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1. a AXIS 0 1394 CFLAE ams MORE OK lt a 1756 MO2AE J 5 0in Pinouts for the 1394 CFLAE gv a gas RED226A ea 45VC0 9 ne BLACK 22GA ne i Oe eee CHANNEL A HIGH 4 na ORANGE 226A R CHANNELALOW 10 Ai _WHTIORG 226A A CHANNEL B HIGH 5 oi ELLOW 226A me CHANNELBLOW 11 ix WHTNEL 226A A CHANNEL ZHIGH 6 Ley GREEN 22GA N CHANNELZLOW 12 ne WHTIGAN 226A i ie oe VREF 1 IRES gt gase BLUE22GA 7a VREF 7 ne WHT BLU 22GA ne TREF 8 kashe eee ee oe DROK 0 ee VIOLET 22GA_ 2 s 24V EN COM D ere ae 24V oH x AX ENABLE a WHT GRY 226A A ET DRAIN ie g Sep eseesceece ser TSS ee respore TO SYSTEM p sg EnA FAULT STRING E ne BLACK 2268 x pee R DRAIN ow kep assen Jonk Wiring Diagrams 149 1756 M02AS Module N f General cable C0720 i General cable C0721 General cable C0722 0UT 0 2 11 0UT 1 OUT 0 4 f OUT 1 ENABLE 0 e QQ s ENABLE 1 N ENABLE 0 js 7 ENABLE 1 DRVFLT 0 o amp f DRVFLT 1 CHASSIS 120 amp ni CHASSIS INCOM 14 Orai IN_COM HOME 0 hs Os HOM E 1 REG24V 0 18Q r7 REG24V 1 REGSV 0 iJo rpij REGSV 1 K zo Carl OK CHASSIS 4 2sl CHASSIS CLOCK 0 je zsl CLOCK 1 CLOCK 0 f2 27 CLOCK 1 4DATA 0 3 Gaal DA
2. Attribute Axis Type Data Type Access Description is the same as the Drive Status tag Tag Bit Servo Action Status 0 Drive Enable Status 1 Shutdown Status 2 Process Status 3 Bus Ready Status 4 Reserved 5 Home Input Status 6 Reg 1 Input Status 7 Reg 2 Input Status 8 Pos Overtravel Input Status 9 Neg Overtravel Input Status 10 Enable Input Status 11 Accel Limit Status 12 Absolute Reference Status 13 Reserved 14 Reserved 15 Velocity Lock Status 16 Velocity Standstill Status 17 Velocity Threshold Status 18 Torque Threshold Status 19 Torque Limit Status 20 Velocity Limit Status 21 Position Lock Status 22 Power Limit Status 23 Reserved 24 Low Velocity Threshold Status 25 High Velocity Threshold Status 26 Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 297 Attribute Axis Type Data Type Access Description Drive Status AXIS_SERVO_DRIVE DINT Tag Lets you access all the drive status bits in one 32 bit word This tag is the same as the Drive Status Bits attribute Tag Bit Servo Action Status 0 Drive Enable Status 1 Shutdown Status 2 Process Status 3 Bus Ready Status 4 Reserved 5 Home Input Status 6 Reg 1 Input Status 7 Reg 2 Input Status 8 Pos Overtravel Input Status 9 Neg Overtravel Input Status 10 Enable Input Status 11 Accel Limit Status 12 Absolute Reference Status 13 Reserved 14 Reserved 15 Velocity Lo
3. 9 Controller My_Controller 5 Tasks Motion Groups Trends Data Types E 1 0 Configuration 1756 Backplane 1756 410 fa 3 1756 L62 My_Controller 4 1756 M085E My_SERCOS_Ring E e SERCOS Network a 1 2094 AC09 M02 My _Kinetix_6000_Drive_1 fl 2 2094 AMO1 My_Drive_Y e Axis Properties My_Feedback_Axis Conversion Homing Hookup Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Feedback Only Motion Group My_Motion_Group v al N Associated Module Ta ll Module Properties My_SERCOS Ring 2094 ACO9 MO2 1 1 My_Kinetix_6000_Drive_1 v 2094 AC09 M02 129 Auxiliary v General Connection Associated Axes Power a Identification Status Vendor Allen Bradley Major Fault Product Type RA Miscellaneous Minor Fault Product Code 2094 4C09 M02 Internal State Revision 1 80 Configured Serial Number 00000000 Owned Product Name 2094 AC09 M02 Module Identity When a Kinetix 6000 drive is designated in the Associated Module box there is an additional option for the Node value It is the node associated with the drive plus 128 with Auxiliary after the number The range is 129 to 234 When the Auxiliary Node assignment is Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 161 chosen the axis configuration is changed to Feedback Only on the Gen
4. Command Pos Neg Velocity Commani d Command Torque Amplifier Frict z Comp _ y 2s So Or va 2a a Velocity Feedback Zoo Motor Feedback Y Hardware Channel Motor Feedback Feedback Position osi Feedback Coarse a Hardware Aux l Feedback le sedi Feedback Publication LOGIX UM 002B EN P J anuary 2007 The Auxiliary Position Servo configuration provides full position servo control using an auxiliary that is external to the motor feedback device to provide position and velocity feedback This servo configuration is a good choice in applications positioning accuracy is important The smoothness and stability may be limited however due to the mechanical non linearities external to the motor Note that the motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attri
5. Position Cam AXIS_CONSUMED BOOL Tag Set if a Position Cam motion profile is currently pending the completion Pending Status AXIS GENERIC of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending execution selected This bit is cleared AXIS_ SERVO when the current position cam profile completes initiating the start of AXIS_SERVO_DRIVE the pending cam profile This bit is also cleared if the position cam AXIS_VIRTUAL profile completes or is superseded by some other motion operation Position Cam AXIS_CONSUMED BOOL Tag Setif a Position Cam motion profile is currently in progress Cleared Status AXIS GENERIC when the Position Cam is complete or is superseded by some other a motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Position AXIS_SERVO REAL GSV Position Command in Position Units AXIS_SERVO_DRIVE Ta l i commend a 5 3 Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Position Command is the current value of the Fine Command Position into the position loop summing junction in configured axis Position Units Within the active servo loop the Position Command value is used to control the position of the axis Position Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 76 in IEC Scaling
6. Table 2 B Attribute Description VelocityThreshold This attribute displays the velocity threshold limit If the motor velocity is less than this limit VelocityThresholdStatus of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x1022 VelocityW indow This attribute displays the limits of the velocity window If the motor s actual velocity differs from the command velocity by an amount less that this limit VelocityLockStatus of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 VelocityStandstillW indow AccelerationLimitPositive This attribute displays the velocity limit for the standstill window If the motor velocity is less than this limit VelocityStandStillStatus of the DriveStatus bit is set This attribute has a value range of 0 to 2 14748x1022 This attribute limits the maximum acceleration ability of the drive to the programmed value If the command acceleration exceeds this value AccelLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 AccelerationLimitN egative TorqueLimitPositive This attribute limits the maximum acceleration ability of the drive to the programmed value If the command acceleration exceeds this value the AccelLimitStatus bit of the DriveStatus attribute is set This attribute has a value range of 2 14748x10 to 0 This attribute
7. Code Type The type of code either Binary or Gray used to report SSI output If the module s setting does not match the feedback device the positions jump around erratically as the axis moves Publication LOGIX UM 002B EN P J anuary 2007 172 Axis Properties Data Length Clock Frequency Enable Absolute Feedback Absolute Feedback Offset Publication LOGIX UM 002B EN P anuary 2007 The length of output data in a specified number of bits between 8 and 31 The data length for the selected feedback device can be found in its specifications Sets the clock frequency of the SSI device to either 208 default or 625 kHz When the higher clock frequency is used the data from the feedback device is more recent but the length of the cable to the transducer must be shorter than with the lower frequency This checkbox allows you to either enable checked or disable unchecked the Absolute Feedback feature The default is enabled If Enable Absolute Feedback is set the servo module adds the Absolute Feedback Offset to the current position of the feedback device to establish the absolute machine reference position Absolute feedback devices retain their position reference even through a powercycle therefore the machine reference system can be restored at power up If Absolute feedback is enabled this field becomes active You can enter the amount of offset in position units to be added to the current position of the Fee
8. Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decima M oduleFault BOOL Decima ConfigFault BOOL Decima AxisStatus DINT Hex ServoActionStatus BOOL Decima DriveEnableStatus BOOL Decima Shutdow nStatus BOOL Decima ConfigUpdatelnProcess BOOL Decima InhibitStatus BOOL Decima M otionStatus DINT Hex AccelStatus BOOL Decima DecelStatus BOOL Decima M oveStatus BOOL Decima J ogStatus BOOL Decima GearingStatus BOOL Decima HomingStatus BOOL Decima StoppingStatus BOOL Decima AxisHomedStatus BOOL Decima PositionCamStatus BOOL Decima TimeCamStatus BOOL Decima PositionCamPendingStatus BOOL Decima TimeCamPendingStatus BOOL Decima GearingLockStatus BOOL Decima PositionCamLockStatus BOOL Decima M asterOffsetM oveStatus BOOL Decima CoordinatedM otionStatus BOOL Decima AxisEvent DINT Hex WatchEventArmedStatus BOOL Decima WatchEventStatus BOOL Decima RegEventlArmedStatus BOOL Decima RegEvent1Status BOOL Decima RegEvent2ArmedStatus BOOL Decima RegEvent2Status BOOL Decima HomeEventArmedStatus BOOL Decima Publication LOGIX UM 002B EN P anuary 2007 388 Axis Data Types Publication LOGIX UM 002B EN P anuary 2007 Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float St
9. Attribute Axis Type Data Type Access Description Aux Feedback AXIS_SERVO_DRIVE INT GSV The M otor and Aux Feedback Type attributes are used to identify the Type motor mounted or auxiliary feedback device connected to the drive Feedback Type Code Rotary Linear Rotary Only Only or Linear lt None gt 0x0000 SRS 0x0001 X SRM 0x0002 X SCS 0x0003 X SCM 0x0004 X SNS 0x0005 X MHG 0x0006 X Resolver 0x0007 X Analog Reference 0x0008 X Sin Cos 0x0009 X TTL 0x000A X UVW 0x000B X Unknown Stegmann 0x000C X Endat 0x000D X RCM 215 4 0x000E X RCM 215 6 0x000F X RCM 215 8 0x0010 X LINCODER 0x0011 X Sin Cos with Hall 0x0012 X TTL with Hall 0x0013 X Aux Feedback AXIS_SERVO_DRIVE INT GSV The M otor Feedback Units attribute establishes the unit of measure that units is applied to the M otor Feedback Resolution attribute value The Aux Feedback Units attribute establishes the unit of measure that is applied to the Aux Feedback Resolution attribute value Units appearing in the enumerated list cover linear or rotary english or metric feedback devices 0 revs 1 inches 2 mm Aux Position AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS_SERVO_DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the Publication LOGIX UM 002B EN P anuary 2007 right value as the axis runs See Axis Info Select 1 Auxiliary Position Feedback in Position Units Aux Pos
