating that the function block is not yet finished for function blocks with an Execute input and new output values are pending for function blocks with Enable input Busy is set at the rising edge of Execute and reset when one of the outputs Done Aborted or Error is set or it is set at the rising edge of Enable and reset when one of the outputs Valid or Error is set It is recommended that the function block continue executing in the program scan for as long as Busy is true because the outputs will only be updated when the instruction is executing For example in ladder diagram if the rung becomes false before the instruction finishes executing the Busy output will stay true forever eventhough the function block has finished executing Always_on Rockwell Automation Publication 2080 UM002F EN E December 2013 71 Chapter7 Motion Control with PTO and PWM General Rules for the Motion Function Block Parameter General Rules Output Active In current implementation buffered moves are not supported Consequently Busy and Active outputs have the same behavior Behavior of CommandAborted is set when a commanded motion is aborted by another motion command CommandAborted Output When CommandAborted occurs other output signals such as InVelocity are reset Always_on Enable and Valid Status The Enable in
278. standard RJ 45 Ethernet cable The LED indicators serve as indicators for transmit and receive status RJ 45 Ethernet Port Pin Mapping RJ 45 connector yellow LED Contact Signal Direction Primary Function Number green LED 1 TX OUT Transmit data 45920 2 TX OUT Transmit data 3 RX IN Differential Ethernet Receive The yellow status LED Dala indicates Link solid yellow 4 Terminated or No Link off 5 Terminated 6 RX IN Differential Ethernet Receive The grSen status LED Data indicates activity blinking 7 ai green or no activity off 8 Terminated Shield Chassis Ground Micro850 controllers support Ethernet crossover cables 2711P CBL EX04 Ethernet Status Indication Micro850 controllers also support two LEDs for EtherNet IP to indicate the following e Module status e Network status See Troubleshooting on page 227 for descriptions of Module and Network status indicators Rockwell Automation Publication 2080 UM002F EN E December 2013 7 Chapter 1 Hardware Overview Notes 8 Rockwell Automation Publication 2080 UM002F EN E December 2013 Programming Software for Micro800 Controllers Agency Certifications Compliance to European Union Directives Chapter 2 About Your Controller Connected Components Workbench is a set of collaborative tools supporting Micro800 controllers It is based on Rockwell Automation and Microsoft Visual Studio technology
279. stop Suppressor i Fuse push button vertrav l Stop Start Cat No 700 N24 ae limit switch il k O 0 _ sl O o cr Suppr MCR e MCR 115V AC or If 230 ac 6 1 0 circuits DC Power Supply Use NEC Class 2 for UL Listing MCR Lo Hi i 24V DC 1 0 Line Terminals Connect to terminals of power i in supply 20 Line Terminals Connect to 24V DC terminals of power supply 44565 Rockwell Automation Publication 2080 UM002F EN E December 2013 Chapter 3 Install Your Controller This chapter serves to guide the user on installing the controller It includes the following topics Topic Page Controller Mounting Dimensions 21 Mounting Dimensions 21 DIN Rail Mounting 23 Panel Mounting 24 Controller Mounting Mounting Dimensions Dimensions Mounting dimensions do not include mounting feet or DIN rail latches Micro830 10 and 16 Point Controllers 2080 LC30 10QWB 2080 LC30 10QVB 2080 LC30 16AWEB 2080 LC30 16QWB 2080 LC30 16QVB 100 3 94 80 3 15 Gr 90 3 54 45032 Measurements in millimeters inches Rockwell Automation Publication 2080 UM002F EN E December 2013 21 Chapter3 Install Your Controller Micro830 24 Point Controllers 2080 LC30 240QWB 2080 LC30 24QVB 2080 LC30 240BB 150 5 91 80 3 15 5 a 45018 Measurements in millimeters inches Micro830 48 Point Controllers 2080 LC30 48AWB 2080 LC30 48QWB 2080 L
280. t As the duty cycle of the PTO can be changed dynamically the PTO can also be used as a pulse width modulation PWM output PTO PWM and motion axes support on the Micro830 and Micro850 controllers are summarized below PTO PWM and Motion Axis Support on Micro830 and Micro850 Controller PTO built in Number of Axes Supported 10 16 Points 1 1 080 LC30 100VB 080 LC30 160VB oints 2 2 080 LC30 240VB 080 LC30 240BB 080 LC50 240VB 080 LC50 240BB oints 3 3 080 LC30 480VB 080 LC30 480BB 080 LC50 480VB 080 LC50 480BB A v co pz NNNNA NNN NNN NN 0 PWM outputs are only supported on firmware revision 6 and later 2 For Micro830 catalogs Pulse Train Output functionality is only supported from firmware revision 2 and later Rockwell Automation Publication 2080 UM002F EN E December 2013 61 Chapter 7 62 Motion Control with PTO and PWM ATTENTION To use the Micro800 Motion feature effectively users need A to have a basic understanding of the following e PTO components and parameters See Use the Micro800 Motion Control Feature on page 62 for a general overview of Motion components and their relationships e Programming and working with elements in the Connected Components Workbench software The user needs to have a working knowledge of ladder diagram structured text or function block diagram programming to be able to work with motion function blocks variables an
281. t pattern stored in the HSCAPP OutputMask variable defines which outputs are controlled by the HSC and which outputs are not controlled by the HSC For example if the user wants to control outputs 0 1 3 using HSC then the user needs to assign HscAppData OutputMask 2 1011 OR using Decimal Value HscAppData OutputMask 11 The bit pattern of the HSCAPP OutputMask variable directly corresponds to the output bits on the controller Bits that are set 1 are enabled and can be turned on or off by the HSC sub system Bits that are clear 0 cannot be turned on or off by the HSC sub system The mask bit pattern can be configured only during initial setup The following table shows example of how HPOutput and OutputMask controls Embedded output Effect of HSC Output Mask on Embedded Outputs 32 Bit Signed Integer Data Word Output Variable 32 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 12 1 0 HSCAPP HPOutput high 0 1 l0 1 JO 1 JO f JO JO 1 f JO JO JO 1 1 JO 0 1 preset output HSCAPP OutputMas 1 1 J0 JO JO JO JO JO JO 1 1 JO JO JO 1 J1 JO 0 0 71 output mask Embedded outp 10 point Embedded outpu 16 point Embedded outpu 24 point 126 Rockwell Automation Publication 2080 UM002F EN E December 2013 Use the High Speed Counter and Programmable Limit Switch Chapter 8 Effect of
