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SLC Servo Module - Rockwell Automation

1. Wiring the SLC Servo Module 5 21 Figure 5 17 Wiring Diagram for 1389 Drives A B System Ground Frame G2H G1H GOW C Main Disconnect Fuses OV AG TB1 1 X1 H1 e 1 TB1 2 2 M TB1 3 240 480 AC HETH H4 NS 3 Phase 1 TB1 7 o 6 H7 FOTO ze 1389 Isolation E yg 280 AC TELS m Control Transformer Transformer P1 P2 i TB 1 Hi 120V Thermal Reset NEL DRIVE IN F M1 Transformer TB2 2 S ENABLE Switch Reset Return B x TB2 3 O 182 4 Bus UV P o L isolated TB2 5 Enable Source E ee Enable Source ESTOP EUH 182 7 424V Enable Source i WST Ca P B TB2 8 L RES PB Enable Source RES PB O S TB2 9 RESET Er TB2 10 System 9 OK STRING IN MT TS STRING OUT Axis
2. H DRIVE S ENABLE i g n O T EGO drj O B t HO Estop C LE 24V Reset TB4 E M Respe 11 m i RES PB NS TB4 es RESET PE O 9 STRING IN TB4 13 M STRING OUT 9 14 4 15 M 16 h I 120V AC 1 amp TB4 17 DROK closed OK switch TB4 18 52 4 must be off Refer to Velocity I publication 1391ES 5 0 for Command TB4 22 information on S2 4 TB2 Ref 1 2 Ref 2 Pd 23V DC et Enable DRIVE 782 4 4 Source DRIVE Oo TB2 m Enable DRRET L nput SHLD ido TB2 11 2 12 T Bulletin 1391 Drive D m TB4 TB4 18 17 C G P1 P2 O4FO OT1O OTTO Remote Axis DROK Estop Overtravel See Bulletin Bulletin See Drive 1391 Drive 1326 Motor Transformer above above above Publication 1746 6 1 2 July 2000 5 244 Wiring the SLC Servo Module Figure 5 20 Wiring Diagram for 1391 Drives continued
3. Connecting to the Connecting to the 1746 HSRV 1746 HT U mec 28 ST st H zi E ane E al He 1746 E Cable E Ho j an 1 Publication 1746 6 1 2 July 2000 Chapter 5 Overview Complying with European Union Directives Wiring the SLC Servo Module After mounting and connecting the termination panel you wire fast inputs outputs and your Estop string to the termination panel when you wire the system power supply encoders and drives This chapter includes the following topics e Complying with European Union directives Wiring fast inputs and outputs Wiring hardware overtravels Connecting home limit switch as a fast input e Wiring Estop connections Wiring power supplies Wiring encoders Wiring Allen Bradley drive connections Connecting the velocity command If this product is installed within the European Union or EEA regions and has the CE mark the following regulations apply EMC Directive If this apparatus is tested to meet Council Directive 89 336 Electromagnetic Compatibility EMC in accordance with Article 10 CD the following standards apply in whole e EN 50081 2 EMC Generic Emission Standard Part 2 Industrial Environment e EN
4. EU E pu ENABLE Ground 8 Stud a 9 1 Speed Ref EO w I Fol qc H 2 Speed Ref Bulletin 1392 ESTOP dm A 5 3 d RES PB ol Standard Parallel RES PB o ol 4 Interface J9 STRING IN a Fs Main Control Board STRING OUT 5 op 5 Coast to Stop FAST 1 0 s Fla o 6 Drive Enable 424 Q na 7 External Reset x 5 FI 3 8 a RET o1 Customer 0 Volts F0 1 3 Drive 10 Ready Estop String A CE cO CE 4 Remote Axis i Estop _ Overtrave Motor Transformer Thermal Thermal i ee E Switch Switch a P n f i 12V DRIVE Velocity Command CH CH CH CH CH CH Cust B prive T OO XX A 7 7 0 Volts Us DR RET od i m M rerz rers rara ram LN ENCODER pun CH A HI T 7 CH A LO si AB SHLD SL Fy S ss 2 2 10 el A Z SHLD T CH Z HI x CH Z LO ne amp l n Important This connection is required if the system is grounded at one end only We recommend grounding the System at the drive amplifier only 12V Power Supply user supplied Publication 1746 6 1 2 July 2000 5 26 Wiring the SLC Servo
5. ENCODER CH A HI io oO CH A LO go AB SHLD Os CX A CH B HI o O E 1 B CH B LO iF Z SHLD OT SOR B CH 2 HI oO Z Optical CH Z LO o O Encoder XX 2 ENCODER POWER 5V O 9 N 2 5V RET O XX Case 15V O Ground SHLD Tri OH 5V Return 1 Use three pair 22 gauge individually twisted and shielded cable Use one pair 18 gauge twisted and shielded cable 3 Encoders must have 45V compatible differential line drive outputs on channels A B and Z DS 8830 or equivalent 845H Figure 5 14 15V Encoder Feedback Connections ENCODER CH A HI O oie 3 CH A LO 57 AB SHLD xX A CH B HI m CH B LO mmo Z SHLD drj Q4 xX B B bun 4 Z c Optical CH Z LO O xx 5 Encoder ENCODER POWER 92v o 15 Return 15V Ground SHLD 59 15V Use three pair 22 gauge individually twisted and shielded cable Use one pair 18 gauge twisted and shielded cable 3 Encoders must have 45V compatible differential line drive outputs on channels A B and Z DS 8830 or equivalent 845H Publication 1746 6 1 2 July 2000 5 18 Wiring the SLC Servo Module Wiring the SLC Servo to The SLC Servo Module supports 1386 1388 1389 1391 1392 1394 Allen Bradley Drives an
6. Mains System BUE Disconnect NC A Controller x Main Power Controller GND q A User B Power 7 H ER RRR LLLLLLLLLL L 5 L LLL LL Lt User System GND lt Connect to Cabinet GND see ATTENTION From TB1 1 From otor GND From GND GND h Stud Stud 4 From Motor Cable Shield xq F1 ads T aa FE x 285 pace 2 Sec Sec 5A 125V 19 Logic Bus MDX5 TB4 35 Cabinet Supply 20 GND 36V CT F2 TB4 Ka 5A 125V IT 21 2 Bus MDX5 m MCB es Phase Insensitive i O4 6 5 21 DN 4 Nw vh M TBS M P2 a s Supply To 5 230V AC 5 ML EdD Y Motor 7 99 9 T 9 Resolver e Ker to Bulletin 1326 ze Servo Motor TB5 GND Stud V TL TB5 Shunt BUS 12 Resistor Wirin NC 12 TB5 d Bulletin 1391 Drive D Publication 1746 6 1 2 July 2000 Wiring the SLC Servo Module 5 25 Figure 5 21 Wiring Diagram for 1392 Drives
7. 7 28 Setting Up Your SLC Servo Module Figure 7 5 Servo Loop Parameters in a Velocity Feedforward Loop Control Axis Motion Motor Tach Encoder Velocity and Acceleration COU ina Feedforward Position Following Drive Command Error Velocity ida T MU pua Command Feedrate Maximum Axis Gain Position Velocity Feedback e mel Incremental Position Feedback an Ba HH e and integrator Publication 1746 6 1 2 July 2000 and amplifier The following table contains the name file location and a brief description of the Servo Loop parameters For more detailed information about the parameters see Appendix A of this manual Name Location Description DAC Enable MO0 s 0 0 Enables provides or turns on the DAC output voltage or disables turns off DAC output by setting the DAC output to zero Invert DAC 0 0 1 Inverts the DAC output to change direction with respect to the positive and negative move Reverse Feedback 0 5 0 2 Reverses the sign of the incremental feedback position acquired every servo scan Loop Type M0 s 0 5 0 5 0 4 Type of loop closure Velocity Feedforward 0 5 32 33 Value of the feedforward constant used for the Constant velocity feedforward loop closure in percentage 0 0 to 1 0 Acceleration 0 34 35 Value of the feedforward constant used for the Feedforward velocity feed
8. F0 1 1746HT REVO1 TERMINATION PANEL 292mm 11 5 in Sh 70mm ra 2 75 in 89 3 5 in Installing Your SLC Servo Module 4 7 Connecting the Termination After mounting the termination panel connect it to the SLC Servo Panel Module with the 1746 HCA cable To connect the termination panel to the SLC Servo Module 1 Set the locking latches above and below the connector so the latch reads OPEN Open the door of the SLC Servo Module Hold the connector as shown in Figure 4 5 lef and insert it into the D sub connector on the SLC Servo Module until the connector is seated Insert a small flat edge screwdriver next to the locking latch located between the module door and connector Slide the locking latch to the right with your screwdriver Insert the small flat edge screwdriver next to the locking latch located between the module door and connector Slide the locking latch to the left with your screwdriver Connect the other end of the cable to the 1746 HT termination panel as shown in Figure 4 5 right Publication 1746 6 1 2 July 2000 4 8 Installing Your SLC Servo Module Figure 4 5 Connecting the 1746 HCA Cable
9. D 2 Estop Circuitry Drawings D 3 NOON coeno Da ase ec De pet H1 Publication 1746 6 1 2 July 2000 Table of Contents viii Publication 1746 6 1 2 July 2000 Preface Who Should Use this Manual Purpose of this Manual Safety Precautions Read this preface to familiarize yourself with the rest of the manual This preface covers the following topics who should use this manual purpose of this manual safety precautions contents of this manual related documentation conventions used in this manual receiving and storage information Allen Bradley support Use this manual if you are responsible for designing installing programming or troubleshooting the SLC Servo Module catalog number 1746 HSRV If you do not have a basic understanding of SLC 500 products understand programmable controllers or cannot interpret the ladder logic instructions required to control your application contact your local Allen Bradley representative for information on available training courses before using this product We recommend that you review one of the following before using the software Publication Publication Number Getting Results with RSLogix 500 9399 RL50GR Al Series Installation Guide 9399 AllG This manual is a user guide for the SLC Servo Module catalog number 1746 HSRV It gives you an overview of the SLC Servo Module an
10. 8 24 Blending Speed Moves 8 24 Publication 1746 6 1 2 July 2000 Programming System Variables Troubleshooting Table of Contents Plan Synchronized Move 8 25 Chapter 9 OV CROW Ere hg Mla Bra huey Bac Fo CRY d god 9 1 Using Position Initialization Commands 9 1 Using the Home Axis 9 1 Planning a Home Axis 9 2 Using the Set Home Command 9 3 Typical Set Home Move Data Tables 9 4 Using the Set Retract Position Command 9 4 Typical Set Retract Position Move Data Tables 9 5 Using the Preset Position Command 9 5 Typical Preset Position Move Data Tables 9 6 Using Online Configuration Commands 9 6 Using the Set Offset Command 9 6 Typical Set Offset Move Data Tables 9 7 Using the Set In Position Band Command 9 7 Typical Set In Position Band Move Data Tables 9 8 Using the Set Excess FE Limit Command 9 8 Typical Set Excess FE Limit Move Data Tables 9 9 Using the Set Axis Gain Command 9 9 Typical Set Axis Gain Move Data Tables 9 9 Using the Set VFF Command 9 11 Typical Set VFF Move Data Tables 9 11 Status
11. CHANNEL A HIGH 4 10 CHANNEL A LOW 5 CHANNEL B HIGH 990009099 um 6 CHANNEL Z HIGH 12 CHANNEL Z LOW XX 11 CHANNEL B LOW To perform a 1394 auto tune function the 1394 must be enabled prior to initiating the auto tune command However if the SLC Servo Module is not out of Estop the M1 coil will not energize and the AO Enable signal will not be present If it is necessary to auto tune the 1394 drive prior to the SLC Servo Module coming out of Estop do the following Place a temporary jumper between TB2 17 and the Stop PB to allow the M1 coil to energize Apply a 24V DC signal to the AO Enable input on the 1394 to execute the auto tune command Wiring the SLC Servo Module to 1398 ULTRA 100 200 When wiring the SLC Servo Module to an ULTRA 100 200 drive consider beforehand if homing to an encoder marker is necessary Publication 1746 6 1 2 July 2000 5 28 Wiring the SLC Servo Module Publication 1746 6 1 2 July 2000 because it directly affects how the 1398 is wired to the SLC Servo Module If Homing to a Marker is Go to Necessary Figure 9 24 Wiring Diagram for ULTRA 100 When Not Homing to a Marker and for ULTRA 200 Manufactured After July 31 1998 When Homing to a Marker Figure 5 25 Wiring Diagram for F and S series ULTRA 100 200 Manufactured Be
12. 9 11 Word 0 Discrete Bit Status Specifications 9 12 Blend Move Profile Segment Number 9 12 Word 1 Discrete Bit Status Specifications 9 13 Word 2 Discrete Bit Status Specs SLC Servo Module 9 14 Word 3 Discrete Bit Status Specifications 9 15 SLC Servo Module Processor 9 15 Informational Message or Fault Code 9 15 Floating dra rg adeo boe PG d 9 16 Chapter 10 CONGDUIQWE qe un qot cante Qe dti kre a Ga dae Se fun 10 1 Safety Pie CAUU ONS Sd sed star Ten a ep pom dU a eoa 10 1 HSRV Quick 10 1 Hardware Setup 10 2 Check wiring to diagram 10 2 Publication 1746 6 1 2 July 2000 Table of Contents vi Input Output Quick Reference Cable Dimensions and Wiring Diagram Publication 1746 6 1 2 July 2000 Do a battery box test If unable to control drive 10 2 Software SEP s acuit ph A t qe Pui ee qo Pe hed 10 2 Configure the HSRV 10 2 Downloading Your Configuration 10 2 If CONFIG INV LED 18511 10 3 Configuration 10 3 Jos the e Era BU DH Pee Y PES Er 10 5 Using the Speed Move Command 10 5 Troubleshooting LED Indicators xii ees es 10 6 Error Mes
13. Publication 1746 6 1 2 July 2000 9 10 Programming System Variables Publication 1746 6 1 2 July 2000 For example the following three tables show how the gain can be manipulated for and during a given motion Gain can be manipulated for and during a given motion when the SLC sends Set Axis Gain with a gain value of 1 Word Value Description Othrough 3 0000 0000 0000 0000 Bit commands 4 0000 0000 0000 0000 N A 5 0000 0100 0000 0000 Set Axis Gain 6 7 1 0 Gain 1 0 Gain can be manipulated for and during a given motion when the SLC sends Speed Move Word Value Description Othrough 3 0000 0000 0000 0000 Bit commands 4 0000 0000 0000 0100 Speed Move 5 0000 0100 0000 0000 N A 6 7 1 0 Acceleration Ramp 100 8 9 5 0 Speed 5 0 inches per second Gain can be manipulated for and during a given motion when the SLC iteratively sends Set Axis Gain with a modified gain possibly based upon axis position during execution of the Speed Move Word Value Description Othrough 3 0000 0000 0000 0000 Bit commands 4 0000 0000 0000 0000 N A 5 0000 0110 0000 0000 Set max FE and Axis Gain 6 7 XX Max FE X X 8 9 YY Gain YY Programming System Variables 9 11 Using the Set VFF Command The Set VFF command specifies the amount of position command fed forward to reduce the amount of following error during axis motion Set VFF parameters fo
14. s 3 13 Blend Move Profile Configuration in Progress s 3 14 Servo Configuration in Progress 5 3 15 Synchronized Move Ready s Slot number for the SLC Servo Module Use the table below to locate SLC Servo Module to SLC processor discrete control status bits Status Block Command Parameters Location Format Possible Values Default Informational Message or Fault 5 4 USHORT 0 to 65 535 0 Code Reserved 5 5 STDSHORT 32 767 to 432 767 0 Actual Position l s 6 l s 7 FLOAT axis travel limit to axis travel limit 0 0 Following Error l s 8 l s 9 FLOAT axis travel limit to axis travel limit 0 0 Current Speed I s 10 Es 11 FLOAT physical limit to physical limit 0 0 16 Slot number for the SLC Servo Module Publication 1746 6 1 2 July 2000 A 14 Input Output Quick Reference Blended Configuration Use the table below with the Blend Move Output Profile word 0 bit 14 Block Command Parameters Destination M Format Possible Values Default File Location Blend Move Profile 0 5 0 BITS 11XX XXXX XXXX PPPP 0 Number of Blend Points MO s 1 USHORT 1 to 32 0 Acceleration Ramp 1 MO s 2 s 3 FLOAT 0 0 to 1 0 1 0 Speed 1 MO s 4 s 5 FLOAT 0 0 to physical limit 0 0 Absolute Position 1 MO s 6 s 7 FLOAT axis travel limit to axis travel limit 0 0 Acceleration Ramp 2 MO s 8 s 9 FLOAT 0 0 to 1 0 1 0 Speed 2 MO s 10 s 11 FLOAT 0 0 to
15. 54 DRIVE READY CH B LO DIRVE READY Z SHLD Q1 dl 25 CH Z HI og 24 VOC CH ZLO 24V DC for Encoder Power ULTRA 100 J2 Connector 5V e WM E a y D a p Only RET 4 7 GRAY 15V SHLD 2 LENG WHITE GRAY ENC BROWN 4 LENG WHITE BROWN Ext Power 5 ENC YELLOW S 45V ENC WHITE YELLOW S RET A 7 A BLACK S 15V i X 5 WHITE BLACK S RET A B RED 15V 9 N 24V A X 10 B WHITE RED S 24 RET Fal l GREEN gt EGND A WHITE GREEN Drive Fault 13 HALL A ORANGE Reset q4 HALL B WHITE ORANGE Drive Enable 15 C BLUE e oH eo _ I g m Estop Estop Reset PB j P N 9101 1373 24V Bn Encoder d RES PB Motor RES PB Am RESET LT STRING IN Q Y 1398 ULTRA 100 STRING OUT 913 Series 2 s Motor Over Estop PB J2 Fast I O Travel FLA o Limits 24V o FI 2 o Motor 24V FI 3 RET Ji FO P N 9101 1369 Publication 1746 6 1 2 July 2000 5 32 Wiring the SLC Servo Module Connecting the Velocity Command Publication 1746 6 1 2 July 2000 Use 18 through 22 gauge shielded twisted pair wire to connect the analog velocity command output signal consisting of Drive and DR Ret connections from the termination panel Drive connector to the corresponding terminals of the variou
16. typical vendor encoder 5 15 Estop connections for one axis system 5 7 normal operation 5 7 maintaining electrical continuity 5 7 verifying connections and operation 5 7 Estop for multi axis system 5 10 fast Inputs 5 2 fast inputs and outputs 5 2 hardware overtravel limits software overtravel limits 5 5 hardware overtravels 5 4 home limit switch connecting as a fast input 5 5 home limit switch as a fast input 5 5 outputs 5 2 overview 5 1 routing wires 3 2 SLC Servo Module when Homing to a Marker 5 28 software overtravel limits 5 5 to Allen Bradley Drives 5 18 using an 845H equivalent encoder 5 15 vendor encoder timing diagram 5 16 without termination panel distances to user devices D 2 Estop circuitry drawing overview D 3 fast inputs and outputs D 1 wiring diagrams reference D 3 without the Termination Panel D 1 Distances to User Devices D 2 Using Fast Inputs and Outputs D 1 wiring practices general wiring 3 1 shielded cables 3 1 Word 0 discrete bit commands 8 6 8 7 Word 1 discrete bit commands 8 8 World Wide Web site P 7 Publication 1746 6 1 2 July 2000 Publication 1746 6 1 2 July 2000 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 Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32
17. ORENSE eed 7 2 Position Loops sud s ere P dog RERO pate Bisnis Powering Up the SLC Servo 73 Configuring the SLC 7 3 Configuring Your Processor Using AI 500 Software 7 4 Configuring Your Processor Using APS Software 7 5 Configuring Your Processor Using RSLogix 500 Software 7 7 Automatically Configuring the SLC Servo Module 7 7 Manually Configuring the SLC Servo Module 7 8 The SLC Servo Module Interface 7 11 Configuring the SLC Servo 7 11 Data Type 7 12 Before Programming the SLC Servo Module 7 12 Communicating SLC Processor amp SLC Servo Module 7 13 Entering Encoder Lines and Computing Counts 7 13 Computing Counts Per Position Unit 7 14 Computing Maximum Speed Scaler 7 14 Initializing DAC Output Voltage for Drive Symmetry 7 16 Setting Initial Loop 7 16 Defining Positive Axis Movement for SLC Servo Module 7 17 Coarse 7 18 FANS BC ev nne area mete ea C e CC DR Ad 7 18 Computing Excess Following Error Limit 7 19 Selecting Loop 7 20 Selecting Axis Acceleration 7 21 Determining Velocity and Acceleration Feed
18. Publication 1746 6 1 2 July 2000 5 6 Wiring the SLC Servo Module Wiring Estop Connections Publication 1746 6 1 2 July 2000 backplane input Though the exact position of home is not important it is important that the home position is e A repeatable resting place for the axis when it is not used Free of obstruction from another moving axis To connect a home limit switch 1 Place the limit switch near the home position that you want 2 Adjust the encoder so that the marker is approximately 1 2 revolution from the limit switch closure IMPORTANT If you do not adjust the encoder home can be off by one encoder revolution The SLC Servo Module detects and controls Estop conditions Each SLC Servo Module has a separate and independent Estop circuit Refer to the documentation that came with your drive for recommendations on correctly wiring your external Estop string A hardware Estop is caused by the following Broken wire in the user power cable Power fail signal from chassis backplane Watch dog time out on SLC Servo Module e Software Estop conditions A contact in the external Estop string or a broken missing wire opens the string e g when someone pushes the Estop push button Specifications for Estop relay on the SLC Servo Module appear in the table below Specification Rating Maximum contact voltage rating 80V DC max Operate time 500ys average Contact bounce less tha
19. Specification Rating Maximum channel frequency Incoming quadrature frequency is limited by the following relationship FQUAD Hz 3334 90 EQ where EQ quadrature error degrees electrical For example for an 845H encoder with 22 quadrature error the maximum frequency would be FQUAD Hz 3334 90 22 quadrature error 226 712 Hz Important The maximum quadrature error is a limit and system design should include acceptable margins Maximum axis speed The SLC Servo Module decodes the incoming encoder feedback in quadrature to extract the maximum resolution with four counts per electrical cycle The maximum number of encoder counts per second can be determined by Maximum of counts second 4 counts cycle x Fauan The maximum axis speed as limited by the encoder feedback would be maximum of counts second 60 4E N where E the number of encoder lines per revolution N number of revolutions of the encoder per inch or millimeter of axis travel For a rotary axis N number of revolutions of the encoder per revolution of the axis For a linear axis the units are inches or millimeters per minute For a rotary axis the units are revolutions per minute Input signal Encoder feedback must be differential with 5V compatible output signals open collector outputs are not supported i e channels A B and Z must have source and sink current capability 8830 line driver ou
20. 1747 DSN 7 Distributed 1 0 Scanner 1 0 Block 1747 05 30 Distributed 1 0 Scanner 30 1 0 Block 1746 FIO 4I Fast Analog 2 Ch In 2 Ch Current Qut l 45 FID4V Fast Analog 2 Ch In 2 Ch Volt Qut 1746 HS Single Axis Motion Control I1 746 HSCE High Speed Counter Module Ady 80700 Help Hide All Cards 746 HSRV Motion Control Module zl 7 To automatically configure your SLC Servo Module select Read I O Config The Read I O Configuration From Online Processor window appears showing the parameters of the read process Read I0 Configration from Online Processor x Driver Route Processor Node fi Decimal 21 AB PIC 1 al Octal Last Configured rac Mode 1d local X Reply Timeout fi 0 Who ctive Cancel Read ID Config 8 Select Read I O Config The SLC processor reads the configuration Manually Configuring the SLC Servo Module To configure your SLC Servo Module in manual mode 1 From the menu bar select File The File menu appears Setting Up Your SLC Servo Module 7 9 2 Select New The Select Processor Type window appears Select Processor Type x Processor Name TURBO EX nr 05500 Cancel 5705 1747 L551 5705 CPU 1747 1543 5 04 CPU 1747 1542 5 04 CPU 1747 1541 5 04 CPU 1747 1542 5 04 CPU 1747 L532C D 5 03 CPU 1747 L531 5 03 CPU 1747 L532B 5703 CPU 1747 L532 703 CPU Men 16K Mem 05500 64K Mem 05401 32K Mem
21. 8 12 Programming the SLC Processor to Run the SLC Servo Module position causing a positive or negative move depending on the current axis position Absolute and incremental move parameters for word 4 bit 0 1 appear in the table below Block Command Location1 Format Possible Values Default Parameters Absolute Move OR 0 s 4 BITS X000 0000 0000 0001 absolute 0 Incremental Move X000 0000 0000 0010 incremental 0 More Bit Specifications 0 s 5 BITS 0000 0000 0000 0000 0 Acceleration Ramp 0 s 6 0 s 7 FLOAT 0 0 to 1 0 1 0 Speed 0 s 8 0 s 9 FLOAT 0 0 to physical limit 0 0 Position Decrement 0 s 10 0 s 11 FLOAT axis travel limit to axis travel limit 0 0 s Slot number for the SLC Servo Module The SLC Servo Module responds differently depending on which command has not completed if any when the Incremental Move is initiated as shown in the table below If you initiate this And initiate an incremental move before the command first command is finished the Servo Module Absolute Move Adds the absolute and incremental moves together and stops when the moves are complete Incremental Move Adds the incremental moves together and stops when the moves are complete Speed Move Blends the speed move to the incremental move and stops when the incremental move is complete None no command Moves the distance of the incremental move and stops when the move is complete If the SLC Servo Mod
22. Figure 8 1 Download Blend Profile I2 COPY FILE Source F51 0 use JA Dest M0 1 2 Download Enable p Length 30 Configuration Once COPY FILE Source N50 0 Dest M0 1 0 Length 2 Note SLC Servo Module is located in Slot 1 In this ladder the floating point file F51 0 and integer file N50 0 contain the configuration for the SLC Servo Module in slot 1 These are copied once to the MO file for slot 1 when requested Understanding Configuration Errors The CONFIG INV LED on the SLC Servo Module lights up when you power up or after you power up to indicate an invalid configuration If a configuration file is not present or is invalid for any reason the configuration error input bit 14 in configuration mode input status word 1 is set 1 5 1 14 Input status word 4 of the module reports the errors detected I s 4 Refer to the Troubleshooting chapter for a list of configuration errors The configuration parameters for word 0 bit 14 are described in the tables below Programming the SLC Processor to Run the SLC Servo Module 8 3 Block Command Source N Destination M Format Possible Values Default Parameters File File Location Location Blend Move Profile Nn 0 MO s 0 BITS 11 XX XXXX XXXX PPPP 0 0 Number of Blend Points Nn 1 MO s 1 USHORT 1 to 32 0 0 Nn Source N file number containing the module configuration
23. Remote 1 T2 P2 mng Overtrdvel Estop Motor Transformer Extreme Thermal Thermal DRIVE Switch Switch see T1 T2 on see P1 P2 E al DRIVE O above El DR RET ON SHLD Power ll Supply E Ref Ref D 5 b Velocity Command i XX l TIUS CT Important This connection is required if the system is grounded at one end only We recommend grounding the system at the drive amplifier only Publication 1746 6 1 2 July 2000 5 22 Wiring the SLC Servo Module Figure 5 18 Wiring Diagram for 1389 Drives continued A GND 1 Chassis Motor Ground Stud MT Thermal _ Switch 1389 Drive Servo Amplifier BK1 Ji 5 Ug ie Brake e e e 2 Option rh pa TB3 2 Ji 1 47 J1
24. The high level on is state output current Maximum 5V each output 20 0 mA Minimum 0V each output 20 0 mA ATTENTION To avoid damage to your equipment do not overload a 5V fast output circuit by wiring it for 24V Publication 1746 6 1 2 July 2000 D 2 Wiring Without the Termination Panel Distances to User Devices Wiring Your User Devices Publication 1746 6 1 2 July 2000 Figure D 1 Circuitry in the SLC Servo Module for Fast Inputs and Outputs Input Circuit 2 1 47 ohms oc AA Pin 5 4 or 3 24V circuit 01microfarads 15 ohms Output Circuit 1 2 T gt o Pin 2 5V circuit SLC Sevo Module There are no distance limits for encoders or drives Given the limits of your power supply you must calculate the maximum distance at which the current requirements for the drive or encoder are met In these calculations you must allow for voltage drops over the length of the cable Refer to the cable manufacturer s specifications to determine the voltage drop in your cable Use the wiring diagrams in Wiring Fast I O and Estop and Wiring Power Supplies Encoders and Drives to help wire your user devices to the SLC Servo Module Match the connector signals from the SLC Servo Module with the signals on the connector blocks of the termination panel There is a one to one connection relationship between these connectors except for the Estop and drive enable signals
25. With acceleration feedforward you add a percentage of the computed acceleration command to the position error velocity command Acceleration feedforward only affects the axis following error on a velocity transition We use this percentage along with high values of velocity feedforward Select a value acceptable for the application Publication 1746 6 1 2 July 2000 7 24 Setting Up Your SLC Servo Module Setting Axis and Home Specific Parameters Programming Conventions Publication 1746 6 1 2 July 2000 The rest of the parameters are axis and home specific You can set these parameters up to the value that you want but we recommend that the home speeds be about 196 of the maximum speed Configuring the SLC Servo Module The SLC Servo Module accepts and generates different types of data Binary data that is compatible with the binary or integer files for the SLC processor Integer data that is compatible with the SLC processor integer files Floating point data that is compatible with the SLC processor floating point files As the module interfaces to floating point files it is only compatible with the SLC 5 03 FRN 5 0 and above processors Refer to the SLC 500 Reference Manual publication 1747 6 15 for the floating point file information Downloading Your Configuration When you download your configuration using the MO file for the module that you want the types of data that are included are e Discrete parame
26. as a minimum Maximum Axis Gain Value Position Units per Minute per One Thousandth of the Position Unit Servo Loop Commands 0 42 5 43 0 0 to 10 0 s Slot number for the SLC Servo Module Output Commands Set this parameter to the maximum gain that the axis can handle without becoming unstable This parameter is set up at axis integration time Refer to the Setting Up Your Servo Module chapter in this manual for more information Use the following tables to locate word 0 word 1 word 2 word 3 word 4 and word 5 output commands Publication 1746 6 1 2 July 2000 A 10 Input Output Quick Reference Publication 1746 6 1 2 July 2000 Discrete Bit Output Command Word 0 Location Bit Specifications 0 s 0 0 Estop Request 0 s 0 1 Retract Position 0 s 0 2 Hold Unhold Move 0 s 0 3 Cancel Move 0 s 0 4 Reserved 0 s 0 5 Execute Synchronized Move 0 s 0 6 Initialize Retract Position 0 s 0 7 Turn On Off Fast Output 0 s 0 8 Turn On Off Module Requests for Service 0 s 0 9 through 0 s 14 Reserved 0 s 0 15 Mode Flag 16 Slot number for the SLC Servo Module Discrete Bit Qutput Command Word 1 Location Bit Specifications 0 s 1 0 Reserved 0 s 1 1 Reserved 0 s 1 2 On Home Limit 0 s 1 3 through 0 5 13 Reserved 0 s 1 8 Clear Faults 0 s 1 9 Clear All Faults 0 s 1 10 through Reserved 0 s 15 s Slot nu
27. For many connections we recommend shielded cable Using shielded cables and properly connecting their shields to ground protects against electromagnetic noise interfering with signals transmitted through the cables ATTENTION To avoid personal injury or equipment damage caused by unpredictable axis motion in your system use shielded cable as directed in this manual Within a cable pairs of wires are twisted together Using a twisted pair for a signal and its return path provides further protection against noise Shield wires should be terminated at one end only The termination panel is a convenient place to connect all shield wires while providing the necessary ground connection Publication 1746 6 1 2 July 2000 3 2 Planning Hardware Installation Routing Wires Publication 1746 6 1 2 July 2000 Cut the shield wires on the opposite end at the cable jacket and tape it to prevent contact with ground We also recommend keeping the length of leads that extend beyond the shield as short as possible In high noise environments you connect shield wires at both ends of the cable to improve the noise immunity of the system If this is done terminate one end of the shield to ground through a 0 1 uf capacitor to avoid ground loops in the system When you plan your wire route classify wires and cables connecting your SLC Servo Module system using the information in this table The table also tells you how to classify co
28. Monitor 0 Rung 16 BLEND Move An example of a BLEND move is shown in Rung 16 It initiates a BLEND move The bit specifications for this move are in file N52 For more information on adding an BLEND Move see the sections on the BLEND move in Chapter 8 Programming tbe SLC Processor to Run tbe SLC Servo Module Figure C 29 Rung 16 Data for the blend move in rung 16 is shown as it appears when accessed directly from the program Programming Examples C 17 Figure C 30 Blend Move Data Table for File N52 a Data File N52 dec BLEND MOVE Offse N52 0 Radix Decimal m Columns 10 The following is a table representation of the previous diagram Address Command N52 0 16 Blend 0 0 Rung 17 Clearing Move Bits This is an example of how to clear the move bits Rung 17 clears the move bits The bit specifications are in file N31 Figure C 31 Rung 17 OP 0017 Copy File Source amp N31 0 Dest 0 1 4 Length 8 This diagram shows the Data table for File N31 Publication 1746 6 1 2 July 2000 C 18 Programming Examples Figure C 32 Data Table for File N31 7 2 Data File N31 COMMANDS N31 0 Radix Decimal m Columns fio The table below is a table of the values shown in the previous diagram Address Command N31 0 0 0 Rung 18 Copying Status Information The following example shows how to copy the status information to the data file Rung 18 copi
29. The following diagram is of the Data table for file N7 It displays the integer values used in the rung Figure 10 3 Data Table for file N7 Data File N7 INTEGER 10 Poe ee 5 The above config is for a Y series servo 4500 rpm motor and 2000 line encoder units are scaled for the RPM The bits set in the Integer are basically homing to limit sw and marker with the home switch connected to FIN 3 on the HT panel Publication 1746 6 1 2 July 2000 Troubleshooting 10 5 Jog the Axis Using the Speed Move Command The speed move command generates a move at the specified speed in the direction determined by the sign of the speed specified The speed move ends if any one of the following occurs The move reaches an overtravel limit if overtravel limits are specified e The SLC processor cancels the move The Cancel Move bit is used to cancel the speed component of the move Setting the Cancel Move bit does not affect an Incremental Position command component i e the specified incremental position Command continues unless it is set to zero e An Estop occurs e e The SLC processor sends another move from the mutually exclusive move set including a move of the same type with different 96 Acceleration Ramp or Speed Figure 10 4 Ladder Rung For SPEED Move This rung initiates a SPEED move The move parameters are in file F44 The bits to set for initiating the move are in file N31
30. as shown in Figure 8 11 The new blend move end point value is less than the currently executing move The axis continues the current move at the current speed and decelerates to a stop at the end point of the current move The axis then reverses the direction and executes the next move i e no blending of speeds occurs as speed reverses as shown in Figure 8 12 Figure 8 10 Speed Decreases Direction Same End Point Greater Velocity Time End point of the current move The current move end point is less than the end point for the new move The speed for the new move is less than the speed for the old move Programming the SLC Processor to Run the SLC Servo Module 8 21 Figure 8 11 Speed Increases Direction Same End Point Greater l 0 0 Time End point of the current move Velocity The current move end point is less than the end point for the new move The speed for the new move is greater than the speed for the old move Figure 8 12 Speed Increases Direction Opposite End Point Less Velocity 0 End point of the current move The current move end point is less than the end point for the new move The speed for the new move is opposite to the speed for the current move Executing Several Blend Moves The following figure shows the speed profiles for several blend moves Publication 1746 6 1 2 July 2000 8 22 Pro