10. inches or millimeters Average Velocity Timebase 0 25 Seconds Publication LOGIX UM 002B EN P J anuary 2007 22 Start Action Details 4 Select the drive and motor catalog numbers 5 Axis Properties My_Axis_X B Select the catalog number of the drive C Select the catalog number of the motor 5 Set the conversion betw een drive counts and units Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Homing i Hookup Amplifier Catalog Number 2094 AC09 M02 v Motor Catalog Number MPL A31 OP M Change Catalog Loop Configuration Position Servo hal 200000 Drive Counts per MotorRev v Cal IV Drive Enable Input Checking Drive Resolution F Drive Enable Input Fault s Axis Properties My_Axis_X A Homing Hookup Tune Dynamics Gains Output Limits Offset Actions Taa T General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion B Select whether this is a rotary or linear axis Positioning Mode Drive Counts 1 0 Revs G Type the number of drive counts Conversion Constant 200000 0 Based on 200000 Counts Motor Rev that equal one unit from Step 3B S ana E E eR Gell ne Based on 200000 Counts Motor Rev D If this is a rotary axis type the number of drive counts that you want to unwind after 6 Set up the homing sequence B Select the
11. Drive Counts Motor Inch Drive Counts Position Units Close Help Publication LOGIX UM 002B EN P J anuary 2007 180 Axis Properties Position Unit Scaling Per Position Range Position Unit Unwind Calculate Parameters Drive Resolution Conversion Constant Publication LOGIX UM 002B EN P anuary 2007 Position Unit Scaling defines the relationship between the Position Units defined on the Units tab and the units selected to measure position The units used for Position Unit Scaling The options are Motor Inch Motor Millimeter or Motor Rev Maximum travel limit that your system can go For Rotary applications the Position Unit Unwind field displays Enter the value for the maximum number of unwinds in position units per unwind cycle The Calculate Parameters shows the values that are to be calculated based upon the values entered for the Position Unit Scaling and Position Range Recalculates the resolution based upon the new values entered on this screen Recalculates the Conversion Constant based upon the new values entered on this screen Axis Properties 181 When the Conversion screen has Rotary as the value for Position Mode clicking on the Calculate button displays the following screen Update Publication LOGIX UM 002B EN P J anuary 2007 182 Axis Properties Motor Feedback Tab Use this tab to configure motor and auxiliary feedback device if any A
12. Properly configured with a suitable value for the Backlash Stabilization Window entirely eliminates the gearbox buzz without sacrificing any servo performance In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Provides a dynamic velocity correction to the output of the position servo loop in position units per second Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output Corrects the problem of axis drift by adding a fixed voltage value not to exceed 10 Volts to the Servo Output value Input a value to achieve near zero drive velocity when the uncompensated Servo Output value is zero Manual Adjust Axis Properties 241 When interfacing an external Servo Drive especially for velocity servo drives it is necessary to compensate for the effect of drive offset Cumulative offsets of the servo module s DAC output and the Servo Drive Input result in a situation where a zero commanded Servo Output value causes the axis to drift If the drift is excessive it can cause problems with the Hookup Diagnostic and Tuning procedures as well as result in a steady state nonzero position error when the servo loop is closed Click on this button to open the Offset tab of the Manual Adjust dialog for online editing of the Friction Deadband Compensation
13. When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value TestIncrement Specifies the amount of distance traversed by the axis when executing the Command amp Feedback test The default value is set to approximately a quarter of a revolution of the motor in position units Drive Polarity The polarity of the servo loop of the drive set by executing the Command amp Feedback Test e Positive e Negative Proper wiring guarantees that the servo loop is closed with negative feedback However there is no guarantee that the servo drive has the same sense of forward direction as the user for a given application Publication LOGIX UM 002B EN P J anuary 2007 Test Marker Test Feedback Test Command amp Feedback Axis Properties 199 Negative Polarity inverts the polarity of both the command position and actual position data of the servo drive Thus selecting either Positive or Negative Drive Polarity makes it possible to configure the positive direction sense of the drive to agree with that of the user This attribute can be configured automatically using the MRHD and MAHD motion instructions Modifying polarity values automatically input by running the Command amp Feedback Test can cause a A runaway condition Runs the Marker test which ensures that the encoder A B and Z channels are connected correctly
14. Arm Solution definition of configuring 110 Articulated Dependent base offsets 100 configuring 94 define configuration parameters 99 end effector offsets 101 establish the reference frame 94 establish the reference frame alternate methods 96 identify the work envelope 98 link lengths 100 Index Articulated Independent base offsets 91 configuration parameters 90 end effector offsets 92 establish reference frame 84 90 establish reference frame methods 86 identify the work envelope 88 link lengths 91 axis add to controller 20 check wiring 24 get status 29 inhibit 71 77 setup 21 tune 25 Axis Properties Aux Feedback Tab AXIS_ SERVO_DRIVE Cycles 183 Feedback Ratio 184 Feedback Type 183 Interpolation Factor 184 Per 183 Conversion Tab 185 Conversion Constant 186 Position Unwind 186 Positioning Mode 185 Drive M otor Tab AXIS_SERVO_ DRIVE 175 Amplifier Catalog Number 175 Attribute 1 Atrribute 2 177 Calculate button 179 Calculate Parameters 180 Per 180 Position Range 180 Position Unit Scaling 180 Position Unit Unwind 180 Change Catalog Button 178 Catalog Number 178 Filters 178 Family 179 Feedback Type 179 Voltage 178 Drive Enable Input Checking 177 Drive Enable Input Fault 177 Drive Resolution 177 Loop Configuration 176 Real Time Axis Information 177 Drive M otor Tab AXIS_SERVO_ DRIVE M otor Catalog Number 176 Dynamics Tab 203 Calculate Maximum Acceleration J erk Publication LOGIX UM 002B EN P anu
15. Actual Position Command position is useful when performing motion calculations and incremental moves based on the current position of the axis while the axis is moving Using command position rather than actual position avoids the introduction of cumulative errors due to the position error of the axis at the time the calculation is performed Command AXIS CONSUMED REAL GSV Velocity AXIS_ GENERIC Tag AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL Important To use this attribute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Command Velocity in Position Units Sec Command Velocity is the commanded speed of an axis in the configured axis Position Units per second as generated by any previous motion instructions It is calculated as the current increment to the command position per coarse update interval Command Velocity is a signed value the sign or depends on which direction the axis is being commanded to move Command Velocity is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on command velocity is 0 00001 feedback counts per coarse update Common Bus AXIS_SERVO_ DRIVE BOOL Tag Fault The drive shuts down if you give it 3 phase power while it s configured for Common Bus Follower
16. An axis with full motion planner functionality but no integrated configuration support associated with devices such as DriveLogix 1756 DM Servo An axis with full motion planner functionality and integrated configuration support associated with modules closing a servo loop and sending an analog command to an external drive that is 1756 M 02AE 1756 HYD02 and 1756 M 02AS modules Servo Drive An axis with full motion planner functionality and integrated configuration support associated with digital drive interface modules sending a digital command to the external drive that is 1756 M 03SE 1756 M O8SE and 17556 M 16SE SERCOS interface Generic Drive An axis of a SERCOS interface drive that is Extended Pack Profile compliant and on the ring of a 1756 M 08SEG module Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 273 Attribute Axis Type Data Type Access Description Axis Event AXIS_CONSUMED DINT Tag Lets you access all the event status bits in one 32 bit word This tag is AXIS GENERIC the same as the Axis Event Bits attribute ANS SERVO Event Status Bit AXIS SERVO DRIVE s 7 Watch Event Armed Status 0 AXIS_VIRTUAL Watch Event Status 1 Reg Event 1 Armed Status 2 Reg Event 1 Status 3 Reg Event 2 Armed Status 4 Reg Event 2 Status 5 Home Event Armed Status 6 Home Event Status 7 Axis Event Bits AXIS_CONSUMED DINT GSV Lets you access all the event status bits
17. Pos Units per Sec The M otor Inertia value represents the inertia of the motor without any load attached to the motor shaft in Torque Scaling units of Rated Pos Units per Sec The Load Inertia Ratio attribute s value represents the ratio of the load inertia to the motor inertia Auto tuning uses the M otor Inertia value to calculate the Load Inertia Ratio based on the following equation Load Inertia Ratio Total Inertia M otor Inertia M otor Inertia Total Inertia is directly measured by the auto tuning algorithm and applied to the Torque Scaling attribute in units of Rated Pos Units per Sec If the Load Inertia Ratio value is Known the M otor Inertia value can also be used to calculate a suitable Torque Scaling value for the fully loaded motor without performing an auto tune The equation used by RSLogix5000 to calculate the Torque Scaling value is as follows Torque Scaling 1 Load Inertia Ratio M otor Inertia The value for Load Inertia may be automatically calculated using Rockwell s M otionBook program while the value for M otor Inertia is derived from the M otion database file based on the motor selection Attribute Axis Type Data Type Access LDT Type AXIS_ SERVO SINT GSV SSV M ap Instance AXIS_ GENERIC DINT GSV AXIS_ SERVO AXIS_SERVO_DRIVE 1 0 Map Instance Number This is 0 for virtual and consumed Data Types The axis is associated to a specific motion compatible module by specifying the
18. e L1 is parallel to the X3 axis e 2 is parallel to X1 axis Program a Motion Redefine Position MRP instruction for all the three axis to with the following values 0 90 and 0 degrees The Joint to Cartesian reference frame relationship is automatically established by the 1756 L6xx controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled Publication LOGIX UM 002B EN P J anuary 2007 98 Kinematics in RSLogix 5000 Software If the range of motion values for the articulated robot are 1 170 J2 0 to 180 Publication LOGIX UM 002B EN P J anuary 2007 Identify the Work Envelope The work envelope is the three dimensional region of space defining the reaching boundaries for the robot arm The work envelope of an articulated robot is ideally a complete sphere having an inner radius equal to L1 L2 and outer radius equal to L1 12 However due to the range of motion limitations on individual joints the work envelope may not be a complete sphere Typically the work envelope would be R1 22 J1 170 J1 170 R2 10 12 cos 60 16 Top view Depicts the envelope of the tool center point sweep in J 1 and J 3 while J 2 remains ata fixed position of 0 degrees R2 10 12 cos 60 16 X3 Side view Depicts the envelope of the tool center point sweep in J 2 and J 3 while J 1 remains at a fi