282. t Mask Bits HSCAPP OutputMask on page 126 The high output bit pattern can be configured during initial setup or while the controller is operating Use the HSC function block to load the new parameters while the controller is operating Low Preset Output HSCAPP LPOutput User Program Access Data Format long word 32 bit binary Description HSCAPP LPOutput read write The Low Preset Output defines the state 1 on 0 off of the outputs on the controller when the low preset is reached See Output Mask Bits HSCAPP OutputMask on page 126 for more information on how to directly turn outputs on or off based on the low preset being reached The low output bit pattern can be configured during initial setup or while the controller is operating Use the HSC function block to load the new parameters while the controller is operating Rockwell Automation Publication 2080 UM002F EN E December 2013 127 Chapter8 Use the High Speed Counter and Programmable Limit Switch HSC STS HSC Status Data Define a HSC STS data HSC status information data data type HSCSTS Structure when programming a HSC a ce i ition Name Dimension Aias t Micro830 aa f S anne a zie e 7 r SCALER_1 SCALER ETIA R Programs JE Hsc HSC ae Read Write 3 HSC_cmd_O USINT Read Write ARG untitleato 4 HSCApp_o HSCAPPEE fF aces bbb i Local Variables Ea
283. t Output Real Output value from the controller AbsoluteError Output Real AbsoluteError is the difference between Process value and set point value ATWarnings Output DINT Warning for the Auto Tune sequence Possible value are e 0 No auto tune done e 1 Auto tuning in progress e 2 Auto tuning done e 1 Error 1 Controller input Auto is TRUE please set it to False e 2 Error 2 Auto tune error the ATDynaSet time expired OutGains Output GAIN_PID Gains calculated from AutoTune Sequences See GAIN PID Data type ENO Output BOOL Enable out Only applicable to LD ENO is not required in FBD programming GAIN_PID Data Type Parameter Type Description DirectActing BOOL Types of acting e TRUE Direct acting e FALSE Reverse acting ProportionalGain REAL Proportional gain for PID gt 0 0001 Timelntegral REAL Time integral value for PID gt 0 0001 TimeDerivative REAL Time derivative value for PID gt 0 0 DerivativeGain REAL Derivative gain for PID gt 0 0 AT_Param Data Type Parameter Type Description Load REAL Initial controller value for autotuning process Deviation REAL Deviation for auto tuning This is the standard deviation used to 240 evaluate the noise band needed for AutoTune noise band 3 Deviation Rockwell Automation Publication 2080 UM002F EN E December 2013 IPID Function Block Appendix F AT_Param Da
284. t recommended except for clearing existing errors and to capture new HSC errors Accumulator HSCSTS Accumulator Description Data Format User Program Access HSCSTS Accumulator long word 32 bit INT read only HSCSTS Accumulator contains the number of counts detected by the HSC sub system If either mode 0 or mode 1 is configured the accumulator is reset to 0 when a high preset is reached or when an overflow condition is detected High Preset HSCSTS HP Description Data Format User Program Access HSCSTS HP long word 32 bit INT read only The HSCSTS HP is the upper setpoint in counts that defines when the HSC sub system generates an interrupt The data loaded into the high preset must be less than or equal to the data resident in the overflow HSCAPP OFSetting parameter or an HSC error is generated Rockwell Automation Publication 2080 UM002F EN E December 2013 133 Chapter 8 134 Use the High Speed Counter and Programmable Limit Switch This is the latest high preset setting which may be updated by PLS function from the PLS data block Low Preset HSCSTS LP Description Data Format User Program Access HSCSTS LP long word 32 bit INT read only The HSCSTS LP is the lower setpoint in counts that defines when the HSC sub SyS tem generates an interrupt The data loaded into the low preset must greater than or equal to the data resident in the underf
285. ta Type Parameter Type Description Step REAL Step value for AutoTune Must be greater than noise band and less than load ATDynamSet REAL Auto Tune time Set the time to wait for stabilization after the step test in seconds Auto Tune process will be stopped when ATDynamSet time expires ATReset BOOL Determines whether the output value is reset to zero after an AutoTune sequence e True Reset IPIDCONTROLLER output to zero after Auto tune process e False leaves output at load value 1 The application engineer can e For example in a project that i stimate the value of ATParams Deviation by observing the value of Proces input nvolves the control of temperature if the temperature stabilizes around 22 C and a fluctuation of 21 7 22 5 C is observed the value of ATParams Deviation will be 22 5 21 7 2 0 4 How to Autotune Before you autotune you need to e Verify that your system is constant when there is no control For example for temperature control process value should remain at room temperature when there is no control output e Configure the set point to 0 e Set Auto Input to False e Set the Gain parameter as follows GAIN Parameter Values GAIN Parameter DirectActing Value According to operation TRUE for example Cooling or FALSE for example Heating DerivativeGain Typically set to 0 1 or 0 0 ProportionalGain 0 0001 Timelntegral 0
286. tandstill state If an error occurs while the state machine is in the Stopping state a transition to the ErrorStop state is generated 2 Power Enable TRUE and there is an error in the Axis 3 Power Enable TRUE and there is no error in the Axis 4 MC_Stop Done AND NOT MC_Stop Execute 5 When MC_Power is called with Enable False the axis goes to the Disabled state for every state including ErrorStop 6 If an error occurs while the state machine is in Stopping state a transition to the ErrorStop state is generated 78 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Axis States The axis state can be determined from one of the following predefined states Axis state can be monitored through the Axis Monitor feature of the Connected Components Workbench software when in debug mode Motion States State value State Name 0x00 Disabled 0x01 Standstill 0x02 Discrete Motion 0x03 Continuous Motion 0x04 Homing 0x06 Stopping 0x07 Stop Error Axis State Update On motion execution although the motion profile is controlled by Motion Engine as a background task which is independent from POU scan axis state update is still dependent on when the relevant motion function block is called by the POU scan For example on a moving axis on a Ladder POU state of a rung true an MC_MoveRelative function block in the rung is scanned and the axis starts t