31. file location and a brief description of the Feedback parameters For more detailed information see Appendix A of this manual Name Location Description Encoder Lines M0 s 4 5 Specifies the number of lines per revolution of the input shaft This parameter would be in the encoder specification sheet Counts per Position 0 5 6 7 Specifies the number of encoder edges per Unit position unit Setting Up Your SLC Servo Module 7 27 Servo Loop Parameters Servo loop parameters specify the following Control axis motion DAC output to the axis drive Gain and excess following error Figure 7 4 and Figure 7 5 show how servo loop parameters work in a standard closed loop and a velocity feedforward loop Most servo loop parameter values are determined by using information in the Setting Initial Loop Type section of the Setting Ub Your SLC Servo Module chapter Figure 7 4 Servo Loop Parameters in a Standard Closed Loop Axis Motion Motor Tach Encoder p Maximum Axis Gain COU i Position Following Command Error Velocity Drive Amplifier Command p Feedrate Position Velocity Feedback e la Incremental Position m gm gm gm m Publication 1746 6 1 2 July 2000
32. 0 K RELAY RATED AT 115V AC 24V DC 1A INDUCTIVE To ground bar if not grounded elsewhere Important This connection is required if the system is grounded at one end only We recommend grounding the TB2 E system at the drive amplifier only T 2 E Drive Enable m 16 Contactor EN E s 17 Contactor EN B Sp x O 18 DROK as als I A m 19 DROK _ Estop B EIE us uS z RES PB RES L 24 AC DC Im Mod 120V AC STRING IN STRING OUT 50 60 Hz Motor Thermals Axis Overtravels STOP of 0 10 010 0 lt Important directly connect if not directly coupled Motor Thermals They must be isolated with a relay Publication 1746 6 1 2 July 2000 Wiring the SLC Servo Module 5 27 Figure 5 23 Wiring Diagram for 1394 Systems continued Bulletin 1394 AQB Board 1 Axis x Vref NE 7 Axis x Vref Important Connect only if Vref is not used on the input wiring board E 4 Axis x Tref 8 Axis x Tref DRIVE Io o ORE A3 User Supplied gt 5V DC Power Supply SHLD ee aaa eae i Connect this to the PE of the 1394 User Supplied gt 9 Power Supply Common CH A HI LO AB SHLD CH B HI CH B LO Z SHLD 2 CH Z LO
33. 0 Module ID code 10114 3 OTHER 1 0 Module ID code 10114 The following ladder rung examples may be modified to suit your particular application They accurately show how a ladder rung may be constructed to perform a specific function Rung 0 Manual Triggering Configuration The example in Rung 0 shows how to manually trigger a configuration Figure C 2 Rung 0 One Shot for Configure B3 0 11 Rung 1 Download Configuration Rung 1 shows how to set up a rung instruction to download the configuration to the SLC Servo Module in slot 1 of the backplane The Floating point configuration parameters are in file F8 and the discrete parameters are in file N7 For more specific information on configuring an SLC Servo Module see Chapter 7 Setting Up Your SLC Servo Module 0001 Data File Figure C 3 Rung 1 Figure C 4 File F8 Data Table Programming Examples OP Copy File Source Dest This table contains floating point configuration data for rung 1 as it appears when accessed by the program C 3 HE Columns 5 Desc Encader Lines Lines Rev Properties This table shows a breakdown of the integer values for each address Address Data F8 0 2000 8000 0 0 0 F8 5 0 0 45 45 0 F8 10 10 10 4500 1 0 F8 15 0 0 5 10 0 01 1 F8 20 0 Publication 1746 6 1 2 July 2000 C 4 Programming Examples This table shows the integer configuration d
34. 1 V A o TB3 3 B Motor C Sec 1 J1 36 9 2 BIk Rotor 1 Red White TB2 1 Rotor 1 B Wht Rotor 2 TB2 2 Rotor 2 Y el W h J1 2 TB2 3 Shield SINE 1 Blk Red 5f Ji 8 TB2 4 Sine 1 m Red e 3 TB2 5 Sine 3 SINE 3 TB2 6 Shield Resolver I BIk TB2 7 Cos 4 os 1 gm Yel TB2 8 Cos 2 COS 4 Blue J2 1 4 med TB2 9 Shield LN e e 12V I TB2 10 Shield Shield N C J2 2 5 J2 2 Bulletin 1326 e GND Servo Motor J2 3 6 J2 3 TB1 1 Tach Output e e 12V TB1 2 ICMD and Torque Monitor J2 7 J2 4 3 Sys Common e gt Enable afa TBI 4 42 8 12 5 gys Velocity EXE 1 5 Pur Command Ref J2 9 2 6 au 7 Shield TBA B e e TBI 7 Fault Pos Source TES ower assis i Supply Module pos RTN g D CMD Neg Source TB1 10 Neg RTN 1 Source TB1 11 L Limit CMD TB1 12 RTN TB1 13 L TB1 14 Drive OK isolated TB1 15 E F G Publication 1746 6 1 2 July 2000 Wiring the SLC Servo Module 5 23 Figure 5 19 Wiring Diagram for 1391 Drives
35. 16 5 17 The distance to the home position from the first encoder marker detected after the limit switch deactivates while the axis is moving off the limit switch Final Move to Which MO s 0 11 This bit specifies which marker the axis needs Marker to move to for the final move of both the Homing to a Marker and Homing to a Limit Switch and Marker home types Final Move to M0 s 0 12 This bit specifies if the final move to the marker Marker is performed for the axis Limit Source 0 1 0 Specifies the source for the home limit to be either the backplane or the termination panel Setting Up Your SLC Servo Module 7 31 Name Location Description Speed Direction of 0 18 19 This parameter is used during all homing Move Off the Limit operations except Homing Without a Limit Switch Switch or Marker Speed Direction of 0 5 20 21 This parameter is used during all homing Move to the Marker operations except Homing Without a Limit Switch or Marker Home Tolerance M0 s 36 37 Specifies the position band around the home System Parameters position Use the system parameters in the following table to define your system related specifications Name Location Description Enable Incremental 0 5 0 13 This bit enables incremental position command Position Command in the command mode i e words 2 and 3 Refer to Understanding Discrete Block Commands from the SLC processor in this chapter Blend Mov
36. 2 July 2000 C 10 Programming Examples Hold Move B3 0 0010 Estop request 3 0011 Publication 1746 6 1 2 July 2000 For more detailed information on putting a move on Hold Unhold using discrete bit commands see the Word 0 Discrete Bit Commands table in Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Figure C 16 Rung 10 Hold Unhold Move 1 2 1746 HSRV Rung 11 Program an Estop Request The following example in Rung 11 shows how to program an Estop Request When the bit B3 0 9 is toggled the SLC Servo Module is commanded to switch to the Estop state For more detailed information on entering an Estop Request using discrete bit commands see the Word 0 Discrete Bit Commands table in Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Figure C 17 Rung 11 Estop Request 1 1746 HSRV Rung 12 ABSOLUTE Move This rung shows how to enter an ABSOLUTE move command This rung initiates an ABSOLUTE move The move parameters are in file F42 The bits to set for initiating the move are in file N31 For more information on adding an ABSOLUTE Move see the appropriate sections on Using Simple Move Commands in Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Programming Examples C 11 Figure C 18 Rung 12 OP 0012 Copy File Source Dest Copy File Source Dest Length Data for the absolute move in rung 12 appear in the follo
37. 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 Publication 1746 6 1 2 July 2000 PN 40072 030 01 D Supersedes Publication 1746 6 1 2 March 1999 Copyright 2007 Rockwell Automation Inc All rights reserved Printed in Singapore
38. 200A 0 0 0 Total 700 Total 060A Total 060A Total 1 079A The fast I O FIN1 through FIN3 and FOUT1 are 24V DC compatible and are used with a user side 24V power supply Review potential Selecting an Encoder Selecting Power Supplies Encoders and Drives 2 5 24V DC I O devices for compatibility with the electrical specifications as shown in the table below Outputs source drivers Specification Von high level on state output voltage Rating Refer to the specifications for your user side power supply lon high level on state output current for each output 24V 20A for resistive and inductive loads 24V 10A for capacitive loads Turn on time 500 ys Turn off time 500 ps Inputs Specification Rating Vr input low high trip threshold 10 51V min 12 5V typ 14 61V max Vr input high low trip threshold 6 4V min 8 3V typ 10 3V max Vuvsr 1 9V min 4 1V typ 6 5V max lin 27V 2 5 mA max Te input low high debounce filter 2 msec typ Tro input low high debounce filter 2 msec typ Vin absolute max 75V max The SLC Servo Module system supports Allen Bradley 845H encoders Other encoders are compatible if they comply with the specifications listed in the following table Publication 1746 6 1 2 July 2000 2 6 Selecting Power Supplies Encoders and Drives Publication 1746 6 1 2 July 2000
39. 4 75V and a maximum voltage of 5 25V IMPORTANT The term user side refers to the control circuitry on the SLC Servo Module card that is powered by user supplied power sources and isolated from the control circuitry powered by the backplane of an SLC rack To meet the voltage requirement of the encoder and still attain maximum cable length you can do the following Raise the voltage of the power supply to meet the encoder requirement without exceeding the 5 25V limit of the SLC Servo Module measured at the module Increase the gage of the wire connecting the termination panel to the encoder 12 AWG maximum Figure 5 11 shows a circuit equivalent for channel A Figure 5 11 Encoder Feedback Equivalent Circuit 45V j Differential 768 ohms 1746 ine Diver 0 01 microfarads es ChAHI V ChA LO Y 221 ohms Ox Mi 16 ohms Customer Encoder 45V i Control Module Publication 1746 6 1 2 July 2000 Termination Panel Wiring the SLC Servo Module 5 15 To operate the encoder wire the encoder so that marker Z is true at the same time that A and B channels are true To wire the encoder for consistent homing of the axis do the following 1 Obtain the encoder output timing diagram from the vendor s data sheets A typical example is shown in Figure 5 12 2 On the timing diagram look at marker Z and its complement marker Z 3 Determine which signal is low fo
40. 8 5 11 D 3 D discrete bit commands Cancel Move 8 6 Clear All Faults 8 8 Clear Faults 8 8 Estop Request 8 6 Execute Synchronized Move 8 6 Hold Unhold Move 8 6 Initialize Retract Position 8 6 Mode Flag 8 7 On Home Limit 8 8 Retract Position 8 6 Turn On Off Fast Output 8 7 Turn On Off Module Requests for Service 8 7 Word 0 8 6 8 7 discrete Bit Input Status Specifications A 11 Discrete Block Commands 8 8 discrete block commands from the SLC Processor 8 8 incremental position 8 9 interpolated move 8 10 online configuration 9 6 position initialization 9 1 Publication 1746 6 1 2 July 2000 simple move 8 11 Words 0 and 1 8 8 Words 2 and 3 8 8 Words 4 through 11 8 8 documentation related P 4 drive control module signal specifications 2 7 selecting 2 7 drives adjustment options 7 2 Allen Bradley compatible 5 10 Allen Bradley installation references 5 18 selecting 2 1 wiring diagram 1386 5 19 1388 5 20 1389 5 21 1391 5 23 1382 5 25 1394 5 26 wiring figure references 5 18 E encoder selecting 2 5 specifications 2 6 encoders 15V feedback connections 5 17 5V feedback connections 5 17 cable length 5 13 feedback direction 5 16 feedback equivalent circuit 5 14 power supply requirements 5 13 selecting 2 1 vendor timing diagram 5 16 wiring 5 13 Estop causes of hardware Estop 5 6 diagram circuitry 6 3 multi axis system 5 12 one axis system 5 9 elements of the string 5 7 recovering from 8 9 specifications for
41. AB Allen Bradley SLC Servo Control Module Catalog No 1746 HSRV User Manual ET j e S i l Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Rockwell Automation is prohib
42. Before executing a Set In Position Band move set Source B for the Equal instruction in Figure 9 1 to 256 A Set In Position Band command to 0 1 is initiated if the float data table is www T T e T 0 1 And the integer data table is Using the Set Excess FE Limit Command The Set Excess Following Error FE Limit command sets the online excess FE limit to equal the specified value The units for the excess FE specified are position units If the Set Excess FE Limit command fails the SLC processor is notified with an appropriate error message Set Excess FE Limit parameters for word 5 bit 9 appear in the table below Block Command Parameters Location Format Possible Values Default Bit Specifications 0 s 4 Bits 0000 0000 0000 0000 0 Set Excess FE Limit 0 s 5 Bits XXX XX1X 0000 0000 0 FE Limit 0 6 0 5 7 Float 0 0 to axis travel limit 0 0 Location can vary depending on other bits simultaneously set in the most significant byte of word 5 up to three of these bits can be set simultaneously These bits are evaluated from right to left Words 6 and 7 are used for Publication 1746 6 1 2 July 2000 the first set bit encountered Words 8 and 9 are used for the next simultaneously set bit Words 10 and 11 are used for the last simultaneously set bit This special feature can be used to make servo axis tuning easier s Slot number for the SLC Servo Module The Set Excess FE Limit command can be
43. Blend move profile Word 1 discrete bit status specification Word 2 discrete bit status specification Word 3 discrete bit status specification Publication 1746 6 1 2 July 2000 9 12 Programming System Variables Word 0 Discrete Bit Status Specifications The bit specifications given in the table below are illustrated in Figure 9 2 Bit Specifications Location Series major Rev minor Rev I s 0 0 through 0 10 Reserved I s 0 11 through 0 15 s Slot number for the SLC Servo Module Figure 9 2 Word 0 Discrete Bit Status Specifications Reserved Publication 1746 6 1 2 July 2000 Series Major Revision Minor Revision The bit patterns used to identify SLC Servo Module firmware are e Series A 1 e Major Revision 1 1 Minor Revision 00 0 The default value is 272 i e 110 hex The SLC Servo Module provides this information when bits 6 and 7 of word 1 of the configuration bit parameters are both 0 Bit Specifications Location Blend Move Profile Segment Number I s 0 0 through 0 15 s Slot number for the SLC Servo Module Blend Move Profile Segment Number Word 0 Bits 0 15 The blend move profile segment number being executed is in the currently running blend move profile If there is no currently running blend move profile the SLC Servo Module clears this word The SLC Servo Module provides this information when bits 6 and 7 of word 1 of the configuration bit p
44. EQU COP Equal Copy File Source N31 Source F44 Dest 0 1 6 Source B Length Copy File Source N31 0 Dest 0 1 4 Length 2 The following diagram shows the Data table for file F44 Figure 10 5 Data table for File F44 4 Data File F44 SPEED of x The values for File N31 are listed in the following data table Publication 1746 6 1 2 July 2000 10 6 Troubleshooting Data File N31 Troubleshooting LED Indicators Figure 10 6 Data table for File N31 COMMANDS The above configuration is fora SPEED move at 100 accel decel at 50 RPM The RUN FDBK U PWR and CONFIG INV LED indicators on the SLC Servo Module serve as diagnostic tools for troubleshooting Refer to the table below for general conditions General Condition Potential Cause Possible Resolution The RUN LED is not green Indicates a major SLC Servo Module malfunction or lack of power from the backplane or the user supplies 1 Check that power is present from the backplane 2 If power is present replace the SLC Servo Module The FDBK U PWR LED is red No user power Check user power supply and connections to termination panel The CONFIG INV LED is red Using default values or invalid data e Check fault word code e Change parameter e Reconfigure parameters Publication 1746 6 1 2 July 2000 When the LED status indicators Troubleshooting 10 7 The
45. Excess FE Limit block command parameters 9 8 typical data table 9 9 Set Home Move ock command parameters 9 3 typical data table 9 4 Set In position Band Move block command parameters 9 7 typical data table 9 8 Set Offset Move block command parameters 9 7 typical data table 9 7 Set Retract Position Move block command parameters 9 4 typical data table 9 5 set up 7 1 calibrating coarse 7 18 communication with processor 7 13 computing counts 7 14 computing excess following error limit 7 19 computing maximum speed scaler 7 14 DAC output voltage fine calibrating 7 18 initializing for drive symmetry 7 16 setting 7 16 defining positive axis movement 7 17 determining velocity 7 23 acceleration feedforward 7 23 velocity feedforward 7 23 entering encoder lines 7 13 initial loop type 7 16 loop type parameters 7 16 motion control machine mechanics 7 2 position loop 7 2 velocity loop 7 2 overview 7 1 selecting axis acceleration rate 7 21 selecting loop type 7 20 specific parameters axis 7 24 Set VFF Move block command parameters 9 11 typical data table 9 11 Simple Move Commands absolute incremental cancel move 8 13 rollover position 8 12 speed profile trapezoidal 8 14 triangular 8 14 velocity profile trapezoidal 8 15 triangular 8 15 home axis move 9 1 monitor move 8 17 plan synchronized move 8 25 planning absolute incremental move 8 13 home axis move 9 2 monitor move 8 17 speed move 8 16
46. I s 0 11 through I s 0 Reserved 15 Publication 1746 6 1 2 July 2000 A 12 Input Output Quick Reference Publication 1746 6 1 2 July 2000 1 s Slot number for the SLC Servo Module Word 1 Location Bit Specifications s 1 0 Axis Ready 5 1 1 Estop State 5 1 2 Information Message 5 1 3 Minor Fault 5 1 4 Major Fault 5 1 5 Fault FIFO Full 1 5 1 6 through s 1 7 Reserved 5 1 8 Axis Needs Homed s 1 9 Homing s 1 10 Retract Position s 1 11 At Home 5 1 12 Overtravel 5 1 13 Overtravel 5 1 14 Configuration Failed I s 1 15 Configuration Successful s Slot number for the SLC Servo Module Word 2 Location Bit Specifications 1 5 2 0 In position 5 2 1 Move Complete I s 2 2 Axis Stopped s 2 3 Axis Held 5 2 4 Accelerating s 2 5 Decelerating 1 5 2 6 through s 2 7 Reserved 1 5 2 8 FIN 1 State 1 5 2 9 FIN 2 State I s 2 10 FIN 3 State 5 2 11 FOUT State 1 5 2 12 through 5 2 Reserved 15 1 s Slot number for the SLC Servo Module SLC Servo Module to SLC Processor Discrete Control Input Output Quick Reference 13 Word 3 Location Bit Specifications s 3 0 Absolute Move in Progress I s 3 1 Incremental Move in Progress I s 3 2 Speed Move in Progress 5 3 3 Monitor Move in Progress 5 3 4 Blend Move in Progress 1 5 3 5 through I s 3 12 Reserved
47. Inputs and 5 2 Wiring Hardware 5 4 Software Overtravel Limits sacs ro xd ERA OAS Kv 5 5 Connecting Home Limit Switch as a Fast Input 5 5 Wiring Estop 5 6 Wiring the Estop for a One Axis System 5 7 Wiring for Normal Operation 5 7 Maintaining Electrical Continuity 5 7 Verifying Connections and Operation 5 7 Wiring the Estop for System with Two or More Axes 5 10 Wiring Power Supplies 5 12 Witing ENCOUSIS 34 uo nde tat gg A ce ane SUR 5 13 Typical Vendor Encoder Wiring 5 15 Encoder Feedback Direction 5 16 Wiring the SLC Servo to Allen Bradley Drives 5 18 Wiring the SLC Servo Module to 1398 ULTRA 100 200 5 27 Wiring the SLC Servo Module Homing to a Marker 5 28 Connecting the Velocity Command 5 32 Chapter 6 OVGIVICW s uot s oat doque te p ee pe Wd 6 1 Powering Up Your SLC Servo Module 6 1 Setting Up Your SLC Servo Module Table of Contents iii Testing Estop 6 3 Chapter 7 OVENVIEW cer So xt Mian O Sn ET EON er Ed 7 1 Understanding the Theory of Motion Control 7 2 Machine 7 2 Velocity LOOD a aita pina
48. Keep your SLC Servo Module as far away as possible from DC and AC I O modules Distance protects the intelligent CPU based modules from the heat and electrical noise of the DC and AC I O modules Publication 1746 6 1 2 July 2000 3 4 Planning Hardware Installation e Place the SLC Servo Module on the left side of the chassis along with other intelligent I O modules and the CPU e Place DC and AC I O modules on the right side of the chassis and allow empty slots to remain between them and the SLC Servo Module Publication 1746 6 1 2 July 2000 Unpacking and Inspecting Your SLC Servo Module System Chapter Installing Your SLC Servo Module This chapter provides guidelines for installing your SLC Servo Module and includes the following topics Unpacking and inspecting the SLC Servo Module system Installing the SLC Servo Module Grounding the SLC Servo Module Mounting the termination panel Connecting the termination panel ATTENTION Before removing the contents from the shipping carton avoid electrostatic discharge that degrades performances and damages the module by doing the following Touch a grounded object to eliminate static charge from your body before handling the module Wear a wrist strap for example catalog number 8000 XESD that provides a high resistance path to ground Keep the module in its static shield bag when not in use For more information about electrostatic dis
49. String Pilot Cr 2 1 Estop Reset P B Cable Length Must Customer Supplied Not Exceed 10 m 32 feet Publication 1746 6 1 2 July 2000 5 10 Wiring the SLC Servo Module Publication 1746 6 1 2 July 2000 Figure 5 7 String Pilot Connection Drive Fault Thermal Remote Contact Overtravel Overload E Stop l 00 015 olo CR2 String Pilot Customer E stop String To wire Estop connections refer to wiring diagrams for the drive you are using The wiring of six different Allen Bradley compatible drives is shown in the table below Figure Wiring Diagram 5 15 1386 DC Servo Drive 5 16 1388 DC PWM Servo Control 5 17 5 18 1389 AC Servo Amplifier 5 19 5 20 1391 AC Servo Control Module Amplifier 5 21 1392 AC Servo Amplifier 5 22 5 22 1394 AC Servo Control Module Amplifier 5 24 1398 ULTRA 100 200 Series AC Servo Control 5 25 Module Amplifiers 5 26 The 1389 servo drive requires a 115V AC power conductor K1 to supply main power to the drive amplifier See the 1389 Servo Amplifier Installation Manual for details Wiring the Estop for System with Two or More Axes For a system with two or more axes you must have a termination panel and a SLC Servo Module for each axis See Figure 5 8 and Figure 5 9 for the ladder diagram and Estop circuitry diagram for these systems The Estop characteristics for this type of system are SLC Servo Modules must be ru
50. a positive move after inversion the DAC output is now negative to make a positive move This parameter is set up at axis integration time Refer to the Setting Up Your Servo Module chapter in this manual for more information Reverse Feedback Servo Loop 0 5 0 2 Yes 1 No 0 If the negative incremental feedback position was interpreted as negative motion after the reversal the negative incremental feedback position is now interpreted as positive motion This parameter is set up at axis integration time Refer to the Serting Up Your Servo Module chapter in this manual for more information Reserved 0 5 0 3 Publication 1746 6 1 2 July 2000 A 2 Input Output Quick Reference Parameter Name Parameter Group Loop Type Servo Loop Destination M File Location 0 5 0 5 0 5 0 4 00 Open Loop 5 0 4 0 01 Standard Closed Loop 5 0 421 10 Velocity Feedforward Loop 521 4 0 Default Standard Additional Information The feedback loop is not closed and incremental position commands are scaled to the DAC output They are sent as the velocity command voltage to the servo drive that is used to calibrate the drive The output voltage at maximum speed and maximum speed are scaled to correspond to the maximum axis speed described later As a result you can use the SLC Servo Module to calibrate the drive by downloading a configuration with open l
51. a zone around the end point for the move within which the in position bit gets set Publication 1746 6 1 2 July 2000 7 30 Setting Up Your SLC Servo Module Publication 1746 6 1 2 July 2000 Axis Parameters Use the axis parameters in the following table to specify your axis configuration Name Location Description Rollover Position 0 5 12 13 Value of the position register when it changes from the highest value to 0 if moving in the positive direction Value of the position register when it changes from 0 to the highest value if moving in the negative direction in position units Software Overtravels 0 0 7 Determines whether software overtravel limits Used are used Positive Overtravel M0 s 8 s 9 Position value of the positive software Limit overtravel limit in position units Negative Overtravel M0 s 10 s 11 Position value of the negative software Limit overtravel limit in position units Reversal Error Value M0 s 22 s 23 Distance the control adds to the commanded Homing Parameters motion when the axis changes direction in position units Use the homing parameters in the following table to home each axis Name Location Description Home Type M0 s 0 9 Specifies the type of homing to be used by the M0 s 0 10 SLC Servo Module Home Position MO0 s 14 5 15 The position value the control puts into the current position after a homing operation Home Calibration M0 s
52. by setting word 0 bits 4 and 5 to 0 LOOP TYPE 00 2 Set the SLC Servo Module control in Estop 3 Toggle the bit word 0 bit 15 to download this configuration Defining Positive Axis Movement for the SLC Servo Module Setting Up Your SLC Servo Module 7 17 To define positive axis movement for the SLC Servo Module you must invert the DAC and reverse feedback Axis status area information is cop ied into F48 at every ladder scan To define the positive axis movement 1 2 Reset Estop Record the present feedback position PO contained in file F48 Initiate an incremental move in the positive direction at 596 of SLC Servo Module s maximum speed for approximately one position unit Refer to Figure 9 4 for an example of an incremental move 4 If the axis Then Do this moved in the Positive direction Invert DAC setting is Go to step 5 correct Negative direction Invert DAC setting is Change invert DAC incorrect Configuration word 0 bit 1 from 0 to 1 5 Observe the feedback position P1 file F 2 after the move 6 If P1 PO is Then Do this Greater than zero Reverse feedback is Go to step 7 correct Less than zero Reverse feedback is Change reverse feedback incorrect Configuration word 0 bit 2 from 0 to 1 7 Download the updated configuration If you Then Made changes to the invert DAC or reverse feedback parameters 1 Set the SLC Servo Module
53. column line of slot 1 is highlighted 9 In the Filter field in the Current Cards Available area select Interface Part numbers and descriptions appear in the Current Cards Available area 10 Select 1746 HSRV Motion Control Module Mati M alternative way to assign the SLC Servo Module is to double click on Other in the listing type 10114 in the Other Type I O Card window and select OK 11 Press Enter The part number and description of the SLC Servo Module appears in the slot you selected 1 0 Configuration x Racks Current Cards Available 1 1746 44 4 Slot Rack z 2 120 Rack Not Installed z 170 Rack Not Installed E Fiter Interface z AMCI Series 1500 Resolver Module AMCI Series 1561 Resolver Module Read 10 Config 1747 DCM 1 4 Node Adapter Module 1 4 Rack 1747 DCM 1 2 Node Adapter Module 1 2 Rack 1747 DCM 3 4 Node Adapter Module 3 4 Rack 1747 DCM FULLNode Adapter Module Full Rack Distributed 1 0 Scanner 1 0 Block Distributed 1 0 Scanner 30 1 0 Block Single Axis Motion Control High Speed Counter Module 746 HSRV Motion Control Module 1746 HSTP1 Stepper Controller Module 1 747 KE Interface Module Series A 1 747 KE Interface Module Series B 747 MNET Network Comm Module 1 746 QV Open Loop Velocity Control 1747 RCIF Robot Control Interface Module 1747 5DN DeviceNet Scanner Module Adv Config Help Hide All Cards 1394 SJT GMC Turbo System zi Des
54. data s Slot number for the SLC Servo Module to be downloaded Block Command Source F Destination M Format Possible Values Default Parameters File File Location Location Acceleration Ramp 1 Fn 0 MO s 2 s 3 FLOAT 0 0 to 1 0 1 0 Speed 1 Fn 1 MO s 4 s 5 FLOAT 0 0 to physical limit 0 0 Absolute Position 1 Fn 2 MO s 6 s 7 FLOAT axis travel limit to axis travel 0 0 limit Acceleration Ramp 2 Fn 3 M0 s 8 s 9 FLOAT 0 0 to 1 0 1 0 Speed 2 Fn 4 M0O s 10 s 11 FLOAT 0 0 to physical limit 0 0 Absolute Position 2 Fn 5 MO0 s 12 s 13 FLOAT axis travel limit to axis travel 0 0 limit Reserved Acceleration Ramp 32 Fn 93 M0 s 188 s 189 FLOAT 0 0 to 1 0 1 0 Speed 32 Fn 94 MO s 190 s 191 FLOAT 0 0 to physical limit 0 0 Absolute Position 32 Fn 95 MO0 s 192 s 193 FLOAT axis travel limit to axis travel 0 0 limit Fn Source F file number containing the module configuration data s Slot number for the SLC Servo Module to be downloaded The table above describes the data to download for blend move profiles Explanation of the blend move profile execution is described later in this chapter with the command that initiates blend move profile execution The Blend Move Profile configuration block provides a mechanism to download several blend move profiles of various lengths prior to execution The PPPP in word 0 represents the bits used to specify which one of up to 16 blend move profiles 0 to 15 this config
55. feedback device in the direction and at the speed that the Home Axis command specifies when looking for the marker If the marker is Then Found during that one The axis moves at the absolute value of the speed revolution move specified by the configured Speed Direction of Move to the Markerto the marker closest to the start position Not found during that one The problem is reported to the SLC processor revolution move The current position of the axis is set to the configured Home Position Home Calibration If the marker is not found the problem is reported to the SLC processor IMPORTANT To configure and program for a unidirectional axis the sign of the speed specified in the Home Axis command and the direction of the move specified by the configured Final Move to Marker must result in unidirectional axis motion Publication 1746 6 1 2 July 2000 Setting Up Your SLC Servo Module 7 35 EXAMPLE Marker 1 Current PositionMarker 2 OIL ECT EN l If the current axis position is x then the following occurs The axis moves one revolution of the feedback device in the direction and at a speed that is specified by the Home Axis command i e toward Marker 2 for this example Marker 2 is found during the move and because Final Move to Marker is set to Yes 1 the axis moves at the absolute value of the speed specified by the configured Speed Direction of Move to the Marker to the m
56. gE WHITE RED S 24 RET PP 4 t GREEN S EGND AA 8 l WHITE GREEN Drive Fault 13 HALA WHITE BROWN Reset m HALL B BROWN Drive Enable m THALL C WHITE ORANGE e TABS ORANGE 16 e voL IS xo o o 2o WHITEVIOLET Estop Reset PB Esto P N 9101 1365 424V ex Encoder RES PB 2 Motor 5 RES PB RESET Q4 1398 ULTRA 100 5 STRING IN e STRING OUT e Series 2 7 Motor J2 a Over Estop PB Fast I O Travel A Fld e Limits 8 24V Motor 5 FI 2 5 24V 2 FI 3 Ji a RET FO e The encoder feedback cable P N 9101 1365 Rev D has the orange ABS B 16 wire and the white orange HALL C 15 wire swapped Publication 1746 6 1 2 July 2000 1746 HSRV IMC 110 Termination Panel Wiring the SLC Servo Module 5 31 Figure 5 26 Wiring Diagram for Y series ULTRA 100 200 When Homing to a Marker 1746 HT Drive m z ENCODER COM DRIVE DR RET e 5 HSO 24 VDC SHLD e 13 24 VbC COM A DRIVE ENABLE S Encod 20 FAULT RESET 2 21 c 55 ANALOG CMD 8 AB SHLD 7X oa anaro CMD 5
57. is added directly to the commanded position in the servo loop software overtravel limits are not checked You must stay within software overtravel limits when using an Incremental Position command Executing Simultaneous Moves The SLC Servo Module executes a motion block from the move command set in conjunction with the Incremental Position command except for the blend profile move Incremental Position command cannot be active when the blend move profile is executing When executing the Incremental Position command the resulting command to the servo is computed as the sum total of the Incremental Position command from the PLC ladder and the interpolated move command executing every coarse iteration as shown in Figure 8 3 The move interpolator is the algorithm residing in the module that determines position increment commanded for coarse iteration Figure 8 3 SLC Processor Servo Module Interaction During Simultaneous Move DRIN SLC Servo Module Execution Environment SLC Every SERVO Coarse Iteration 1 0 4 8 to 9 6 Image Milliseconds SLC Table LADDER IPC gt Servo 1 0 SCAN 00 Move Interpolator N Using Simple Move Commands Programming the SLC Processor to Run the SLC Servo Module 8 11 Simple Move Commands All simple moves are mutually exclusive The simple move commands
58. issued anytime after the control is powered up Refer to the example in Using tbe Set Axis Gain Command Programming System Variables 9 9 Typical Set Excess FE Limit Move Data Tables Before executing a Set Excess FE Limit move set Source B for the Equal instruction in Figure 9 1 to 512 A Set Excess FE command to 0 1 is initiated if the data tables are Word 0 1 2 3 4 5 F27 0 0 1 N32 0 0 0 0 0 0 512 Using the Set Axis Gain Command The Set Axis Gain command sets the current axis gain to equal the specified value Set Axis Gain parameters for word 5 bit 10 appear in the table below Block Command Parameters Location Format Possible Values Default Bit Specifications 0 8 4 Bits 0000 0000 0000 0000 0 Set Axis Gain 0 s 5 Bits XXXX X1XX 0000 0000 0 Gain 0 5 6 0 5 7 Float 0 0 to 10 0 0 0 s Slot number for the SLC Servo Module The Set Axis Gain command can be issued anytime after the control is powered up The units for the specified gain are position units per minute per one thousandth of the position unit If the Set Axis Gain command fails the SLC processor is notified with an appropriate error message Typical Set Axis Gain Move Data Tables Before executing a Set Axis Gain move set Source B for the Equal instruction in Figure 9 1 to 1024 A Set Axis Gain command to 0 75 is initiated if the data tables are Word 0 1 2 3 4 5 F27 0 0 75 N32 0 0 0 0 0 0 1024
59. means with the following error set to 0 and the position monitored and updated Monitor move parameters for word 4 bit 3 appear in the table below Block Command Parameters Location Format Possible Values Default Monitor Move 0 s 4 BITS X000 0000 0000 1000 0 More Bit Specifications 0 s 5 BITS 0000 0000 0000 0000 0 s Slot number for the SLC Servo Module Essentially this bit places the SLC Servo Module in open loop IMPORTANT The Monitor Move cancels a move in progress and affects the Incremental Position command component This command is ignored if the system is in open loop The monitor move ends if any one of the following occurs SLC processor cancels the move e Estop occurs SLC processor sends another move from the mutually exclusive move set Planning a Monitor Move Figure 8 8 shows a typical ladder program block diagram that initiates a Monitor Move from the SLC processor Other moves are initiated by setting appropriate values in the data tables and copying the data to the appropriate module output words Publication 1746 6 1 2 July 2000 8 18 Programming the SLC Processor to Run the SLC Servo Module 0015 Figure 8 8 Monitor Move Command Block Diagram This example cancels an existing move and initiates a monitor move Using the Run Blend Move Profile Command The Run Blend Move Profile command allows you to download a series of absolute moves and execute them by issu