19. gt myservodrive2 gt myservodrived 2 MyServoDrivedxis 2D MyVirtualdxis H 6 Ungrouped Axes GE Trends Goto Module EJ Data Types Monitor Axis T ag car User De Ga Strings Fault Help STR Wear Avis Faults H Predefir i Ep Module Cut 1 0 Configu Copy gl racer PESE Motion Direct Commands Cross Reference Print Define Expression _Axis Properties Publication LOGIX UM 002B EN P J anuary 2007 34 Test an Axis with Motion Direct Commands Choose a Command Use this table to choose an instruction and see if it is available as a Motion Direct Command If you want to And Use this instruction Motion direct Command Change the state of an axis Enable the servo drive and activate the axis servo MSO Yes loop Motion Servo On Disable the servo drive and deactivate the axis servo MSF Yes loop Motion Servo Off Force an axis into the shutdown state and block any MASD Yes instructions that initiate axis motion Motion Axis Shutdown Transition an axis to the ready state If all of the axes MASR Yes of a servo module are removed from the shutdown Motion Axis Shutdown Reset state as a result of this instruction the OK relay contacts for the module close Enable the servo drive and set the servo output MDO Yes voltage of an axis Motion Direct Drive On Disable the servo drive and set the servo output M DF Yes voltage to the output offset voltage Motion
20. 10 2 80 22 10 3 85 Z3 5 The Joint to Cartesian reference frame relationship is automatically established by the 1756 L6xx controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled General Geometry Units Offsets Joints Tag Type Articulated Independent Transform Dimension 3 Link Lengths u ji L2 10 0 Zero Angle Orientations Zi 10 0 Degrees 22 fino Degrees z3 50 Degrees Cancel Lew Help Publication LOGIX UM 002B EN P J anuary 2007 88 Kinematics in RSLogix 5000 Software Publication LOGIX UM 002B EN P anuary 2007 M ethod 2 Establishing a Reference Frame Position the robot so that e Link is parallel to the X3 axis e Link2 is parallel to X1 axis Program a MRP instruction for all three axes with the following values e Ji 0 e J2 90 degrees e J3 90 degrees The Joint to Cartesian reference frame relationship is automatically established by the 1756 L6xx controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled Identify the Work Envelope The work envelope is the three dimensional region of space that defines the reaching boundaries for the robot arm The work envelope for an articulated robot is ideally a complete sphere having an inne
21. 194 Axis Properties Direction For active homing sequences except for the Immediate Sequence type select the desired homing direction Direction Forward Uni directional Description The axis jogs in the positive axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Forward Bi directional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Reverse Uni directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Reverse Bi directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Speed Type the speed of the jog profile used in the first leg of an active homing sequence The homing speed specified should be less than the maximum speed and greater than zero Torque Level The torque level with units continuous torque that the axis motor must reach to complete the Home to Torque sequence This feature is only available o
22. AXIS_SERVO_DRIVE AXIS_VIRTUAL Stopping Time AXIS_SERVO_DRIVE REAL GSV Sec Limit SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Publication LOGIX UM 002B EN P J anuary 2007 346 Axis Attributes Attribute Axis Type Data Type Access Description Stopping Torque AXIS_SERVO_DRIVE REAL GSV Rated SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Strobe Actual AXIS_CONSUMED REAL GSV Strobe Actual Position in Position Units Position AXIS GENERIC Tag Strobe Actual Position and Strobe Command Position are used to simultaneously store a snap shot of the actual command position and AXIS_SERVO master offset position of an axis when the M GSP Motion Group Strobe AXIS_SERVO_DRIVE Position instruction is executed The values are stored in the configured AXIS VIRTUAL Position Units of the axis Since the M GSP instruction simultaneously stores the actual and command positions for all axes in the specified group of axes the resultant Strobe Actual Position and Strobe Command Position values for different axes can be used to perform real time calculations For example the Strobe Actual Positions can be compared between two axis to provide a form of slip compensation in web handli
23. Guideline 7 Choose a starting direction for the homing sequence Examples Sequence Active immediate home Details Which direction do you want to start the homing sequence in e Positive direction choose a Forward direction e Negative direction choose a Negative direction Active Homing Description This sequence sets the axis position to the Home Position without moving the axis If feedback isn t enabled this sequence enables feedback Active home to switch in forw ard bidirectional Publication LOGIX UM 002B EN P J anuary 2007 The switch homing sequence is useful for multi turn rotary and linear applications Huning GEIE m Axa P oaio Regum GSE gi 1 The home im swch is detected 2 The hare imi aweh ia dered 2 The home pasion During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and stops 2 The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch and then stops 3 The axis moves back to the home limit switch or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than revolution If the axis is past the home limit switch at the start of the homing sequence the axis reverses direction and starts the return leg of the homing sequence Use a Home Ret
24. Set the coarse update period Read Only Motion Group Wizard My_Mofion Groun Axis Assi x Read Only Motion Group Wizard My_Motion_Group Attribute amp Coarse Update Period m Auto Tag Update General Fault Type Non Major Fault x Scan Times elapsed time Max us f Mar Last us Unassigned in 0 5 increments Cancel Finish Help Publication LOGIX UM 002B EN P J anuary 2007 20 Start Add Your Axes Action 1 Decide which data type to use Add an axis for each of your drives Details If you use this motion module for the axis Then use this data type 1756 M 03SE AXIS_SERVO_DRIVE 1756 M 08SE 1756 M 16SE 1756 L60M 03SE 1768 M 04SE 1756 M O2AE AXIS_SERVO 1756 HYD02 1756 M 02AS No hardware AXIS_ VIRTUAL 2 Add an axis 25 Controller My_Controller Tasks 3 6 Motion Groups A SESE Es gt My_Axis_X N D gt My_Axis_Y Ungrouped Axes 5 Trends 5 Data Types 1 0 Configuration Publication LOGIX UM 002B EN P J anuary 2007 Analog SERCOS interface ra New Axi AXIS_CONSUMED a New Coord ate System AXIS_SERVO a 7 AXIS_SERYO_DRIYE lt Monitor Group Tag AXIS_GENERIC Fault Help AXIS_GENERIC_DRIVE Clear MotionGroup Faults AxXIS_VIRTUAL E cut Ctrl x No Hardware New Tag B Name My _Axis_ 2 c Description Cancel Help Usage
25. The robot stays in the same configuration in which it was activated as itis moved in Cartesian or source coordinate mode If activated in a fully extended arm mode this is neither a left arm nor a right arm solution the system chooses a left arm solution Publication LOGIX UM 002B EN P J anuary 2007 112 Kinematics in RSLogix 5000 Software Change the Robot Arm Solution Plan for Singularity Publication LOGIX UM 002B EN P J anuary 2007 You can switch the robot from a left arm solution to a right arm solution or vice versa This is done automatically when a joint move is programmed forcing a left right change to occur After the change is performed the robot stays in the new arm solution when Cartesian moves are made The robot arm solution changes again if required when another joint move is made Example Suppose you want to move the robot from position A x1 y1 to position B X2 Y2 refer to figure below At position A the system is in a left arm solution Programming a Cartesian move from A X1 Y1 to B X2 Y2 means that the system moves along the straight line refer to illustration from A to B while maintaining a left arm solution If you want to be at position B in a right arm solution you must make a joint move in J1 from 0 to 0 and a joint move in J2 from a to ap Right Arm Left Arm A singularity occurs when an infinite number of joint positions mathematical solutions exist for a given Cartesian p
26. Type Cartesian bal Dimension 3 Transform Dimension pa Coordinate Gi Coordination Mode AxisName fo xi axis X1x z fPrimay 1 x2 axis X2 Y OOOO O I Primary E 2 x3 axis X37 Primary IV Enable Peles System Auto Tag Update YS OES EDR SENSORS RA Ot re AC REER Cancel Apply Help Typical Cartesian Coordinate System Configuration for Articulated Independent robot Coordinate System Properties cs2_Target_Joints A E General Geometry Units Offsets Joints Tag Motion Group Motion_Group X E Articulated Independent Type Dimension 3 a Transform Dimension 3 a 1 Coordinate AxisName J Coordination Mode axis _J1_Joint1 Es z a 32 axis J2_Joint2 xf faniy 2 J33 axis J33 O xl fAncilary zi IV Enable Coordinate System Auto Tag Update Cancel Apply Help 6 Save the project Publication LOGIX UM 002B EN P J anuary 2007 Typical J oint Coordinate System Configuration for an Articulated Independent robot Kinematics in RSLogix 5000 Software 81 7 Download the Kinematic project to the 1756 L6xx controller and then use the MCT instruction to link the Joint coordinate system to the Cartesian coordinate system The Joint to Cartesian reference frame relationship is automatically established by the 1756 L6xx controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets
27. When this feature is enabled the Master Position Filter Bandwidth field is enabled The Master Position Filter Bandwidth field is enabled when the Enable Position Filter checkbox is selected This field controls the bandwidth for master position filtering Enter a value in Hz in this field to set the bandwidth to for the Master Position Filter A value of zero for Master Position Filter Bandwidth effectively disables the master position filtering Axis Properties 167 Units Tab The Units tab is the same for all axis data types Use this tab to determine the units to define your motion axis o Axis Properties myservolaxis OF x Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Pasition Units Position Units Average Velocity Timebase 0 25 Seconds Position Units Average Velocity Timebase Cancel Apply Help User defined engineering units rather than feedback counts used for labeling all motion related values for example position velocity and so on These position units can be different for each axis Position Units should be chosen for maximum ease of use in your application For example linear axes might use position units of Inches Meters or mm whereas rotary axes might use units of Revs or Degrees Specifies the time in seconds to be used for calculating the average velocity of the axis T