287. tch Input 10_EM_DI 00 Switch Input 10 _EM_DI 01 Soft Limits When soft limit is reached Emergency Stop Profile will be applied E Lower Soft Limit 00 mm E Upper Soft Limit 00 mm Sample Limits configuration in Connected Components Workbench Hard Limits Hard limits refer to the input signals received from physical hardware devices such as limit switches and proximity sensors These input signals detect the presence of the load at the maximum upper and minimum lower extents of allowable motion of the load or movable structure that carries the load such as a load tray on a transfer shuttle Hardware limits are mapped to discrete inputs that are associated with data tags variables When a hard limit switch is enabled the axis comes to a stop when the limit switch is detected during motion If hard stop on hard limit switch is configured as ON and the limit is detected motion is stopped immediately that is PTO pulse is stopped immediately by the hardware Alternatively if hard stop on hard limit switch is configured as OFF motion will be stopped using Emergency Stop parameters Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 When any hard limit switch is enabled the input variable connecting to this physical input can still be used in User Application When a hard limit switch is enabled it will be used automatically for MC_Home function block if the switch is
288. tch plus using encoder reference pulse 0x04 MC_HOME_DIRECT Static homing process with direct forcing a home position from user reference The function block will set current position the mechanism is in as home position with its position determined by the input parameter Position 102 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 IMPORTANT _ If axis is powered On with only one direction enabled the MC_Home function block in modes 0 1 2 3 will generate an error and only MC_Home function block mode 4 can be executed See MC_ Power function block for more details Conditions for Successful Homing For homing operation to be successful all configured switches or sensors must be properly positioned and wired The correct position order from the most negative position to the most positive position that is from the leftmost to the rightmost in the homing setup diagrams in this section for the switches are 1 Lower Limit switch 2 ABS Home switch 3 Upper Limit switch During MC_Home function block execution the home position will be reset and the soft limits mechanical position will be recalculated During homing sequence the motion configuration for the soft limits will be ignored The homing motion sequence discussed in this section has the following configuration assumptions 1 Homing direction is configured as negative direction 2
289. ted in the function block cannot be achieved due to current axis velocity Some examples e The function block requests the axis to reverse the direction while the axis is moving e The required motion profile cannot be achieved due to current velocity too low or too high Check the motion profile setting in the function block and correct the profile or re execute the function block when the axis velocity is compatible with the requested motion profile requested in the function block cannot be achieved because of current axis velocity Some examples e The function block requests the axis to reverse the direction while the axis is moving e The required motion profile cannot be achieved due to current velocity too low or too high Reset the state of the axis using the MC_Reset function block Correct the motion profile in the function block or re execute the function block when the axis velocity is compatible with the requested motion profile 10 MC_FB_ERR_SOFT_LIMIT This function block cannot execute as it will end up The axis is not operational due to soft limit error moving beyond the soft limit or the function block detected or due to expected soft limit error in a is aborted as the soft limit has been reached function block Check the velocity or target position settings in the Reset the state of the axis using the MC_Reset function block or adjust soft limit setting function
290. the axis is still controlled by another movement function block The axis cannot allow the motion to be controlled by the new function block without going to a full stop For example the new function block commands the axis to change motion direction e When one movement function block tries to control an axis but the axis is still controlled by another movement function block and the newly defined motion profile cannot be realized by the controller For example User Application issues an S Curve MC_MoveAbsolute function block to an axis with too short a distance given when the axis is moving e When one movement function block is issued to an axis and the axis is in the Stopping or Error Stopping sequence Rockwell Automation Publication 2080 UM002F EN E December 2013 85 Chapter 7 Motion Control with PTO and PWM For the above exceptions it is still possible for the user application to issue a successful movement function block to the axis after the axis state changes MC_Engine_Diag Data Type The MC_Engine_Diag data type contains diagnostic information on the embedded motion engine It can be monitored in debug mode through the Connected Components Workbench software when the motion engine is active or through the user application as part of user logic It can also be monitored remotely through various communication channels One MC_Engine_Diag instance is created automatically in the Connected Components Workbench software