60. meets the specifications of a NEC class 2 power supply The power supply must have 5V 15V capacity and 24V capacity for fast I O and Estop circuitry IMPORTANT We recommend that you do not use the 24V included with the 1746 P1 P2 P3 or P4 to power your Estop or fast I O Before you select a power supply calculate the system s user side current requirements IMPORTANT The user side power must be present for the SLC processor to communicate with the SLC Servo Module Publication 1746 6 1 2 July 2000 2 4 Selecting Power Supplies Encoders and Drives Using Fast Inputs and Outputs Publication 1746 6 1 2 July 2000 In this example the system includes One seven slot modular rack One 1747 L541 CPU module One 1746 IB8 DC input module with eight inputs 24V One 1746 OV8 DC output module with eight outputs 24V An SLC Servo Module system that contains Two SLC Servo Modules Two termination panels Two Allen Bradley 845H encoders e Six fast inputs Two fast outputs Example of the Calculations for User Side Current Requirements Use the table below to find the current requirements of the devices that draw user side power Device 5V 15V 15V 24V 1746 IB8 0 0 0 064A 1746 0V8 0 0 0 800A SLC Servo 150A 030A 030A 0 Module Estop circuitry 0 0 0 100A 6 fast inputs 0 0 0 015A 2 fast outputs 0 0 0 100A 845H encoder 200A 0 0 0 845H encoder
61. minute e g 1000 0 Inches Minute Software Overtravels Used Axis 0 5 0 7 Yes 1 No 0 If the axis uses the rollover set this parameter to no Otherwise the module flags it as a configuration error Reserved 0 5 0 8 Homing 0 5 0 10 0 5 0 9 Publication 1746 6 1 2 July 2000 00 Homing Without a Limit Switch or Marker 10 0 9 0 Home to Marker 1020 9 1 Specifies that the axis is only homed using the set home command Refer to Understanding Discrete Block Commands from the SLC processor in this manual Parameter Name Parameter Group Destination M File Location 01 Homing to a Marker 1020 9 1 10 Homing to a Limit Switch 1021 9 0 11 Homing to a Limit Switch and Marker 1021 921 Default Input Output Quick Reference A 3 Additional Information Specifies that the axis is homed by moving to a marker The two parameters Final Move to Which Marker and Final Move to Marker specify which marker to move to and whether the final move to the marker is required or not Specifies that the axis is homed only using a limit switch and markers are not used for homing This can result in a final home position that can be inaccurate as markers are not used for homing Specifies that the axis is homed using both the limit switch and marker When the limit switch is found and a move is made to go off the limi
62. operating speed RPM 3000 position units 4000 60000 170 ipm Publication 1746 6 1 2 July 2000 7 16 Setting Up Your SLC Servo Module Initializing DAC Output Voltage for Drive Symmetry Setting Initial Loop Type Publication 1746 6 1 2 July 2000 In the example below if you want a maximum operating speed of 170 ipm the motor and drive combination you chose must meet your speed requirements DAC output saturation Is equal to Multiplied by speed maximum operating speed 170 ipm 179 ipm Enter the DAC output saturation speed in configuration file F8 Gword 28 and word 29 DAC output voltage ranges from 10V to 10V When you command 100 of speed you want the DAC signal to be 9 5V for maximum use If you calibrate the drive input correctly the SLC Servo Module outputs 9 5V when the axis is moving at maximum speed To set the DAC output voltage 1 Set the output voltage in file F8 Gwords 24 and 25 to Max Speed 9 5V 2 Set the output voltage in file F8 words 26 and 27 to Max Speed 9 5V 3 If possible rough calibrate the drive input for maximum speed with an input of 9 5V Drive input scaling to the SLC Servo Module output occurs while you make coarse calibrations After you set the initial loop type download the initial configuration to the SLC Servo Module To set the loop parameters 1 Set the loop type parameter to OPEN LOOP in the configuration file N7
63. or moves Absolute moves Incremental moves Speed moves Monitor moves Hold moves Unhold moves Blend moves Emergency stop operations Homing operations Preset operations Clear faults e Alternate home moves Publication 1746 6 1 2 July 2000 1 4 Overview of the SLC Servo Module SLC Servo Module Selected specifications for the SLC Servo Module appear in the table are i below Specifications and Compatibility SLC Servo Module Specification Class 3 Number of Input 12 Words Number of Output 12 Words Selection for OTHER Configuration with 10114 as the number specified Configuration Mode Uses M files Recommended 1 0 Slot in SLC Rack Slot 1 or the lowest numbered 1 0 slot for SLC applications using the module interrupt option Number of HSRVs in one rack 12 with proper power supply There must not be other mod les that generate module interrupts Also the STI and FAULT routines execute at a higher priority than the module interrupt routine that is linked to the SLC Servo Module interrupt The SLC Servo Module does not function in a remote 1 0 rack The SLC Servo Module is compatible with e SLC 5 03 FRN 5 0 and above processors RSLogix 500 AI500 or APS version 5 0 or higher software Publication 1746 6 1 2 July 2000 Overview Selecting a Power Supply for the Backplane Chapter 2 Selecting Power Supplies Encoders and D
64. parameters into Bit B Integer ND or Float F files Use Fl to change the radix between binary and decimal Setting Up Your SLC Servo Module 7 7 Configuring Your Processor Using RSLogix 500 Software Use the table below to determine which configuration procedure to follow When Working Go to Online Automatically Configuring the SLC Servo Module Offline Manually Configuring the SLC Servo Module Automatically Configuring the SLC Servo Module To configure your SLC Servo Module automatically 1 From the menu bar select File The File menu appears 2 Select New The Select Processor Type window appears Select Processor Type x Processor Name TURBO EX OK 7 553 5 05 CPU 64K Mem 05500 Cancel 1747 1552 5 05 CPU 32K Mem 05500 Beam 1747 L551 5705 CPU 16K Mem 05500 Help 1747 1543 5 04 CPU 64K Mem 05401 1747 15428 5 04 CPU 32K Mem 05401 1747 L541 5 04 CPU 16K Mem OS401 1747 L542 5 04 CPU 24K Men 05400 1747 L532C D 5 03 CPU 16K Mem 05302 1747 L531 5 03 CPU 8K Mem 05302 1747 L532B 5703 CPU 16K Mem 05301 1747 1532 5 03 CPU 16K Mem 05300 1747 L524 5702 CPU 4K Men 1747 L514 5 01 CPU 4K Men 1747 L511 5 01 CPU 1K Mem E r Communication settings Driver Processor Node Reply Timeout 1 Deom al Who Active 10 Sec Octal 3 Assign a name for your new RSLogix 500 project file and type it in the Processo
65. physical limit 0 0 Absolute Position 2 MO0 s 12 s 13 FLOAT axis travel limit to axis travel limit 0 0 Reserved 96 Acceleration Ramp 32 M0 s 188 s 189 FLOAT 0 0 to 1 0 1 0 Speed 32 M0 s 190 s 191 FLOAT 0 0 to physical limit 0 0 Absolute Position 32 0 192 5 192 FLOAT axis travel limit to axis travel limit 0 0 s Slot number for the SLC Servo Module Publication 1746 6 1 2 July 2000 Appendix B Cable Dimensions and Wiring Diagram 1746 HCA Cable This appendix contains the dimensions and wiring diagram for the 1746 HCA cable Figure B 1 Publication 1746 6 1 2 July 2000 Cable Dimensions and Wiring Diagram B 2 Figure 1 1746 HCA Cable Dimensions and Wiring Diagram Pin 1 37 pin D sub connector AMP 205210 3 male I 25 pin D sub connector AMP 205208 3 male or equivalent i Channel A 37 POS 2 1m 84in 25 POS or equivalent Channel B Channel Z Channel A Channel Z Channel B Drive Return Estop Status Estop Reset Request 5V Return String Out 15V Return 15V Return Pin 1 Publication 1746 6 1 2 July 2000 SLC Servo Module Appendix C Programming Examples This appendix provides ladde
66. shaft on the termination panel EM Location Shows 1 Channel A is high for at least part of marker interval You connect this to CH A HI of the termination panel 2 High marker interval You connect this to CH Z HI of the termination panel 3 B is high for at least part of marker interval You connect this to CH B HI of termination panel Encoder Feedback Direction The encoder can spin either CW or CCW for a given table direction and the direction phasing of the feedback could be backwards You can change the direction of the feedback by switching channel A wiring with channel B wiring For encoder feedback connections see Figure 5 13 and 5 14 Publication 1746 6 1 2 July 2000 oooo oooooooo H H mam mE H H E s 2 gt D 2 Qd ul loooooo OO ft BI mso Wiring the SLC Servo Module 5 17 Figure 5 13 5V Encoder Feedback Connections
67. shown below Figure 6 1 Ladder Program to Avoid Memory Loss 2 Verify that your power supply connections for 5V DC 15V DC and 24V DC are connected correctly to the termination panel Publication 1746 6 1 2 July 2000 6 2 Testing Your SLC Servo Module Hardware 3 Apply power to the SLC Rack with the SLC Servo Module installed in the rack After the control module initializes and performs its quick hardware diagnostics the green RUN LED should light IMPORTANT The green RUN LED must be on before continuing If the RUN LED does not light consult the table in the Troubleshooting chapter of this manual 4 Verify that the SLC Servo Module has power from the SLC Rack backplane and the termination panel 5 Using your programming device for the SLC processor RSLogix 500 AI500 or APS software enter the following program example with the appropriate changes Figure 6 2 Typical Ladder Program Copy File Source 170 Dest amp MO0 1 0 Length 6 Using the data monitor change the values in the configuration files to match the default specifications for the SLC Servo Module except for the Encoder Lines and Counts Per Position Unit parameters For this program example Discrete configurations are in the file N7 Multiword floating point parameters are in file F8 Publication 1746 6 1 2 July 2000 Testing Your SLC Servo Module Hardware 6 3 Testing Estop Wiring Estop Status t
68. speed e g 1V equals 5 rpm and 5V equals 5000 rpm Using the tachometer as feedback a drive maintains the speed of the encoder at the commanded speed within its output capabilities A typical drive contains adjustments to do the following Scale the input command voltage to the motor speed Zero the motor speed for a zero input command Set the maximum current torque to the motor Control the response of the velocity loop Refer to the drive manual for instructions on setting these adjustments Position Loop Position loop is a feedback control loop in which the controlled parameter is mechanical position The position loop compares position feedback with the position command to modify the velocity output signal to correct for any position error Encoders are position measuring devices that provide the SLC Servo Module with precise actual axis position at all times Based on motion statements the SLC Servo Module computes an axis position and compares it to the actual axis position Following error is the difference between the commanded axis position and the actual axis position Axis gain or Powering Up the SLC Servo Module Configuring the SLC Processor Setting Up Your SLC Servo Module 7 3 position loop gain sets the response on the position loop and scales the following error to the velocity command output drive input Your SLC Servo Module is a single axis motion control that resides in a 1746 SLO ra
69. that are compatible with one another Configuration Failed and Configuration Successful are both cleared while this bit is set Synchronized Move Ready 1 5 3 15 This bit is set when a synchronized move is planned and ready for execution SLC Servo Module Processor Status s Slot number for the SLC Servo Module Informational messages and fault codes detected and reported by the SLC Servo Module are described in this section Informational Message or Fault Code If Informational Message or Fault Code is inhibited no values are reported and I s 4 returns a 0 The table below contains typical input data for words 4 11 For additional information on decimal values refer to the Troubleshooting chapter Publication 1746 6 1 2 July 2000 9 16 Programming System Variables Status Block Location Format Possible Values Default Description Parameters Informational I s 4 USHORT 0 to 65 535 0 Message Or Fault Code Reserved 15 5 STDSHORT 32 767 to 432 767 0 Actual Position s 6 L 5 7 Float axis travel limit to 0 0 The current actual position of the axis travel limit axis If inhibited returns 0 Following Error 1 5 8 1 8 9 Float axis travel limit to 0 0 The current following error of the axis travel limit axis If inhibited returns 0 Current Speed I s 10 I s 11 Float physical limit to physical 0 0 The current speed of the axis if limit inhibited returns 0 s Slot number
70. the SLC Processor to Run the SLC Servo Module The speed move ends if any one of the following occurs The move reaches an overtravel limit if overtravel limits are specified The SLC processor cancels the move The Cancel Move bit is used to cancel the speed component of the move Setting the Cancel Move bit does not affect an Incremental Position command component i e the specified incremental position command continues unless it is set to zero An Estop occurs The SLC processor sends another move from the mutually exclusive move set including a move of the same type with different 96 Acceleration Ramp or Speed Planning a Speed Move Figure 8 7 shows a typical ladder program block diagram that initiates a speed move from the SLC processor Other moves are initiated by setting appropriate values in the data tables and copying the data to the appropriate module output words Figure 8 7 Speed Move Command Block Diagram 0014 Publication 1746 6 1 2 July 2000 Programming the SLC Processor to Run the SLC Servo Module 8 17 The example initiates a speed move At 10 position units per timebase At 10096 of the maximum acceleration specified in the configuration The speed move occurs if The module is out of Estop The maximum speed configured is more than 10 position units per minute Using the Monitor Move Command The monitor move command allows you to move the axis by external
71. the absolute position to the home position when the SLC processor requests a search function after SLC 1746 1746 5 04 HSRV IW16 5 sp 1746 HCA Cable 1746 HT Termination Panel A B 845 Encoder Tach detecting one of the following e Encoder marker e Limit switch e Limit switch and marker Drive Amplifier Overview of the SLC Servo Module 1 3 The SLC Servo Module operates in two modes Configuration e Command When operating in the configuration or the command mode the status of the module is reported to the SLC processor Configuration Mode Operation You can enter configuration mode only if the system is in Estop In the SLC Servo Module you configure the SLC Servo Module by using M files containing data provided by the SLC 5 03 or versions listed above processors All configuration parameters are internal to the SLC Servo Module and stored in non battery backed RAM In configuration mode you select the proper setup configuration to match the servo drive and motor without setting switches and without special software If you do not set up your own configuration the configuration is set to the default setting Command Mode Operation Motor operations are performed in command mode To operate in this mode set the mode flag bit 15 in output word 0 to 0 In the command mode the SLC processor issues commands and activates the following operations
72. the segment speed to less than the configured value 38 Blend segment position specified is less than the Make blend segment position greater than negative negative overtravel limit travel limit 39 Blend segment position specified is greater than the Make blend segment position less than the positive travel positive overtravel limit limit 40 Multiple on line command bits were attempted at the Attempt one command bit at a time same time 41 More than one move bit was set in command Word 4 Attempt one command bit at a time 42 More than one move bit was set in command Word 5 Attempt one command bit at a time 43 Ambiguous command was attempted e Check ladder logic e Check the SLC Servo Module command specifications 44 Unknown command was attempted e Check ladder logic e Check the SLC Servo Module command specifications Publication 1746 6 1 2 July 2000 10 10 Troubleshooting Informational Potential Cause Possible Resolution Message No 45 Manufacturing test command was issued Verify that the SLC processor never initiates this command 46 Blend move profile was attempted while Incremental Blend move profile command can execute only if the Position command is enabled Incremental Position command is disabled Minor Fault Messages Minor Fault Potential Cause Possible Resolution Message No 1024 Program motion queue is full Cycle all power to the SLC Ser
73. when accessed directly from the program Figure C 22 Data Table for File F43 72 Data File F43 INCEMENTAL F43 1 Columns 5 E Data for the incremental move in rung 13 with appropriate addresses appear in the following table Address Position The next diagram shows the Data Table for File N31 as it appears when accessed from the program Figure C 23 Data Table for File N31 74 Data File N31 COMMANDS N31 0 Radix Decimal hd Columns 10 B This table shows the data in a table format for the previous diagram Address Command N31 0 2 Incremental 0 Publication 1746 6 1 2 July 2000 C 14 Programming Examples 0014 Rung 14 SPEED Command Rung 14 is an example of how to enter a SPEED command in your program This rung initiates a SPEED move The move parameters are located in file F 4 and the bits to set for initiating the move are in N31 For more information on adding an SPEED Move see the SPEED move sections in Chapter 8 Programming tbe SLC Processor to Run tbe SLC Servo Module Figure C 24 Rung 14 OP Copy File Source Dest Copy File Source Dest Length Data for the speed move in rung 14 appear in the following tables the next diagram shows the data table for File F44 as it appears when viewed in the program Figure C 25 Data table for File F44 Data File F44 SPEED Publication 1746 6 1 2 July 2000 The following table li
74. words to the I O image table Reads 12 input status words from the I O image table During each coarse iteration configured from 4 8 to 9 6 milliseconds based on the Fits Per CIT Configured value the SLC Servo Module does the following Reads 12 output command words from the SLC processor Makes 12 input command words available for the SLC processor to read into the I O image table Discrete Bit Commands from the SLC Processor Programming the SLC Processor to Run the SLC Servo Module 8 5 Figure 8 2 SLC Processor Servo Module Communication EXECUTION SLC LADDER 1 0 SCAN 12 OUTPUT WORDS 12 INPUT WORDS Every Coarse Iteration 4 8 to 9 6 Milliseconds SLC Servo Module IMPORTANT While developing the ladder logic take into account the update rate of the SLC Servo Module Bit specifications address locations and descriptions for word 0 and word 1 discrete bit commands are listed within the following tables Publication 1746 6 1 2 July 2000 8 6 X Programming the SLC Processor to Run the SLC Servo Module Word 0 Discrete Bit Commands Bit Specifications Location Description Estop Request 0 s 0 0 The Estop request word 0 bit 0 causes the SLC Servo Module to enter Estop and cancels all executing moves when the request occurs If an old move needs to be executed again the SLC Ladder resubmits the move after r
75. 05401 16K Mem 05401 24K Mem 05400 Mem 05302 8K Mem 05302 16K Mem 05301 16K Mem 05300 Help dig m o o 1747 1524 5 02 CPU 4 Mem 1747 1514 5 01 CPU 4 Mem 1747 1511 5 01 CPU 1 Mem Communication settings Driver Processor Node Reply Timeout AB PIC x 1 1 Who Active Sec Octal 3 Assign a name for your new RSLogix 500 project file and type it in the Processor Name field 4 Select your SLC processor from the list of processor types Default values assigned to the selected processor appear in the Communications Setting area 5 Select OK The processor database is initialized and the RSLogix 500 navigator window appears with the name you typed in the Processor Name field 6 In the navigator window double click on I O Configuration The I O Configuration window appears In the example below field 7 in the Racks area contains a four slot rack 120 Configuration Cixi Racks 31 r Current Cards Available 1 174644 4 Slot Rack zl Filter A d 2 0 Rack Not Installed Read IO Config 3 vo Rack Not Installed z PowerSupply 5 05 CPU 54K Mem 05500 Any 8pt Discrete Input Module Any 16pt Discrete Input Module Any 32pt Discrete Input Module Any 8pt Discrete Dutput Module Any 16pt Discrete Output Module Any 32pt Discrete Output Module AMCI Series 1500 Resolver Module AMC
76. 1 2 July 2000 Wiring the SLC Servo Module Figure 5 5 Ladder Diagram for a One Axis System 24V DC Control Module p28 To Estop Reset Request OO Reset CR1 4 P2 9 on Control Module To Estop Status on Control Module 24V DC Ret String In CR1 e Customer Estop String 1N 4001 CR1 2 CR1 3 IMPORTANT In this equivalent Estop circuit P2 is a 25 pin D shell connector 1 2 and 1 3 are auxiliary contacts of CR1 used in the drive interface Use them for the drive enable of each drive amplifier CR1 3 is not always required For more information see the drawings that accompany your drive Specifications for the CR1 Allen Bradley P N 700 HC 14Z24 appear in the table below CR1 Part Number 700 HC 14724 24V DC 650 ohms 3A Resistive 120V Arrangement 4 form C Publication 1746 6 1 2 July 2000 Wiring the SLC Servo Module 5 9 ATTENTION If you do not use the relay shown in Figure 5 8 verify that your replacement relay has a coil resistance greater than or equal to 650 ohms Figure 5 6 Estop Circuitry Diagram for a One Axis System Estop Control Module Reset Estop Estop Request Contacts Status Control Module 25 Pin D Shell Connector Termination Panel kt Out CR1 2 CR1 3 A To Customer Drive Enable Circuit Refer to Figure 4 1 for Shield Connections
77. 2 State I s 2 9 These bits reflect the current state of the corresponding fast input FIN 2 FIN 3 State I s 2 10 These bits reflect the current state of the corresponding fast input FIN 3 FOUT State I s 2 11 This bit reflects the current state of the fast output FOUT Reserved I s 2 12 through 5 2 15 Publication 1746 6 1 2 July 2000 s Slotn mber for the SLC Servo Module Programming System Variables 9 15 Word 3 Discrete Bit Status Specifications Bit Specifications Location Description Absolute Move In Progress s 3 0 Absolute move is in progress Incremental Move In I s 3 1 Incremental move is in progress Progress Speed Move In Progress I s 3 2 Speed move is in progress Monitor Move In Progress s 3 3 Monitor move is in progress Blend Move In Progress s 3 4 This bit is set when the corresponding move is in progress Reserved I s 3 5 through s 3 12 Blend Move Profile Configuration In Progress 5 3 13 This bit is set while the SLC Servo Module verifies whether the blend move profile specification provided by the M file that was just received is achievable Configuration Failed and Configuration Successful are both cleared while this bit is set Servo Configuration In s 3 14 This bit is set while the SLC Servo Module verifies whether the SLC Servo Progress Module configuration provided by the M file that was just received contains parameters
78. 21110 89 L l0 0 0 0 0 0 00000 0 gt N50 0 0 Radix Binary M S GIOI 15 Y N50 Address Binary Data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 N50 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 N50 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 Rung 5 Setting the Timer Delay Rung 5 is an example of setting the timer to delay for one second This rung starts the timer for a one second delay to check for any configuration download errors Figure C 11 Rung 5 53 0 TON 0005 Timer On Delay EN 5 Timer T4 1 Time Base 0 01 N Preset Publication 1746 6 1 2 July 2000 C 8 Programming Examples 0006 1746 HSRV Configuration Failed Il Configuration Successful Rung 6 Error Checking For Successful Download Rung 6 is an example of error checking to see if the download was successful Following the one second delay it checks for the successful configuration download or errors Error processing is not part of this example and application programmers must handle errors as appropriate to their application Figure 12 Rung 6 B3 0 Rung 7 Clear Fault Bits Command The following sample rung shows how to set up a Clear Faults bit command Rung 7 clears one fault error at a time FIFO on the SLC Servo Module The fault error is on word 4 of the status area of the SLC Servo Module For more detailed information on cleari
79. 5 12 Wiring the SLC Servo Module Figure 5 9 Estop Circuitry Diagram for a Two Axes or Three Axes System Control Module 1 Control Module 2 Control Module 3 Estop Control s Estop Estop Control s Estop Estop Control s Estop Reset Estop Reset Estop Reset Estop Status Status i Status X Request Contacts A l Request Contacts A Request Contacts n l i l 8 6 7 9 81617 9 6 7 9 i AAA AN i i AAA N i i 25 pin D shell 25 pin D shell 25 pin A connector A connector A D shell connector Res Res Res P B 24V P B 24V P B 24V Termination 7 1l 3 Termination 1l Termination eas Panel 1 CR1 1 Panel 2 CR2 1 ned Panel 3 CR3 1 q nea 1 Res h Res en Res ca PB q p ek P B String String e RA Tavna _ In In NU In 241 2 24V 241 String Reset String Reset String Reset Out Pes CRI 2 1 3 Out hes CR2 2 2 3 Out Pese CR3 2 CR3 8 L 4 00000 0 0000 6 000 DIE 6000 To Drives To Drives 9 To Drives Customer n stop Estop sina O supplied Wiring Power Supplies Figure 5 10 shows how to wire a power supply for backplane and user side requirements and a 24V power
80. 50082 2 EMC Generic Immunity Standard Part 2 Industrial Environment The product described in this document is intended for use in an industrial environment and is not intended for use in a residential commercial or light industrial environment IMPORTANT To meet CE requirements you must use the specified Allen Bradley cables and termination panel for the SLC Servo Module catalog number 1746 HSRV Publication 1746 6 1 2 July 2000 5 2 Wiring the SLC Servo Module Wiring Fast Inputs and Outputs Publication 1746 6 1 2 July 2000 On the termination panel the 24V DC fast inputs and outputs of the SLC Servo Module are routed from the connector 37 pin D shell to the fast I O connector 7 pin pluggable on the termination panel The fast I O consists of Fast inputs FI 1 through FI 3 e Fast output FO 1 e 24V DC and 24V DC return signals We recommend 18 AWG wire for wiring fast I O because it allows two wires for each connection point The termination panel accepts 12 AWG wire but this allows only one wire per point Figure 5 1 shows a diagram of typical fast I O connections For electrical dampening a snubber is required to filter out electrical spikes The snubber is used for inductive and comparative loads on the fast output Figure 5 2 and Figure 5 3 shows equivalent fast input and output circuits IMPORTANT The input device must connect between 24V DC and the appropriate fast input Fast inputs
81. 6 On the Web P 7 Rockwell Automation P 6 technical product assistance P 6 system parameters Blend Move Profile 7 31 Discrete Bit Status Word 0 Definition 7 31 Enable Incremental Position Command 7 31 Inhibit Actual Position 7 32 Inhibit Current Speed 7 32 Inhibit Following Error 7 32 Inhibit Information Codes 7 31 Inhibit Major Fault Code 7 32 Inhibit Minor Fault Code 7 31 Mode Flag 7 31 T termination panel connecting 4 7 dimensions 4 6 mounting 4 5 Testing Estop wiring 6 3 testing hardware 6 1 overview 6 1 powering up 6 1 theory of motion control 7 2 troubleshooting 10 1 error messages and diagnosis 10 7 general 10 6 informational messages 10 8 major fault messages 10 12 minor fault messages 10 10 HSRV Quick Check 10 1 Hardware Setup battery box test 10 2 Check wiring to diagram 10 2 Jog the Axis 10 5 Software Setup 10 2 Configure the HSRV module 10 2 Configuration Errors 10 3 Downloading Your Configuration 10 2 If CONFIG INV LED is Lit 10 3 HSRV Quick Start Hardware Setup 10 2 LED Indicators 10 6 safety precautions 10 1 U unidirectional axis 7 25 W Wiring Estop Connections 5 6 power supplies 5 12 to Allen Bradley Drives termination panel 5 18 wiring 5 1 classifying the conductors 3 3 conductors classifying 3 3 connecting the velocity command 5 32 diagram 1386 drives 5 19 1388 drives 5 20 1389 drives 5 21 1391 drives 5 23 1394 drives 5 26 drives 1398 ULTRA 100 200 5 27 Encoders 5 13 encoders
82. 6 1 2 July 2000 5 20 Wiring the SLC Servo Module Figure 5 16 Wiring Diagram for 1388 Drives DRIVE ENABLE 120V AC 3 phase 240 480V AC TH H1 50 60Hz gro 3 Phase T TH H4 Bulletin 1388 xi i 50 60Hz H7 Power X2 Transformer X3 ESTOP Y1 ro X0 424V Y2 RES PB PTTP2 GO RES PB RESET 0 Thermal STRING IN Switch STRING OUT 9 DRIVE DRIVE DR RET SHLD n A2TB1 4 5 7 8 9 n Bulletin 1388 DC Servo Controller Velocity Command Q 4 oli amp od E 12 23V DC 14 CR1 CR1 1 Drive olo Fault Axis Remote Overtravel Estop 4 9 Publication 1746 6 1 2 July 2000
83. 8 Gwords 6 and 7 Computing Counts Per Position Unit Use the following equation to calculate the value of the Counts Per Position Unit parameter as it is used in step 3 above Counts per position Multiplied by the Multiplied by the unit is equal to Number of encoder lines Reys position unit Where the revs position unit contains gearing and the pitch of the ball screw In the example below an axis uses a 1000 line encoder in a motor coupled with a 3 1 reducing gear to a 5 pitch lead screw 5 turns per inch With a position unit of inch the value of the Counts Per Position Unit parameter is computed as Lines per Multiplied by Multiplied by Revolutions per Equals counts revolution counts per line input inch per inch revolutions output revolutions 1000 4 3 5 60000 Computing Maximum Speed Scaler Speed scaler refers to the varying of incoming voltage to produce a varying speed To compute a variable output speed the SLC Servo Module uses the number of pulses from the encoder the maximum motor rpms and speed that you want For reliable axis operation the axis speed you want must be less than the digital analog convertor DAC saturation speed The DAC saturation speed must be less than the motor operation speed at low Maximum operating speed for the axis is equal to Power line factor Setting Up Your SLC Servo Module 7 15 AC line conditions If you don t meet these condi
84. 9 shows a typical ladder program block diagram that initiates a Run Blend Move Profile move from the SLC processor Other moves are initiated by setting appropriate values in the data tables and copying the data to the appropriate module output words Figure 8 9 Run Blend Move Command Block Diagram The table below contains data for a typical Run Blend Move The example terminates a move and initiates a blend move a Tz Ti T5 7 16 0 0 0 0 0 Word 6 Profile Publication 1746 6 1 2 July 2000 8 20 Programming the SLC Processor to Run the SLC Servo Module Publication 1746 6 1 2 July 2000 Executing a Run Blend Move Profile Typically a profile contains from 2 to 32 segments In many applications you must quickly execute a series of short sequential moves Blend move profile provides this capability If The new blend move end point value is greater than the currently executing move This is the result The axis continues to move in the same direction as shown in Figures 8 10 and 8 11 The speed for the new blend move is less than the current move The axis decelerates to the new blend move s speed by the end point of the currently executing move as shown in Figure 8 10 The speed for the new move is greater than the current move speed The axis continues moving at the current speed until the end point of the current move The axis then accelerates to the next moves speed
85. C Servo Module power and configuring the SLC Servo Module using command parameters 8 Programming the SLC Information about blend Processor to Run the SLC move profiles module Servo Module communication interface command and status information Describes discrete bit and block commands from the SLC Servo Module 9 Programming System Describes discrete block commands for programming position and online system variables from the SLC processor Information to understand servo module and processor status information Publication 1746 6 1 2 July 2000 Preface P 4 Chapter 10 Title Troubleshooting Contents Information about troubleshooting and error handling Appendix A Input Output Quick Reference A quick reference of parameters commands status specifications and move profiles Appendix B Cable Specifications Specifications and wiring diagram for 1746 HCA cable Appendix C Application Examples Applications examples for constructing programs using the SLC processor Appendix D Related Documentation Wiring Without the Termination Panel Information you need to wire the SLC Servo Module without a termination panel The following documents contain additional information concerning Allen Bradley SLC Servo and SLC products To obtain a copy contact your local Allen Bradley office or distributor For Read this Document Document N
86. END UR eR IE Boer diri 8 1 Blend Move Profiles 8 1 Downloading Your Blend Move Profiles 8 1 Understanding Configuration Errors 8 2 Command and Status Information 8 4 Module Communication Interface 8 4 Discrete Bit Commands from the SLC Processor 8 5 Word 0 Discrete Bit Commands 8 6 Word 1 Discrete Bit Commands 8 8 Discrete Block Commands from the SLC Processor 8 8 Recovering from EstOp Cus vado aoe CEN 8 9 Incremental Position Command 8 9 Executing Simultaneous 8 10 Simple Move Commands 8 11 Using Simple Move Commands 8 11 Using the Absolute Incremental Move Command 8 11 Planning an Absolute Incremental Move 8 13 Using the Speed Move Command 8 15 Planning a Speed 8 16 Using the Monitor Move Command 8 17 Planning a Monitor Move 8 17 Using the Run Blend Move Profile Command 8 18 Planning the Run Blend Move Profile Command 8 19 Executing a Run Blend Move Profile 8 20 Executing Several Blend Moves 8 2 Bene MOVES Les ee a E Ete oe el e Qe ade E Sed 8 22 Blending Absolute 8 22 Blending Incremental
87. ENTION To avoid personal injury equipment damage or performance degradation remove backplane power from the chassis and disconnect the 1746 HCA cable before installing or removing a module ATTENTION To avoid damage to a module or backplane connector do not force modules into the backplane connector To insert a module into an I O chassis 1 Remove backplane power from the I O chassis 2 Remove user side power from the SLC Servo Module 3 Disconnect the 1746 HCA cable 4 Align the larger of the two boards of the SLC Servo Module with the card edge guide at the bottom of the chassis 5 Slide the module into the chassis 6 Press the module firmly to seat it into the backplane connector 7 Verify that the locking latches on the top and bottom of the chassis hold the module in place IMPORTANT The term user side refers to the control circuitry on the SLC Servo Module card that is powered by customer supplied power sources and isolated from the control circuitry that is powered by the backplane of an SLC rack Publication 1746 6 1 2 July 2000 4 4 Installing Your SLC Servo Module Grounding the SLC Servo Module Control Module Before you install the rest of the system you must ground the SLC Servo Module AII of the shields and signal commons normally floating are tied to earth ground at a single point Use the EGND terminal on the termination panel for this