28. a transition of the Drive Enable Input from active to inactive results in a drive initiated axis stop where the axis is decelerated to a stop using the configured Stopping Torque and then disabled If the drive enable Input Checking bit is clear then no Drive Enable Input checking is done hence the state of the input is irrelevant to drive operation The state of the switch is still reported as part of the Drive Status bits attribute Publication LOGIX UM 002B EN P anuary 2007 Attribute Feedback Fault Axis Type AXIS_ SERVO AXIS_SERVO_DRIVE Axis Attributes 303 Data Type Access Description BOOL Tag AXIS SERVO Set for a specific feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset M AFR or M otion Axis Shutdown Reset M ASR instruction to clear the fault AXIS_SERVO_DRIVE Set when one of the feedback sources associated with the drive ax
29. and Velocity Offset These values are updated at the coarse update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Servo Loop Block Diagrams 375 Auxiliary Dual Command Servo Servo Config Auxiliary Dual Command qu a rque Oftset Bw Limit Command Torque Command p Torque F Fret Pa p Noten Torque Torque Scaling Comp gt pass Filter gt Limit P Amplifier zk Feedback Polarity Motor Feedback Hardware channel Motor Feedback ke Position Foodhack Aux i Feedback ij Channel x Position The Auxiliary Dual Command Servo configuration provides full position servo control using only the auxiliary mounted feedback device to provide position and velocity feedback Unlike the Auxiliary Position Servo configuration however both command position and command velocity are applied to the loo
30. before being engaged by the axis during the homing sequence e Normally Open e Normally Closed For active homing sequences except for the Immediate Sequence type select the desired homing direction Direction Description Forward Uni directional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Publication LOGIX UM 002B EN P anuary 2007 190 Axis Properties Direction Forward Bi directional Description The axis jogs in the positive axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Reverse Uni directional Reverse Bi directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance The axis jogs in the negative axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Speed Type the speed of the jog profile used in the first leg of an active homing sequence The homing speed specified should be less than the maximum speed and greater than zero Return Speed T
31. load Scaling Type The Scaling Type bit attribute is used to enable custom scaling using the position velocity acceleration and torque scaling parameters defined by the SERCOS Interface standard W hen the bit is clear default these scaling parameters are all set based on the preferred Rockwell Automation SERCOS drive scaling factors Currently there is no Logix support for custom scaling Scaling Unit The Scaling Unit attribute is used to determine whether the controller scales position velocity and acceleration attributes based on rotary or linear scaling parameters and their associated Drive Units that are defined by the SERCOS Interface standard When the bit is clear default the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also cleared which instructs the drive to use the rotary scaling parameters When the bit is set the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also set which instructs the drive to use the linear scaling parameters Continued on next page Attribute Drive Scaling Bits cont Axis Type Axis Attributes 295 Data Type Access Description Linear Scaling Unit When the Scaling Unit is set to linear the Linear Scaling bit attribute is used to determine whether the controller scales position velocity and acceleration attributes based
32. noise e Feedback noise shown below is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring You can see both of these on an oscilloscope on lr Leh e To troubleshoot the loss of channel quadrature look for e physical misalignment of the feedback transducer components e excessive capacitance or other delays on the encoder signals e Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a M otion Axis Fault Reset M AFR or Motion Axis Shutdown Reset M ASR instruction to clear the fault Feedback Noise AXIS_SERVO SINT Fault Action AXIS_SERVO_DRIVE Friction AXIS_ SERVO REAL Compensation AXIS_SERVO_DRIVE Publication LOGIX UM 002B EN P anuary 2007 GSV SSV GSV SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop M otion 2 Status Only 3 0 100 Itis not unusual for an axis to have enough static friction sticktion that even with a significant position error it won t move Integral gain can be used to generate enough output to the drive to correct the error but this approach may not be responsive enough for the application An alternative is to use Friction Compensation to break sticktion in the presence of a non zero position error This is done by adding or subtracting a fixed output level called Friction Compensation to the Ser
33. which checks and if necessary reconfigures the Feedback Polarity setting When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Runs the Output amp Feedback Test which checks and if necessary reconfigures both the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Executing any test operation automatically saves all changes to axis properties Publication LOGIX UM 002B EN P anuary 2007 198 Axis Properties Hookup Tab Overview Use this tab to configure and initiate axis hookup and marker test AXIS SERVO DRIVE sequences for an axis of the type AXIS SERVO DRIVE 9 Axis Properties sercosaxis1 Oo x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Test Increment 10 0 Pasition Units Test Marker Positive Test Feedback Test Command amp Feedback Drive Polarity DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Command amp Feedback test may cause axis runaway condition A Cancel Apply Help
34. 1 test in progress 2 test process aborted by user 3 test process time out fault 2 seconds 4 test failed servo fault 5 test failed insufficient test increment More for AXIS_SERVO_DRIVE data type 6 test failed wrong polarity 7 test failed missing signal 8 test failed device comm error 9 test failed feedback config error 10 test failed motor wiring error This attribute returns the status of the last run M RHD M otion Run Hookup Diagnostic instruction that initiates a hookup diagnostic process on the axis Use this attribute to determine when the M RHD initiated operation has successfully completed Conditions may occur however that make it impossible to properly perform the operation When that happens the test process is automatically aborted and a test fault reported that is stored in the Test Status output parameter Publication LOGIX UM 002B EN P J anuary 2007 348 Axis Attributes Attribute Axis Type Data Type Access Description Time Cam AXIS_CONSUMED BOOL Tag Set if a Time Cam motion profile is currently pending the completion of a Pending Status AXIS GENERIC currently executing cam profile This would be initiated by executing an M ATC instruction with Pending execution selected This bit is cleared AXIS_ SERVO when the current time cam profile completes initiating the start of the AXIS_SERVO_DRIVE pending cam profile This bit is also cleared if the time cam profil
35. 1394 drive 74 Index 405 K Kinematics activating 111 arm solutions 110 112 arm solutions for two axes robots 110 Articulated Independent 84 changing arm solutions 112 determine Coordinate system type 82 error conditions 113 no solution 113 overview 77 Singularity 112 solution mirroring 110 terms 79 L M Motion Apply Axis Tuning 35 Motion Apply Hookup Diagnostic 35 Motion Arm Output Cam 35 Motion Arm Registration 35 Motion Arm Watch Position 35 Motion Attributes Axis Event Bit Attributes 273 Axis Fault Bit Attributes 273 Axis Status Bit Attributes 276 Commissioning Configuration Attributes Damping Factor 283 Drive Model Time Constant 289 Position Servo Bandwidth 333 Test Increment 347 Tuning Configuration Bits 355 Bi directional Tuning 356 Tune Acceleration Feedforward 355 Tune Friction Compensation 356 Tune Output Low Pass Filter 355 Tune Position Error Integrator 355 Tune Torque Offset 356 Tune Velocity Error Integrator 355 Tune Velocity Feedforward 355 Tuning Direction Reverse 355 Tuning Speed 356 Tuning Torque 356 Tuning Travel Limit 357 Publication LOGIX UM 002B EN P anuary 2007 406 Index Velocity Servo Bandwidth 364 Configuration Attributes Axis Type 277 M otion Conversion Configuration Conversion Constant 283 M otion Dynamics Configuration Maximum Acceleration 313 Maximum Deceleration 313 Maximum Speed 314 Programmed Stop Mode 335 Fast Disable 335 Fast Shutdown 335 Fast Stop 335 Hard
36. A Field Programmable Gate Array FPGA is used to implement a multi channel LDT Interface Each channel is functionally equivalent and is capable of interfacing to an LDT device with a maximum count of 240 000 The LDT interface has transducer failure detection and digital filtering to reduce electrical noise The FPGA can interface to two types of LDTs Start Stop and PWM Start Stop transducers accept an input interrogate signal to start the measurement cycle and respond with two pulses on the Return line The time between the pulses is proportional to the position PWM transducers respond to the interrogate signal with a single long pulse on the Return line The pulse width is proportional to the position The FPGA generates the Interrogate signal every Servo Update time and measures the time between the Start Stop pulses or the PWM pulse width The resolution of the position measurement is determined by the frequency of the clock used for the time measurement In the 1756 HYD02 design a 60 M Hz clock is used and both edges of the clock signal are used for an effective time resolution of 8 3 nanoseconds This translates into a position resolution better than 0 001 inch Note It is possible to achieve higher resolutions with PWM transducers that are configured to perform multiple internal measurements recirculations and report the sum of those measurements in the pulse width The Servo Loop Configuration attribute determines the specifi