291. the resource resource required by the function block is required by a function block is under the control of controlled by some other function block or not other function block or not available available Ensure the resource required by the function block Ensure the resource required by the function block available for use available for use Reset the state of the axis using the MC_Reset Some examples function block e MC_power function block attempts to control the same axis e MC_Stop function block is executed against the same axis at the same time e Two or more MC_TouchProbe function blocks are executed against the same axis at the same time 08 MC_FB_ERR_PROFILE The function block cannot execute because the The axis is not operational due to motion profile motion profile defined in the function block cannot be achieved Correct the profile in the function block Rockwell Automation Publication 2080 UM002F EN E December 2013 defined in a function block cannot be achieved Reset the state of the axis using the MC_Reset function block Correct the profile in the function block 87 Chapter 7 Motion Control with PTO and PWM Motion Function Block and Axis status Error ID Error ID Error ID MACRO Error description for Function Block Error description for Axis Status 09 MC_FB_ERR_VELOCITY The function block cannot execute because the The axis is not operational The motion profile motion profile reques
292. tion 230 North American Hazardous Location Approval 13 0 output active general rules 71 output exclusivity 69 output status 230 P panel mounting 24 dimensions 24 password 143 recover 146 PID application example 244 PID code sample 245 PLS data structure 136 example 137 operation 136 plug in module wiring 39 position distance input 68 power considerations input states on power down 16 isolation transformers 15 loss of power source 15 other line conditions 16 overview 14 power supply inrush 15 power distribution 14 power source loss of 15 power status 229 power supply inrush power considerations 15 program execution 55 programmable limit switch 109 function 135 overview 109 PTO 61 configurable input output 63 direction 63 64 fixed input output signals 63 pulse 63 64 0 quadrature encoder 120 Index 251 Quickstarts 179 relative move versus absolute move general rules 71 RJ 45 ethernet port 7 43 RS 232 485 combo port 43 S safety circuits 14 safety considerations 12 disconnecting main power 13 hazardous location 13 master control relay circuit periodic tests 14 periodic tests of master control relay circuit 14 power distribution 14 safety circuits 14 security 143 Selectable Timed Interrupt STI 221 start instruction 214 using 220 serial communications 230 serial port configure 47 Servo Drive On 63 64 Servo Drive Ready 64 65 shutdown 47 specifications Micro800 External AC Power Suppl
293. tion before homing starts MC_HOME_REF_WITH_ABS IMPORTANT If Home switch or Ref Pulse is not configured as Enabled MC_HOME_REF_WITH_ABS 2 homing fails with Error ID MC_FB_ERR_PARAM MC_HOME_REF_WITH_ABS 2 homing procedure performs a homing operation against Home switch plus fine Ref Pulse signal The actual motion sequence is dependent on the home switch limit switch configuration and the actual status for the switches before homing starts that is when the MC_Home function block is issued Scenario 1 Moving part at right positive side of Home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side in negative direction 2 When Home Abs switch is detected the moving part decelerates to stop 3 Moving part moves back in positive direction in creep velocity to detect Home Abs On gt Off edge 4 Once Home Abs switch On Off is detected start to detect first Ref Pulse signal coming in 5 Once the first Ref Pulse signal comes record the position as mechanical home position and decelerate to stop 6 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Scenario 2 Moving part b
294. tion details For the Micro850 relay chart see Micro830 and Micro850 Relay Charts on page 165 Micro800 Programmable Controller External AC Power Supply General Specifications Attribute Value Dimensions HxWxD 90 x 45 x 80 mm 3 55 x 1 78 x 3 15 in Shipping weight 0 34 kg 0 75 Ib Supply voltage rangel 100V 120V AC 1A 200 240V AC 0 5 A Supply frequency 47 63 Hz Supply power 24V DC 1 6 A Inrush current max 24A 132V for 10 ms 40A 263V for 10 ms Power consumption Output power 38 4W 100V AC 38 4W 240V AC Power dissipation Input power Isolation voltage 45 1W 100V AC 44 0W 240V AC 250V continuous Primary to Secondary Reinforced Insulation Type Type tested for 60s 2300V AC primary to secondary and 1480V AC primary to earth ground 0 utput ratings max 24V DC 1 6A 38 4W Rockwell Automation Publication 2080 UM002F EN E December 2013 173 AppendixA Specifications General Specifications Attribute Value Enclosure type rating Meets IP20 Wire size 0 32 2 1 mm 22 14 AWG solid copper wire or 0 32 1 3 mm 22 16 AWG stranded copper wire rated 90 C 194 F insulation max Terminal screw torque 0 5 0 6 Nm 4 4 5 3 Ib in using a Phillips head or 2 5 mm 0 10in flat blade screwdriver Wiring category 2 on power ports Insulation stripping length 7 mm 0 28 in North American temp c
295. tionships e Lower Soft Limit should be less than the Upper Soft Limit e Start Stop velocity should not be greater than the maximum velocity e Emergency Stop velocity should not be greater than the maximum velocity e Homing velocity should not be greater than the maximum velocity e Homing acceleration should not be greater than maximum acceleration e Homing deceleration should not be greater than maximum deceleration e Homing jerk should not be greater than maximum jerk e Homing creep velocity should not be greater than maximum velocity Delete an Axis 1 On the device configuration tree and under Motion right click the axis name and select Delete Motion 2 axis g Rename Dynamics Homing 2 A message box appears asking to confirm deletion Click Yes Motion EF axis g Rename Delete Dynamics Homing To monitor an axis the Connected Components Workbench software should be connected to the controller and in DEBUG mode 1 On the device configuration page click Axis Monitor Rockwell Automation Publication 2080 UM002F EN E December 2013 101 Chapter 7 Motion Control with PTO and PWM 2 The Axis Monitor window appears with the following characteristics available for viewing e axis state e axis homed e movement e error description e command position in user unit e command velocity in user unit per second e target position in user unit e target velocity in user unit per second