88. Estop string is shorted Relay CR1 seals the Estop Reset push button Release the Estop reset push button The contacts in the Relay CRI remain closed in the power on condition Verify that the Relay CR1 contacts are closed by doing the following Perform a continuity check on one of the drive enable contacts that are normally open Check the Relay CR1 contacts visually to see if they are closed Remove the string out string in jumper Relay CR1 drops out indicating an Estop condition Reconnect the Estop string and drive enable to the termination panel to get the system up and running open each contact on the string so that the system goes into Estop Chapter Overview Setting Up Your SLC Servo Module Before performing the procedures given in this chapter follow the installation procedure supplied with the drive that will be interfaced to the SLC Servo Module This chapter provides information to help you setup and configure the SLC processor and the SLC Servo Module and includes the following topics Understanding the theory of motion control Powering up the SLC Servo Module Communicating between the SLC processor and the SLC Servo Module Entering encoder lines and computing counts Initializing DAC output voltage for drive symmetry Setting initial loop type Defining positive axis movement for the SLC Servo Module Coarse calibrating drive input scaling to
89. Homing to a Marker 5 25 Wiring Diagram for E H and S series ULTRA 200 When Homing to a Marker 5 26 Wiring Diagram for Y series ULTRA 100 200 When Homing to a Marker Publication 1746 6 1 2 July 2000 Wiring the SLC Servo Module 5 19 ATTENTION To avoid damage to the controller connect these lines in the proper phase at the transformer and controller These lines are phase sensitive Figure 5 15 Wiring Diagram for 1386 Drives DRIVE TBI DRIVE HO 1 Diff DR RET Q 2 Diff SHLD Td O4 3 Signal Common 4 Aux 5 Tach 6 Signal Common TB2 GEE ERE 1 Decoupled Curr E CR 5 2 Sig Common yf 3 Reset E OF 4 Interlock 5 Signal Clamp 6 Signal Clamp 7 Signal Clamp Ref J1 ESTOP 1 4 15V DC 24V OTF _ Estop RES PB Ol Reset y Common RES PB PB 15V DC RESET STRING IN Daon STRING OUT O FAST 1 0 1386 AA Amplifier O 0 Q L10 O Axis Remote a Overtravel contingency stop 1386 M Chassis 8 O RET On Customer supplied iD ror TO 2 o See 1326 2 0 for encoder connection 2 2 and motor wiring NK o Motor Power Encoder o Terminal Block Publication 1746
90. I Series 1561 Resolver Module 11746 BAS 5 01 BASIC Module 500 5 01 45 BAS 5 02 BASIC Module MO M1 capable 1747 DCM 1 4 Node Adapter Module 1 4 Rack I1747 DCM 1 2 Node Adapter Module 1 2 Rack 1747 DCM 3 4 Node Adapter Module 3 4 Rack 11 74 DCM FULLNode Adapter Module Full Rack 1747 DSN 7 Distributed 1 0 Scanner 1 0 Block 1747 DSN 30 Distributed 1 0 Scanner 301 0 Block 1746 FIO4 Fast Analog 2 Ch In 2 Ch Current Out 1 746 FIO4V Fast Analog 2 Ch In 2 Ch Volt Qut 1746 HS Single Axis Motion Control I1 746 HSCE High Speed Counter Module 45 HSRV Motion Control Module xl Edy Confia Help Hide All Cards 7 Your hardware configuration determines the number of slots in the first rack If your SLC In field 7 of the Racks These slots appear rack has area select below the Racks area in the column 4 slots 1746 A4 4 Slot Rack 0 3 Publication 1746 6 1 2 July 2000 7 10 Setting Up Your SLC Servo Module Publication 1746 6 1 2 July 2000 If your SLC In field 7 of the Backs These slots appear rack has area select below the Racks area in the column 7 slots 1746 A7 7 Slot Rack 0 6 10 slots 1746 A10 10 Slot Rack 0 9 13 slots 1746 A13 13 Slot Rack 0 12 SLC processor always appears in slot 0 The remaining slots are available for assigning to other hardware Make sure the SLC Servo Module is in slot 1 8 Select slot 1 The
91. Module Figure 5 22 Wiring Diagram for 1394 Systems System Module 1 4 DC OPTIONAL EXTERNAL SHUNT COL DS1 INT x SOLID GREEN BUS UP AXIS ENABLED Larry X FLASHING GREEN BUS UP AXIS NOT ENABLED USER SUPPLIED 24V AC RMS OR 2 H wi FLASHING RED GREEN READY BUS NOT UP 24V DC NON POLARIZED 1 w2 FLASHING RED FAULT w SOLID RED HARDWARE FAILURE THREE PHASE INPUT LHI 380 460V AC RMS oH 50 DC MINUS BUS G R INPUT FUSING M1 1226 1227 enos PLL gt Y rive Ta DRIVE AO VREF us Servo Input Wiring Board iid T A0 VREF 2 SHLD SHIELD Hy AO TOREF Fn AOTOREF 5 D SHIELD Fel AQ ENABLE 7 A2 VREF 8 2 8 al SHIELD 10 dg A2 TOREF 11 A2 TOREF 12 SHIELD i3 PAPE RESET 14 CONTACTOR ENABLE RELAY ANALOG OUT i RATED 115V AC 24V DC 1 INDUCTIVE E ANALOG OUT 2 c ui ANALOG COM 17 E COM 19 COMMON CHASSIS 20 DRIVE
92. Parameters section of thismanual and the rated motor speed Use this formula to calculate the value for the Maximum Axis Speed Parameter Maximum Axis Speed in Position Units Minute Motor Rated Speed rpm x 4 x Encoder Lines Counts Position Unit The value computed is the absolute maximum speed Maximum Axis Speed in Position Units Second Maximum Axis Speed in Position Units Minute 60 0 Time to Maximum Axis Speed seconds Motion 0 30 5 31 0 0 to physical limit This parameter specifies how fast an axis accelerates decelerates to the maximum minimum axis speed Select this parameter carefully as axes with large load inertia do not accelerate at the same rate as a motor drive system at no load High acceleration deceleration can cause the axis to vibrate and damage to the axis can occur Publication 1746 6 1 2 July 2000 A 8 Parameter Name Parameter Group Velocity Feed Forward Constant Servo Loop Input Output Quick Reference Destination M File Location 0 32 5 33 0 0 to 1 0 Default 0 0 Additional Information This parameter is active only when the Loop Closure Method is set to velocity feedforward Units are in percentage and represent the portion of the velocity command controlled by the pre calculated final velocity The percent of following error incremental to the standard position loop algorithm is inversely proportional to the value of th
93. RS Wonca acted e AR aua Saee eal do ioa o d 2 1 Selecting a Power Supply for the Backplane 2 1 Calculations for Backplane Current Requirements 2 2 Selecting a User Side Power Supply 2 3 Calculations for User Side Current Requirements 2 4 Using Fast Inputs and 2 4 Selecting 2 5 SelectibB Drive OES es LDR EE 2 7 Chapter 3 General Wiring Practices Exe Xo de V REG 3 1 Using Shielded 3 1 Publication 1746 6 1 2 July 2000 Table of Contents ii Installing Your SLC Servo Module Wiring the SLC Servo Module Testing Your SLC Servo Module Hardware Publication 1746 6 1 2 July 2000 Routing WAIeS3 d goatee bte co eee eR bee eere dated arden 3 2 Classifying Your Conductors 3 3 Placing Your SLC Servo 3 3 Chapter 4 Unpacking and Inspecting Your SLC Servo Module System 4 1 Installing the SLC Servo 4 2 Grounding the SLC Servo Module 4 4 Mounting the Termination 1 4 5 Connecting the Termination 1 4 7 Chapter 5 OVEIVIEW Vot edet oen edo pin M setas ine hae 5 1 Complying with European Union Directives 5 1 ENCJDHOCUVeL eee Sa ae a 25 Peek 27 5 1 Wiring Fast
94. SLC Servo Module DAC output voltage Fine calibrating of the DAC output voltage scaling Computing excess following error limit Selecting loop type Selecting axis acceleration rate Determining velocity and acceleration feedforward for zero following error loop type only e Setting axis and home specific parameters Understanding programming conventions Configuring your SLC processor Understanding your SLC Servo Module interface Configuring your SLC Servo Module Before programming your SLC Servo Module Downloading your configuration Understanding configuration errors Configuring the MO file data tables Configuring the MO file floating point data tables Understanding configuration parameters Homing options Publication 1746 6 1 2 July 2000 7 2 Setting Up Your SLC Servo Module Understanding the Theory of Motion Control Publication 1746 6 1 2 July 2000 The major components of a motion control system are Machine mechanics Velocity loop Position loop Machine Mechanics Machine mechanics are the combined gearing ball screws and mechanical linkages that convert the motor s rotary motion into the axis motion that you want Velocity Loop Velocity loop is a feedback control loop in which the controlled parameter is encoder velocity A tachometer is usually used for the feedback device Command input from the controller to the drive is a DC voltage that is proportional to encoder
95. Then follow the signals from these connector blocks to the various user devices Wiring Without the Termination Panel D 3 Wiring diagrams supplied in this manual appear in the table below Description Figure Typical Fast 1 0 Connections 4 1 Estop Circuitry for a One Axis System 4 6 Estop Circuitry for a Two Axes or Three Axes System 4 9 5V Encoder Feedback Connections 4 13 15V Encoder Feedback Connections 4 14 Wiring Diagram for 1386 Drives 4 15 Wiring Diagram for 1388 Drives 4 16 Wiring Diagram for 1389 Drives 4 17 Wiring Diagram for 1391 Drives 4 18 Wiring Diagram for 1392 Drives 4 19 Wiring Diagram for 1394 Systems 4 20 Wiring Diagram for 1398 Systems 4 21 4 22 4 23 Estop Circuitry Drawings Study the Estop circuitry drawings and implement the equivalent circuit You may not need the additional control relays CR2 and CR3 etc if the drive amplifiers are enabled at the same time You must however purchase at least one control relay that is an equivalent to the one used in our termination panel Specifications for the CR1 Allen Bradley P N 700 HC 14Z24 appear in the table below CR1 Part Number 700 HC 14724 Arrangement 4 form C 24V DC 650 ohms 3A Resistive 120V AC Publication 1746 6 1 2 July 2000 D 4 Wiring Without the Termination Panel Publication 1746 6 1 2 July 2000 A Absolute Incremental Move block command parameter
96. a safety limit and Following Error Limit dep loss of axis e the SLC Servo ME a can compute the normal operating following error from the maximum axis speed that you want and the axis gain A typical operating difference between the maximum following error and the following error limit is 12096 Default gain for the SLC Servo Module is 1 0 position units per minute per one thousandth of position unit Publication 1746 6 1 2 July 2000 7 20 Setting Up Your SLC Servo Module To calculate the initial following error limit 1 Calculate To equal Follow error limit 1 2 multiplied by the maximum speed that you want axis gain x 1000 180 ipm 1 0 ipm mil x 1000 0 216 inch 2 Enter the following error limit calculated in configuration file F8 words 38 39 Selecting Loop Type To select a loop type for normal operation and to adjust position loop gain do the following 1 6 Set the time to maximum axis speed to one coarse iteration 0 0048 seconds default in file F8 words 30 and 31 For a normal loop type of the following error FE set configuration file N7 word 0 bit 4 to 1 and bit 5 to 0 For a normal loop type of the zero following error ZFE VFF set configuration file N7 word 0 bits 4 to 0 and bit 5 to 1 Set the 96 velocity feedforward VFF by changing the configuration file F8 words 32 and 33 to 0 Set the SLC Servo Module in Estop Toggle the bit Gword 0 bit 15 to down
97. ack lines Module detects one of the following in the same 1 Check to make sure the feedback cable is isolated electrical state e from electrical fields and all relays contactors e channel A and A and solenoids are adequately suppressed e channel B and B 2 Rehome the system e channel Zand Z 2050 The value of the axis following error exceeded the limit 1 Reset from Estop established in the configuration file This can be caused by an obstruction to axis motion servo wiring error or loss of feedback channel This error causes Estop Reversal error is greater than maximum position following error N If the problem persists check axis mechanics wiring and feedback devices Make reversal error smaller than maximum position following error 99 Publication 1746 6 1 2 July 2000 Troubleshooting 10 13 Major Fault Potential Cause Possible Resolution Message No 2051 No communication with the SLC Servo Module has 1 Reset from Estop occurred within the last 5 seconds This error causes 2 If the problem occurs again check the SLC Estop processor Note Switching from run mode to program mode on the SLC Servo Module also causes this error to appear 2052 Set on power up Issue a Clear Fault 0 s 1 8 or a Clear all faults 0 s 1 9 2053 SLC Servo Module requesting Estop Turn discrete Estop request off 2054 The user power supply is shorted or not connected This 1 Check the user power and
98. ameter only if the Software Overtravels Used parameter is set to yes Overtravels are active only after the axis is homed Negative Overtravel MO s 10 s 11 axis travel limit to 100 0 Value can be positive or negative but must be more Limit Positive Overtravel negative than the Positive Overtravel Limit Axis Limit Control checks this parameter only if the Software Overtravels Used parameter is set to yes Overtravels are active only after the axis is homed Rollover Position MO s 12 8 13 0 0 to axis travel limit 0 0 If the axis uses the software overtravels set this Axis parameter to zero Otherwise the module flags it as a configuration error Home Position MO s 14 s 15 Negative Overtravel 0 0 This parameter allows the Home Position to be Position Units Limit to Positive defined as a position other than zero Homing Overtravel Limit Home Calibration M0 s 16 5 17 axis travel limit to 0 0 This parameter is used to fine tune your Home Homing axis travel limit Calibration During a homing operation the axis moves off the home limit switch in the specified direction until the limit switch deactivates The axis then moves to the home position by moving a distance equal to the sum of Distance to Nearest Encoder Marker Home Calibration Value The distance to the nearest encoder marker is in Direction to Move Off Limit Switch Speed Direction of 0 18 5 19 physical limit to 20 0 The Speed Direction of Move Off the L
99. arameters are 1 and 0 respectively Bit Specifications Axis Ready Programming System Variables 9 13 Word 1 Discrete Bit Status Specifications Location 5 1 0 Description Bit 0 signals that the motion control has powered up successfully Other 1 0 bits are not valid unless this bit is set Estop State s 1 1 This bit is set when the SLC Servo Module is in Estop The bit is cleared when the operator or SLC Ladder Logic has performed an Estop reset Information Message 5 1 2 This bit if uninhibited is set when the SLC Servo Module has an informational message to be conveyed to the SLC processor The bit is cleared using either the Clear Fault or Clear All Faults bit Minor Fault This bit if uninhibited is set when a minor fault is detected by the SLC Servo Module The bit is cleared using either the Clear Fault or Clear All Faults bit Major Fault This bit if uninhibited is set when a major fault is detected by the SLC Servo Module The bit is cleared using either the Clear Fault or Clear All Faults bit Fault FIFO Full This bit is set when the 16 element fault FIFO resident in the SLC Servo Module is full of faults This could occur when faults get reported but not cleared Faults can be cleared using either the Clear Fault or Clear All Faults bit Reserved l s 1 6 through s 1 7 Axis Needs Homed 5 1 8 This bit is set until the axis is homed after power up an
100. are 24V DC referenced The fast output is ground referenced The output load must connect between the fast output and ground Wiring the SLC Servo Module 5 3 Figure 5 1 Typical Fast I O Connections E 4 os Esset st Jo 00000000 14 AWG O CH Qa STRING IN STRING OUT 0 ESTOP 24 RES RES RESET FI 1 24V Fl 2 24V FI 3 RET FO 1 7T OOOOO Electrical Cabinet is n prd Snubbing is required for inductive and capacitive loads on the fast output Capacitive load Current limiting resistor required Must be placed in series with contact load N RET OSAAN I F01 OQ Publication 1746 6 1 2 July 2000 5 4 Wiring the SLC Servo Module Figure 5 2 Equivalent Fast Input Circuit gt A VA d AT Control Termination Module Panel Figure 5 3 Equivalent Fast Output Circuit 24V DC 5V DC 1746 HCA 4 eee Contro Termination Module Panel Wiring Hardware ind x must go when tripped do the following to the hardware overtravel limit switches o Overtravels n MC Wire them into the customer Es
101. are the Absolute Incremental Speed Monitor and Run Blend Move Profile commands The currently executing move is considered complete when a new move is commanded by the SLC processor A new move occurs when a change happens to any one of the following Command bit 96 Acceleration parameter Velocity Unit Per Timebase speed parameter Position endpoint parameter Blend Profile number For example if an Absolute Move command is executing and the module receives a Speed Move command the Absolute Move command is considered finished and the currently executing move command is blended into the new Speed Move command This means that the execution and blending of moves is totally under SLC Ladder Logic Control The units for simple moves are The position for each move block is in programming units for example inches millimeters The speed for each move block is in programming units for example inches per minute millimeters per second The acceleration or deceleration specified is in the percentage 0 0 1 0 of the maximum acceleration specified The simple move commands discussed in this section are e Absolute Incremental command Speed command Monitor command e Run Blend Move Profile command Using the Absolute Incremental Move Command The absolute move command generates a move equal to the difference between the specified target position and the current Publication 1746 6 1 2 July 2000
102. arker closest to the start position i e Marker 1 The current position of the axis is set to the configured Home Position Home Calibration Option 3 Example Parameters Equals Final Move to Which Marker 1 Final Move to Marker No 0 When the parameters are set the axis moves one revolution of the feedback device in the direction and at the speed that the Home Axis command specifies when looking for the marker and then it stops If the marker is Then Found during that one The current position of the axis is set to the revolution move configured Home Position the distance to the nearest marker Home Calibration Not found during that one The problem is reported to the SLC processor move IMPORTANT This configuration is typical for a unidirectional axis i e axis that only moves in one direction Publication 1746 6 1 2 July 2000 7 36 Setting Up Your SLC Servo Module Publication 1746 6 1 2 July 2000 Marker 1 Current PositionMarker 2 ese eee eis a If the current axis position is x the following occurs The axis moves one revolution of the feedback device in the direction and at the speed specified by the Home Axis command i e toward Marker 2 for this example and stops Marker 2 is found during the move but because Final Move to Marker is set to No 0 the final axis move does not take place The current position of th
103. ata for rung 1 as it would appear when accessed from the program Figure C 5 Data Table for File N7 Data File N7 INTEGER E N7 0 0 Radix Binary Desc DAC Enable Yes 1 No 0 v Properties Usage The following table more readily displays the same binary data information Address Binary Data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 N7 0 1 0 0 0 1 1 0 0 0 1 0 1 0 0 0 1 N71 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 N7 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 N7 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Rung 2 Timer Delay The following rung example shows how to place a timer delay in your program Rung 2 initiates a one second timer to delay configuration to check for any configuration download errors Figure C 6 Rung 2 B3 0 TON 0002 Timer On Delay EN 2 Timer T4 0 Time Base 0 01 Preset Publication 1746 6 1 2 July 2000 Configuration Failed 0003 1746 HSRV Blend Move Profile Configuration in Progress 1 1 0004 61 1746 HSRV 1746 HSRV Configuration Successful Programming Examples C 5 Rung 3 Checking For Successful Configuration Rung 3 is an example of checking for a successful configuration After the one second delay this rung checks for successful configuration Error processing is not part of this example and application programmers must handle errors as appropriate t
104. ation 1746 6 1 2 July 2000 Troubleshooting 10 9 Informational Potential Cause Possible Resolution Message No 18 Speed move was attempted in Estop 1 Reset Estop 2 Reinitiate the command 19 Monitor move was attempted in Estop 1 Reset Estop 2 Reinitiate the command 22 Blend move profile was attempted in Estop 1 Reset Estop 2 Reinitiate the command 25 Home was attempted in Estop 1 Reset Estop 2 Reinitiate the command 26 Absolute move was attempted when not homed 1 Home the axis 2 Reinitiate the command 29 Retract Position command was attempted when not 1 Home the axis homed 2 Reinitiate the command 30 Blend move profile was configured successfully N A 31 Servo configuration was performed successfully N A 32 Servo configuration was attempted when not in Estop 1 Command Estop 2 Reinitiate the command 33 Blend configuration was attempted when not in Estop 1 Command Estop 2 Reinitiate the command 34 Blend move profile was attempted while a profile has 1 Download a profile not been downloaded 2 Reinitiate the command 35 Attempt to download a blend profile with more than 32 1 Check the blend profile blend points 2 Reduce number of blend points 36 Blend segment exceeded the acceleration limit Reduce the acceleration limit to max of 1 0 that is 10096 of configured value 37 Blend segment exceeded the speed limit Reduce
105. ation Panel 4 5 installation connecting the termination panel 4 7 grounding the SLC Servo Module 4 4 SLC Servo 4 2 wiring practices 3 1 L LED Indicators 10 6 M M files 7 11 7 11 manual contents P 2 conventions used P 5 purpose P 1 user P 1 Monitor Move block command parameters 8 17 typical data table 8 18 motion parameters In position Band 7 29 Maximum Axis Speed 7 29 Synchronized Move Source 7 29 Time to Maximum Axis Speed 7 29 Velocity Time Base 7 29 multi axis system ladder diagram 5 11 0 one axis system ladder diagram 5 8 Online Configuration Command set axis gain 9 9 set excess FE limit 9 8 set in position band 9 7 set offset 9 7 P parameters axis Negative Overtravel Limit 7 30 Positive Overtravel Limit 7 30 Reversal Error Value 7 30 Rollover Position 7 30 Software Overtravels Used 7 30 parameters block command Absolute Incremental Move 8 12 Blend Move Profiles 8 2 Home Axis Move 9 1 Monitor Move 8 17 Plan Synchronized Move 8 25 Preset Position Move 9 5 Run Blend Move Profile 8 18 Set Excess FE Move 9 8 Set Home Move 9 3 Set In position Band Move 9 7 Set Offset Move 9 7 Set Retract Position Move 9 4 Set VFF Move 9 11 Speed Move 8 15 parameters configuration Axis 7 30 Blend Move Profile 8 1 feedback 7 26 Homing 7 30 Motion 7 29 Servo Loop 7 27 System 7 31 parameters feedback Counts per Position Unit 7 26 Encoder Lines 7 26 parameters homing Final Move to Marker 7 30 Final Mo
106. bit is set after a successful power up of the SLC Servo Module s Slot number for the SLC Servo Module Publication 1746 6 1 2 July 2000 9 14 Programming System Variables Word 2 Discrete Bit Status Specifications SLC Servo Module Bit Specifications Location Description In Position I s 2 0 This bit is set when the actual position for the axis is within the in position band of the end position of the currently executing move The in position band must be greater than or equal to the system s standing following error but smaller than the magnitude of the position move If the in position band is not set to a large enough value the in position bit is not set for the move If the in position band is set to a value that is too large the in position bit could turn on sooner than you want Move Complete I s 2 1 The move complete bit is set when an interpolated move is no longer being interpolated The IMC Classic product line called this the NOSETTLE point Axis Stopped 8 2 2 1 in this bit indicates the axis is at rest Axis Held I s 2 3 This bit is set when the axis is being held by the Hold Move bit Accelerating s 2 4 This bit is set when an interpolated move is accelerating Decelerating I s 2 5 This bit is set when an interpolated move is decelerating Reserved s 2 6 through I s 2 7 FIN 1 State I s 2 8 These bits reflect the current state of the corresponding fast input FIN 1 FIN
107. canner to remote 1 0 adapter modules or PLC processors Connect low power AC DC 1 0 lines to 1 0 modules that are rated for low power such as low power contact output modules Connect low power DC 1 0 lines to DC 1 0 modules that are rated for low power and have input circuits with short time constant filters to detect short pulses They typically connect to devices such as proximity switches photo electric sensors TTL devices encoders motion control devices and analog devices Properly shield conductors where applicable and route them in separate raceways If conductors must cross power feed lines they should do so at right angles Route these lines at least 1 foot from 110V AC power lines 2 feet from 240V AC power lines and 3 feet from 480V AC power lines Route these lines at least 3 feet from any electric motors transformers rectifiers generators arc welders induction furnaces or sources of microwave radiation If the conductor is in a metal raceway or conduit that raceway or conduit must be grounded along its entire length Placing Your SLC Servo Module When you plan your SLC Servo Module placement Divide modules as much as possible into the following types AC e High level DC e Low level digital DC TTL encoder pulse output e Analog I O e Intelligent I O modules for example the SLC Servo Module Place the SLC Servo Module as close to the SLC processor as possible
108. cation 1042 Acceleration time specified is out of range If the acceleration time specified is less than coarse iteration time change the parameter specification 1043 Home position specified is out of range If the home position specified is greater than the positive overtravel limit or less than the negative overtravel limit change the parameter specification 1044 Positive travel limit specified is less than the negative Change the parameter specification travel limit 1045 Negative travel limit specified is greater than the Change the parameter specification positive travel limit 1046 Rollover position specified is not equal to zero when Set the rollover position to zero overtravels are used 1047 Home position is outside the rollover range Make home position less than the rollover position 1048 Output voltage at positive max speed is out of range Range is 0 to 10 0 Volts 1049 Output voltage at negative max speed is out of range Range is 0 to 10 0 Volts 1050 The velocity feedforward constant is out of range Range is 0 to 1 0 1051 The acceleration feedforward constant is out of range Range is 0 to 1 0 1052 Reversal error compensation is too big Reduce the parameter value 1053 The maximum speed specified is too small If the speed specified is less than one internal unit per iteration change the parameter specification 1054 The maximum acceleration specified is too big If the acceleration specified requires
109. ce 0 Dest amp N31 0 Length 6 Publication 1746 6 1 2 July 2000 Programming System Variables 9 3 A home axis move is initiated if the float data table is Tee 2 i 4 S 1 0 And the integer data table is Using the Set Home Command The Set Home command sets the current commanded position equal to the specified set home position and tells the system that the axis is homed Set Home parameters for word 5 bit 1 appear in the table below Block Command Parameters Location Format Possible Values Default Bit Specifications 0 s 4 Bits 0000 0000 0000 0000 0 Set Home 0 s 5 Bits 0000 0000 0000 0010 0 Position 0 s 6 0 s 7 Float axis travel limit to 0 0 axis travel limit s Slot number for the SLC Servo Module The absolute position for the axis is set equal to the set home position plus the signed following error The Set Home operation also causes the offset for the position to be set to zero This operation can only be performed when the SLC Servo Module is out of Estop and there is no motion in progress This function is used when the configured home type is set to Homing Without a Limit Switch or Marker After the Set Home is executed the position is valid for performing an absolute move If the Set Home command fails the SLC processor is notified with an appropriate error message Publication 1746 6 1 2 July 2000 9 4 Programming System Variables Typ
110. charge and how to guard against it refer to Guarding Against Electrostatic Damage Using tbe ESD Kit publication 8000 4 5 2 Publication 1746 6 1 2 July 2000 4 2 Installing Your SLC Servo Module Installing the SLC Servo Module Publication 1746 6 1 2 July 2000 To verify that you received what you ordered 1 Check the label on each shipping carton with your order 2 Check the items received against the bill of lading by matching the equipment nameplate description with the material ordered IMPORTANT Make claims for breakage and damage whether concealed or obvious to the carrier as soon as possible after receipt of the shipment Allen Bradley gives the buyer reasonable assistance in securing adjustment for damage claims The first component you install is the SLC Servo Module After installation you connect the Figure 4 1 SLC Servo Module with Not used To Termination Panel other components Door Open RUN FDBK U PWR CONFIG INV Note The two switches on back are not used The table below provides a legend for the SLC Servo Module LEDs When This LED is on Power is applied RUN The feedback signal or user side FDBK U PWR power is lost Installing Your SLC Servo Module 4 3 This LED is on An invalid configuration is CONFIG INV detected ATT
111. cifies a conversion constant that Unit Feedback allows the module to convert position units into internal resolution units and vice versa The module uses 4X encoder decoding both edges of channel A and B are counted The count direction is determined from both the direction of the edge and the state of the opposite channel Channel A leads channel B for increasing count This is the most commonly used decode mode with incremental encoders since it provides the highest resolution Determine the parameters by using known specifications of axis hardware components For example if an axis has a 1000 line encoder directly coupled to a 5 pitch lead screw 5 turns per inch and a position unit of inches for programming the value for the parameter is Counts per Position Unit 1000 Lines Rev x 4 Counts Line x 5 Revs Inch 20000 Counts Inch For the position unit of millimeters for programming the value for the parameter is Counts per Position Unit 20000 25 4 Counts Millimeter Publication 1746 6 1 2 July 2000 A 6 Input Output Quick Reference Parameter Name Destination M Range Default Additional Information Parameter Group File Location Positive Overtravel 0 5 8 5 9 Negative Overtravel 100 0 Value can be positive or negative but must be more Limit Limit to axis travel positive than the Negative Overtravel Limit Axis limit Control checks this par
112. circuit breaker in the off position HSRV Quick Check This section provides some areas that can be troubleshot quickly on your own These tips may let you resolve the problem without the need for a call to technical support Publication 1746 6 1 2 July 2000 10 2 Troubleshooting Hardware Setup Check wiring to diagram get the FDBK UPWR light out This insures that you have feedback and all of the required user power 1 Do you have 0 00 0 80 for off state or 4 75 5 25 VDC on the encoder signals Are all of the DC commons tied together and to ground as shown in the manual Are all of the voltages present 5V 15V 15V 24VDC Do a battery box test If unable to control drive 1 3 This is done by pulling the DRIVE analog voltage output plug on the HT panel Pull the ENABLE plug and jump the drive enable signal to the drive Tune the Drive without the HSRV to insure the drive will accept analog commands Use a AA 1 5V battery wired between the DRIVE and DR RET analog voltage This should make the motor turn in one direction swap the connections on the battery and the motor should spin in the other direction At this point the Drive should be tuned and have turned in both dire ctions with the battery box test And the FDBK UPWR light should be off Software Setup Configure the HSRV module Downloading Your Configuration When you download your configuration using the MO fil
113. ck With a drive and servo motor an SLC Servo Module can control the position of one axis with encoder feedback You can place multiple SLC Servo Modules in one SLC Rack to control an entire machine The SLC Servo Module requires power from the SLC Rack backplane and the termination panel for proper operation You must power up the SLC Rack with the SLC Servo Module in the rack To power up the SLC Servo Module 1 Verify that your power supply connections for 5V DC 15V DC and 24V DC are properly connected to the termination panel 2 Verify that your cable between the termination panel and the SLC Servo Module is plugged in at both ends and the connectors are securely in place 3 Apply power to the termination panel and SLC Rack power at the same time The SLC Servo Module s green RUN LED is lit after a short delay for diagnostics 4 If the SLC Servo Modules Then RUN LED is ON Go to step 5 OFF Go to step 1 The SLC processor indicates a slot fault at the SLC Servo Module location The SLC processor must be configured to accept the SLC Servo Module as an I O device Configure your processor by using the AI500 APS or RSLogix 500 software running on a personal computer Use the following table to locate your configuration instructions Although configuration steps are similar they are not identical If you are using Go to 500 Configuring Your Processor Using Al 500 Software APS Configuring Yo
114. configured for Homing to Limit Switch the SLC Ladder program is responsible for passing the state of this switch to the SLC Servo Module If the Limit Source is configured for the termination panel the state of this switch is reflected by FIN 3 Reserved 0 s 1 3 through 1 7 Clear Fault 0 s 1 8 Clear Fault word 1 bit 8 when set clears the informational message or fault currently reported in the fault code word I s 4 by the SLC Servo Module Toggle this bit to clear each informational message or fault reported by the SLC Servo Module The messages and faults are cleared using the first in first out FIFO method Clear All Faults 0 5 1 9 Clear All Faults word 1 bit 9 when set clears all informational messages and faults currently reported by the SLC Servo Module Reserved 0 s 1 10 through 1 15 Discrete Block Commands from the SLC Processor s Slot number for the SLC Servo Module The discrete block commands are sent from the SLC processor to the SLC Servo Module using discrete I O It contains two words of bit information and a variable number of integer and or floating point values Words 0 and 1 contain the SLC processor to SLC Servo Module discrete bit commands Words 2 and 3 contain the Incremental Position command Words 4 through 11 contain command blocks that control motion and or motion related activities The SLC Servo Module responds to the new block command every time it differs fro