37. Absolute Feedback Enable attribute to True This attribute is used to determine the relative distance between the absolute position of the feedback device and the absolute position of the machine At power up this attribute is sent to the servo module and added to the current position of the feedback device to restore the absolute machine position reference If the axis is configured for Linear operation absolute position may be recovered after power cycle as long as the feedback device has not exceeded its range limit If the feedback device rolls over its count range the absolute position of the axis is no longer valid If the axis is configured for Rotary operation the servo module is responsible for adjusting the Absolute Feedback Offset dynamically based on the configured Unwind value and the rollover of the absolute feedback device If necessary absolute position may be recovered after power cycle by periodically updating the controller s Absolute Feedback Offset value This can be done by selecting the Absolute Feedback Offset enumeration for one of the Axis Info Select attributes Absolute AXIS_SERVO_DRIVE BOOL Reference Status Tag If the bitis Then ON An absolute homing procedure happend The bit stays set until either of these happen e The drive resets its configuration parameters to default values e The axis does an active or passive home or redefine position OFF The position of the axis has not been or
38. Backlash Compensation Velocity Offset Torque Offset and Output Offset parameters Manual Adjust myservolaxis X Dynamics Gains Output Limits Offset r Friction Deadband Compensation Friction Compensation 9 0 Window 0 0 Position Units m Backlash Compensation Reversal Offset 0 0 1 Position Units Stabilization Window 0 0 e Position Units Velocity Offset joo Position Units s Torque Offset Output Offset fo 0 Volts l ll T t Offset Tab AXIS_SERVO_DRIVE OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Use this tab to make offline adjustments to the following Servo Output values e Friction Compensation e Velocity Offset and e Torque Offset Publication LOGIX UM 002B EN P J anuary 2007 242 Axis Properties for an axis of the type AXIS SERVO DRIVE configured as a Servo drive in the General tab of this dialog e Axis Properties AxisO iof x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Friction Compensation Friction Compensation o o Manual Adjust Window o o Position Units m Backlash Compensation Reversal Offset joo Position Units
39. Coordinate System Properties dialog is where you define the end effector and base offset values for the robotic arm This tab shows the top and or sides view of a typical robotic arm based on the type of coordinate system and coordinate Transform dimension values specified on the General tab The number of available offset fields in each box is determined by the number of axes associated with the coordinate system When specifying the end effector and base offset values be sure that the values are calculated using the same measurement units as the linked Cartesian coordinate system For example if the manufacturer specifies the robot offset using millimeter units and you want to configure the robot using inches then you must convert the millimeter link measurements to inches and enter the values in the appropriate offset fields End Effector Offsets Box The end effector offset value specifies the dimensions of the end effector The correct end effector offsets are typically available from Publication LOGIX UM 002B EN P J anuary 2007 Create and Configure a Coordinate System 63 the manufacturer The end effector indicators are X1e X2e and X3e in the corresponding graphic Base Offsets Box The RSLogix 5000 Kinematics internal equations define the robot origin relative to the first joint of the robotic arm The robot manufacturer may specify the origin at a different location The difference between these two locations is the base o
40. Dimension B Transform Dimension 2 24 Coordinate Axis Name Coordination Mode Coordinate Axis Name Coordination Mode x1 x _Z _ Primary hed 0 J1 J1 Ancillary 1 x2 Y z Primary z 1 J2 J2 n Ancillary zi 2 x3 Z x Primary z 2 J3 Z Ancillary z IV Enable Coordinate System Auto Tag Update IV Enable Coordinate System Auto Tag Update OK Cancel Cw Help Source Coordinate System Configuration OK Cancel Cw Help Target Coordinate System Configuration Identify the Work Envelope The work envelope is the three dimensional region of space that defines the reaching boundaries for the robot arm The work envelope for the SCARA robot should be a hollow cylinder with e a height equal to the travel limit of the J3 axis e an inner radius R1 equal to L1 L2 e an outer radius R2 equal to L1 12 Publication LOGIX UM 002B EN P J anuary 2007 108 Kinematics in RSLogix 5000 Software Publication LOGIX UM 002B EN P J anuary 2007 Define Configuration Parameters RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including e Link lengths e Base offsets e End effector offsets The configuration information is available from the robot manufacturer Be sure that the values for the link lengths base offsets and end effector offsets are e
41. Dynamics AXIS_CONSUMED DINT GSV Revision 16 improved how the controller handles changes to an S curve Configuration AXIS GENERIC ssy profile Bits 7 AXIS_SERVO Do you want to return to revision 15 or earlier behavior for S curves AXIS_SERVO_DRIVE AXIS VIRTUAL e NO Leave these bits ON default e YES Turn OFF one or more of these bits To turn off this change Turn off this bit Reduced S curve Stop Delay 0 This change applies to the M otion Axis Stop MAS instruction It lets you use a higher deceleration jerk to stop an accelerating axis more quickly The controller uses the deceleration jerk of the stopping instruction if it is more than the current acceleration jerk Reduced S curve Velocity Reversals 1 Before revision 16 you could cause an axis to momentarily reverse direction if you decreased the deceleration jerk while the axis was decelerating This typically happened if you tried to restart a jog or move with a lower deceleration rate while the axis was stopping This change prevents the axis from reversing in those situations Reduced S curve Velocity Overshoots 2 You can cause an axis to overshoot its programmed Enable Input AXIS_SERVO_DRIVE BOOL Tag If this bit is Status e ON The Enable input is active e OFF The Enable input is inactive External Drive AXIS_SERVO DRIVE DINT GSV 0 torque servo Type SSV 1 velocity servo 2 hydraulic servo When the application requires the servo module a
42. E Trends E amp Data Types Fault Help z oa User Defined Clear Coordinate System Faults H E Strings H E Predefined Cut Og Module Defined Copy as I O Configuration Gl J 1 1756 mo3se nfl 1 2094 ACOS fl 2 2098 DSD fl 3 8720MC BC off 10 1394 5 wo AL 211756 MN2AF cee r Associated Axes Ere mysercos2axis Paste Delete Cross Reference Print Publication LOGIX UM 002B EN P J anuary 2007 54 Create and Configure a Coordinate System The Coordinate System Properties General dialog appears The name of the Coordinate System tag that is being edited appears in the title bar to the right of Coordinate System Properties The General tab dialog for a Cartesian coordinate system is shown below Coordinate System Properties cartesian_coordinate_system General Geometry Units Offsets Dynamics Tag Motion Group kinematics_motion_group BI N Type Cartesian x Dimension 2 H Transform Dimension 2 Axis Name coordination Mode MV Enable Coordinate System Auto Tag Update OK Cancel Apply General Tab Use this tab to do the following for a coordinate system e Assign the coordinate system or terminate the assignment of a coordinate system to a Motion Group e Choose the type of coordinate system you are configuring e Change the number of dimensions that is the number of axes e Specify the number of axes to transform e Assign axes to the coordina
43. F DRVFLT 1 RED DAVFITO PPR GTe RED CHASSIS o THO e N COM S O MIMET HOMEO O Of REG24V 1 REG2AVO DREGAIY desi 1756 M02AE 1394CCAExx HK FASSE chassis 0 o o Boer wer CHA0 O o ER u 3 R CHAO U O Micha RED CHB 0 o FBT 7 HB0 o o ozr GRN CHZ0 HCHZL CHZ0 o o zi J BLK RED_OK gt Jox BK OK Out SV DC 5V DC RED Field Power _ 5 COM BLK Supply 1394 Servo Drive 24V DC 24V DC w2 34v pc Field Power Supply 24V COM ni sai tes 24V ENABLE COM WHT ENABLE 1 BLK ENABLE 1 B27 NAJDR OK 1 RED DRVFLT 1 Te 19 Ad ENABLE BLK _IN COM TB2 18 DROK m O 1394CCAExx f Axis 1 AQB1 I Notes e The wiring diagram illustrates Axis 1 wiring only Other configurations are possible e The 1394CCAExx cable is wired to connect to torque command reference input pins e The xx in the cable number is the length of the cable e An external 5V power supply is required to power the encoder driver circuit of the 1394 servo drive Because this connection is shared by all four axis encoder driver circuits only one connection is needed to the 5V field supply Publication LOGIX UM 002B EN P J anuary 2007 148 Wiring Diagrams Publication LOGIX UM 002B EN P J anuary 2007 1394 CFLAExx Cable Individually J acketed Pairs i sae FAULT AXIS 0 Tele sale 1
44. Filter BW of 93 This is a good noise free gain set Publication LOGIX UM 002B EN P J anuary 2007 354 Axis Attributes Attribute Axis Type Data Type Access Description Tune Rise Time AXIS_SERVO REAL GSV Sec The Tune Rise Time attribute returns the axis rise time as measured during the tuning procedure This value is only applicable to axes configured for interface to an external velocity servo drive In this case the Tune Rise Time attribute value is used to calculate the Tune Velocity Bandwidth Tune Speed AXIS_ SERVO REAL GSV I KiloCounts Per Sec Scaling The Tune Speed Scaling attribute returns the axis drive scaling factor measured during the tuning procedure This value is only applicable to axes configured for interface to an external velocity servo drive In this case the Tune Speed Scaling attribute value is directly applied to the Velocity Scaling attribute by a subsequent M AAT M otion Apply Axis Tune instruction Tune Status AXIS_ SERVO INT GSV 0 tune process successful AXIS_SERVO_DRIVE 1 tune in progress 2 tune process aborted by user 3 tune process timed out 4 e AXIS_SERVO tune process failed due to servo fault e AXIS_SERVO_DRIVE tune process failed due to drive fault 5 axis reached Tuning Travel Limit 6 axis polarity set incorrectly More codes fora AXIS_SERVO_DRIVE 7 tune measurement fault 8 tune configuration fault The Tune Status attribute returns status of the last run M R
45. Filter Bandwidth Executing a Tune operation automatically saves all changes to axis properties ATTENTION A This tuning procedure may cause axis motion with the controller in program mode Unexpected motion may cause damage to the equipment personal injury or death Use this tab to view or edit the dynamics related parameters for an axis of the type AXIS SERVO or AXIS SERVO DRIVE configured for Publication LOGIX UM 002B EN P anuary 2007 204 Axis Properties Servo operations in the General tab of this dialog box or AXIS VIRTUAL 5 Axis Properties axis_servo Bk General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk Maximum Deceleration Jerk 50 0 Position Units s Manual Adjust 1000000 Position Units s 2 1000000 2 Position Units s 2 2700 0 Position Units s 3 85 of Max Accel Time _ Calculate 20000 0 Position Units s 3 100 of Max Decel Time Calculate Publication LOGIX UM 002B EN P J anuary 2007 The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use t