296. tra Low Voltage PELV ATTENTION To comply with UL restrictions this equipment must be powered from a Class 2 source ATTENTION Be careful when stripping wires Wire fragments that fall into the controller could cause damage Once wiring is complete make sure the controller is free of all metal fragments ATTENTION Do not remove the protective debris strips until after the controller and all other equipment in the panel near the module are mounted and wired Remove strips before operating the controller Failure to remove strips before operating can cause overheating ATTENTION Electrostatic discharge can damage semiconductor devices inside the module Do not touch the connector pins or other sensitive areas ATTENTION The USB and serial cables are not to exceed 3 0 m 9 84 ft ATTENTION Do not wire more than 2 conductors on any single terminal ATTENTION Do not remove the Removable Terminal Block RTB until power is removed Rockwell Automation Publication 2080 UM002F EN E December 2013 11 Chapter2 About Your Controller Safety Considerations 12 Environment and Enclosure A This equipment is intended for use in a Pollution Degree 2 industrial environment in overvoltage Category Il applications as defined in IEC 60664 1 at altitudes up to 2000 m 6562 ft without derating This equipment is considered Group 1 Class A industrial equipment according to IEC CISPR 11 Without appropriate precautions there may be d
297. ttribute Temperature operating Value IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity Vibration IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions CISPR 11 Group 1 Class A ESD immunity IEC 61000 4 2 4 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV 5 kHz on power ports 2 kV 5 kHz on signal ports 1 kV 5 kHz on communication ports Surge transient immunity IEC 61000 4 5 1 kV line line DM and 2 kV line earth CM on p
298. turn to the suspended POU at the point where it suspended The Micro830 and Micro850 controllers support the following User Interrupts e User Fault Routine Event Interrupts 8 e High Speed Counter Interrupts 6 e Selectable Timed Interrupts 4 e Plug in Module Interrupts 5 Rockwell Automation Publication 2080 UM002F EN E December 2013 211 Appendix D User Interrupts An interrupt must be configured and enabled to execute When any one of the interrupts is configured and enabled and subsequently occurs the user program 1 suspends its execution of the current POU 2 performs a predefined POU based upon which interrupt occurred and 3 returns to the suspended operation Interrupt Operation Example POU 2 is the main control program POU 2 POU 10 is the interrupt routine e An Interrupt Event occurs at rung rungd _ ___ POU 10 123 e POU 10 is executed ee rung 123 e POU 2 execution resumes immediately after POU 10 is scanned rung 275 Specifically if the controller program is executing normally and an interrupt event occurs 1 the controller stops its normal execution 2 determines which interrupt occurred 3 goes immediately to the beginning of the POU specified for that User Interrupt 4 begins executing the User Interrupt POU or set of POU function blocks if the specified POU calls a subsequent function block 5 completes the POU 6 resumes normal executi
299. ty is smaller than Start Stop velocity move the axis immediately at the target velocity e When the target velocity is NOT smaller than Start Stop velocity move the axis immediately at Start Stop velocity Real Data Resolution Certain data elements and axis properties use REAL data format single precision floating point format Real data has seven digit resolution and digit values entered by the user that are longer than seven digits are converted See the following examples REAL Data Conversion Examples User value Converted to 0 12345678 0 1234568 1234 1234567 1234 123 12345678 1 234568E 07 exponential format 0 000012345678 1 234568E 05 exponential format 2147418166 2 147418 E09 0 12345678 0 1234568 If the number of digits is greater than seven 7 and the eighth digit is greater than or equal to 5 then the 7th digit is rounded up For example 21474185 rounded to 2 147419E 07 21474186 rounded to 2 147419E 07 If the eighth digit is lt 5 no rounding is done and the seventh digit remains the same For example 21474181 rounded to 2 147418E 07 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Examples for Motion Configuration 1 Parameter Actual Value Converted Tooltip Error Value Entered by User Value in Connected Components Workbench Pulses per revolution 8388608 8388608 Pulse per revolution must be in no conver
300. ue in Connected Components Workbench To learn more about conversions and rounding of REAL values see Real Data Resolution on page 97 TIP A red border on an input field indicates that an invalid value has been entered Scroll over the field to see tooltip message that will let you know the valid value range for the parameter Supply the valid value ATTENTION Modifying Motor Revolution parameters may cause axis runaway Rockwell Automation Publication 2080 UM002F EN E December 2013 93 Chapter 7 94 Motion Control with PTO and PWM Limits Edit the Limits parameters based on the table below axisl Limits Hard Limits When hard limit is reached apply Emergency Stop Profile 7 Lower Hard Limit Upper Hard Limit Active Level tw Active Level low Switch Input 10_EM_DLOO Switch Input 10 EM_DI 01 Soft Limits When soft limit is reached Emergency Stop Profile will be applied Lower Soft Limit 00 mm Upper Soft Limit 00 mm ATTENTION To learn more about the different types of Limits see Limits on page 80 Limits Parameters Parameter Value Hard Limits Defines upper and lower hard limits for the axis When hard limits is reached apply Configure whether to perform a forced PTO hardware stop immediately turn off pulse output or whether to decelerate leave pulse output on and use deceleration values as defined on the Emergency Stop profile Set as any of