115. cription 5 05 CPU 64K Mem 05500 Motion Control Module The SLC Servo Module Interface Configuring the SLC Servo Module Setting Up Your SLC Servo Module 7 11 12 Select Adv Config The Advanced I O Configuration window appears showing the slot you selected and default information for the 1746 HSRV Motion Control Module Advanced 1 0 Configuration xj Slot 1 1746 HSRY Motion Control Module Maximum Input Words 12 Maximum Output Words 12 Setup Scanned Input Words Scanned Dutput Words Interrupt Service Routine ISR 8 MO Length 1664 M1 Length 1553 G File Length TIT Edit G Data 13 Select OK The SLC Servo Module is a 12 word Input Output specialty I O module The module uses M files to download the module configuration information The module can also be configured to enable the module interrupt capability available with the SLC Backplane Interface You configure the SLC Servo Module using M files that reside on the SLC Servo Module Refer to the SZC 500 Reference Manual publication 1747 6 15 MO and M1 data file section for the M file interface and addressing convention information M files reside on the module and are referenced by the ladder logic the same way as an integer file that resides on the module There are two M files MO and M1 associated with this and any specialty module The SLC Servo Module only uses the MO file that is used to transfer the configura
116. d describes the procedures you use to install set up use and troubleshoot the SLC Servo Module The following general precautions apply to the SLC Servo Control Module Publication 1746 6 1 2 July 2000 Preface 2 Contents of this Manual Publication 1746 6 1 2 July 2000 ATTENTION Only those familiar with the SLC Servo Control Module and associated machinery should plan or implement the installation start up and subsequent maintenance of the system Failure to comply can result in personal injury and or equipment damage This product contains stored energy devices To avoid hazard of electrical shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit You should only attempt the procedures in this manual if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E The system integrator is responsible for local safety and electrical codes ATTENTION An incorrectly applied or installed controller can result in component damage or a reduction in product life Wiring or application errors such as undersizing the motor incorrect or inadequate AC supply or excessive ambient temperatures can result in malfunction of the drive This product contains ESD Electrostatic Discharge sensitive parts and assemblies Static control precautions are required when installing test
117. d 0 bit 5 initiates synchronized moves already commanded to the SLC Servo Module An appropriate error is sent to the SLC if no synchronized move is commanded Initialize Retract Position 0 s 0 6 Initialize retract position word 0 bit 6 causes the SLC Servo Module to define the current position as the Retract Position location No motion occurs The axis must have been homed No motion can be in progress s Slot number for the SLC Servo Module Publication 1746 6 1 2 July 2000 Bit Specifications Turn On Off Fast Output Location 0 s 0 7 Programming the SLC Processor to Run the SLC Servo Module 8 7 Description Turn On Off Fast Output FOUT word 0 bit 7 turns the fast output on 1 and off 0 Turn On Off Module Requests for Service 0 s 0 8 Turn On Off Module Requests for Service word 0 bit 8 turns module requests for service on 1 and off 0 When set the SLC Servo Module requests that the SLC processor perform the 1 0 Interrupt Subroutine ISR corresponding to that SLC Servo Module slot during every SLC Servo Module coarse iteration The primary use of this ISR is to immediately input the SLC Servo Module master module s Incremental Position command It immediately outputs that command to all SLC Servo Module slave modules as an Incremental Position command This functionality provides local rack low end gearing supporting multiple masters and slaves using the same backplane The g
118. d 1398 servo amplifiers Before you wire the drive to the termination panel you must mount set up and wire your drive and motor Installation references for each Allen Bradley servo drive system amplifier appear in the table below Allen Bradley Publication Title Drive Number 1386 1386 5 0 Bulletin 1386 DC Servo Drive Instruction Manual 1388 1388 5 1 Bulletin 1388 DC PWM Servo Controller Instruction Manual 1389 1389 5 0 Bulletin 1389 AC Servo Amplifier System Operator Instructions 1391 1391 5 0 Bulletin 1391 AC Servo Controller User Manual 1392 1392 5 1 Bulletin 1392 High Performance AC Drive Instruction Manual 1394 1394 5 0 1394 Digital AC Multi Axis Motion Control System 1398 ULTRA 100 1398 5 2 ULTRA 100 Series Drives Installation Manual 1398 ULTRA 200 1398 5 0 ULTRA 200 Series Drives Installation Manual Information regarding how to wire Allen Bradley drives to the termination panel is given in the table below Drive Figure 1386 5 15 Wiring Diagram for 1386 Drives 1388 5 16 Wiring Diagram for 1388 Drives 1389 5 17 5 18 Wiring Diagram for 1389 Drives 2 parts 1391 5 19 5 20 Wiring Diagram for 1391 Drives 2 parts 1392 5 21 Wiring Diagram for 1392 Drives 1394 5 22 5 23 Wiring Diagram for 1394 Drives 2 parts 1398 9 24 Wiring Diagram for ULTRA 100 When Not Homing to a Marker and for ULTRA 200 When
119. d any time a feedback fault is detected by the SLC Servo Module Homing This bit is set when the axis is being homed Retract Position This bit is set when a Retract Position operation is in progress At Home This bit is set when the actual position is within the home tolerance of the home position It is not set if the actual position crosses the home position during the homing sequence This could happen if the axis has already been homed since power up Overtravel This bit is set when the axis has attempted to move beyond the negative overtravel limit Overtravel This bit is set when the axis has attempted to move beyond the positive overtravel limit Configuration Failed This bit is set when the blend move profile or axis configuration information just received by the SLC Servo Module using the M0 file transfer mechanism contained errors This bit is cleared while the SLC Servo Module verifies whether the M file content demonstrates inter parameter compatibility and if the configuration process was successful Configuration Successful This bit is set when the blend move profile or axis configuration information just received by the SLC Servo Module using the M0 file transfer mechanism is free of errors This bit is cleared while the SLC Servo Module verifies whether or not the M file content demonstrates inter parameter compatibility and if the configuration process failed This
120. direction has been requested in a overtravel command file The operation is disallowed because the negative overtravel would be further violated 1033 Encoder lines configuration parameter is out of range If the range specified is not 1 to 8000 lines change the parameter specification 1037 Reversal error value is out of range If the reversal error value is greater than the total travel for the axis i e positive overtravel limit negative overtravel limit change the parameter specification 1038 Reversal error value is less than zero If the reversal error is not a positive number change the parameter specification 1039 Maximum speed is too small If the speed specified is less than one feedback count per coarse iteration time or greater than the maximum speed configured change the parameter specification Publication 1746 6 1 2 July 2000 Troubleshooting 10 11 Minor Fault Potential Cause Possible Resolution Message No 1040 Speed of move off the limit switch is out of range If the speed specified is less than one feedback count per coarse iteration time or greater than the maximum speed configured change the parameter specification 1041 Speed of move to marker is out of range If the speed specified is less than one feedback count per coarse iteration time or greater than the maximum speed configured change the parameter specifi
121. ds from the SLC processor Discrete block commands from the SLC processor Recovering from Estop Incremental position command e Simple move commands Using simple move commands Absolute Incremental move Speed move Monitor move Run blend move profile Blending moves Plan synchronized move Before you download blend move profiles the module must be in Estop state I s 1 1 The module downloads blend move profiles when the ladder instruction sends the data to the MO file with the output word 0 mode bit 15 and bit 14 set to 1 Downloading Your Blend Move Profiles You can download this configuration using the MO file for the module that you want There are two types of configuration data e Discrete parameters Floating point parameters Publication 1746 6 1 2 July 2000 8 2 Programming the SLC Processor to Run the SLC Servo Module Publication 1746 6 1 2 July 2000 You can download to the module using two copy file instructions to the MO file of the SLC Servo Module First copy instruction copies discrete information Second copy instruction copies floating point information Depending on the values specified in the configuration the module can accept the data or generate configuration errors through the module input status words described in the Understanding Configuration Errors section of this chapter A typical ladder program for downloading the blend move profile is shown in Figure 8 1
122. e goat qvas PL ESR BARNS gus C 1 Ladder Rung 5 C 2 Rung 0 Manual Triggering Configuration C 2 Rung 1 Download Configuration C 2 Rung 2 Timer Delay C 4 Rung 3 Checking For Successful Configuration C 5 Rung 4 Downloading Blend Profiles C 5 Rung 5 Setting the Timer Delay C 7 Rung 6 Error Checking For Successful Download C 8 Rung 7 Clear Fault Bits Command C 8 Rung 8 Clear All Faults Bit 4 ova tu e eh C 9 Rung 9 Cancel C 9 Rung 10 Hold Unhold o aq eir eei oe ed RC C 9 Rung 11 Program an Estop Request C 10 Rung 12 ABSOLUTE C 10 Rung 13 INCREMENTAL Move C 12 Rung 14 SPEED Command C 14 Rung 15 MONITOR Move atta sed Pace dara C 15 Rung 16 BLEND C 16 Rung 17 Clearing Move C 17 Rung 18 Copying Status Information C 18 Rung 19 HOME 19 Rung 20 Final C 21 Appendix D OVOLIVIEN CEG POTS SPS D 1 Using Fast Inputs and D 1 Distances to User D 2 Wiring Your User
123. e Profile 0 0 14 When set this bit redefines the mapping of all configuration parameters to specify a blend profile Refer to Blend Profile information in this chapter Mode Flag MO0 s 0 15 e f this bit is set the SLC Servo Module interprets the incoming data as configuration information The configuration is allowed if there is no motion in progress and the system is in the Estop e f this bit is clear M file contents are ignored because M files are only used for SLC Servo Module configuration with this release Discrete Bit Status Word 0 Definition MO0 s 1 7 M0 s1 6 Specifies the content of Discrete Bit Status Word 0 being sent from the SLC Servo Module to the SLC processor Inhibit Informational 0 1 8 This bit when set inhibits i e forces Codes informational code sent to SLC to 0 the reporting of all informational codes in the SLC Servo Module to SLC processor Discrete Control Status Inhibit Minor Fault 0 5 1 9 This bit when set inhibits i e forces minor Code fault code sent to SLC to 0 the reporting of all minor fault codes in the SLC Servo Module to SLC processor Discrete Control Status When clear all minor faults detected by the SLC Servo Module are reported to the SLC processor You must clear them using either the Clear Fault or Clear All Faults bit Publication 1746 6 1 2 July 2000 7 32 Setting Up Your SLC Servo Module Homing Options Publication 1746 6 1 2 Jul
124. e Tolerances Position Units Homing 0 36 5 37 Publication 1746 6 1 2 July 2000 0 0 to axis travel limit When the actual position is within the position band of the home position the At Home bit is set Parameter Name Parameter Group Excess Following Error Limit Position Units Servo Loop Destination M File Location 0 5 38 5 39 0 0 to axis travel limit Default 3 0 Input Output Quick Reference A 9 Additional Information Use this formula to calculate the value for the Excess Following Error Parameter Maximum Axis Speed x max following error Maximum Axis Gain Value 1000 where maximum following error is the percentage of following error when the axis is at the maximum speed you want the fault for Excess Following Error to occur It is expressed as a decimal value 1000 is gain scale factor For example if Maximum Axis Gain Value is 1 Maximum Axis Speed is 1200 ipm and the excess following error fault occurs at 11096 of the following error at axis maximum speed then Excess Following Error equals 1200 ipm 1 1 1 ipm mil 1000 mil in 132in In position Band Position Units Motion MO s 40 s 41 0 0 to axis travel limit La This parameter uses the SLC Application Program to determine the end of move when the application requires accurate positioning to the end point for the move Typical setting 4 counts per position unit
125. e axis is set to the configured Home Position the distance to nearest marker i e Marker 2 for this example Home Calibration Option 4 Example Parameters Equals Final Move to Which Marker 1 Final Move to Marker Yes 1 When the parameters are set the axis moves one revolution of the feedback device in the direction and at the speed that the Home Axis command specifies when looking for the marker and then it stops If the marker is Then Found during that one The axis moves at the absolute value of the revolution move speed the configured Speed Direction of Move to the Marker specifies to the nearest marker Not found during that one The problem is reported to the SLC processor revolution move The current position of the axis is set to the configured Home Position Home Calibration IMPORTANT To configure and program for a unidirectional axis the sign of the speed specified in the Home Axis command and the direction of the move specified by the configured Final Move to Marker must result in unidirectional axis motion Setting Up Your SLC Servo Module 7 37 EXAMPLE Marker 1 Current PositionMarker 2 If the current axis position is x the following occurs The axis moves one revolution of the feedback device in the direction and at the speed specified by the Home Axis command i e toward Marker 2 for this example and stops Marker 2 is found during the move a
126. e for the module that you want the types of data that are included are Publication 1746 6 1 2 July 2000 Discrete parameters e Floating point parameters 0001 Troubleshooting 10 3 You can download to the module using two copy file instructions to the MO file of the SLC Servo Module e e The first copy file instruction copies discrete information The second copy file instruction copies floating point information Depending on the values specified in the configuration the module accepts the data or generates configuration errors through module input status words If CONFIG INV LED is Lit o Errors are reported in word I 1 4 in decimal format e CONFIG INVALID Bit I 1 1 14 1 1 30 is set Configuration Errors The CONFIG INV LED on the SLC Servo Module turns on before or after power up to indicate an invalid configuration The configuration error input bit 14 in configuration mode input status word 1 is set and input status word 4 of the module reports the errors detected if any one of the following occurs e e There is no configuration file The configuration is invalid Figure 10 1 Rung Example of Download Configuration Copy File Source 170 Dest amp MO0 1 0 Length Publication 1746 6 1 2 July 2000 10 4 Troubleshooting The following diagram shows the Data Table with the values in file F8 Figure 10 2 Data table for File F8 i Data File F8 FLOAT
127. e new target position as shown in Figure 8 16 Blend move profile moves follow the same blending rules as absolute moves because the blend profile moves are several absolute moves specified as sequential moves Programming the SLC Processor to Run the SLC Servo Module 8 23 Figure 8 14 Speed Decreases Direction Same Position Greater Velocity Blended velocity profiles to permit high speed traverse and low speed absolute moves 0 Time Initiate new Blend Absolute move The current position is less than the target position for the new move The speed for the new move is less than the speed for the old move Figure 8 15 Speed Increases Direction Same Position Greater Velocity 0 Time Initiate new Blend Absolute move The current position is less than the target position for the new move The speed for the new move is greater than the speed for the old move Figure 8 16 Speed Slows to Stop Direction Reverses Position Less Velocity Time Initiate new Blend Absolute move The current position is greater than the target position for the new move The speed for the new move is greater than the speed for the old move Publication 1746 6 1 2 July 2000 8 24 Programming the SLC Processor to Run the SLC Servo Module Blending Incremental Moves If an incremental move is initiated while Another incremental move is executing The resu
128. earing functions are potentially not accurate because the two SLC Servo Modules run off two different crystal controlled clocks that can drift with respect to each other For applications that use the module interrupt option for the SLC Servo Module configure the SLC Servo Module in the lowest numbered 1 0 slot and make sure there are no other modules in the rack that generate module interrupts The STI Selectable Timed Interrupts and FAULT routines are executed at a higher priority than the module interrupt routines that are linked to the SLC Servo Module interrupt Reserved 0 s 0 9 through 0 s 0 14 Mode Flag 0 s 0 15 Mode Flag word 0 bit 15 provides the hook necessary to provide a discrete l O only interface If this bit is set all of the discrete input data is ignored because the SLC Servo Module configuration can only be accomplished using M files If this bit is clear the SLC Servo Module interprets the incoming data as command information s Slot number for the SLC Servo Module Publication 1746 6 1 2 July 2000 8 8 Programming the SLC Processor to Run the SLC Servo Module Word 1 Discrete Bit Commands Bit Specifications Location Description Reserved 0 s 1 0 Reserved 0 s 1 1 On Home Limit 0 s 1 2 On Home Limit word 1 bit 2 informs the SLC Servo Module that the axis has moved onto the home limit switch If the Limit Source is configured for the backplane and Home Type is
129. ecovering from the Estop condition The move complete bit is set when the SLC Servo Module enters Estop The Restore Position functionality is not available Retract Position 0 s 0 1 Retract position word 0 bit 1 cancels axis motion if any then immediately causes the axis to move to the Retract Position position Hold Unhold Move 0 5 0 2 The Hold Unhold move word 0 bit 2 when set causes the axis to decelerate to a stop e f no error occurs during a hold move operation the held move is resumed by clearing the bit e f the axis enters the in position band after a hold is initiated the in position bit is set e f the axis reaches the point where the final interpolated command is output the move complete bit is set The Hold Unhold Move bit has no effect on the Incremental Position command component of a move For example an absolute move is in progress when the Hold Move bit is set The axis decelerates to a stop If a new move command is received while in the held state the old absolute move is discarded and the new move is held When the bit is cleared the new move begins Cancel Move 0 s 0 3 Cancel move word 0 bit 3 cancels a mutually exclusive motion i e absolute incremental move speed move monitor move and blend profile move in progress The move complete bit is set when the axis has decelerated to zero velocity Reserved 0 5 0 4 Execute Synchronized Move 0 5 0 5 Execute synchronized move wor
130. eports the errors detected if any one of the following occurs There is no configuration file The configuration is invalid Refer to the Troubleshooting chapter for a list of those configuration errors Configuring the MO File Data Tables See Appendix A for full listing of the MO data tables Publication 1746 6 1 2 July 2000 7 26 Setting Up Your SLC Servo Module Configuration Parameters Publication 1746 6 1 2 July 2000 This section provides information to help you set discrete and floating point parameters for the SLC Servo Module These parameters are grouped according to their function Feedback parameters Servo loop parameters Motion parameters e Axis parameters Homing parameters e System parameters You can determine these parameters by using the integration procedure described in the Setting Up Your SLC Servo Module chapter Feedback Parameters Feedback parameters define the position feedback sent to the SLC Servo Module This position feedback is for the axis controlled by the SLC Servo Module Use Figure 7 3 and the following table to see how feedback parameters work with the servo loop parameters Figure 7 3 How Feedback Parameters Work with Servo Loop Parameters Drive SLC Servo Module Encoder Lines MO w4 5 Y Encoder Motor Counts Per Position Unit MO w6 7 The following table provides the name
131. es 14 Press ESC to return to Offline Editor screen TITIUS Use Fl to change the radix between binary and decimal Configuring Your Processor Using APS Software Configuring your processor involves assigning the SLC Servo Module to an open slot in the chassis setting the file length and entering parameters To assign your SLC Servo Module to an open slot 1 Press F4 OFFLINE CONFIG 2 Select project file 3 Press Enter 4 Press F1 OFFLINE PRG DOC 5 Press F1 PROCESSOR FUNCTIONS 6 Press F1 CHANGE PROCESSOR 7 Press F5 CONFIG I O 8 Select an open slot 9 Press F5 MODIFY SLOT Publication 1746 6 1 2 July 2000 7 6 Setting Up Your SLC Servo Module Publication 1746 6 1 2 July 2000 10 11 Select OTHER In the Module ID Code area type 10114 The ID of the SLC Servo Module automatically creates twelve input words and twelve output words Press Enter To set the file length and enter parameters 1 2 10 11 12 13 14 Press F9 SPIO CONFIG Press F5 ADVNCD SETUP Press F5 and set the MO file length to 1664 words Press Enter Press F6 and set the M1 file length to 1659 words Press Enter Press ESC Press F7 and set the G file size to 0 words Press Enter Press ESC Press F8 EXIT Press F8 SAVE AND EXIT Press F8 MONITOR FILE Press F8 DATA MONITOR from the top screen of the Offline Editor screen to enter
132. es the position following error and speed from the SLC Servo module status area to the floating point file F48 For more detailed information on how to use the copy file command to copy integer data for conversion to floating point data see the Floating Point Values section of Chapter 9 Programming System Variables in this manual Figure C 33 Rung 18 OP Copy File Source Dest 0018 Length Status information from slot 1 is shown in the table below Publication 1746 6 1 2 July 2000 Programming Examples C 19 Figure C 34 File F48 Data Table 7a Data File F48 STATUS 0 105227 98 4375 The following table shows the data with the appropriate address headings for the previous diagram Address Actual Position Following Error Velocity Units Minute 98 4375 Rung 19 HOME Axis This rung is an example of how to enter a home axis move The home axis parameters are in files N32 and F27 See the Using the Home Axis Command section of Chapter 9 Programming System Variables for more information on the Home Axis command Publication 1746 6 1 2 July 2000 C 20 X Programming Examples Figure C 35 Rung 19 0019 Data for the home axis move in rung 19 appear in the following tables Figure C 36 Homing Data Table 2 Data File F27 HOMING pae rj mi Desc 5 Properties Usage The following table shows the data under the appropriate addre
133. following table shows the status indicators for the LEDs and what action might need to be taken Your system status is And the action to take is are RUN On System Continue FDBK U PWR Off CONFIG INV Off RUN Off Power is not applied or there is a Apply power FDBK U PWR Off catastrophic CONFIG INV Off failure RUN Off Hardware failure 1 Troubleshoot FDBK U PWR Off CONEIG INV On 2 Repair the hardware that failed RUN Off Hardware failure 1 Troubleshoot FDBK U PWR On CONEIG INV Off 2 Repair the hardware that failed RUN Off Power up or RAM failure 1 Verify power supply connections for 24 FDBK U PWR On 15 5 and encoder feedback signals CONFIG INV On 2 Troubleshoot 3 Repair power up problem or contact Allen Bradley for RAM failure RUN On Configuration not loaded 1 Check your program configuration FDBK U PWR Off CONFIG INV On 2 Repair your program configuration RUN On Feedback fault broken wire quadrature 1 Troubleshoot FDBK U PWR On fault 2 Repair the feedback wire or the reason CONFIG INV Off or loss of user power for the loss of user power RUN On Configuration not loaded and loss of user 1 Check your program configuration FDBK U PWR On power CONFIG INV On N Repair your program configuration 99 Repair the reason for loss of user power Error Messages and Diagnosis The following tables provide a numerical listing of informational messages mino
134. for the SLC Servo Module Publication 1746 6 1 2 July 2000 Floating Point Values Three floating point value data items are shown below We recommend that you incorporate the following rung in the ladder program to convert the integer data from the module to floating point data for comparison or display purposes Figure 9 3 Copy Command for Integer Data to Floating Point Data Conversion Note SLC Servo Module is located in Slot 1 COPY FILE Source 1 1 6 Dest F48 0 Length 3 Copy floating point data for actual position following error and speed from the module discrete input words Chapter 10 Troubleshooting Overview This chapter contains information that helps you to perform the troubleshooting and error handling procedures This chapter includes the following topics e Safety precautions HSRV Quick Check Troubleshooting LED indicators Error messages and diagnosis Safety Precautions ATTENTION To avoid injury or death from electrical shock burn or unintended actuation of controlled equipment Disconnect and lock out control equipment from power sources and discharge stored energy in capacitors if they are present Follow the safety related work practices of NFPA 70E Electrical Safety Requirements for Employee Workplaces if you work near energized equipment Do not work alone on energized equipment Hazardous voltages exist in the control cabinet even with the
135. fore July 31 1998 When Homing to a Marker Figure 5 26 Wiring Diagram for Y series ULTRA 100 200 Manufactured Before July 31 1998 When Homing to a Marker Not Necessary Figure 5 24 Wiring Diagram for ULTRA 100 When Not Homing to a Marker and for ULTRA 200 Manufactured After July 31 1998 When Homing to a Marker Wiring the SLC Servo Module when Homing to a Marker Both the ULTRA 100 drive using any divisible resolution and the ULTRA 200 drive using any divisible resolution require a breakout board P N 9101 1392 to interface between the integral encoder inside the Y F or H series motor and the SLC Servo Module termination panel The breakout board allows the SLC Servo Module to read the encoder signals directly from the encoder instead of from the gate array circuit inside the ULTRA 100 200 If the encoder signals are read from the ULTRA 100 200 using the gate arrays the marker signal shifts with respect to the A and B channel on each successive power cycle to the ULTRA 100 200 Since the ULTRA 100 200 drive can be configured to use custom motors and custom encoders the guidelines stated above may not be true for other manufacturers motor encoder combinations ULTRA 200 drives manufactured after July 31 1998 do not need the J2 breakout Look for a mm yy date code stamped or printed on the Allen Bradley label located on the side of each drive unit For example Mfg 1098 ind
136. forward 7 23 Velocity 7 23 Acceleration Feedforward a eau wx ede A 7 23 Setting Axis and Home Specific Parameters 7 24 Programming Conventions 7 24 Downloading Your Configuration 7 24 Configuration uoo hee REA dd RIDE ONE 7 25 Configuring the MO File Data Tables 7 25 Configuration Parameters 7 26 Feedback Parameters 7 26 Servo Loop 7 27 Motion Parameters 7 29 Publication 1746 6 1 2 July 2000 Table of Contents iv Axis e paries ea Y opa dt rbd 7 30 Homing 5 7 30 System Parameters 2 ux we owe ede dede we 7 31 Homing 7 32 Homing Without a Limit Switch or Marker 7 32 Homing to a 7 32 Option T Example 7 33 Option 2 Example yess e dx heo ee DIVA nen ed 7 34 Option 3 Example 7 35 Option 4 Example 7 36 Homing to a Limit Switch 7 37 Homing to Limit Switch and Marker 7 38 Programming the SLC Chapter 8 Processor to Run the SLC Servo Module OVERVIEW donec et doen bed op EH pA ea Be
137. forward loop closure in percentage Constant 0 0 to 1 0 Maximum Axis Gain M0 s 42 43 Maximum value for gain in position units per Value one thousandth of position unit Setting Up Your SLC Servo Module 7 29 Name Location Description Excess Following 0 5 38 39 Value of the following error beyond which an Error excess following error fault occurs in position units Output Voltage at M0 s 2425 The voltage at the DAC to command the Max Speed Maximum Axis Speed in the positive direction in volts Output Voltage at M0 s 26 27 The voltage at the DAC to command the Max Speed Motion Parameters Maximum Axis Speed in the negative direction in volts Use the motion parameters in the following table to define your motion related specifications e g speed time to maximum speed for the SLC Servo Module Name Location Description Velocity Time Base M0 s 0 6 Specifies the time base for the speed parameter specification Synchronized Move 0 5 1 1 Specifies the source for the synchronized move Source signal to be either the backplane or the termination panel Maximum Axis Speed 0 5 28 29 Maximum speed for moving an axis in position units time unit Refer to the Setting Up Your SLC Servo Module chapter for more information Time to Maximum M0 s 30 31 Maximum time to reach the maximum rated Axis Speed speed for the axis in seconds In position Band M0 s 40 41 Specifies
138. gramming the SLC Processor to Run the SLC Servo Module Publication 1746 6 1 2 July 2000 Figure 8 13 Speed Increases Direction Opposite End Point Less Velocity Execute several blend moves Blending Moves gt Time End point of the current move The current move end point is less than the end point for the new move The speed for the new move is opposite to the speed for the current move An executing move is considered complete when a new move is commanded by the SLC processor This allows you complete flexibility to blend different moves from the ladder logic If you change the speed or acceleration after the deceleration has begun the move completes using the speed and acceleration that was active when the deceleration began This section describes several blend rules Blending Absolute Moves If the current position is Less than the target position for the absolute move both e when the new absolute move is processed and e while executing any currently executing move Then the axis Direction is not reversed It can accelerate or decelerate to the new speed for the move and then stop at the new target position as shown in Figures 8 14 and 8 15 Greater than the target position Decelerates to the end point at the specified deceleration rate of the old move The axis then reverses the direction and executes at the new acceleration rate to move to th
139. guration Commands Publication 1746 6 1 2 July 2000 This command is useful when you want to set the current position of the axis to a certain predetermined or preset value If the Preset Position command fails the SLC processor is notified with an appropriate error message Typical Preset Position Move Data Tables Before executing a Preset Position move set Source B for the Equal instruction in Figure 9 1 to 8 A Preset Position command to set the command position to 5 0 is initiated if the float data table is penn 1 gt e 5 0 And the integer data table is If an online command is out of range it is flagged as an error and the error status is returned in word I s 4 The configuration commands are Set Offset e Set In Position Band e Set Excess FE Limit e Set Axis Gain e Set VFF Using the Set Offset Command The Set Offset command adds the offset value to the end point for all absolute moves The position the axis moves is offset from the end point by this amount The specified offset value is used for all subsequent moves The offset is automatically cleared when the axis is Programming System Variables 9 7 successfully homed Set Offset parameters for word 5 bit 4 appear in the table below Block Command Parameters Location Format Possible Values Default Bit Specifications 0 s 4 Bits 0000 0000 0000 0000 0 Set Offset 0 s 5 Bits 0000 0000 0001 0000 0 Offset 0 5 6 0 5 7 Fl
140. ical Set Home Move Data Tables Before executing a Set Home move set Source B for the Equal instruction in Figure 9 1 to 2 A Set Home command to set the command position to 1 0 is initiated if the float data table is Using the Set Retract Position Command The Set Retract Position command sets the internal Retract Position equal to the specified Retract Position Set Retract Position parameters for word 5 bit 2 appear in the table below Block Command Parameters Location Format Possible Values Default Bit Specifications 0 s 4 Bits 0000 0000 0000 0000 0 Set Retract Position 0 s 5 Bits 0000 0000 0000 0100 0 Acceleration Ramp 0 s 6 0 s 7 Float 0 0 to 1 0 1 0 Speed 0 s 8 0 s 9 Float 0 0 to physical limit 0 0 Retract Position position 0 s 10 0 s 1 Float axis travel limit to 0 0 1 axis travel limit Publication 1746 6 1 2 July 2000 s Slot number for the SLC Servo Module The speed and time to reach speed are set accordingly and used during the Retract Position move This is the position that the axis goes to when the discrete Retract Position bit gets set This function is useful when you want to set up a safe location for the axis to take refuge in an emergency situation This operation can only be performed if the following occurs SLC Servo Module is out of Estop There is no motion in progress Axis is homed Programming System Variables 9 5 After the Set Retract P
141. icates the drive was manufactured in October 1998 1746 HSRV IMC 110 Termination Panel Wiring the SLC Servo Module 5 29 Figure 5 24 Wiring Diagram for ULTRA 100 When Not Homing to a Marker and for ULTRA 200 When Homing to a Marker 1746 HT Drive 5 ENCODER COM DRIVE XX ISO 24 VDC DR RET A SHLD e X Encoder 5 B ENC CH A HI DX m B ENC CH A LO A 2 1 5 SHLD c 8 CH B HI Z CH B LO o 13 24 VDC COM 8 Z SHLD DRIVE ENABLE CH Z HI 20 FAULT RESET CH ZLO e XX 21 S E ANALOG CMD Encoder Power 28 ANALOG CMD 45V FA DRIVE READY RET e DIRVE READY 15V SHLD 26 24 VDC Ext Power 24VDC FOR S 45V ULTRA 100 S RET ONLY S 415V S RET S 15V g S 24V 24 RET T EGND 5 2 Drive Fault a Reset Drive Enable e Fold UE LE LI Estop Estop Reset PB P N 9101 1366 for F H or S Motors ES AN P N 9101 1375 for Y Motors 424V er iz 1 Encoder RES PB s Motor RES PB RESET e F H S 1398 ULTRA 100 STRING IN andY STRING OUT Series A mS Motors J2 Over Est