46. HENABLE 1 j BROWN 28GA 10 POWER INPUT 1 ENABLE2 X RED 28GA ENABLE 0 5 7 cENABLE 1 RED 28GA 2 INPUT 1 ENABLE OUTPUT 1 READY 3 ORANGE 28GA DRVFLT 0 4 g DRVFLT 1 ORANGE 28GA 3 OUTPUT 1 READY 10 COM IX YELLOW 28GA INCOM i 13 INCOM IX YELLOW 28GA x 10 COM DRAIN DRAIN AOUT GREEN 28GA CHA 0 95 95 ICHA GREEN 28GA AOUT AOUT R BLUE 28GA CHA 0 gt 3y CHA 1 BLUE 28GA AOUT BOUT VIOLET 28GA CHB 0 30 2g CHB VIOLET 28GA BOUT BOUT Ix GRAY 28GA CHB 0 35 31 CHB 1 Ix GRAY 28GA Ix BOUT IOUT WHITE 28GA 4CHZ 0 34 33 LACHZ WHITE 28GA IOUT IOUT Y BLACK 28GA CHZ 0 36 35 CHZ 1 IX BLACK 28GA x IOUT DRAIN CHASSIS 54 33 L_ CHASSIS DRAIN 1756 M 02AE SERVO MODULE a BLACK28GA _ _ACOM ANALOG GRD ACOM ANALOG GRD BLACK 28GA__ 7 WHT BLK 28GA ANALOG OUT PROG ANALOG OUT PROG IBLK 28GA OWN 28GA ILIMIT ILIMIT OWN 28GA WHT BRN 28GA EPWR 5 OUT EPWR 5 OUT BRN 28GA 2090 U3AE D44xx ED 28GA AX AX ED 28GA Controller Interface WHT RED 28GA AX AX RED 28GA Cable ORANGE 28GA BX BX ANGE 28GA WHT ORG 28GA BX BX JORG 28GA YELLOW 28GA IX IX LOW 28GA WHTIYEL 28GA IX IX INEL 28GA GREEN 28GA AM AM EEN 28GA WHT GRN 28GA AM AM IGRN 28GA BLUE 28GA BM BM BLUE 28GA WHT BLU 28GA BM BM BLU 28GA VIOLET 28GA IM IM OLET 28GA WHTIVIO 28GA IM IM N10 28GA GRAY 28GA INPUT 2 INPUT 2 RAY 28GA WHT GRY 28GA INPUT 3 INPUT 3 IGRY 28GA Ultra 3000 PINK 28GA INPUT 4 INPUT 4 NK 28GA Ultra3000 CN1 Connector WHT P
47. Home Direction at the Home Speed to the home limit switch 2 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Active home to marker in forward This active homing sequence is useful for single turn rotary and linear encoder applications unidirectional when unidirectional motion is required During the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker 2 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Publication LOGIX UM 002B EN P anuary 2007 Sequence Active home to switch and marker in forw ard unidirectional Sequence Passive Immediate Home Configure Homing 139 Description This active homing sequence is useful for multi turn rotary applications when unidirectional motion is required During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch 2 The axis keeps moving at the Home Speed until it gets to the marker 3 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Passive Homing Description This is the simplest passive homing sequence type When this sequence is performed the controller immediately assigns the Home Position to the current axis actual position This homing sequence produces no axis motion Passive Home with Switch This passive homing sequence is useful for when
48. Interface NGOW standard for a description This attribute is automatically set You usually don t have to change it Velocity AXIS_SERVO_DRIVE REAL GSV Position Units sec SSV Au Mestre This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is less Threshold Status than the configured Velocity Threshold Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 365 Attribute Axis Type Data Type Access Description Velocity Window AXIS_SERVO_DRIVE REAL GSV Position Units sec SSV oo nis This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Watch Event AXIS_CONSUMED BOOL Tag Set when a watch event has been armed through execution of the MAW Armed Status AXIS GENERIC M otion Arm Watch instruction Cleared when either a watch event a occurs or a M DW Motion Disarm Watch instruction is executed AXIS_ SERVO AXIS_ SERVO_DRIVE AXIS_ VIRTUAL Watch Event AXIS_CONSUMED BOOL Tag Set when a watch event has occurred Cleared when either another Status AXIS GENERIC M AW Motion Arm Watch instruction or a MDW M otion Disarm Watch instruction is executed AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIR
49. Jmy_virtual_axis 7 A Direction Forward a Speed ooo Beier O Us por oo Cet MARR Accara hooo G E Motion Move Units per sec2 pe 100 0 o Units per sec2 Merge Disabled Merge Speed fa Mation Aroun zl A DANGER Pressing Execute may cause motion Failed to Verify Motion Group Shutdown Close Help Motion Direct Commands 16 Failed to Verify MAJ Speed String invalid Complete 1 error s 0 warning s gt Errors Search Resuts Watch i If no errors are detected during verification then nothing is displayed Publication LOGIX UM 002B EN P J anuary 2007 Test an Axis with M otion Direct Commands 41 Motion Direct Command Execution Error When you select Execute from a Motion Direct Command dialog and the operands are verified as valid then the command is executed If the command fails immediately then an error message Execution Error is displayed on the dialog Whether or not an error is detected a detailed message is displayed to the Error result window describing the immediate results of the executed command EJ Motion Direct Commands my_virttual_axis 14 coe Motion Axis Move Axis Jmy_virtual_axis 7 Q Re MAG Qp MCD ll MRP Position 00 S E Motion Group Speed o oo ie AccelRate 10 0 Accel Units 0 of Maximum Execution Error Motion Group Shutdown Close Help XiComplete 0 error s 0 warnings Motion Direct Com
50. Li 9 nte A 353 LDT Cmn i tint 4 clint 1 oe Ref 1p Ref 1 A9 Dee ae at emer Chassis Chassis Publication LOGIX UM 002B EN P J anuary 2007 154 Wiring Diagrams 24V Registration Sensor 24V dc Field Power 24V Supply Sourcing Type Registration Sensor Supply From the motion module gt a Aa 3 X o aah 43395 Notes e Use sourcing type registration sensors e Wire the inputs so that they get source current from the sensor e Don t use current sinking sensor configurations because the registration input common IN_ COM is shared with the other 24V servo module inputs 5V Registration Sensor 5V dc Field Power 5V Supply Sourcing Type Registration Sensor Supply General cable REG5V Output From the motion module gt 0720 3 X IN COM Comon 43395 Notes e Use sourcing type registration sensors e Wire the inputs so that they get source current from the sensor e Don t use current sinking sensor configurations because the registration input common IN_ COM is shared with the other 24V servo module inputs Publication LOGIX UM 002B EN P J anuary 2007 Wiring Diagrams 155 Home Limit Switch Input 24V dc Field Power Supply i From the motion module lt gt mi cable i gt Notes 43396 e The home limit switch inputs to the servo module are designed for 24V
51. M AJ M AM MCD and so on to determine the acceleration and deceleration rates to apply to the axis These instructions all have the option of specifying acceleration and deceleration as a percent of the M aximum Acceleration and M aximum Deceleration attributes for the axis The M aximum Acceleration and M aximum Deceleration values for the axis are automatically set to 85 of the measured Tune Acceleration and Tune Deceleration by the M AAT M otion Apply Axis Tune instruction If set manually these values should typically be set to 85 of the maximum acceleration and maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration and deceleration limits of the drive and motor Maximum Deceleration AXIS_ GENERIC REAL AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL GSV SSV Position Units Sec The M aximum Acceleration and Deceleration attribute values are frequently used by motion instructions such as MAJ M AM MCD and so on to determine the acceleration and deceleration rates to apply to the axis These instructions all have the option of specifying acceleration and deceleration as a percent of the M aximum Acceleration and M aximum Deceleration attributes for the axis The M aximum Acceleration and M aximum Deceleration values for the axis are automatically set to 85 of the measured Tune Acceleration and Tune Deceleration by the M AAT M ot
52. No coordinate system M otion Coordinated Linear M ove Start a circular move for the for the axes of M CCM No coordinate system M otion Coordinated Circular M ove Change in path dynamics for the active motion ona M CCD No coordinate system Motion Coordinated Change Dynamics Stop the axes of a coordinate system MCS No Motion Coordinated Stop Shutdown the axes of a coordinate system MCSD No Motion Coordinated Shutdown Transition the axes of a coordinate system to the MCSR No ready state and clear the axis faults Motion Coordinated Shutdown Reset Start a transform that links two coordinate systems m cT No together M otion Coordinated Transform Calculate the position of one coordinate system with jy ctp No respect to another coordinate system Publication LOGIX UM 002B EN P J anuary 2007 M otion Calculate Transform Position Nou can use this instruction only with 1756 L6x controllers Motion Direct Command Dialog Commands Te MSO Re MSF Re MASD Re MASR e MDO e MDF Te MAFR Command Tree Re MAS Re MRP Status Text 3 Motion Direct Commands my_virtual_axis 4 Motion Move 2A Motian Groun Test an Axis with M otion Direct Commands 37 You must be online to execute a Motion Direct Command The online dialog has the Motion Group Shutdown and Execute buttons active If you click either of these action is taken immediately Instance Designation Active Command Axis or Gr
53. Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The tabs for Servo Tune Dynamics Gains Output Limits and Offset are not displayed Publication LOGIX UM 002B EN P J anuary 2007 158 Axis Properties e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Module Selects and displays the name of the motion module to which the axis is associated Displays lt none gt if the axis is not associated with any motion module Channel Selects and displays the 1756 M02AE motion module channel either 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module General Tab The General screen shown below is for an AXIS SERVO DRIVE Data AXIS SERVO_DRIVE Type e Axis Properties mysercoslaxis Efe x Homina Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Axis Configuration Servo Motion Group mymotiongoup o g New Group Associated Module Module knne O Module Type lt none gt Node 0 4 Cancel Apply Help Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 159 Axis Configuration Selects an
54. Page How to Access Attributes 257 Axis Attributes 258 How to Access Attributes The Access column shows how to access the attribute Example Use a Get System Value GSV instruction to get the value Use a Set System Value SSV instruction to set or change the value Attribute Axis Type Data Type Acces y 06 scription wV Acceleration CSV Feedforward Gain Accel Status CTag gt Actual Acceleration JN Use the tag for the axis to get the value Use the tag for the axis or a GSV instruction to get the value It s easier to use the tag Publication LOGIX UM 002B EN P J anuary 2007 258 Axis Attributes Axis Attributes This table describes each attribute of an axis Attribute Axis Type Data Type Access Description Absolute AXIS_ SERVO SINT GSV Important Use this attribute only for an axis of a 1756 HYD02 or Feedback Enable ssy 1756 M 02AS module Publication LOGIX UM 002B EN P anuary 2007 This attribute controls whether or not the servo module uses the absolute position capability of the feedback device If Absolute Feedback Enable is set to True the servo module adds the Absolute Feedback Offset to the current position of the feedback device to establish the absolute machine reference position Since absolute feedback devices retain their position reference even through a power cycle the machine reference system can be restored at power up To establish a suitable value for the Absolute Feedback Offset at