301. um into the UIE instruction 218 Rockwell Automation Publication 2080 UM002F EN E December 2013 User Interrupts Appendix D For example to enable EII Event 1 and EII Event 3 EII Event 1 4 EII Event 3 16 4 16 20 enter this value UIF User Interrupt Flush Enable IROType UIF UIF name or Pin ID or ENO Pin ID 45641 The UIF instruction is used to flush remove pending interrupts from the system selected user interrupts The table below shows the types of interrupts with their corresponding flush bits Types of Interrupts Disabled by the UIF Instruction Interrupt Type Element Decimal Value Corresponding Bit Plug In Module UPM4 8388608 bit 23 Plug In Module UPM3 4194304 bit 22 Plug In Module UPM2 2097152 bit 21 Plug In Module UPM1 1048576 bit 20 Plug In Module UPMO 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI 65536 bit 16 STI Selectable Timed Interrupt STIO 32768 bit 15 Ell Event Input Interrupt Event 7 16384 bit 14 Ell Event Input Interrupt Event 6 8192 bit 13 Ell Event Input Interrupt Event 5 4096 bit 12 Ell Event Input Interrupt Event 4 2048 bit 11 HSC High Speed Counter HSC5 1024 bit 10 HSC High Speed Counter HSC4 512 bit 9 HSC High Speed Counter HSC3 256 bit 8 HSC High Speed
302. unction Block e PID Feedback This user defined function block acts as a multiplexer IF FB_RST is false FB_OUT FB_IN If FB_RST is true then FB_OUT FB_PREVAL e PID_PWM This user defined function block provides a PWM function converting a real value to a time related ON OFF output e SIM _WATERLVL This user defined function block simulates the process depicted in the application example shown before IMPORTANT User Program Scan Time is Important The autotuning method needs to cause the output of the control loop to oscillate In order to identify the oscillation period the IPID must be called frequently enough to be able to sample the oscillation adequately The scan time of the user program must be less than half the oscillation period In essence the Shannon or Nyquist Shannon or the sampling theorem must be adhered to In addition it is important that the function block is executed at a relatively constant time interval One can typically achieve this using STI interrupt Rockwell Automation Publication 2080 UM002F EN E December 2013 Appendix G System Loading Micro830 and Micro850 Power Requirements Controller Module Power Requirement Micro830 and Micro850 without plug in expansion 1 0 10 16 point 5W 24 point 8W 48 point 11W Plug in modules each 1 44 W Expansion 1 0 2085 1Q16 0 85 W system bus power consumption 2085 I032T 0 95 W 2085 IA8 075W 2085 IM8 075W 2085 0A8
303. upported Architectures 24 savi oi olases noua leek 44 Use Modems with Micro800 Controllers nunun 00 0 cece ences 45 Making a DF1 Point to Point Connection 00 0005 45 Construct Your Own Modem Cable 0 0 c cece eee eee 46 Configure Serial Ports 2 Gita ses aa E EEEE gee T DEA EEES 46 Configure CIP Serial Driver lt 0 os cea cankeucsduas eae pereaners 47 Configure Modbus RI U scnwhiasasdwcrincugiuerivacsGen ramen 49 Config re ASCI as ee ssa structs ge wae E a 50 Configure Ethernet Settings i iet sic ci gaand Cuussaasewnaeesaes 52 Ethernet Host Name its tip ates sod eset acd oer yin bea teh dase ora 54 Configure CIP Serial Dives s saiedane sutra sah weve die date Vola 54 Chapter 6 Overview of Program Execution s t103 sancyaob ae erhantv ne penile ianrateats 55 Erecution Rules 3 Sin a vebetatehtatemial Ob uses il oul 56 Controller Load and Performance Considerations 0 0065 56 Periodic Execution of Programs scsncscaseterles cas isin ee Saeed oie te 57 Power Up and First Statiwuivc overrated li eid esa aboot eee 4 57 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Use the High Speed Counter and Programmable Limit Switch Chapter 1 Variable Retention nn radon ane aacan casera ux boketeaesaguaad ne 58 Memory Allocation anene yaaa Suen Ordena A Aa 58 Guidelines and Limitations for Advanced Users 0 0000e0 ee 58 Chapter 7 Use the Micro
304. use of the high performance requirements of these functions Features and Operation The HSC is extremely versatile you can select or configure the master HSC for any one of ten 10 modes and the sub HSC for any one of five 5 modes of operation See HSC Mode HSCAPP HSCMode on page 118 for more information Some of the enhanced capabilities of the High Speed Counters are e 100 kHz operation e Direct control of outputs e 32 bit signed integer data count range of 2 147 483 647 e Programmable High and Low presets and Overflow and Underflow setpoints e Automatic Interrupt processing based on accumulated count e Change parameters on the fly from the user control program The High Speed Counter function operates as described in the following diagram High Speed Counter Operation Variable Overflow z 4 4 42 147 483 647 maximum 0 Underflow ee EOE a ii minimum Rockwell Automation Publication 2080 UM002F EN E December 2013 HSC Inputs and Wiring Mapping Use the High Speed Counter and Programmable Limit Switch Chapter 8 TIP You must set a proper value for the variables OFSetting HPSetting and UFSetting before triggering Start Run HSC Otherwise the controller will be faulted Setting a value for LPSetting is optional for certain counting modes To learn more about HscAppData variable input see HSC APP Data Structure on page 117 When using HSC function blocks it is recommended that you
305. ut Your Controller Installation Considerations 10 EMC Directive This product is tested to meet Council Directive 2004 108 EC Electromagnetic Compatibility EMC and the following standards in whole or in part documented in a technical construction file e EN 61131 2 Programmable Controllers Clause 8 Zone A amp B e EN 61131 2 Programmable Controllers Clause 11 e EN 61000 6 4 EMC Part 6 4 Generic Standards Emission Standard for Industrial Environments e EN 61000 6 2 EMC Part 6 2 Generic Standards Immunity for Industrial Environments This product is intended for use in an industrial environment Low Voltage Directive This product is tested to meet Council Directive 2006 95 ECLow Voltage by applying the safety requirements of EN 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests For specific information required by EN 61131 2 see the appropriate sections in this publication as well as the following Allen Bradley publications e Industrial Automation Wiring and Grounding Guidelines for Noise Immunity publication 1770 4 1 e Guidelines for Handling Lithium Batteries publication AG 5 4 e Automation Systems Catalog publication B115 Most applications require installation in an industrial enclosure Pollution Degree 24 to reduce the effects of electrical interference Over Voltage Category 12 and environmental exposure Locate your controller as far as possible from p