142. ile move is commanded Blend Move Profile System 0 5 0 14 Yes 1 No 0 No Mode Flag System 0 5 0 15 Configure 1 Command 0 Command s Slot number for the SLC Servo Module Publication 1746 6 1 2 July 2000 A 4 Input Output Quick Reference Word 1 Parameters Parameter Name Destination M Range Default Additional Information Parameter Group File Location Limit Source MO0 s 1 0 Term Panel 1 Backplane Assign the home limit from the termination panel Homing Backplane 0 The limit assignment is FIN 3 Home Limit Synchronized Move 0 1 1 Term Panel 1 Backplane When the Synchronized Move Source is assigned Source Backplane 0 from the termination panel the synchronized moves Motion are initiated when FIN 3 makes a low to high transition Reserved 0 5 1 2 0 through 0 5 1 5 Discrete Bit Status 0 5 1 7 Series Major Rev Series When both bits are zero the SLC Servo Module Word 0 Definition M0 s 1 6 Minor Rev 00 Blend Major Rev provides its Series Major Revision and Minor System Move Minor Rev Revision When Bit 7 is 0 and Bit 6 is 1 the SLC Servo Profile Segment 01 Module provides the blend move profile segment Reserved 10 number being executed in the currently running Heserved 11 blend move profile If there is no currently running blend move profile the SLC Servo Module clear
143. ime to the System SLC Servo Module to execute the motion blocks However the current speed is not reported Reserved 0 5 1 15 0 Publication 1746 6 1 2 July 2000 1 s Slot number for the SLC Servo Module Input Output Quick Reference A 5 Word 2 Parameters Parameter Name Destination M Range Default Additional Information Parameter Group File Location Fits per CIT 0 2 0 through 3 to 6 3 One coarse iteration represents the servo loop System 0 5 2 3 closure time The fine iteration time on the SLC Servo Module is 1 6 msec The default Fits per CIT provides a 4 8 msec servo loop closure time Reserved MO0 s 2 4 through 0 0 5 2 15 Reserved 0 3 0 1 s Slot number for the SLC Servo Module 2 small number of Fits per CIT cause a fast servo loop closure time that yields better motion performance on the transitions but slower communication with the SLC processor As the number of Fits per CIT increases motion performance on the transitions degrades but communication with the SLC processor is slightly enhanced For blended moves Fits per CIT must be greater than 4 Multi Word Parameters Parameter Name Destination M Range Default Additional Information Parameter Group File Location Reserved 0 Encoder Lines Lines M0 s 4 s 5 1 0 to 8000 1000 0 Rev Feedback Counts per Position MO s 6 s 7 1 0 to 16909320 0 4000 0 This parameter spe
144. imit Switch Move Off the Limit physical limit value is signed The sign specifies the direction the Switch Position axis moves As a starting point for module Units Time configuration set the magnitude of the value to 196 Homing of the Maximum Axis Speed Speed Direction of MO s 20 s 21 physical limit to 20 0 The Speed Direction of Move to the Marker value is Move to the Marker physical limit signed Typically the sign is ignored However there Position Units Time is a special case The sign specifies the direction the Homing axis moves due to a unique situation during Homing to a Limit Switch and Marker If a marker is not seen after moving off the limit switch this parameter specifies both direction and speed to search for the marker As a starting point for module configuration set the magnitude of the value to 1 of the Maximum Axis Speed Reversal Error Value M0 s 22 s 23 0 0 to axis travel limit 0 0 This parameter compensates for positioning Position Units Axis Publication 1746 6 1 2 July 2000 inaccuracy caused by mechanical play in the system when the axis changes direction Home the axis to enable the Reversal Error value Parameter Name Parameter Group Output Voltage at Max Speed Volts Servo Loop Destination M File Location 0 5 24 5 25 0 0 to 10 0 Default 10 0 Input Output Quick Reference A 7 Additional Information This parameter has a defa
145. in Estop 2 Toggle the bit word 0 bit 15 to download this configuration 3 Reset Estop Did not make changes to parameters Go to Coarse Calibrating Publication 1746 6 1 2 July 2000 7 18 Setting Up Your SLC Servo Module Coarse Calibrating Perform the following steps to coarse calibrate the drive input scaling to SLC Servo Module DAC output voltage 1 Initiate a positive direction speed move at a safe operating speed e g 5096 of the SLC Servo Module s maximum speed 2 Record the commanded speed and the actual speed contained in the file F48 3 Cancel the speed move 4 If the axis speed Then Does not match the 1 Adjust the drive input scaling until the command speed within 396 observed speed in file FA8 matches the command speed 2 Repeat the positive speed move at a speed that is as high a speed as safety permits to verify drive input calibration 3 Repeat steps 1 and 2 in this table until the speeds are within 396 Does match the command Go to Fine Calibration of the DAC Output Voltage speed within 396 Scaling Fine Calibrating n the following steps to fine calibrate the DAC output voltage scaling 1 Initiate a speed move in a positive direction at the highest but safe speed 2 Record the axis speed 3 Cancel the speed move 4 Repeat steps 1 2 and 3 for the same magnitude speed command in a negative direction Reverse the speed by reve
146. information required by EN 61131 2 see the appropriate sections in this publication as well as the Allen Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity publication 1770 4 1 This equipment is classified as open equipment and must be mounted in an enclosure during operation to provide safety protection Using This Manual Overview of the SLC Servo Module Selecting Power Supplies Encoders and Drives Planning Hardware Installation Table of Contents Preface Who Should Use this P 1 Purpose of this 1 P 1 Safety ace tut Ay RSE P 1 Contents of this P 2 Related 4 Conventions Used this Manual 5 Product Receiving and Storage Responsibility P 5 Rockwell Automation Support P 6 Local Product Support ux oum obs vy Seo ood Boe P 6 Technical Product Assistance P 6 On the Webon oes eo Yo Rae ae ese he Ebo nc eed P 7 Chapter 1 SLC Servo Module Overview steve kg uw ERA EEO TS Evi 1 1 SLC Servo Module 1 2 Configuration Mode 1 3 Command Mode Operation 1 3 SLC Servo Module Specifications and Compatibility 1 4 Chapter 2 COME
147. ing servicing or repairing this assembly Component damage can result if ESD control procedures are not followed If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook This manual provides specific information relevant to the SLC Servo Module The following table identifies the chapters titles and contents Preface P 3 Variables Chapter Title Contents 1 Overview of the SLC Servo Overview information about Module the product its operation and hardware features Describes interface selection the module s use of inputs and outputs and operating modes 2 Selecting Power Supplies Information about selecting Encoders and Drives the hardware to support an SLC Servo Module 3 Planning Hardware Interconnection diagrams Installation for various hardware interfaces for communication with the SLC Servo Module 4 Installing Your SLC Servo Installation information Module 5 Wiring the SLC Servo Information about wiring Module fast inputs outputs Estop connections power supplies encoders and drive connections 6 Testing Your SLC Servo Information about powering Module Hardware up the SLC Servo Module testing the Estop and the fast 1 0 integrating the axis and testing the homing function 7 Setting Up and Configuring Information about applying Your SL
148. ing a single Run Blend Move Profile command Run Blend Move Profile parameters for word 4 bit 4 appear in the table below Block Command Parameters Location Format Possible Values Default Run Blend Move Profile 0 s 4 BITS X000 0000 0001 0000 0 More Bit Specifications 0 8 5 BITS 0000 0000 0000 0000 0 Blend Move Profile Number 0 s 6 USHORT 0 to 15 0 s Slot number for the SLC Servo Module The Run Blend Move Profile command initiates the execution of the blend move profile number specified in word 6 and previously downloaded to the SLC Servo Module The blend move profile is not planned until you select to run it because multiple profiles are resident You must use the plan synchronized move bit in order to get preplanned immediate execution Publication 1746 6 1 2 July 2000 0016 EQU Equal Source A N31 0 Os Source B 16 l s Programming the SLC Processor to Run the SLC Servo Module 8 19 The Run Blend Move Profile ends if any one of the following occurs e Move reaches the end point of the last move in the move profile The SLC processor cancels the move The Cancel Move bit is used to cancel the positioning component of the move The Incremental Position command is not active while it is in the run blend move profile Estop occurs The SLC processor sends another move from the mutually exclusive move set Planning the Run Blend Move Profile Command Figure 8
149. ion Reverses Velocity Time gt Initiate new Blend Speed move The speed direction for the new move is the opposite of the speed direction for the old move Plan Synchronized Move Plan synchronized move parameters for word 4 bit 15 appear in the table below Block Command Parameters Location Format Possible Values Default Plan Synchronized Move 0 s 4 BITS 1000 0000 XXXX XXXX 0 More Bit Specifications 0 s 5 BITS 0000 0000 0000 0000 0 s Slot number for the SLC Servo Module Publication 1746 6 1 2 July 2000 8 26 Programming the SLC Processor to Run the SLC Servo Module Publication 1746 6 1 2 July 2000 The Plan Synchronized Move bit Can be set along with a move in the mutually exclusive move set Tells the motion environment to hold the execution of the associated move until a synchronize signal is received from the backplane or as a fast input from the termination panel Can be used to synchronize the execution of a mutually exclusive move or several moves to be executed on different modules The move data speed acceleration and position is used to plan the move but the execution is held until the synchronize signal goes true For example the Plan Synchronized Move is initiated if the float data table is Wesce ree Tz 4 5 F47 0 And the integer data table is 10000000 00000100 0 The N31 0 data is shown in binary radix to show the m
150. is variable For example setting the feedforward constant to 0 9 9096 means that the SLC Servo Module applies 9096 of the precalculated final velocity to the velocity command The servo runs at the commanded velocity with only 10 of the following error it would have by using the standard position loop algorithm providing the system is calibrated properly A value of 0 0 for this parameter applies 10096 velocity feedforward action Acceleration Feed Forward Constant Servo Loop 0 5 34 5 35 0 0 to 1 0 0 0 This parameter is active only when the Loop Closure Method is set to feedforward Units are in percentage and represent the portion of the velocity command to be controlled by the pre calculated final acceleration The acceleration feedforward constant is similar to velocity feedforward constant in terms of range checking In certain applications that require the servo loop to closely follow the command position use this parameter to reduce the following error that occurs on transitioning from current speed to the new speed i e accelerating or decelerating If the system is calibrated correctly zero following error is achieved by using velocity feedforward of 1 0 but the system still generates following errors on transitions Use the acceleration feedforward parameter to reduce the following error occurring on transitions A value of 0 0 for this parameter applies 096 acceleration feedforward action Hom
151. ited Throughout this manual we use notes to make you aware of safety considerations Identifies information lt racti r ATTENTION de ifies information about practices o circumstances that can lead to personal injury or death property damage or economic loss Attention statements help you to identify a hazard avoid a hazard recognize the consequences IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley is a trademark of Rockwell Automation European Communities EC If this product has the CE mark it is approved for installation within Directive Compliance the European Union and EEA regions It has been designed and tested to meet the following directives EMC Directive This product is tested to meet the Council Directive 89 336 EC Electromagnetic Compatibility EMC by applying the following standards in whole or in part documented in a technical construction file EN 50081 2 EMC Generic Emission Standard Part 2 Industrial Environment EN 50082 2 EMC Generic Immunity Standard Part 2 Industrial Environment This product is intended for use in an industrial environment Low Voltage Directive This product is tested to meet Council Directive 73 23 EEC Low Voltage by applying the safety requirements of EN 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests For specific
152. ition an end anchor on either end of the termination panel 3 Secure the panel by tightening the end anchor screws The end anchor prevents the termination panel from sliding in either direction on the DIN rail Figure 4 3 Mounting the Termination Panel DIN Rail U End Anchor amp Screw DRIVE DRIVE Termination Panel DR RET 5 SHLD Oo ENCODER CH A HI CH A LO o AB SHLD CH B HI CH B LO Z SHLD CH Z HI 2 10 ENCODER POWER Publication 1746 6 1 2 July 2000 4 6 Installing Your SLC Servo Module Publication 1746 6 1 2 July 2000 Figure 4 4 Termination Panel and its Dimensions U 0 DRIVE DRIVE DR RET SHLD 21000 ENCOD CH A HI CH A LO AB SHLD CH B HI CH B LO Z SHLD CH Z HI 2 10 ENCODER 45V RET 15V SHLD LL 45V a 15V 15V 424 cL 24 RET EGND m OOOO zlo0O0OOOOCO OO0000000 e DRIVE ENABLE Pit 0000 RES PB V RES RESET STRING IN STRING OUT e es 424V Se FAST 0000000 600000 FI 1 24V FI 2 424 5 Q OS aer O
153. its connections to the error causes Estop SLC Servo Module 2 After it is fixed reset from Estop 2055 The user Estop string has opened 1 Check that the device that opened the string is functioning properly 2 Reset from Estop 2056 Watchdog disable jumper is installed Remove it 2057 The backplane is disabled e The SLC Servo Module lost backplane communications e O reset was detected e The backplane was disabled Publication 1746 6 1 2 July 2000 10 14 Troubleshooting Publication 1746 6 1 2 July 2000 Appendix A Configuration Output Bit Parameters Parameter Name Parameter Group DAC Enable Servo Loop Destination M File Location 0 5 0 0 Input Output Quick Reference Use the following tables to locate word 0 word 1 word 2 and multi word configuration output bit parameters Word 0 Parameters Yes 1 No 0 Default Yes Additional Information Move commands are executed but all motion is inhibited This parameter is useful for debuggging ladder programs when the servo motor is not hooked up and putting an axis in virtual mode This lets you use interpolated incremental actual or commanded positions to generate the master position commands for the ratioed slave axes in other modules Use the SLC Ladder to transfer the position information between SLC Servo Modules Invert DAC Servo Loop 0 5 0 1 Yes 1 No 0 If the DAC output was positive to make
154. ively produce one coarse iteration CIT A small number of Fits per CIT cause a fast servo loop closure time that yields better motion performance on the transitions but slower communication with the SLC processor As the number of Fits per CIT increases motion performance on the transitions degrades but communication with the SLC processor is slightly enhanced For blended moves Fits per CIT must be greater than 4 Homing Without a Limit Switch or Marker Use the Set Home block command found in SLC processor to SLC Servo Module word 5 to home the axis Refer to the Set Home command in the Programming System Variables chapter for more information When you select this home type the Final Move to Which Marker and Final Move to Marker configuration parameters are ignored Homing to a Marker Homing to a Marker specifies how an axis will find its initial home location Two parameters specify which marker to move to and Setting Up Your SLC Servo Module 7 33 whether the final move to the marker is required Four options are outlined in the table below Option Final Move to Which Marker Final Move to Marker parameter is set to parameter is set to 1 0 No 0 2 0 Yes 1 3 1 No 0 4 1 Yes 1 An example of each option is given on the following pages Option 1 Example Parameters Equals Final Move to Which Marker 0 Final Move to Marker No 0 When these parameters are set the axis mo
155. le F8 words 38 and 39 Set the SLC Servo Module in Estop Toggle the bit Gword 0 bit 15 to download this configuration Reset Estop We specify the axis acceleration rate in terms of time for the SLC Servo Module to reach its maximum acceleration rate Time to speed is an inverse function a smaller time means a higher acceleration rate To set the acceleration rate 1 Set the time to accelerate to maximum speed to 0 2 seconds in configuration file F8 words 30 and 31 Publication 1746 6 1 2 July 2000 7 22 Setting Up Your SLC Servo Module 2 Set the SLC Servo Module in Estop 3 Toggle the bit word 0 bit 15 to download this configuration 4 Reset Estop Again of 1 0 in SLC Servo Module units is equivalent to a gain of 16 6667 inverse seconds 5 Create a program that loops so that one long move in each direction separated by a 4 second delay occurs 6 Execute the loop program 7 Set the programmed speed at 9096 of maximum speed 8 Setup a 96 acceleration function within the program 9 Execute the program beginning with a 96 acceleration ramp of 10 10 Look for overshoot as the axis reaches maximum speed and slows to a stop 11 Increase the acceleration ramp until overshoot occurs in the axis following error 12 If Then Overshoot is observed Reduce the of acceleration rate until there is no during starting or overshoot stopping No overshoot is Go to step 13 ob
156. le Values Default Bit Specifications 0 s 4 Bits 0000 0000 0000 0000 0 Home Axis 0 s 5 Bits 0000 0000 0000 0001 0 96 Acceleration Ramp 0 s 6 0 s 7 Float 0 0 to 1 0 1 0 Speed Direction to Start Homing Axis 0 s 8 0 s 9 Float physical limit to physical limit 0 0 1 s Slot number for the SLC Servo Module Publication 1746 6 1 2 July 2000 9 2 Programming System Variables The Speed Direction to Start Homing Axis value is signed The sign specifies the direction the axis is to move If The speed specified is greater than the maximum axis speed Then The speed for the move is limited to the maximum axis speed Any error occurs while homing the axis The SLC processor is notified with an appropriate fault code Planning a Home Axis Move Figure 9 1 shows a typical ladder program block diagram to initiate a word 5 command from the SLC processor Other commands are initiated by setting appropriate values in the data tables and copying data to appropriate module output words Examples of these commands include e Set Home e Set Retract Preset Position e Set Offset e Set In Position Band e Set Excess FE Limit e Set Axis Gain e Set VFF Figure 9 1 Home Axis Command Block Diagram Home command B3 0 r COP 0019 JE Copy File 10 Source F27 0 Dest 0 1 6 Length 4 r COP Copy File Source amp N32 0 Dest 0 1 0 Length 6 Fill File Sour
157. le in Estop they must transition after the Estop resets to start a new move Incremental Position Command Location Format Possible Default Values 0 s 2 3 STDFLOAT 0 Incremental Position command 1 Slot number for the SLC Servo Module 2 Maximum value allowed is the incremental position in position units equal to 32767 encoder edges These words contain the Incremental Position command commanded on the slave axis for the next coarse iteration if the system is out of Estop and not executing the monitor move This command is active only if the Enable Incremental Position command bit is set in the configuration area The SLC Servo Module converts the value passed in these words to the internal representation and adds to the command position of the servo feedback loop This allows you to incorporate a special interpolation camming or gearing algorithm using the PLC ladder logic Publication 1746 6 1 2 July 2000 8 10 Programming the SLC Processor to Run the SLC Servo Module Publication 1746 6 1 2 July 2000 The Incremental Position command is active all the time It can execute along with other interpolated moves from the mutually exclusive interpolated moves described in the next section except for the blend profile move This allows you to make offset position adjustments while an interpolated move e absolute incremental move or speed move is executing Since the Incremental Position command
158. load this configuration Reset Estop Since you calibrated the speed previously the position loop gain is in position units per minute per one thousandth of position unit For the above examples the gain is in ipm mil where a mil is 0 001 inch Again of 1 0 in SLC Servo Module units is equivalent to a gain of 16 6667 inverse seconds Publication 1746 6 1 2 July 2000 Selecting Axis Acceleration Rate Setting Up Your SLC Servo Module 7 21 To monitor and adjust the position loop gain you must do the following to create a program that loops 1 Create six individual moves where each move is separated by a one second delay and where three are in one direction and three are in the opposite direction Create each move at approximately two motor revolutions and at a programmed speed of 2096 of maximum speed Set up a Set Axis Gain Function within the program Execute the program Increase the gain until the axis following error changes sign when the axis stops Reduce the gain until a sign change is not observed when stopping Mihaela is normal for the following error to change its sign 7 10 11 12 while holding position Enter the gain value determined above in configuration file F8 words 42 and 43 Repeat the calculation shown in Excess Following Error Limit using the new axis gain Enter the following error limit calculated in configuration fi
159. lting move is The sum of the two move distances An absolute move is executing Equal to the sum of the target position for the absolute move and the distance for the incremental move A speed move is executing The sum of the current position and the distance for the new incremental move Blending Speed Moves If a speed move is initiated while another move is executing and the direction is The same Then the axis Accelerates or decelerates to the new speed as shown in Figures 8 17 and 8 18 Opposite Decelerates from the current speed at the specified deceleration rate for the old move before reversing and accelerating to the new speed at the newly specified acceleration rate as shown in Figure 8 19 Figure 8 17 Speed Decreases Direction Same Velocity Time Initiate new Blend Speed move The speed direction for the new move is the same as the speed direction for the old move The speed for the new move is less than the speed for the old move Publication 1746 6 1 2 July 2000 Programming the SLC Processor to Run the SLC Servo Module 8 25 Figure 8 18 Speed Increases Direction Same Velocity Time Initiate new Blend Speed move The speed direction for the new move is the same as the speed direction for the old move The speed for the new move is greater than the speed for the old move Figure 8 19 Speed Slows to Stop Direct
160. m the one previously received If command word 4 or word 5 is not zero the SLC Servo Module reads each subsequent word to verify a change IMPORTANT To issue a discrete block command set only 1 bit in words 4 and 5 If the SLC Servo Module finds more than one bit set in words 4 and 5 except as noted earlier an error is reported to the SLC processor The Plan Synchronized Move bit can be set in conjunction with a move in the simple move command set Publication 1746 6 1 2 July 2000 Programming the SLC Processor to Run the SLC Servo Module 8 9 As each block command is executed the SLC Servo Module informs the SLC processor in a closed loop fashion using the SLC Servo Module to SLC processor discrete status bits MES command parameter preparation requires more than one program scan set up the accompanying parameters before setting the command bit The discrete commands are classified into Incremental Position commands and simple move commands that are discussed in this section and into Position Initialization commands and On line Configuration commands that are discussed in the next chapter Recovering from Estop If the Estop string is opened during a move the move aborts You can initiate another move once the Estop Reset is issued and the module is out of Estop This can be done by setting changing either the command bit Acceleration Speed Endpoint or profile number If these bits were set whi
161. mber for the SLC Servo Module Incremental Position Output Command Words 2 and 3 Possible Values 0 5 2 0 5 3 STDFLOAT Default Incremental Position Command 1 s Slot number for the SLC Servo Module 2 The maximum value allowed is the incremental position in position units equal to 32767 encoder edges Input Output Quick Reference 11 Block Output Command Word 4 Location Bit Specifications 0 s 4 0 Absolute Move 0 s 4 1 Incremental Move 0 s 4 2 Speed Move 0 s 4 3 Monitor Move 0 s 4 4 Run Blend Move Profile 0 5 4 5 through 0 5 4 Reserved 14 0 s 4 15 Plan Synchronized Move s Slot number for the SLC Servo Module Block Output Command Word 5 Location Bit Specifications 0 s 5 0 Home Axis 0 s 5 1 Set Home 0 s 5 2 Set Retract Position 0 s 5 3 Preset Position 0 5 5 4 Set Offset 0 5 5 5 though 0 s 5 7 Reserved 0 5 5 8 Set In position 0 5 5 9 Set Excess Following Error Limit 0 s 5 10 Set Axis Gain 0 s 5 11 Set VFF 0 s 5 12 Reserved 0 s 5 13 through Reserved 0 s 5 15 s Slot number for the SLC Servo Module Discrete Bit Input Status Specifications Use the following tables to locate word 0 word 1 word 2 and word 3 discrete bit input status specifications Word 0 Location Bit Specifications 1 5 0 0 through I s 0 10 Series Major Rev Minor Rev Blend Move Profile Segment
162. n 200us average Contact resistance 150 milliohms average Contact rating 5 0VA 0 35A max Wiring the SLC Servo Module 5 7 Wiring the Estop for a One Axis System To wire the Estop for a one axis system connect the following B e Drive enable Estop reset pushbuttons Res P B Res P B and Reset Customer Estop String String In and String Out 10 avoid personal injury or hardware damage develop a fail safe wiring design for your Estop string e Estop string Figure 5 5 is connected in series and consists of e Axis hardware overtravels Remote Estop Motor thermal switch Transformer thermal switch Drive fault Wiring for Normal Operation Wire the Estop inputs for normal operation Bench test your SLC Servo Modules The Estop Reset pushbutton requires a two pole single throw switch Maintaining Electrical Continuity Maintain electrical continuity on the termination panel between the String Out and String In terminals to change from an Estop state to a run state when pressing the Estop Reset pushbutton While in the run state loss of continuity between String Out and String In places the SLC Servo Module in an Estop state All motion is inhibited in the Estop state Verifying Connections and Operation Verify that the Estop wiring is connected correctly Check the operation of devices wired between String Out and String In Publication 1746 6
163. nd because Final Move to Marker is set to Yes 1 the axis moves at the absolute value of the speed specified by the configured Speed Direction of Move to the Marker to the nearest marker i e Marker 2 for this example The current position of the axis is set to the configured Home Position Home Calibration Homing to a Limit Switch The axis moves in the direction and at the speed specified by the Home Axis command to find the home limit switch first When the limit switch is found the axis moves in the direction and at the speed specified by the configured Speed Direction of Move Off the Limit Switch The axis position is recorded the moment the axis clears the limit switch Subsequently the axis decelerates and stops Other configuration parameters are borrowed for unidirectional homing If Move to Markeris set Then to No 0 No further axis motion takes place Instead the current position of the axis is set to the configured Home Position the distance from the limit switch using the position of the axis recorded earlier Home Calibration Yes 1 The axis moves back to the position of the axis recorded earlier at the absolute value of the speed specified by the configured Speed Direction of Move to the Marker Publication 1746 6 1 2 July 2000 7 38 Setting Up Your SLC Servo Module Publication 1746 6 1 2 July 2000 The current position of the axis is set to the configured Home Position H
164. nductors and route cables IMPORTANT Remember to keep low level signal conductors separate from high level power conductors Follow the practices outlined in Programmable Controller Wiring and Grounding Guideline publication 1770 4 1 to learn how to route other conductors Classifying Your Conductors Planning Hardware Installation 3 3 Use the table below for cable routing guidelines and determining wire and cable functions For these wires and cables Follow these guidelines for routing inside or outside an enclosure AC power lines e Connect high power AC 1 0 lines to AC 1 0 modules that are rated for high power and high noise immunity Connect high power DC 1 0 lines to DC 1 0 modules that are rated for high power or have input circuits with long time constant filters for high noise rejection They typically connect to devices such as hard contact switches relays and solenoids Route these high power AC lines with machine power conductors of up to 600V AC feeding up to 100 hp devices if this does not violate local codes Article 300 3 of the National Electrical Code requires that all conductors AC and or DC in the same raceway are insulated for the highest voltage applied to any one of the conductors in the raceway SLC Servo Module cable 1746 HCA and termination panel wiring Connect serial communication cables to programming terminals or data terminals and connect them from the s
165. ng faults using discrete bit commands see the Word 1 Discrete Bit Commands table in Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Figure C 13 Rung 7 Clear Faults Clear Faults 53 0 0 1 0007 6 24 1746 HSRV Publication 1746 6 1 2 July 2000 0008 0009 Programming Examples C 9 Rung 8 Clear All Faults Bit This rung is an example of a Clear all Faults bit command Rung 8 clears all errors in the FAULT FIFO on the SLC Servo Module when the bit is toggled For more detailed information on clearing all faults using discrete bit commands see the Word 1 Discrete Bit Commands table in Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Figure C 14 Rung 8 Clear all faults Clear All Faults B3 0 0 1 JE C 7 25 1746 HSRV Cancel Move 53 0 Rung 9 Cancel Move This rung is an example of how to use the Cancel Move bit command When the bit B3 0 8 is toggled a move executing on the SLC Servo Module is cancelled For more detailed information on cancelling a move using discrete bit commands see the Word 0 Discrete Bit Commands table in Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Figure C 15 Rung 9 Cancel Move 3 1746 HSRV Rung 10 Hold Unhold This rung shows how to use the Hold Unhold bit command When the bit B3 1 2 is toggled a move executing on the SLC Servo Module is in a hold state Publication 1746 6 1
166. nning before the system comes out of Estop If an axis drops into Estop the system drops into Estop The power capacity of the user supplied 24V DC power supply determines the number of axes on one Estop string Each Estop string requires 50 mA of current from the 24V supply Wiring the SLC Servo Module 5 11 Figure 5 8 Ladder Diagram for a Two Axes or Three Axes System 24V DC 24V DC Return ji ON Control Control Control YN Module 1 Module 2 Module 3 P2 6 P2 6 P2 6 i CR3 1 i ad PM CR1 t 1 ig ae ano 3S COO t P27 ME P2 7 P2 7 Loa Estop O String lt To P2 8 Control Module 1 TOS 9 Oo To P2 8 Control Module 2 i sot To P2 8 Control Module 3 q 4 CR1 4 o L P2 Control Module 1 Estop status P2 9 CR2 4 P2 Control Module 2 Estop status P2 9 1 7 4 w 1 P2 Control Module 3 Estop status P2 9 7655 the 25 pin D shell connector on the SLC Servo Modules Specifications for the CR1 Allen Bradley P N 700 HC 14Z24 appear in the table below CR1 Part Number 700 HC 14724 Arrangement 4 form C 24V DC 650 ohms 3A Resistive 120V AC IMPORTANT Use CR1 CR2 and CR3 auxiliary contacts for the drive enable of each drive amplifier CR2 and CR3 are not always required Publication 1746 6 1 2 July 2000
167. nstruction When you use a COP command you have to determine the number of words in the destination file I O file words are 16 bits in length Floating point values are 32 bits or two words in length If you copy a floating point value to an I O file it occupies two words If you copy two I O words to a floating point value they occupy one floating point value Floating point values are 32 bits Before programming your SLC Servo Module 1 Power up the SLC Servo Module to initialize the default configuration Communicating Between the SLC Processor and the SLC Servo Module Entering Encoder Lines and Computing Counts Setting Up Your SLC Servo Module 7 13 2 Verify that the SLC Servo Module is in an Estop state 3 Copy the MO file with the output word 0 mode bit 15 set to 1 4 Verify that the SLC Servo Module is in the configuration mode 5 Using the programming device for the SLC processor RSLogix AI500 or APS Software enter the program example found in Appendix C of this manual with the appropriate changes for the SLC Servo Module locations for the system 6 Using the data monitor change the values in the configuration files to match the default specifications for the SLC Servo Module except for the Encoder Lines and Counts Per Position Unit parameters Maite Fo this program example the discrete configurations are in file N7 and the multiword floating point parameters are in file F8 Communicati
168. o Porcessor Before you test your Estop wiring ATTENTION To avoid personal injury or hardware damage uncouple the motor from its load 1 Test your fast I O 2 Perform open and closed loop integration of drives and feedback devices A wiring diagram for the Estop circuit is shown in the following Estop Circuitry figure Use these connections to check the Estop Reset push button and each contact on the Estop string Figure 6 3 Estop Circuitry Termination Panel 24V lt I Estop Reset Request to Processor Software Estop Control Relay gt 213 Motor Thermal Drive VEN SW Fault vA OO ALo O15 Axis Remote Overtravel Estop E CR1 FN i i gt 1 Drive Enable Contacts CR1 Control Module To check the Estop reset push button 1 Uncouple the load from the motor 2 Disconnect the drive enable contacts 3 Disconnect the Estop string at the termination panel Publication 1746 6 1 2 July 2000 6 4 Testing Your SLC Servo Module Hardware Publication 1746 6 1 2 July 2000 Short the machine tool hardware Estop string Press and hold down the Estop Reset push button The following events occur SLC Servo Module detects an Estop reset request SLC Servo Module closes the software controlled Estop relay in the SLC Servo Module Because the