55. REAL GSV SSV Rated The Torque limit attribute provides a method for controlling the continuous torque limit imposed by the drive s thermal model of the motor Increasing the Continuous Torque Limit increases the amount of continuous motor torque allowed before the drive either folds back the motor current or the drive declares a motor thermal fault M otors equipped with special cooling options can be configured with a Continuous Torque Limit of greater than 100 rated to attain higher continuous torque output from the motor M otors operating in high ambient temperature conditions can be configured with a Continuous Torque Limit of less than 100 rated torque to protect the motor from overheating The Continuous Torque Limit specifies the maximum percentage of the motor s rated current that the drive can command on a continuous or RMS basis For example a Continuous Torque Limit of 150 limits the continuous current delivered to the motor to 1 5 times the continuous current rating of the motor Control Sync Fault AXIS_CONSUM ED AXIS_ SERVO AXIS_SERVO_DRIVE BOOL Tag Publication LOGIX UM 002B EN P anuary 2007 If this bit is set the controller lost communication with the motion module and missed several position updates in a row e The controller can miss up to 4 position updates After that the Control Sync Fault bit is set The motion module may fault later or may already be faulted e Fora consumed axis
56. RSLogix 5000 FredsStructure in Fredstest ACD 1756 L55 File Edit View Search Logic Communications Tools Window F alsje 2 e of Offline J E RUN EJ Path ABL No Forces gt BAT i 4 No Edits E a vo KI el lel Redundancy wi TAA Favorite Motion Direct Commands MainT ask E MainProgram A Program Tags EA MainRoutine hE Unscheduled Programs Motion Groups i B amp 3 myMotionGroup gt MyConsume New Axis RD MyServadx RD myservodriv i i myservodriy Fault Help RD MyServoDii Cear Motoneroup Faults 4 MyVitua4g e a Ungrouped Axe Cut Monitor Group Tag Motion Mo Re MAS Re MAH Re MAJ i gt servodivea Copy Re MAM E Trends Paste Re MAG Data Types Delete Re MCD A User Defined Re MAP al Strings Motion Gro oi STRING Cross Reference ar Predefined Print a Module Definec 1 0 Configuration Motion Group Properties Macus St Publication LOGIX UM 002B EN P J anuary 2007 Test an Axis with M otion Direct Commands 33 Access the Motion Direct Commands for an Axis To access the Motion Direct Commands for an axis right click the axis in the Controller Organizer Offline 0 E RUN agen No Forces gt ve No Edits a 10 Redundancy Ba MainT ask ao MainProgram Program Tags Ef MainRoutine Unscheduled Programs B 63 Motion Groups E myMotionGroup gt MyConsumedAxis T MyServadnis
57. Reset instruction e Resume normal operation e Check the configuration for the Drive Fault If configured to be normally open and there is no voltage this is the normal condition If configured to be normally closed and 24V dc is applied this is the normal condition Publication LOGIX UM 002B EN P J anuary 2007 120 Interpret M odule Lights LEDs 1756 HY D02 Module OK Light HYDRAULIC State Description off The module is not operating Recommended Action e Apply chassis power e Verify the module is completely inserted in chassis and backplane Flashing green The module has passed internal diagnostics but it is not communicating axis data over the backplane None if you have not configured the module If you have configured the module check the slot number in the 1756 HYD02 Properties dialog box Steady green One of the following None e Module is exchanging axis data e The module is in the normal operating state Flashing red One of the following If an NVS update is in progress complete the NVS update e A major recoverable failure has occurred If an NVS update is not in progress A communication fault timer fault or non volatile memory storage NVS update is e Check the Servo Fault word for the source of the error in progress Clear the servo fault condition via M otion Axis Fault e The OK contact has opened pes SCO e Re
58. Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Publication LOGIX UM 002B EN P anuary 2007 Attribute Drive Fault Action Axis Type AXIS_ SERVO Data Type Access Description SINT GSV SSV Axis Attributes 287 Fault Action Value Shutdown 0 Disable Drive 1 Stop M otion 2 Status Only 3 Publication LOGIX UM 002B EN P anuary 2007 288 Axis Attributes Attribute Axis Type Data Type Access Description Drive Fault Bits AXIS_SERVO_DRIVE DINT GSV Lets you access all the drive fault bits in one 32 bit word This attribute is the same as the Drive Fault tag Tag Bit Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault 1 Pos Hard Overtravel Fault 2 Neg Hard Overtravel Fault 3 M ot Feedback Fault 4 M ot Feedback Noise Fault 5 Aux Feedback Fault 6 Aux Feedback Noise Fault 7 Reserved 8 Drive Enable Input Fault 9 Common Bus Fault 10 Precharge Overload Fault 11 Reserved 12 Ground Short Fault 13 Drive Hard Fault 14 Overspeed Fault 15 Overload Fault 16 Drive Overtemp Fault 17 M otor Overtemp Fault 18 Drive Cooling Fault 19 Drive Control Voltage Fault 20 Feedback Fault 21 Commutation Fault 22 Drive Overcurrent Fault 23 Drive Overvoltage Fault 24 Drive Undervoltage Fault 25 Power Phase Loss Fault 26 Position Error Fault 27 SERCOS Fault 28 Overtravel Fa
59. SoftLogix are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Summary of Changes Introduction This publication has new and updated information To find new and updated information look for change bars as shown next to this paragraph Updated Information This document has these changes Change See Added M otion Analyzer and Project Sample information Preface Updated screen graphics to coincide with software release Chapters 1 2 4 5 and Appendix C Added MCT and M CTP Instruction information Chapter 2 Added new chapter about Kinematics Chapter 6 Added new introduction information to include articulated Chapter 4 independent and articulated dependent robotic arms Added information about the Geometry W izard and Offset W izard Chapter 4 dialogs Added information about the Offset Geometry J oint tabs thatwere Chapter 4 added to the Coordinate System Properties dialog Moved the descriptions of Coordinate System attributes to an Appendix F appendix Added Transform Source Status and Transform Target information Appendix F Added dialog information for tuning Appendix B Added attribute information Appendix C Added Transform Dimension information Chapter 4 Added Phase Loss information and updated dialog Appendix B Created new heading and added Axis_Servo_Drive information Appendix B Added
60. Solid Green Solid Green Solid Green None the axes are ready Solid Green Solid Green Flashing Red Check the motion group and axes for faults Solid Red Solid Red Solid Red 1 Cycle power to the module 2 If the lights keep turning solid red contact your distributor Rockwell Automation representative or Rockwell Automation support Publication LOGIX UM 002B EN P J anuary 2007 124 Interpret M odule Lights LEDs Notes Publication LOGIX UM 002B EN P anuary 2007 Chapter 8 Troubleshoot Axis M otion Introduction This chapter helps you troubleshoot some situations that could happen while you are running an axis Situation See page Why does my axis accelerate when I stop it 125 Why does my axis overshoot its target speed 127 Why is there a delay when I stop and then restart a jog 130 Why does my axis reverse direction when I stop and start it 132 W hy does my axis While an axis is accelerating you try to stop it The axis keeps accelerate when stop it accelerating for a short time before it starts to decelerate Example You start a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you start a Motion Axis Stop MAS instruction The axis continues to speed up and then eventually slows to a stop Look for Jog_PB lt Local 4 Data 0 gt My_Axis_OK Motion Axis Jog Axis My_Axis Motion Control Jog_1 Direction 0 Speed Jog_1_Speed S Curve profile in the Pitre fa
61. The AXIS GENERIC General tab is shown below AXIS_ GENERIC e Axis Properties mygenericaxis General Motion Planner Units Conversion Homing Dynamics Tag Axis Configuration Servo T Motion Group mymotiongroup z a New Group Associated Module Module lt none gt z Module Type lt none gt Charnel 0 Cancel Apply Help Axis Configuration Selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The tab for Dynamics is not available e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Publication LOGIX UM 002B EN P J anuary 2007 164 Axis Properties Module Selects and displays the name of the motion module to which the axis is associated Displays lt none gt if the axis is not associated with any motion module Channel Selects and displa
62. The bit remains set after an instruction completes The bit is reset if either a new instruction is started or the axis moves such that the actual distance to programmed endpoint is greater than the configured AT value Actual Position REAL 8 Tag Array of actual position of each axis associated to this motion coordinate system in Coordinate Units SSV The Actual Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM and so on specify a Termination Type of Actual Position Axes Configuration Faulted DINT GSV Shows which axes in this coordinate system have a configuration fault Tag If this bitis on Then this axis has a configuration fault 0 0 1 1 2 2 Axes Inhibited Status DINT GSV Shows which axes in this coordinate system are inhibited Tag If this bitis on Then this axis is inhibited 0 0 1 1 2 2 Axes Servo On Status DINT GSV Shows which axes in this coordinate system are on via M SO Tag If this bitis on Then this axis is on Publication LOGIX UM 002B EN P anuary 2007 0 0 1 1 2 2 Coordinate System Attributes 395 Attribute Data Type Access Description Axes Shutdown Status DINT GSV Shows which axes in this coordinate system are shutdown Tag If this bitis on Then this axis is shutdown 0 0 1 1 2 2 Axis Fault DINT GSV The Axis Fault Bits attribute is a roll up of all of the axes associated to this motion coordinate system A bit being set indicates that one of the assoc
63. Type Base tad Alias For Data Type AXIS_SERVO_DRIVE ial Scope f My_Controller Style l F Open AXIS_SERVO_DRIVE Configuration Stat 21 Set Up Each Axis The following steps show how to set up the axis of a SERCOS interface drive The steps are slightly different if you have a different type of drive Action Details 1 Open the properties for the axis 9 Controller My_Controller H E Tasks 38 Motion Groups My_Motion_Group Motion Direct Commands is HD My_Axis_Y E lt Cross Reference CtrltE Ungrouped Axes 22 Trends Print gt Data Types 1 0 Configuration Properties N 2 Select the drive for the axis s Axis Properties My_Axis_X Homina Hookup Tune Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Motion Group My_Motion_Group El N u r Associated Module Select the name that you gave to the drive for this L Module My Drive x axis Module Type 2094AC09 M02 Node 1 3 Set the units that you want to program In e Axis Properties My_Axis_X A Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback B Type the units that you want to use for Position Units Revs programming such as revs degrees