306. ving part reaches the commanded position for MoveAbsolute and MoveRelative function blocks For MoveAbsolute and MoveRelative function blocks when In_Position is enabled the controller will report an error EP_MC_MECHAN_ERR if the signal is not active within five seconds when the last PTO pulse sent out Not Shared Home Marker Rockwell Automation Publication 2080 UM002F EN E December 2013 INPUT This signal is the zero pulse signal from the motor encoder This signal can be used for fine homing sequence to improve the homing accuracy Not Shared 65 Chapter 7 66 Motion Control with PTO and PWM 2080 LC30 xxQVB 2080 LC50 xxQVB Sample Motion Wiring Configuration on 2080 LC30 xx0VB 2080 LC50 xx0VB Encoder signal cable Pin 49 CLK Pin 12 CLK Motor power cable Kinetix3 46056 Notes 1 Drive Enable Pin 3 and Reset Drive Pin 7 will be operating as sourcing inputs when Pin1 2 connected to of the Power Supply 2 To help you configure Kinetix3 drive parameters so the drive can communicate and be controlled by a Micro830 Micro850 controller see publication CC QS025 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 Sample Motion Wiring Configuration on 2080 LC30 xx0BB 2080 LC50 xx0BB Encoder signal cable Motor power cable Kinetix3 46047 2080 LC30 xxQBB 2080 LC50 xx
307. volution TIP A red border on an input field indicates that an invalid value has been entered Scroll over the field to see tooltip message that will let you know the valid value range for the parameter Supply the valid value 96 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control with PTO and PWM Chapter 7 4 Set Homing parameters based on the description below Click Homing axis Homing Homing Parameters Parameter Homing Direction Homing Direction Negative Homing Velocity 25 0 mm sec Homing Acceleration 250 mm sec i s Homing Deceleration 250 mm se Homing Jeric 00 mm sec C Home Marker D Stop Home Creep Velocity 50 mm sec Home Offset 00 mm Home Marker Input 10_EM_D1_02 Input 10_EM_DL High gt Active Level Hig Value range Positive clockwise or negative counterclockwise Homing Velocity Range 1 100 000 pulse sec Default 5 000 0 pulse sec 25 0 mm sec NOTE Homing Velocity should not be greater than the maximum velocity Homing Acceleration Range 1 10 000 000 pulse sec Default 5000 0 pulse sec 25 0 mm sec NOTE Homing Acceleration should not be greater than Maximum Acceleration Homing Deceleration Range 1 10 000 000 pulse sec Default 5000 0 pulse sec 25 0 mm sec NOTE Homing Deceleration should not be greater than Maximum Deceleration Homing Jerk Range 0 10 000 000 pu
308. w Setting HSCAPP UFSetting Description Data Format User Program Access HSCAPP UFSetting long word 32 bit INT read write The HSCAPP UFSetting defines the lower count limit for the counter If the counter s accumulated value decrements past the value specified in this variable an underflow interrupt is generated When the underflow interrupt is generated the HSC sub system resets the accumulated value to the overflow value and the counter then begins counting from the overflow value counts are not lost in this transition The user can specify any value for the underflow position provided it is less than the overflow value and falls between 2 147 483 648 and 2 147 483 647 Rockwell Automation Publication 2080 UM002F EN E December 2013 125 Chapter8 Use the High Speed Counter and Programmable Limit Switch TIP Data loaded into the underflow variable must be less than or equal to the data resident in the low preset HSCAPP LPSetting or an HSC error is generated Output Mask Bits HSCAPP OutputMask Description Data Format User Program Access HSCAPP OutputMask word 32 bit binary read write The HSCAPP OutputMask defines which embedded outputs on the controller can be directly controlled by the high speed counter The HSC sub system has the ability to directly without control program interaction turn outputs ON or OFF based on the HSC accumulator reaching the High or Low presets The bi
309. want to use an isolation transformer in the AC line to the controller This type of transformer provides isolation from your power distribution system to reduce the electrical noise that enters the controller and is often used as a step down transformer to reduce line voltage Any transformer used with the controller must have a sufficient power rating for its load The power rating is expressed in volt amperes VA Power Supply Inrush During power up the Micro800 power supply allows a brief inrush current to charge internal capacitors Many power lines and control transformers can supply inrush current for a brief time If the power source cannot supply this inrush current the source voltage may sag momentarily The only effect of limited inrush current and voltage sag on the Micro800 is that the power supply capacitors charge more slowly However the effect of a voltage sag on other equipment should be considered For example a deep voltage sag may reset a computer connected to the same power source The following considerations determine whether the power source must be required to supply high inrush current e The power up sequence of devices in a system e The amount of the power source voltage sag if the inrush current cannot be supplied e The effect of voltage sag on other equipment in the system If the entire system is powered up at the same time a brief sag in the power source voltage typically will not affect any equipment