169. o their application Figure C 7 Rung 3 Rung 4 Downloading Blend Profiles This rung example shows how to download your blend profiles Rung 4 downloads the blend profiles located in file F51 For more detailed information about Blend Profiles see the Blend Profiles section of Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Figure C 8 Rung 4 53 0 OR Copy File 4 Source Dest Length Copy File Source Dest Length Publication 1746 6 1 2 July 2000 C 6 Programming Examples Data for the blend move in rung 4 appear in the following tables The figure below shows the data table for file F51 as it appears in the program The following data table displays the F51 file data as it would appear when accessed directly in the program Figure C 9 Data Table for File F51 4 Data File F51 BLEND DAT F51 0 sj Desc eee F51 Properties Usage Help The following table breaks the data down by the address and function It is the same data that appears in the previous diagram Publication 1746 6 1 2 July 2000 Address Accel Speed Position F51 0 1 4500 100 F51 3 1 500 150 F51 6 1 100 200 F51 9 1 10 205 F51 12 1 4500 0 The diagram below shows the values for file N50 as it appears in the Programming Examples C 7 Figure C 10 File N50 Data Table 74 Data File N50 bin BLEND SET Offset 15 1413 1
170. oat axis travel limit to 0 0 axis travel limit s Slot number for the SLC Servo Module Typical Set Offset Move Data Tables Before executing a Set Offset move set Source B for the Equal instruction in Figure 9 1 to 16 A Set Offset command to set the position offset to 4 0 is initiated if the float data table is www T T T 4 0 And the integer data table is Using the Set In Position Band Command The Set In Position Band command sets the online in position band to equal the specified value The units for the in position band specified are position units The in position band defines a zone around the end point that defines when the in position bit is set Set In Position parameters for word 5 bit 8 appear in the table below Block Command Parameters Location Format Possible Values Default Bit Specifications 0 s 4 Bits 0000 0000 0000 0000 0 Set In position Band 0 s 5 Bits XXXX XXX1 0000 0000 0 In position Band 0 5 6 0 5 7 Float 0 0 to axis travel limit 0 0 s Slot number for the SLC Servo Module This Set In Position Band command can be issued anytime after the control is powered up Refer to the example in Using the Set Axis Gain Command Publication 1746 6 1 2 July 2000 9 8 Programming System Variables If the Set In Position Band command fails the SLC processor is notified with an appropriate error message Typical Set In Position Band Move Data Tables
171. ome Calibration To configure and program for a unidirectional axis IMPORTANT IMPORTANT the signs of both the speed specified in the Home Axis command and the Speed Direction of Move Off the Limit Switch must be the same and Final Move to Marker is set to No 0 Homing to a Limit Switch and Marker The axis moves in the direction and at the speed specified by the Home Axis command to first find the home limit switch When the limit switch is found the axis moves in the direction and at the speed specified by the configured Speed Direction of Move Off the Limit Switch The balance of the homing sequence is identical to Homing to a Marker replacing the direction and speed properties of the Home Axis command with the configured Speed Direction of Move to the Marker IMPORTANT To configure and program for a unidirectional axis the signs of the speed specified in the Home Axis command Speed Direction of Move Off tbe Limit Switch and Speed Direction of Move to the Marker must be the same Overview Blend Move Profiles Chapter 8 Programming the SLC Processor to Run the SLC Servo Module This chapter provides configuration information for the SLC processor and the SLC Servo Module It also contains instructions for programming the module for the command mode of operation The following topics are explained Blend move profiles Command and status information Module communication interface Discrete bit comman
172. on between the SLC processor and the SLC Servo Module occurs asynchronously through 12 input and 12 output words The SLC Servo Module requires that an input is present from one to two coarse iterations before it is guaranteed to be recognized SLC Servo Module ladder logic rungs contain timers that can provide the proper timing The preferred method is to build handshake logic into the SLC Servo Module ladder program A handshake occurs when the SLC processor requests a change and tests for an appropriate change in the SLC Servo Module status word before continuing The SLC Servo Module can deny requests from the SLC processor because the SLC Servo Module is not in the correct state to grant the request Some SLC Servo Module inputs are only recognized on the input transition If the SLC Servo Module is not in the correct state to grant a request when the input transition occurs the input request is denied Unless you toggle the input again the SLC Servo Module ignores the request Encoder lines are entered to compute counts per unit and maximum speed Publication 1746 6 1 2 July 2000 7 14 Setting Up Your SLC Servo Module Publication 1746 6 1 2 July 2000 To enter encoder lines 1 Refer to the encoder manufacturer s specification for the encoder lines 2 Enter the value of the Encoder Lines parameter in configuration file F8 words 4 5 3 Enter the value of the Counts Per Position Unit parameter in configuration file F
173. oop and executing a speed move at 5096 of the maximum axis speed If the drive is not calibrated the observed speed returned in the status words is different from the commanded speed In this case you can adjust the drive to change the observed speed or change the maximum axis speed to match the commanded speed and observed speed The procedure above has the same result as running the drive with a known velocity input voltage using the battery box The feedback loop is closed with only the proportional action no velocity feedforward action is added The servo loop runs with a following error and if the servo is calibrated the speed and following error ratio are maintained at the specified gain The feedback loop is closed with the velocity feedforward action added to the proportional action The servo loop runs with zero following error if the velocity feedforward is set to 1 0 and the system is calibrated Use a velocity and acceleration Feedforward Constant to adjust the amount of following error when using the feedforward loop Velocity Time Base Motion 0 5 0 6 Minutes 1 Seconds 0 Minutes If the time base specified is seconds the speed specified for each move block and configuration parameter is interpreted as position units per second e g 10 0 Inches Second If the time base specified is minutes the speed specified for each move block and configuration parameter is interpreted as position units per
174. op PB Fast I O Travel Limits 24V Motor 1 2 24V FI 3 J RET FO Publication 1746 6 1 2 July 2000 5 30 Wiring the SLC Servo Module Figure 5 25 Wiring Diagram for F H and S series ULTRA 100 200 When Homing to a Marker 1746 HSRV IMC 110 Termination Panel 1746 HT T gt ENCODER COM DRIVE DR RET e 5180 24V DC M SHLD 13 24V DC COM oo DRIVE ENABLE 5 Weser FAULT RESET 2N Ad ANALOG CMD S CH A LO 22 8 ABSHLD AAA X oa ANALOG CMD x CH B HI N gt DRIVE READY CH B LO e N DIRVE READY Z SHLD e L 25 A CH Z HI e E CH ZLO e E TA 24V DC for ncoder Power ULTRA 100 J2 Connector 5V E Onl RET e ENC GRAY Ned 2 1 ENC WHITE GRAY SHLD e 2 3 4 Ext Power 5 ENC BLUE S E ENC BLUE YELLOW S RET Ad A BLACK 7 15V AJ x WHITE BLACK S H PET AES 8 B RED 8 424V EIN X
175. osition is executed the position is valid for performing the Retract Position operation if the following conditions exist Axis is homed Specified speed is greater than the maximum axis speed if the speed for the move is limited to the maximum axis speed Typical Set Retract Position Move Data Tables Before executing a Set Retract move set Source B for the Equal instruction in Figure 9 1 to 4 A Set Retract Position command to set the command position to 20 0 is initiated if the float data table is UecdDece We rei Ti T 1 0 And the integer data table is Using the Preset Position Command The Preset Position command sets the current command position equal to the specified preset position Preset Position parameters for word 5 bit 3 appear in the table below Block Command Parameters Location Format Possible Values Default Bit Specifications 0 8 4 Bits 0000 0000 0000 0000 0 Preset Position 0 s 5 Bits 0000 0000 0000 1000 0 Position 0 5 6 0 5 7 Float axis travel limit to 0 0 axis travel limit 1 s Slot number for the SLC Servo Module The absolute position for the axis is set equal to preset position plus the signed following error The preset position operation can only be performed when The module is out of Estop There is no motion in progress The axis has been homed Publication 1746 6 1 2 July 2000 9 6 Programming System Variables Using Online Confi
176. ost significant bit set Given this data a speed move is initiated The example initiates a synchronized speed move At 500 0 position units per time base At 75 of the maximum acceleration specified in the configuration A synchronized speed move occurs if Module is out of Estop Maximum speed configured is more than 500 0 position units per minute Synchronized signal is received Chapter 9 Overview Programming System Variables This chapter provides information to help you program the module for the command mode of operation This chapter includes the following topics Using position initialization commands Using online configuration commands Understanding status information Understanding SLC Servo Module processor status Using Position Initialization The initialization commands that are discrete block commands from the SLC Processor are Commands e Home axis Set home e Set retract position Preset position Using the Home Axis Command When you execute the Home Axis command the following conditions must exist before the homing operation can begin The motion control system must be out of Estop There must be no motion in progress If the system is in Estop an error is sent to the SLC processor If there is motion in progress that motion is canceled Home axis parameters for word 5 bit 0 appear in the table below Block Command Parameters Location Format Possib
177. ot be exposed to a corrosive atmosphere in a non construction area Rockwell Automation offers support services worldwide with over 75 sales support offices 512 authorized distributors and 260 authorized systems integrators located throughout the United States In addition Rockwell Automation representatives are located in every major country in the world Local Product Support Contact your local Rockwell Automation representative for e sales and order support product technical training warranty support support service agreements Technical Product Assistance If you need to contact Rockwell Automation for technical assistance please review the information in the Troubleshooting chapter first Then call your local Rockwell Automation representative For the quickest possible response we recommend that you have the catalog number of your products available when you call The Rockwell Automation Technical Support number is 1 603 443 5419 Preface P 7 On the Web For information about Allen Bradley visit the following World Wide Web site http www ab com Publication 1746 6 1 2 July 2000 Preface P 8 Publication 1746 6 1 2 July 2000 SLC Servo Module Overview Chapter 1 Overview of the SLC Servo Module This chapter explains the basic functions of the SLC Servo Module and its hardware requirements This chapter includes the following SLC Servo Module topics e Overview e Operation S
178. otion Control Systems Product Data 1398 1398 2 0 ULTRA Series Product Data The SLC Servo Module provides a 10V analog output to one drive amplifier for a velocity command This analog voltage is 11 bits plus an additional sign bit 12 bits total and interfaces to drive amplifiers with a 2K through 20K ohm range Servo drive signal analog out specifications appear in the table below Specification Rating Resolution 12 bits or 4 88 mV bit Output voltage swing 10V Load range 2K through 20K ohms Conversion time 100 us Output step response 20V swing e Rise time 110 us typical e Overshoot 5 typical e Settling time 60us typical Differential linearity 1 LSB Max monotonic over the entire temperature range Output offset voltage 500 uV max Gain error drift 7 LSB max Publication 1746 6 1 2 July 2000 2 8 Selecting Power Supplies Encoders and Drives Publication 1746 6 1 2 July 2000 Chapter J General Wiring Practices Planning Hardware Installation This chapter provides guidelines regarding your hardware installation and includes the following topics Understanding general wiring practices e Routing wires Classifying your conductors Placing your SLC Servo Module Refer to your SLC 500 documentation for more information on these topics General wiring practices include Using shielded cables e Routing wires Using Shielded Cables
179. otion was being held 2 Attempt the preset operation 7 The Home Axis bit was released before the homing 1 Wait for the At Home bit to go true operation was completed thus the home operation was 2 Release the Home Axis command aborted 8 The marker was not detected when a move to one 1 Check the marker circuit Z and Z NOT pulses electrical revolution 4 Encoder lines was commanded 2 Refer to installation section for the encoder signal to detect the marker timing diagrams 9 The limit switch state changed too fast for the control Check the limit switch to detect 10 The Retract Position command was cancelled by the Reinitiate the command SLC Servo Module 11 The Retract Position command was performed N A successfully 12 The Home command was performed successfully N A 13 An attempt was made to home the axis when the Enable the DAC configuration bit WO BO control has been disabled 14 Speed move encountered a software overtravel Clear fault and move in the opposite direction 15 Encoder feedback is marginal Typically this fault is due 1 Check that the feedback cable is isolated from to electrical noise coupling onto the feedback lines electrical fields 2 Check that relays contactors and solenoids are adequately suppressed 16 Absolute move was attempted in Estop 1 Reset Estop 2 Reinitiate the command 17 Incremental move was attempted in Estop 1 Reset Estop 2 Reinitiate the command Public
180. parameters 9 5 typical data table 9 6 product receiving P 5 storage P 5 product support local telephone number P 6 programming SLC Processor to Run the SLC Servo Module 8 1 programming conventions 7 24 binary data 7 24 floating point data 7 24 Programming Examples C 1 programming examples integer configuration C 4 Ladder Rung C 2 Rung 1 C 2 g 10 C 9 g 11 C 10 g 12 C 10 g 13 C 12 Rung 14 C 14 g 15 C 15 g 16 C 16 g 17 C 17 g 18 C 18 Rung 19 C 19 Rung 2 C 4 Rung 20 C 21 Rung 3 C 5 Rung 4 C 5 Rung 5 C 7 Rung 6 C 8 Rung 7 C 8 Rung 8 C 9 Rung 9 C 9 Run Blend Move Profile blending absolute moves 8 22 ending incremental moves 8 24 ending moves 8 22 ending rules 8 20 ending speed moves 8 24 ock command parameters 8 18 xecuting 8 20 xecuting several 8 21 anning 8 19 O D Doo typical data table 8 19 S Safety Precautions P 1 servo loop parameters Acceleration Feedforward Constant 7 28 DAC Enable 7 28 Excess Following Error 7 29 Invert DAC 7 28 Loop Type 7 28 Maximum Axis Gain Value 7 28 Output Voltage at Max Speed 7 29 Reverse Feedback 7 28 Velocity Feedforward Constant 7 28 Servo Module setting up determining acceleration feedforward 7 23 drive adjustments 7 2 motion control position loop 7 2 theory 7 2 specific parameters home 7 24 status information 8 4 testing Estop RESET 6 3 Set Axis Gain Move block command parameters 9 9 typical data table 9 9 Set
181. pecifications and compatibility The SLC Servo Module catalog number 1746 HSRV is compatible with the SLC 500 family and only used with SLC 5 03 FRN 5 0 SLC 5 041M or SLC 5 05 SLC Servo Modules The SLC Servo Module is programmed for incremental absolute or speed moves depending on the application IMPORTANT Place the SLC Servo Module as close to the SLC processor as possible Publication 1746 6 1 2 July 2000 12 Overview of the SLC Servo Module SLC Servo Module Operation Publication 1746 6 1 2 July 2000 Figure 1 1 Example of an SLC Wiring CR LPS 0503 5V amp 12V DC Power Supply CR IOPS 241 24V DC Power Supply The SLC Servo Module compatible with the SLC family is used with SLC 5 03 FRN 5 0 and above processors using RSLogix 500 AI500 or APS version 5 0 or higher software Once the SLC processor is initiated the execution of the motion block is independent of the scan time of the processor Blended motion allows for complicated move profiles consisting of two to thirty two segments The blended move profiles are stored in the SLC Servo Module s memory as a series of absolute moves and can be executed more than once Other move or homing operations can be performed between blended move profiles The SLC Servo Module controls absolute position over a range of 32 bits The SLC Servo Module performs an origin search also called homing and automatically resets
182. preset position 9 5 run blend move profile 8 18 set home move 9 3 set retract position 9 4 speed move 8 15 SLC Control Module current requirements 5 2 Publication 1746 6 1 2 July 2000 grounding 4 4 diagram typical 4 4 earth ground 4 4 EGND terminal 4 4 specifications for Estop relay 5 6 SLC Processor communication with Servo Module 7 13 discrete bit commands 8 5 discrete block commands 8 8 Incremental Position Command 8 9 Simple Move Commands 8 11 Absolute Incremental Move 8 11 SLC Servo Module command information 8 4 communication interface 8 4 Compatibility 1 4 configuring 7 24 7 11 MO file 7 25 Inspection 4 1 installation 4 1 interface 7 11 Operation 1 2 Command Mode 1 3 configuration mode 1 3 operation compatibility 1 2 1 4 Overview 1 1 placement 3 3 processor status fault code 9 15 Floating Point Values 9 16 informational message 9 15 programming 7 12 configuration downloading 7 24 errors 7 25 programming examples C 1 setting up motion control machine mechanics 7 2 Specifications 1 4 testing LED patterns 10 7 powering up 6 1 unpacking 4 1 wiring 5 1 software overtravel limits 5 5 Publication 1746 6 1 2 July 2000 parameters 5 5 Speed Move block command parameters 8 15 typical data table 8 16 status Word 0 A 11 Word 1 A 12 Word 3 A 13 Status Information 9 11 status information blend move profile 9 12 Word 0 9 12 Word 1 9 13 Word 2 9 14 Word 3 9 15 support local product support P
183. purpose IMPORTANT Do not connect shields to earth ground at both ends to avoid causing circuit loops that are susceptible to radiated and coupled noise Figure 4 2 Typical Grounding and Shielding for the SLC Servo Module System Termination panel User supplied shielded cable 1746 HCA cable Drive CMD TP Backplane Twisted TS Drive B Side ser pair x10 IE zx a Side Channel A Axis Axis Encoder i i e i Channel B T Shielded mE Z bes Channel 7 n e pair x3 PEN ES e _ eA 9 af a Optional y F7 Overall EGND Earth ground cable shield External power through backplane eld see ATTENTION 5V AX 15V RET Publication 1746 6 1 2 July 2000 User side power supply To avoid unpredictable operation of your SLC Servo Module use a separate 24V power supply and tie the 24V return to the 5V return The 5V 15V and 15V returns are tied together on the SLC Servo Module ATTENTION Installing Your SLC Servo Module 4 5 Mounting the Termination Refer to the Figure 4 3 and Figure 4 4 when mounting the 1746HT Panel termination panel To mount the 1746HT termination panel 1 Snap the termination panel onto the DIN type rail 1492 DR2 2 Pos
184. r Name field 4 Select your SLC processor from the list of processor types Default values assigned to the selected processor appear in the Communications Setting area 5 Select OK The processor database is initialized and the RSLogix 500 navigator window appears with the name you typed in the Processor Name field Publication 1746 6 1 2 July 2000 7 8 Setting Up Your SLC Servo Module Publication 1746 6 1 2 July 2000 6 In the navigator window double click on I O Configuration The I O Configuration window appears In the example below field 7 of the racks area contains a four slot rack 1 0 Configuration Bike r Current Cards Available 1 1746 44 4 Slot Rack T Filter an z 2 1 0 Rack Not Instaled m Description rre 1746 0 8 Any 8pt Discrete Dutput Module escrip 5 05 CPU 64K Mem 05500 AMCI 153x AMCI Series 1500 Resolver Module ReckNatinsated Read ID Config ES Any Spt Discrete Input Module 3 0 Rack Not Installed E 1746 1516 Any 16pt Discrete Input Module 1746 0 16 Any 16pt Discrete Output Module AMCI 1561 AMCI Series 1561 Resolver Module PowerSupply 11 746 1 32 Any 32pt Discrete Input Module 11746 0 32 Any 32pt Discrete Output Module 1746 BAS 5 02 BASIC Module MO M1 capable 11747 DCM 1 4 Node Adapter Module 1 4 Rack 11747 DCM 1 2 Node Adapter Module 1 2 Rack 11747 DCM 3 4 Node Adapter Module 3 4 Rack 11747 DCM FULLNode Adapter Module Full Rack
185. r fault messages and major fault messages accompanied by potential causes and possible resolutions Publication 1746 6 1 2 July 2000 10 8 Troubleshooting Informational Messages Informational Potential Cause Possible Resolution Message No 2 Tried to exit Estop after a nonrecoverable Estop has 1 Remove watchdog disable jumper occurred 2 Cycle power 3 A set Initialize Retract Position command was e f in Estop reset Estop attempted from the SLC processor while the SLC Servo e f not homed home the axis Module was in Estop The axis is not homed or the e f motion is not complete wait for the motion to motion is not complete end 4 Set Retract Position command was attempted from the e f in Estop reset Estop SLC processor while the SLC Servo Module is in Estop e f not homed home the axis the axis is not homed or the motion is not complete e f motion is not complete wait for the motion to end 5 Set Home command was attempted from the SLC e f in Estop reset Estop processor while the SLC Servo Module is in Estop the e f motion is not complete wait for the motion to motion is not complete or the axis has not seen a end marker e f motion is not complete move the axis equal to the 4 encoder lines count to see the marker 6 A preset operation was attempted while motion was in 1 Unhold motion and or wait for motion complete progress or while the m
186. r most of the encoder revolution and pulses high for the marker interval 4 Wire the signal that was determined in Step 3 to CH Z HI on the termination panel 5 Wire the other to CH Z LO on the termination panel 6 Look at channel B and its complement channel B 7 Wire CH B HI on the termination panel to the signal that is high for at least part of the marker interval Depending on the encoder manufacturer it is possible that both channels meet this requirement If so use either one 8 Wire the complementary remaining phase to CH B LO on the termination panel 9 Look at channel A and its complement channel A 10 Wire the signal that is low for most of the encoder revolution and pulses high for the marker interval to CH A HI on the termination panel 11 Wire the complementary signal to CH A LO on the termination panel Typical Vendor Encoder Wiring See your vendor s encoder literature for the applicable timing diagram Publication 1746 6 1 2 July 2000 5 16 Wiring the SLC Servo Module Figure 5 12 Typical Vendor Encoder Timing Diagram See 1 in table below Cycle m o 90 lt Hi Channel A i _ Lo ee ae See 2 in table below Optional See 3 in table below 00 Wire CH B and CH Z to CH B LO CCW rotation CHA LO and CH Z LO respectively viewing
187. r rung diagrams and any associated data tables that can help you to construct actual programs for the SLC Servo Module using the SLC processor The ladder rung diagrams provide examples for triggering a configuration downloading a configuration setting a timer delay checking for download errors and clearing fault errors The rung diagrams also show how to initiate the following commands ABSOLUTE move INCREMENTAL move SPEED move MONITOR move BLEND move and HOME AXIS move The command file N31 0 has the following command values Value Command 1 Absolute Incremental Speed co Monitor 16 Blend The command file B3 0 has the following command bit Value Command b3 0 10 1 Home The following diagram shows an example of a rack with the SLC Servo Module positioned in slot 1 Figure C 1 SLC Rack with Servo Module in Slot 1 ON 0000 un Dang SLC 1746 1746 5 04 HSRV IW16 Publication 1746 6 1 2 July 2000 C 2 Programming Examples Ladder Rung Examples Trigger for Configure B3 0 B3 0 0000 3 oss 1 Publication 1746 6 1 2 July 2000 The following table for a typical I O configuration used in the previous diagram shows the possible slot occupants with their catalog and card numbers Rack 121746 A4 4 slot backplane Slot Catalog Card Description 0 1747 1542 5 04 CPU 20K USER MEMORY 1 1746 HSRV SLC Servo Module 2 OTHER 1
188. r word 5 bit 11 appear in the table below Block Command Parameters Location Format Possible Values Default Bit Specifications 0 s 4 Bits 0000 0000 0000 0000 0 Set VFF 0 s 5 Bits XXXX 1XXX 0000 0000 0 Velocity Feedforward Constant 0 8 6 0 5 7 Float 0 0 to 1 0 0 0 Status Information Location can vary depending on other bits simultaneously set in the most significant byte of Word 5 up to three of these bits can be set simultaneously These bits are evaluated from right to left Words 6 and 7 are used for the first set bit encountered Words 8 and 9 are used for the next simultaneously set bit Words 10 and 11 are used for the last simultaneously set bit This special feature can be used to make servo axis tuning easier 5 Slot number for the SLC Servo Module This online configuration command is issued anytime after the control is powered up Refer to the example in Using the Set Axis Gain Command If the Set VFF command fails the SLC processor is notified with an appropriate error message Typical Set VFF Move Data Tables Before executing a Set VFF move set Source B for the Equal instruction in Figure 9 1 to 2048 A Set VFF command to 1 0 is initiated if the data tables are Word 0 1 2 3 4 5 F27 0 1 0 N32 0 0 0 0 0 0 2048 Status information is described within the following topics Word 0 discrete bit status specifications e Series major revision minor revision
189. relay on control module 5 6 wiring connections 5 6 wiring for a multi axis system 5 10 wiring for a one axis system 5 7 Publication 1746 6 1 2 July 2000 F fast inputs and outputs electrical specifications 2 5 equivalent circuits 5 4 typical connections 5 3 using 2 4 wiring 5 2 feedback parameters Counts per Position Unit 7 26 Encoder Lines 7 26 Fits 7 32 H hardware testing 6 1 hardware installation planning 3 1 hardware overtravels 5 4 Home Axis Move block command parameters 9 1 typical data table 9 3 Homing Options 7 32 to a limit switch 7 37 to a limit switch and marker 7 38 to a Marker 7 32 Without a Limit Switch or Marker 7 32 homing parameters Final Move to Marker 7 30 Final Move to Which Marker 7 30 Home Calibration 7 30 Home Tolerance 7 31 Home Type 7 30 Homing Position 7 30 Limit Source 7 30 Speed Direction of Move Off the Limit Switch 7 31 Speed Direction of Move to the Marker 7 31 HSRV Quick Check Jog the Axis Using the Speed Move Command 10 5 incremental position interpolated move 8 10 simultaneous moves 8 10 Input Output Quick Reference A 1 input output quick reference blended configuration A 14 commands Word 0 A 10 Word 1 A 10 Word 4 A 11 Word 5 A 11 Words 2 and 3 A 10 configuration output bit parameters Word 0 A 1 Word 1 A 4 Word 2 A 5 Word or Multi Word A 5 discrete control status A 13 Status Word 0 A 11 Word 1 A 12 Word 2 A 12 Word 3 A 13 Installation 4 1 Mounting the Termin
190. rives In this chapter we explain how to select the hardware you need to support an SLC Servo Module system This chapter includes the following topics Selecting a power supply for the backplane Selecting a user side power supply Using fast inputs and outputs Selecting an encoder Selecting a drive The amount of hardware you need depends on how many axes your application uses Consult your local Allen Bradley sales engineer or distributor to help you select the equipment for your application IMPORTANT The term user side refers to the control circuitry on the SLC Servo Module card that is powered by customer supplied power sources and isolated from the control circuitry that is powered by the backplane of an SLC rack Before you select a power supply calculate the current requirements for your backplane Use the table below for SLC Servo Module backplane current requirements Voltage Current Requirement 5V 300A 24V 104A In your calculations include the current requirements of the I O modules in your chassis Refer to your SLC 500 documentation Publication 1746 6 1 2 July 2000 2 2 Selecting Power Supplies Encoders and Drives Publication 1746 6 1 2 July 2000 Example of Calculations for Backplane Current Requirements In this example the system includes e One seven slot modular rack e One 1747 1543 CPU module One 1746 IB8 DC input module with eight inputs 24V One 1746 OV8 DC o
191. rsing the speed specifications for the speed move that is executing Publication 1746 6 1 2 July 2000 Setting Up Your SLC Servo Module 7 19 5 If Then Both the positive and Go to Computing Excess Following Error Limit negative speed match the commanded speed within 3 The speed error is greater 1 Compute a new output voltage at than 3 maximum speeds using the positive speed calibration and negative speed calibration equations shown below 2 Set the SLC Servo Module in Estop 3 Toggle the bit word 0 bit 15 to download this configuration 4 Reset Estop 5 Go to the main step 1 6 Calculate To equal Multiplied by programmed speed actual speed in the positive direction Output voltage at the positive maximum speed new value Output voltage at the positive maximum speed current value 7 Enter output voltage at the positive maximum speed in configuration file F8 words 24 25 Calculate To equal Multiplied by programmed speed actual speed in the negative direction Output voltage at the negative maximum speed new value Output voltage at the positive maximum speed current value 9 Enter output voltage at the negative maximum speed in configuration file F8 Gwords 26 27 Computing Excess The axis following error that exceeds the excess following error limit laces the control in an Estop condition This is
192. s Discrete Bit Status Word 0 Inhibit Informational 0 5 1 8 Yes 1 No 0 No Informational codes include axis homed successfully Codes Retract Position successful etc When clear all System informational transactions detected by the SLC Servo Module are reported to the SLC processor You must clear them using either the Clear Fault or Clear All Faults bit Inhibiting informational codes provide more time to the SLC Servo Module to execute the motion blocks However all errors detected are not reported Inhibit Minor Fault 0 5 1 9 Yes 1 No 0 No Inhibiting minor faults provide more time to the SLC Codes Servo Module to execute the motion blocks System However all errors detected are not reported Inhibit Major Fault 0 1 10 Yes 1 No 0 No Inhibiting major faults provide more time to the SLC Codes Servo Module to execute the motion blocks System However all errors detected are not reported Reserved 0 5 1 11 0 Inhibit Actual Position 0 5 1 12 Yes 1 No 0 No Inhibiting actual position provides more time to the System SLC Servo Module to execute the motion blocks However the actual position is not reported Inhibit Following Error 0 5 1 13 Yes 1 No 0 No Inhibiting following error provides more time to the System SLC Servo Module to execute the motion blocks However the following error is not reported Inhibit Current Speed 0 5 1 14 Yes 1 No 0 No Inhibiting current speed provides more t
193. s 8 12 typical data table 8 13 algorithm camming 8 9 gearing 8 9 interpolation 8 9 application examples processor file C 2 axis parameters Negative Overtravel Limit 7 30 Positive Overtravel Limit 7 30 Reversal Error Value 7 30 Rollover Position 7 30 Software Overtravels Used 7 30 Blend Move Profiles 8 1 command block parameters 8 2 configuration downloading 8 1 errors 8 2 PPPP bits 8 3 block command parameters Absolute Incremental Move 8 12 Monitor Move 8 17 Run Blend Move Profile 8 18 Speed Move 8 15 C Cable Dimensions and Wiring Diagram B 1 1746 HCA Cable B 1 cable specifications 1746 HCA B 2 CIT 7 32 commands A 9 Output A 9 Word 0 A 10 Word 1 A 10 Word 4 A 11 Word 5 A 11 Words 2 and 3 A 10 communication SLC Processor and the SLC Servo Module 7 13 Complying with European Union Directives 5 1 EMC Directive 5 1 configuration Multi Word Parameters A 5 Word 0 Parameters A 1 Word 1 Parameters A 4 Word 2 A 5 Configuration Errors 10 3 Configuration Output Bit Parameters A 1 configuring automatically SLC Servo Module 7 7 manually SLC Servo Module 7 8 parameters 7 26 axis parameters 7 30 feedback 7 26 homing parameters 7 30 motion parameters 7 29 servo loop 7 27 system 7 31 Processor Al 500 software 7 4 APS software 7 5 processor RSLogix 500 software 7 7 SLC Processor 7 3 SLC Servo Module 7 11 7 24 Control Module installing 4 2 LED patterns 10 7 conversions data type 7 12 CR1 relay specifications 5
194. s servo drives as shown in Figure 5 15 through Figure 5 23 Connect this signal so that the resulting direction of motion matches the correct direction of motion as you defined it If you reverse these connections you reverse the direction the axis moves in response to a given polarity of the velocity command To avoid shorts in the Velocity command circuitry ATTENTION do not reverse the Drive Out connections of the SLC Servo Module The drive amplifiers of some vendors only provide a single ended input for the Velocity command Overview Powering Up Your SLC Servo Module Chapter 6 Testing Your SLC Servo Module Hardware This chapter includes the following topics Powering up your SLC Servo Module e Testing Estop wiring Integrating the axis Testing home using the home position switch Testing home using encoder marker Before you apply power to the SLC Servo Module Wire the AC line on the power supply Set the voltage 120V or 240V Connect the user power cables Rout the user power cables Connect the wiring from the termination panel to drives encoders fast input and output devices Estop string and Estop reset button Connect the cable to the termination panel and the SLC Servo Module with the connectors firmly attached To power up your SLC Servo Module 1 Create a ladder program to avoid memory loss in your SLC 500 Processor when you power up Only include the rung
195. sages and 10 7 Informational Messages 10 8 Minor Fault Messages 10 10 Major Fault Messages 10 12 Appendix A Configuration Output Bit Parameters A 1 Word 0 Parameters _ A 1 Word 1 Parameters __ 4 Word 2 Parameters 5 Multi Word Parameters __ A 5 Commands y FERRY OLS PED De ESR DLS Gd A 9 Output 9 Discrete Bit Output Command Word 0 A 10 Discrete Bit Output Command Word 1 A 10 Incremental Position Output Cmnd Words 2 amp 3 A 10 Block Output Command Word 4 A 11 Block Output Command Word 5 A 11 Discrete Bit Input Status Specifications A 11 yee ee eu il aia PUR ee ee 11 Word eee ee eee os 12 Word 2o eise PEE E 12 Word ie eee oe 13 SLC Servo Module to SLC Processor Discrete Control Status A 13 Blended Configuration A 14 Appendix B 1746 HCA CADIG dte qoe edv Rei uae ES B 1 Programming Examples Wiring Without the Termination Panel Table of Contents vii Appendix C SLE Serv Mod l
196. served during starting or stopping 13 Calculate To equal Time to maximum 1 05 multiplied by speed new value time to maximum speed current value 96 acceleration rate expressed as a decimal Publication 1746 6 1 2 July 2000 Determining Velocity and Acceleration Feedforward Setting Up Your SLC Servo Module 7 23 For example the current value for time to maximum speed is 0 2 seconds From the above motion test the acceleration ramp selected is 22 Calculate To equal Time to Maximum 1 05 seconds x 0 2 divided by 0 22 Speed new value 0 96 seconds 14 Enter the new time to accelerate to maximum speed in configuration file F8 words 30 31 15 Set the SLC Servo Module in Estop 16 Toggle the bit word 0 bit 15 to download this configuration 17 Reset Estop The following information for determining velocity and acceleration feedforward is for Velocity Feedforward VFF only Speed calibration and axis acceleration are critical for proper velocity feedforward operation Velocity Feedforward With velocity feedforward you add a percentage of the computed velocity command to the position error velocity command Velocity feedforward can reduce the following error at constant axis speed to near zero But at values above 7096 velocity feedforward can introduce a small overshoot at the end of a transition Select a value acceptable for the application Acceleration Feedforward
197. sses as shown in the previous diagram Address Acceleration Velocity Units Minute The following diagram shows the data table for File N32 as it appears when accessed from the program Publication 1746 6 1 2 July 2000 Programming Examples C 21 Figure C 37 Home Command Data Table 73Data File N32 HOME COM N32 0 Radix Decimal Sybo Desc 2 5 Properties Usage The following is a table representation of the data in the previous diagram Address Data N32 0 0 0 0 0 0 1 Rung 20 Final Rung The following example shows what the final rung in a ladder program looks like Rung 20 ends the ladder file Figure C 38 Rung 20 0020 e Publication 1746 6 1 2 July 2000 C 22 Programming Examples Publication 1746 6 1 2 July 2000 Appendix D Overview Using Fast Inputs and Outputs Wiring Without the Termination Panel This appendix covers how to wire your SLC Servo Module without a termination panel and includes the following topics Using fast inputs and outputs e Distances to user devices Wiring your hardware If you don t use a termination panel you must wire from the connectors on the SLC Servo Module to these user devices Fast inputs and outputs Estop Reset push button Estop string and Estop relay Power supplies Encoders e Drives When using fast inputs you must snub all inductive and capacitive loads
198. sts the data for the previous diagram The table shows the values under their appropriate addresses Address Velocity Units Minute 0015 Programming Examples C 15 This diagram shows the N31 Data table as it appears when accessed from within the program Figure C 26 Data Table for File N31 7 2 Data File N31 COMMANDS N31 0 Radix Decimal Columns jo The following data is for File N31 as shown in table format Address Command N31 0 4 Speed 0 Rung 15 MONITOR Move Rung 15 gives an example of how to enter a MONITOR move command This rung initiates a MONITOR move The bit specifications are in file N31 For more information on adding an MONITOR Move see the appropriate MONITOR command sections in Chapter 8 Programming tbe SLC Processor to Run tbe SLC Servo Module Figure C 27 Rung 15 OP Copy File Source amp N31 0 Dest 8O 1 4 Length 2 Data for the monitor move in rung 15 appear in the table below The following diagram is of the Data Table accessed in Rung 15 Publication 1746 6 1 2 July 2000 C 16 Programming Examples Figure C 28 Data table for File N31 7 2 Data File N31 COMMANDS Offset N31 0 Radix Decimal EQU 0016 Equal Source A N31 0 Os Source B 16 16 lt Publication 1746 6 1 2 July 2000 Columns io This table shows the incremented value as represented in the previous diagram Address Command N31 0 8
199. supply for Estop circuitry to the termination panel Publication 1746 6 1 2 July 2000 Wiring the SLC Servo Module Figure 5 10 Wiring a 5V 15V and a 24V Power Supply 5 13 4 N 45V mi E 5V comm G 2 L li L2 15V COMM EM EXT POWER n ke J O 5V i O RET 3 da O 15V O 24V Power Supply O RET 24 14 AWG 0O 24RET ii EGND AC HI T O AC LO z 24V RET m l i4AWG 14ANG mS AC Line V 4 O ug Wiring Encoders Electrical Cabinet TTT Ground Bus To avoid unpredictable operation of your SLC Servo Module connect the 5V COMM to the 24V COMM ATTENTION If voltage sources are coming from two separate isolated power supplies tie the 24V return to the 5V return When you wire encoders use a single continuous shielded cable segment Wire the cable directly from the encoder to the termination panel Cable length depends on the power supply for the user side Voltage at the encoder must be within the voltage requirement limits specified Publication 1746 6 1 2 July 2000 5 14 Wiring the SLC Servo Module by the manufacturer Those limits for the 845H are a minimum voltage requirement of
200. system to reach maximum speed in less than one coarse Iteration change the parameter specification 1055 The positive DAC scaling is too big Change maximum speed or volts at maximum speed 1056 The positive DAC scaling is too small Change maximum speed or volts at maximum speed 1057 The negative DAC scaling is too big Change maximum speed or volts at maximum speed 1058 The negative DAC scaling is too small Change maximum speed or volts at maximum speed 1059 The home position specified is out of range If the home position cannot be converted to internal resolution units change the parameter 1060 The home calibration specified is out of range If the home calibration cannot be converted to internal resolution units change the parameter 1061 The rollover position specified is out of range If the rollover position cannot be converted to internal resolution units change the parameter 1062 The maximum gain specified is out of range If the maximum gain cannot be converted to internal resolution units increase the value Publication 1746 6 1 2 July 2000 10 12 Troubleshooting Minor Fault Potential Cause Possible Resolution Message No 1063 The excess follower error is out of range If the excess FE is too big or too small change the parameter 1064 The in position band is out of range If the in position band is too big or too small change the parameter 1065 The loop t
201. t switch the home sequence is identical to home to marker As a result the two parameters Final Move to Which Marker and Final Move to Marker specify which marker to move to and whether the final move to the marker is required or not Final Move to Which Marker Homing 0 5 0 11 Marker Nearest Start Position 0 1 Rev then Nearest Marker 1 Marker Nearest Start Position Marker Nearest Start Position 0 configures the axis to move to the nearest marker from the start position of the final move to the marker of the homing sequence Move to one 1 revolution of the feedback device in the direction and at the speed specified by the Home Axis command then stop The axis then moves to the nearest marker Final Move to Marker Homing 0 5 0 12 Yes 1 No 0 If set the axis performs the final move to the marker specified by Final Move to Which Marker Otherwise the axis does not perform the final move to the marker specified by Final Move to Which Marker but instead assigns the current position of the axis to the configured Home Position the distance to the nearest marker Refer to Homing to a Limit Switch in this manual for alternate usage Enable Incremental Position Command System 0 5 0 13 Yes 1 No 0 If the incremental position command is enabled the SLC Servo Module does not execute blend profile moves and the appropriate error messages are generated when a prof
202. t the Status Deceleration bit Decelerate to a stop at the target position at the commanded deceleration rate Clear the Status Deceleration bit Clear the Absolute Incremental Move in Progress bit Set the Move Complete bit The absolute incremental type of moves generate a trapezoidal or triangular velocity profile triangular velocity profile is generated if a commanded move is not long enough to attain the programmed velocity before the deceleration point is reached Using the Speed Move Command The speed move command generates a move at the specified speed in the direction determined by the sign of the speed specified Speed move parameters for word 4 bit 2 appear in the table below Block Command Parameters Location Format Possible Values Default Speed Move 0 s 4 BITS X000 0000 0000 0100 0 More Bit Specifications 0 s 5 BITS 0000 0000 0000 0000 0 Acceleration Ramp 0 s 6 0 s 7 FLOAT 0 0 to 1 0 1 0 Speed 0 s 8 0 s 9 FLOAT physical limit to physical limit 0 0 s Slot number for the SLC Servo Module The speed specified for the move is the maximum for the move If The speed specified is greater than the Maximum Axis Speed This is the result The speed for the move is limited to the Maximum Axis Speed An error occurs while executing the move The SLC processor is notified Publication 1746 6 1 2 July 2000 8 16 Programming
203. ters Floating point parameters You can download to the module using two copy file instructions to the MO file of the SLC Servo Module The first copy file instruction copies discrete information The second copy file instruction copies floating point information Depending on the values specified in the configuration the module accepts the data or generates configuration errors through module input status words that are described in the next section See Figure 7 2 for a typical ladder program to download the configuration One Setting Up Your SLC Servo Module 7 25 Figure 7 2 Typical Ladder Program Shot for Configure B3 0 OP 0001 JE Copy File 11 Source F3 0 Dest First Pass 1 In the ladder above the floating point file F8 0 and integer file N7 0 contain the configuration that you want for the SLC Servo Module in slot 1 They are copied once to the MO file for slot 1 when requested The configuration parameters are described later in this chapter When an error is generated the following events occur e CONFIG INV LED is lit Errors are reported in word I 1 4 in decimal format e CONFIG INVALID Bit 1 1 1 14 1 1 30 is set Configuration Errors The CONFIG INV LED on the SLC Servo Module turns on before or after power up to indicate an invalid configuration The configuration error input bit 14 in configuration mode input status word 1 is set and input status word 4 of the module r
204. tes an absolute incremental move from the SLC processor Other moves are initiated similarly by setting appropriate values in the data tables and copying the data to the appropriate module output words Figure 8 4 Absolute Incremental Move Command Block Diagram 0013 Word N31 0 Publication 1746 6 1 2 July 2000 8 14 Programming the SLC Processor to Run the SLC Servo Module The example initiates an absolute move To 20 0 position units At 500 0 position units per time base At 10096 of the maximum acceleration specified in the configuration The absolute move described above occurs if The module is out of Estop The maximum speed configured is more than 500 0 position units per minute e The axis is homed The speed profile for the move is trapezoidal or triangular as shown in Figure 8 5 and Figure 8 6 Figure 8 5 Trapezoidal Velocity Trapezoidal velocity profiles with programmable acceleration deceleration pulse rates 0 Time Figure 8 6 Triangular Velocity 0 Time Publication 1746 6 1 2 July 2000 Programming the SLC Processor to Run the SLC Servo Module 8 15 Typically the absolute and incremental moves do the following Set the Absolute Incremental Move in Progress bit Set the Status Acceleration bit Accelerate to the programmed velocity Clear the Status Acceleration bit Continue at the commanded velocity to the deceleration point Se
205. tion information from the SLC Ladder to the SLC Servo Module Refer to Figure 7 1 for a functional block diagram of the data flow The application program uses a copy file instruction to transfer the data from a source integer or float file to the MO file in the slot that you want in the SLC Servo Module A copy file instruction associated with the M files works as an immediate output instruction Therefore the normal ladder program execution stops when it encounters the copy instruction with the M file Ladder program execution does not Publication 1746 6 1 2 July 2000 7 12 Setting Up Your SLC Servo Module Before Programming the SLC Servo Module Publication 1746 6 1 2 July 2000 resume until the SLC processor has transferred the information to the MO file of the SLC Servo Module IMPORTANT Repeatedly executing the copy file instruction when you download the configuration increases the ladder scan time as shown in Figure 7 1 Figure 7 1 Relationship Between Ladder Scan Time and Repeated Execution SLC LADDER EXECUTION MO File Copy File to MO SLC Servo Module 1 0 SCAN Configuration Data Transferred Immediately Data Type Conversions The SLC Servo Module uses floating point values to configure and operate However I O files do not allow floating point numbers To use floating point values in I O files you must execute a COP or copy i
206. tions you experience excessive error faults during high speed operation You must select the proper motor drive and gearing to satisfy the above requirement for the application AC power to the motor drive can go as low as 8596 of the nominal input voltage To allow for axis operation at low line conditions use a power line factor between 0 85 and 1 0 Select a power line factor based on motor and drive vendor specification The maximum low line operating speed from the motor data sheet plus gearing can be calculated by performing the following Multiplied by Multiplied by Multiplied by Maximum motor rpm Output revolutions 1 pitch input revolutions Power factor 0 85 Power Factor x Multiplied by Operating at maximum speed that you want select a DAC output saturation speed greater than the operation speed that you want A reasonable percentage of maximum is approximately 10596 The DAC output saturation speed is the maximum speed for the axis and we calculate it as follows Maximum operating speed Multiplied by is equal to Maximum speed that you want In the example below select a 3000 rpm motor for use with the previous example in this section Compute the maximum operating speed using the following equation RPM x Encoderlines x 4 Maximum Operating Speed Counts per Position Units Multiplied by Divided by Equals maximum revolutions per minute Encoder lines 4 Counts per
207. top string Position them outside the software overtravels see Figure 5 4 Publication 1746 6 1 2 July 2000 Wiring the SLC Servo Module 5 5 Connecting Home Limit Switch as a Fast Input Software Overtravel Limits Software overtravel limits appear in the table below Name What it specifies Default Range Software overtravels used Whether control checks Yes Yes used or software overtravel limits No not used When you are using a check the SLC Servo Module tests each program for motion past an overtravel limit before the programmed motion is executed The SLC Servo Module monitors software overtravel limits continuously during motion Software overtravels are disabled during homing and are not active until the axis is homed Software overtravel limits are located inside hardware overtravel limits Hardware overtravel limits cause Estop when tripped Figure 5 4 Software Overtravel Limits E 0 Negative Overtravel Limit Positive Overtravel Limit W10 W11 W8 W9 Negative Hardware Overtravel Limit Positive Hardware Overtravel Limit causes Estop causes Estop IMPORTANT Check positive and negative software and hardware overtravel limits only if Overtravels Used word 0 bit 7 is set You can configure the home limit switch to come from the termination panel or from the backplane by setting configuration word 1 bit 0 The 1 represents termination panel Fast Input 3 The 0 represents
208. tputs or equivalent The encoder input must have a 0 00 to 0 80 for off state and 4 75 to 5 25 for on state to encoder common reference Input sink current 7 mA max Marker channel Gated markers Cable length Depends on the user side power supply Power voltage at the encoder must be greater than or equal to the power voltage requirement specified by the manufacturer The minimum power requirement for the 845H is 4 75V and the maximum limit is 5 25V To meet the power requirement of the encoder and still attain maximum cable length you can e Raise the voltage of the power supply to meet the encoder requirement but you cannot exceed the 5 25V limit of the control e Increase the gage of the wire from the termination panel to the encoder 12 AWG maximum Selecting Power Supplies Encoders and Drives 2 7 Selecting a Drive The SLC Servo Module supports Allen Bradley 1386 1388 1389 1391 1392 1394 and 1398 servo drive systems References that help you select a suitable drive system appear in the table below Allen Bradley Publication Title Drive Number 1386 1386 2 0 DC Servo Drive Product Data Sheet 1388 1388 2 0 DC PWM Servo Drive Product Data Series B 1389 1389 2 0 AC Servo Amplifier System Product Data Sheet 1391 1391 2 0 AC PWM Servo Controller Product Data Sheet 1392 1392 2 1 High Performance AC Drive 460V and 230V Product Data 1394 1394 2 0 1394 Digital Multi Axis M
209. uential steps or hierarchical information Words that you type or select appear in bold Key names match the names shown and appear in capital letters We use this symbol to represent a twisted pair Figure 0 1 Twisted Pair Symbol Twisted Pair We use this symbol to represent a shielded twisted pair Figure 0 2 Shielded Twisted Pair Symbol Shielded Twisted Pair Product Receiving and You are responsible for thoroughly inspecting the equipment before St R ibilit accepting the shipment from the freight company Check the item s orage nesponsiDIlty you receive against your purchase order If any items are obviously damaged it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill Should you discover any concealed damage during unpacking you are responsible for notifying the freight agent Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment Publication 1746 6 1 2 July 2000 Preface P 6 Rockwell Automation Support Publication 1746 6 1 2 July 2000 Leave the product in its shipping container prior to installation If you are not going to use the equipment for a period of time store it in a clean dry location within an ambient temperature range of 0 to 65 C 32 to 149 F within a relative humidity range of 5 to 95 non condensing in an area where it cann
210. ule is configured with the rollover position the move commanded can cause multiple rollovers The following information applies to the Absolute Incremental move The speed specified for the move is the absolute maximum for the move If the speed specified is greater than the Maximum Axis Speed the speed for the move is limited to the Maximum Axis Speed The axis has to be homed to perform an absolute move e If an error occurs while executing the move the SLC processor is notified Publication 1746 6 1 2 July 2000 Programming the SLC Processor to Run the SLC Servo Module 8 13 The Absolute Incremental move ends if any one of the following occurs e The move reaches its destination The SLC processor cancels the move The Cancel Move bit is used to cancel the absolute or incremental component of the move Setting the Cancel Move bit does not affect an incremental position command component i e the specified incremental position command continues unless it is set to Zero e An Estop occurs The SLC processor sends another move from the mutually exclusive move set including a move of the same type with different 96 Acceleration Ramp Speed or Position Increment A new absolute move can also be initiated by simply changing the acceleration speed or position and keeping all other discrete bits the same Planning an Absolute Incremental Move Figure 8 4 shows a typical ladder program block diagram that initia
211. ult value of 10 0V This default uses the full range of the control s DAC 2048 counts If you specify a value that is less than the default value the control scales the number of DAC counts in use accordingly For example if you enter 2 5V as the value for this parameter only 512 counts of the DAC are in use for commanding speed As a result the speed resolution for the SLC Servo Module is reduced by a factor of 4 You set up this parameter at axis integration time Refer to the Setting Up Your SLC Servo Module chapter for more information Output Voltage at Max Speed Volts Servo Loop 0 26 5 27 10 0 to 0 0 This parameter has a default value of 10 0V This default uses the full range of the control s DAC 2048 counts If you specify a value that is less than the default value the control scales the number of DAC counts in use accordingly For example if you enter 2 5V as the value for this parameter only 512 counts of the DAC are in use for commanding speed As a result the speed resolution for the SLC Servo Module is reduced by a factor of 4 You set up this parameter at axis integration time Refer to the Setting Up Your SLC Servo Module chapter for more information Maximum Axis Speed Position Units Time Motion 0 28 5 29 0 0 to physical limit 3000 0 This parameter requires the use of Encoder Lines and Counts per Position Unit parameters described in the Feedback
212. umber An overview of the SLC 500 family of products SLC 500 Controller System Overview 1747 2 30 A description of how to install and use your Modular SLC 500 SLC 500 Modular Hardware Style Installation amp 1747 6 2 programmable controller Operation Manual A description of how to install and use your Fixed SLC 500 SLC 500 Fixed Hardware Style Programmable 1747 621 programmable controller Controllers Installation amp Operation Manual A training and quick reference guide for APS SLC 500 Software Programmer s Quick Reference ABT 1747 TSG001 Guide In depth information on grounding and wiring Allen Bradley Industrial Automation Wiring and Grounding 1770 4 1 programmable controllers Guidelines An article on wire sizes and types for grounding electrical National Electrical Code Published by the equipment National Fire Protection Association of Boston MA A complete listing of current Allen Bradley documentation Allen Bradley Publication Index 50499 including ordering instructions Also indicates whether the documents are available on CD ROM or in multiple languages A glossary of industrial automation terms and abbreviations Allen Bradley Industrial Automation Glossary AG 7 1 Publication 1746 6 1 2 July 2000 Preface P 5 Conventions Used in this The following conventions are used throughout this manual Manual Bulleted lists provide information not procedural steps Numbered lists provide seq
213. ur Processor Using APS Software Publication 1746 6 1 2 July 2000 7 4 Setting Up Your SLC Servo Module Publication 1746 6 1 2 July 2000 If you are using RSLogix 500 Configuring Your Processor Using RSLogix 500 Software Configuring Your Processor Using Al 500 Software Configuring your processor involves assigning the SLC Servo Module to an open slot in the chassis setting the file length and entering the parameters To assign the SLC Servo Module to an open slot 1 2 10 Press F1 Select Program SLC 500 Addr Select project file Press Enter Press F2 Offline Programming Doc The Offline Ladder Editor Screen opens Press F6 Utility Press F3 Type sr Select an open slot in the chassis Press F5 Select Select 1746 HSRV Single Axis Motion Controller from the list Press Enter To set the file length and enter parameters 1 2 Press F8 SPIOCFG Press F1 and set the MO file length to 1664 words Press Enter Press F2 and set the M1 file length to 1659 words Press Enter Press F6 and set the G file size to 0 words Setting Up Your SLC Servo Module 7 5 7 Press Enter 8 Press ESC three times to return to the top screen of the Offline Ladder Editor screen 9 Press F8 Display 10 Press F1 addr 11 Enter desired data table address 12 Press Enter 13 Enter parameters into Bit B Integer N or Float fil
214. uration block defines Word 1 contains the number of blend points comprising this blend move profile 1 to 32 Since M File transfers occur as an immediate output and increase your ladder scan time do not configure multiple blend profiles within one program scan When configuring blend profiles use Blend Move Profile Configuration In Progress and Servo Configuration In Progress Bits to lock out additional M File transfers If you do not you can Publication 1746 6 1 2 July 2000 8 4 Programming the SLC Processor to Run the SLC Servo Module Command and Status Information Module Communication Interface Publication 1746 6 1 2 July 2000 corrupt the M File data before it gets transferred in the SLC Servo Module to the profile storage or module configuration location If an error is generated the CONFIG INV LED is turned on and errors are reported in 2 4 and the CONFIG INVALID bit I 2 1 14 1 2 30 is set This primary interface to the module remains active while you are configuring the module to report errors flagged during configuration The SLC Servo Module executes two types of commands e Discrete bit Discrete block The SLC Servo Module reads command bits and blocks every coarse iteration Discrete bits have a higher priority than discrete blocks During each scan of the ladder program the SLC processor module interacts with the I O image table of the SLC Servo Module as follows Writes 12 output command
215. utput module with eight outputs 24V An SLC Servo Module system that contains SLC Servo Modules Termination panels Allen Bradley 845H encoders e Fast inputs e Fast outputs Use the table below to find the current requirements of the devices using backplane power Those devices that are not included in the backplane calculations are included in the example s user side calculations Device 5V 24V 1746 L543 processor 1A 200A SLC Servo Module 300A 0 1746 IB8 040A 0 1746 0V8 125A 0 Total 1 465A Total 200A If optional processor is used Device 5V 24V 1747 L532 processor 500A 175A SLC Servo Module 300A 0 1746 IB8 040A 0 1746 0V8 125A 0 Total 965A Total 175A Selecting a User Side Power Supply Selecting Power Supplies Encoders and Drives 2 3 Use the table below to find the power supplies Allen Bradley recommends for the backplane Power Supply Operating Output Capacity Voltage Requirements 5V DC 24V DC 1746 P1 85 130V AC or 2A 170 265V AC 1746 P2 85 130V AC or 5A 96A 170 265V AC 1746 P3 19 2 28 8 DC 3 6A 87 1746 P4 85 132V AC or 10 0A 2 88A 170 265V AC You must provide a power supply that meets your system requirements The following devices require user side power SLC Servo Module Encoders e 1 O modules e Estop circuitry Fast inputs and outputs You must select a power supply that
216. ve to Which Marker 7 30 Home Calibration 7 30 Home Tolerance 7 31 Home Type 7 30 Homing Position 7 30 Publication 1746 6 1 2 July 2000 Limit Source 7 30 Speed Direction of Move Off the Limit Switch 7 31 Speed Direction of Move to the Marker 7 31 parameters motion In position Band 7 29 Maximum Axis Speed 7 29 Synchronized Move Source 7 29 Time to Maximum Axis Speed 7 29 Velocity Time Base 7 29 parameters servo loop Acceleration Feedforward Constant 7 28 DAC Enable 7 28 Excess Following Error 7 29 Invert DAC 7 28 Loop Type 7 28 Maximum Axis Gain Value 7 28 Output Voltage at Max Speed 7 29 Output Voltage at Max Speed 7 29 Reverse Feedback 7 28 Velocity Feedforward Constant 7 28 parameters system Blend Move Profile 7 31 Discrete Bit Status Word 0 Definition 7 31 Enable Incremental Position Command 7 31 Inhibit Current Speed 7 32 Inhibit Following Error 7 32 Inhibit Information Codes 7 31 Inhibit Major Fault Code 7 32 Inhibit Minor Fault Code 7 31 Mode Flag 7 31 Plan Synchronized Move block command parameters 8 25 position initialization commands 9 1 synchronized speed move 8 26 typical data table 8 26 planning hardware installation 3 1 power supplies selecting 2 1 backplane 2 1 calculations for 2 2 current requirements 2 2 power supply selecting user side 2 3 calculations for 2 4 user side current requirements 2 4 powering up 7 3 Publication 1746 6 1 2 July 2000 Preset Position Move block command
217. ves one revolution of the feedback device in the direction and at the speed that the Home Axis command specifies when looking for the marker If the marker is Then Found during that one The current position of the axis is set to the revolution move configured Home Position the distance to the marker nearest the start position Home Calibration Not found during that one The problem is reported to the SLC processor revolution move IMPORTANT This configuration is typical for a unidirectional axis i e axis that only moves in one direction EXAMPLE Marker 1 Current PositionMarker 2 a esc ochre a RE Fais r E E I Publication 1746 6 1 2 July 2000 7 34 X Setting Up Your SLC Servo Module If the current axis position is x then the following occurs e The axis moves one revolution of the feedback device in the direction and at a speed specified by the Home Axis command i e toward Marker 2 for this example Marker 2 is found during the move but because Final Move to Marker is set to No 0 The final axis move does not take place The current position of the axis is set to the configured Home Position the distance to Marker 1 i e the marker nearest the start position Home Calibration Option 2 Example Parameters Equals Final Move to Which Marker 0 Final Move to Marker Yes 1 When the parameters are set the axis moves one revolution of the
218. vo Module 1025 Planned motion queue overflow Cycle all power to the SLC Servo Module 1026 The axis has surpassed the positive or negative Program the moves within the overtravels specified overtravel specified in the configuration file 1027 The programmed position commanded is too large e Programming error position calculation must be to fit into an internal position variable constrained to physical limits e During a blend move execution no valid blend profile number is configured 1028 The program speed does not fall within the legal limits Reprogram the speed within the legal limits 0 lt speed lt Max Speed where Max Speed is a configuration value 1029 The program acceleration ramp does not fall within the Reprogram the acceleration ramp with the legal limits legal limits 0 acceleration ramp 1 0 1031 The current position of the axis is outside the positive Issue a jog type command in the negative direction until software overtravel and a request to move the axis in the position of the axis is between the software the positive direction has been requested from a overtravels command file The operation is disallowed because the positive overtravel would be further violated 1032 The current position of the axis is outside the negative Issue a jog type command in the positive direction until software overtravel and a request to move the axis the position of the axis is between the software the negative
219. wing tables The following diagram is of the data table for file F42 as it would appear when accessed from the program Figure C 19 Data Table for File F42 72 Data File F42 ABSOLUTE 4 b Bedi E mi Desc 5 Properties Usage The following table shows the values for file 42 with the appropriate addresses Address Acceleration Velocity Units Position Minute The next diagram shows the Data Table for File N31 when accessed from the program Publication 1746 6 1 2 July 2000 C 12 Programming Examples Figure C 20 Data Table for File N31 N31 0 Radix Decimal Columns io The following is a table representation of the previous diagram showing the applicable values Address Command N31 0 1 Absolute 0 Rung 13 INCREMENTAL Move The following rung diagram is an example of how to enter an INCREMENTAL move command Rung 13 initiates an INCREMENTAL move The move parameters are located in file F43 The bits to set for initiating the move are in N31 For more information on adding an INCREMENTAL Move see the ABSOLUTE INCREMENTAL sections in Chapter 8 Programming the SLC Processor to Run the SLC Servo Module Figure C 21 Rung 13 OP 0013 qual Copy File Source Dest Copy File Source Dest Length Publication 1746 6 1 2 July 2000 Programming Examples C 13 The following diagram shows what the data table for file F43 looks like
220. y 2000 Inhibit Major Fault Code Location 0 5 1 10 Description This bit when set inhibits i e forces major fault code sent to SLC to 0 the reporting of all major fault codes in the SLC Servo Module to SLC processor Discrete Control Status When clear all major faults detected by the SLC Servo Module are reported to the SLC processor You must clear them using either the Clear Fault or Clear All Faults bit Inhibit Actual Position 0 5 1 12 This bit when set inhibits i e forces actual position sent to SLC to 0 the reporting of the Actual Position in the SLC Servo Module to SLC processor Discrete Control Status When clear the actual position of the SLC Servo Module is sent to the SLC processor Inhibit Following Error 0 5 1 13 This bit when set inhibits i e forces following error sent to SLC to 0 the reporting of the Following Error in the SLC Servo Module to SLC processor Discrete Control Status When clear the following error of the SLC Servo Module is sent to the SLC processor Inhibit Current Speed 0 5 1 14 This bit when set inhibits i e forces current speed sent to SLC to 0 the reporting of the Current Speed in the SLC Servo Module to SLC processor Discrete Control Status When clear the current speed of the SLC Servo Module is sent to the SLC processor Fits per CIT 0 2 These bits specify the number of fine iterations Fits that accumulat
221. ype specified is out of range Valid loop types for the two bit field are 00 Open Loop 10 FE Loop 01 ZFE Loop VFF 1066 The home type specified is out of range Change the parameter 1067 The positive overtravel limit specified is out of range The specified value caused an overflow error when converting the parameter to internal resolution units 1068 The negative overtravel limit specified is out of range The specified value caused an overflow error when converting the parameter to internal resolution units 1069 The counts per position unit specified is out of range The specified value caused an overflow error when converting the parameter to internal resolution units 1070 The fits per CIT is out of range The valid values are 3 4 8 msec 4 6 4 msec 5 8 0 msec 6 9 6 msec Major Fault Messages Major Fault Potential Cause Possible Resolution Message No 2048 Quadrature fault simultaneous transitions on the A and Because this fault is typically due to electrical noise B channels of the encoder detected This error causes coupling onto the feedback lines an Estop state 1 Check to make sure the feedback cable is isolated from electrical fields and all relays contactors and solenoids are adequately suppressed 2 Rehome the system 2049 The SLC Servo Module detected a feedback fault that Because this fault is typically due to electrical noise causes an Estop state This occurs if the SLC Servo coupling onto the feedb

SLC Servo Module - Rockwell Automation

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