310. when the user adds the first motion axis in the motion configuration This instance is shared by all user configured motion axes Data Elements for MC_Engine_Diag Element name Data Type MCEngState UINT16 CurrScantimel UINT16 MaxScantime UINT16 CurrEnginelnterval UINT16 MaxEnginelnterval UINT16 ExtraData UINT16 1 The time unit for this element is microsecond This diagnostic information can be used to optimize motion configuration and user application logic adjustment MCEngstate States State name State Description MCEng_ldle 0x01 MC engine exists at least one axis defined but the engine is idle as there is no axis is moving The Engine diagnostic data is not being updated MCEng_Running 0x02 MC engine exists at least one axis defined and the the engine is running The diagnostic data is being updated MCEng_Faulted 0x03 MC engine exists but the engine is faulted Function Block and Axis All motion control function blocks share the same ErrorID definition Status Error Codes Axis error and function block error share the same Error ID but error descriptions are different as described in the table below TIP Error code 128 is warning information to indicate the motion profile has been changed and velocity has been adjusted to a lower value but the function block can execute successfully 86 Rockwell Automation Publication 2080 UM002F EN E December 2013 Motion Control
311. wneetk 12 Safety Considerations iy iehduch Anes ees ea eens as oe 12 North American Hazardous Location Approval 13 Disconnecting Main Powers Acie tech chen ce Midas SEUE Gl ls 13 Safety Gre wit sacsert soek Se oa ts 4 cence teller eee A ae aut 14 Power Distribution 55 tacsnag no ale in emeteaa tain ee lee R ts 14 Periodic Tests of Master Control Relay Circuit 14 Power Considerations oeie scaled were stern uae dolaauew es er hcis 14 Isolation Transformers cncacseri ets eg ta Gee etee 15 Power Supply Inrush cs csa0 cae swatintenensamicwniua deere baw ats 15 Loss of Power Sources wa ci teen abel bubs Mia ee eee lel 15 Input States on Power Dowty j 3siisions cahebieee cadena 16 Other Types of Line Conditions 2c o tes exceeds nnevedananes 16 Preventing Excessive Heat accsancssiuada ct eee ed caer eats 16 Master Control Relay fever oe crettrtesetcanieletavcees cave 16 Using Emergency Stop Switches 0 0 c eee scene cee eeees 17 Schematic Using IEC Symbols eed eur aronetveee tana eens 19 Schematic Using ANSI CSA Symbols nissen 20 Chapter 3 Controller Mounting Dimensions 00 00 ce seen ee eee e es 21 Mounting DIMENSION ioc eit ca ua oy es Bee ch 21 DIN Rail Mounting id Rove sitots eta ain ade Ye eenecniwan es 23 Pane Mounting yea stata ienien anatase E aa ss 24 Rockwell Automation Publication 2080 UM002F EN E December 2013 vii Table of Contents Wire Your Controlle
312. xample microSD card Note True only on the first scan after a powerup or running a new ladder for the first time Rockwell Automation Publication 2080 UM002F EN E December 2013 57 Chapter6 Program Execution in Micro800 Memory Allocation Guidelines and Limitations for Advanced Users 58 Variable Retention Micro830 and Micro850 controllers retain all user created variables after a power cycle but the variables inside instances of instructions are cleared For example A user created variable called My_Timer of Time data type will be retained after a power cycle but the elapsed time ET within a user created timer TON instruction will be cleared Unlike Micro830 Micro850 controllers Micro810 and Micro820 controllers can only retain a maximum of 400 bytes of user created variable values This means that after a power cycle global variables are cleared or set to initial value and only 400 bytes of user created variable values are retained Retained variables can be checked at the global variable page Depending on base size available memory on Micro800 controllers are shown in the table below Memory Allocation for Micro800 Controllers Attribute 10 16 point 20 point 24 and 48 points Program stepsl 4K 10K 10K Data bytes 8 KB 20 KB 20 KB 1 Estimated Program and Data size are typical program steps and variables are created dynamically 1 Program Step 12 data bytes These specificatio
313. y 171 Micro830 10 Point Controllers 147 Micro830 16 Point Controllers 151 Micro830 24 Point Controllers 154 Micro830 48 Point Controllers 158 Micro830 Relay Charts 163 status indicators 2 ethernet 8 fault status 230 input status 229 module status 8 230 network status 8 230 on the controller 229 output status 230 power status 229 run status 229 serial communications 230 STI Function configuration 222 status information 222 STS instruction 214 Rockwell Automation Publication 2080 UM002F EN E December 2013 252 Index surge suppressors for motor starters 32 recommended 32 using 30 system assembly Micro830 and Micro850 24 point controllers 26 27 T timing diagrams quadrature encoder 120 touch probe input switch 63 64 troubleshooting 229 U UID instruction 216 UIE instruction 217 UIF instruction 218 upper positive limit switch 63 64 user fault routine creating a user fault routine 213 recoverable and non recoverable faults 213 user interrupts configuration 213 disable instruction 216 enable instruction 217 flush instruction 218 priority of 211 using interrupts 209 V velocity input 68 W wiring diagrams 33 controller 29 examples 38 recommendations 29 Rockwell Automation Publication 2080 UM002F EN E December 2013 Rockwell Automation Publication 2080 UM002F EN E December 2013 253 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its
314. y wiring based on signal characteristics For example you may use blue for DC wiring and red for AC wiring Wire Requirements Wire Size Type Min Max Micro830 Solid 0 2 mm 24 AWG 2 5mm 12 AWG rated 90 C 194 F Micro850 insulation max Controllers Stranded 0 2 mm 24 AWG 2 5 mm 12 AWG Use Surge Suppressors Because of the potentially high current surges that occur when switching inductive load devices such as motor starters and solenoids the use of some type of surge suppression to protect and extend the operating life of the controllers output contacts is required Switching inductive loads without surge suppression can significantly reduce the life expectancy of relay contacts By adding a suppression device directly across the coil of an inductive device you prolong the life of the output or relay contacts You also reduce the effects of voltage transients and electrical noise from radiating into adjacent systems 30 Rockwell Automation Publication 2080 UM002F EN E December 2013 Wire Your Controller Chapter 4 The following diagram shows an output with a suppression device We recommend that you locate the suppression device as close as possible to the load device DC or L1 Suppression device Te AC orD 0 f lt DC COM or L2 If the outputs are DC we recommend that you use an 1N4004 diode for surge suppression as shown below For inductive DC load devices a dio

Micro830 and Micro850 Programmable Controllers

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