64. Type 69 Units Tab Axis Grid 60 Axis Name 61 Conversion Ratio 61 Conversion Ratio Units 61 Coordination Units 60 Coordinate system properties Offsets Tab End Effector 62 coordinated system time master set 14 CST master See coordinated system time master D Diagrams block 367 wiring 141 Direct Commands Accessing From Group 32 Supported Commands Motion State 34 drive add SERCOS interface drive 16 check wiring 24 E Editing Axis Properties General Tab AXIS_GENERIC 163 Axis Configuration 163 Channel 164 Ellipsis button 164 Module 164 Motion Group 163 General Tab AXIS_SERVO_DRIVE 158 162 Assigned M otion Group 159 Axis Configuration 159 Module 159 Node 159 Node with a Kinetix 6000 Drive 160 General Tab SERVO_AXIS 157 Axis Configuration 157 Channel 158 Module 158 Motion Planner Tab 164 Enable M aster Position Filter Check box 166 M aster Delay Compensation Check box 165 M aster Position Filter Bandwidth Output Cam Execution Targets 164 Program Stop Action 165 Units Tab 167 Average Velocity Timebase 167 Position Units 167 Encoder 283 Encoder Noise 266 304 317 End Effector Offsets determining 100 G General 51 General Tab AXIS_VIRTUAL 162 Assigned M otion Group 162 Geometry of robot 82 tab 52 Geometry Tab link lengths 58 zero angle orientations box 59 H home limit switch wire diagram 155 home limit switch input wire 155 hookup tests run 24 inhibit axis 71 77 axis of a
65. Vel P Output Output 16 Bit P p p interpolator lt 2 gt Gain gt Gain Pe pes gt Scaling P Limit gt Dac m gt rate Position p l Command Velocity ervo Feedback Output Error Error Position Accum gt halt Accum gt cay Feedback ulator an ulator Position Velocity Integrator Integrator j Error Error iti Servo Config Position Low Motor Pass l Filter A l Encoder Polarity didt Position Chae Feedback A v Encoder Coarse p Input Position 16 bit AQB lt Accum e Encoder i e t Pioa ulator Counter I Watch T Event Watch E Event 1 Handler 1 1 1 Watch 1 Position i Chz Marke Homing ker Event Marker Input 4 Event j Marker ke Handler Latch T Registration 1 Event Regist 7 aes 4 Event l noget le ra Registration Handler l Input l Publication LOGIX UM 002B EN P J anuary 2007 This configuration gives full position servo control using an external torque loop servo drive Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset The controller updates these values at the coarse update period of the motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes Servo Loop Block Diagrams 369 Position Servo with
66. Velocity Servo Drive Torque Offset e l Acc p didt gt FF Velocity Gain Offset Siipi e Offset Output amp Ta Filter Friction Servo eo ddt gt FF Bw Comp Polarity Gain Position Command Velocity Coarse Position Commend Error Low Velocity Pos P Output Output 16 Bit P P p gt interpolator gt Gain z Z j gt Pass gt scaling Z Limit gt pac P Sero rive Position l Command Velocity ervo Feedback Output Error Position Accum p Pos Feedback ulator Gain Position Integrator Error ii Servo Config Position Servo Motor Encoder Polarity Position i Feedback y ENAR l Yy Coarse input Position 16 bit won lt Accum e Encoder ke hd Encoder ulator Counter Watch Event Wack 4 Event Handler l Watch Position i chz Homing Makor Event Marker ps Event j Marker he Handler Latch l Registration Regist 7 Ta 4 Event Reget le Registration Handler i Input l This configuration provides full position servo control using an external velocity loop servo drive Note that in this configuration the servo module does not close the velocity loop but rather the drive does Synchronous input data to t
67. about the coordinate system How to Access Attributes The Access column shows how to access the attribute Example Use a Get System Value GSV instruction to get the value Use a Set System Value SSV instruction to set or change the value Attribute Axis Type Data Type Acces y D scription Actual Position C6SVY Tolerance Config Fault CTag gt Coordinate Motion Status JN Use the tag for the coordinate system to get the value Use the tag for the coordinate system or a GSV instruction to get the value It s easier to use the tag Publication LOGIX UM 002B EN P J anuary 2007 394 Coordinate System Attributes Coordinate System Attributes Attribute Data Type Access Description Accel Status BOOL Tag Use the Accel Status bit to determine if the coordinated vectored motion is currently being commanded to accelerate The acceleration bit is set when a coordinated move is in the accelerating phase due to the current coordinated move It is cleared when the coordinated move has been stopped or the coordinated move is in the decelerating phase Actual Pos Tolerance BOOL Tag Use the Actual Pos Tolerance Status bit to determine when a coordinate move is Status within the Actual Position Tolerance The Actual Position Tolerance Status bit is set for AT term type only The bit is set when interpolation is complete and the actual distance to programmed endpoint is less than the configured AT value
68. an encoder marker is not available or a proximity switch is being used When this sequence is performed in the Passive Homing M ode an external agent moves the axis until the home switch is detected The Home Position is assigned to the axis position at the moment that the limit switch is detected If you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value Passive Home with Marker This passive homing sequence is useful for single turn rotary and linear encoder applications When this sequence is performed in the Passive Homing M ode an external agent moves the axis until the marker is detected The home position is assigned to the axis position at the precise position where the marker was detected If you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value Passive Home with Switch then Marker This passive homing sequence is useful for multi turn rotary applications When this sequence is performed in the Passive Homing M ode an external agent moves the axis until the home switch and then the first encoder marker is detected The home position is assigned to the axis position at the precise position where the marker was detected If you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value Publication LOGIX UM 002B EN P J anuary 2007
69. are configured and the MCT instruction is enabled For additional information about the MCT or MCTP instructions refer to the LOGIX5000 Controllers Motion Instructions publication 1756 RM007H EN P For detailed steps about Creating and Configuring a Coordinate System refer to Chapter 4 Publication LOGIX UM 002B EN P J anuary 2007 82 Kinematics in RSLogix 5000 Software Determine the Coordinate System Type If your robot looks similar to Your Coordinate System type is Articulated Independent For configuration information go to page 84 Articulated Dependent For configuration information go to page 94 Publication LOGIX UM 002B EN P J anuary 2007 Kinematics in RSLogix 5000 Software 83 If your robot looks similar to Your Coordinate System type is Cartesian This illustration shows a typical Gantry machine t gt For configuration information go to page 102 Cartesian Sliding M ember This illustration shows a typical H bot For configuration information go to page 103 Sliding rail a f M ce VY Stationary Rails _ Stationary M otors A Stationary M otors B Articulated Independent This illustration shows a typical SCARA For configuration information go to page 106 Publication LOGIX UM 002B EN P J anuary 2007 84 Kinematics in RSLogix 5000 Software Configure an Articulated Independent Robot Publication LOGIX UM 002B EN P J anuary 2007 Use these guidelin
70. as the user for a given application Negative Polarity inverts the polarity of both the command position and actual position data of the servo drive Thus selecting either Positive or Negative Drive Polarity makes it possible to configure the positive direction sense of the drive to agree with that of the user This attribute is configured automatically using the M RHD and M AHD motion instructions Refer to the Logix M otion Instruction Specification for more information on these hookup diagnostic instructions Attribute Drive Resolution Axis Attributes 291 Axis Type Data Type Access Description AXIS_SERVO_DRIVE DINT GSV Drive Counts Drive Unit The Drive Resolution attribute determines how many Drive Counts there are in a Drive Unit Drive Units may be configured as Revs Inches or M illimeters depending on the specific drive application Furthermore the configured Drive Unit may apply to either a motor or auxiliary feedback device All position velocity and acceleration data to the drive is scaled from the user s Position Units to Drive Units based on the Drive Resolution and Conversion Constant The ratio of the Conversion Constant to Drive Resolution determines the number of Position Units in a Drive Unit Conversion Constant Drive Resolution Drive Units rev inch ormm Position Unit Conversely all position velocity and acceleration data from the drive is scaled from the user s Position Units to Drive Units
71. asterOffsetM oveStatus BOOL Decima CoordinatedM otionStatus BOOL Decima AxisEvent DINT Hex WatchEventArmedStatus BOOL Decima WatchEventStatus BOOL Decima RegEventlArmedStatus BOOL Decima RegEvent1Status BOOL Decima RegEvent2ArmedStatus BOOL Decima RegEvent2Status BOOL Decima HomeEventArmedStatus BOOL Decima Publication LOGIX UM 002B EN P anuary 2007 392 Publication LOGIX UM 002B EN P anuary 2007 Axis Data Types Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeA ctualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration1 Position REAL Float Registration2Position REAL Float Registration1Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedA ctualPosition REAL Float M asterOffset REAL Float StrobeM asterOffset REAL Float StartM asterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float Appendix F Coordinate System Attributes Use that attributes of a coordinate system for information
72. axis move even with the controller in remote program mode e Before you do the tests make sure no one is in the way of the axis e Do not change the polarity after you do the tests Otherwise you may cause an axis runaway condition L controller lt i download 2 RUN REM PROG 3 drive 4 Controller My_Controller Tasks J Motion Groups My_Motion_Group Motion Direct Commands a Cross Reference Ctrl E D gt mMy_Axis_ 7 E C Ungrouped Axes Print gt Trends 1 Go Data Types 1 0 Configuration N 5 6 Type how far you want the axis to move aneal Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion during the tests Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Test Increment 1 0 Revs lt Test Marker p 1 Drive Polarity Test Feedback D 8 est Command amp Feedback D Publication LOGIX UM 002B EN P J anuary 2007 Stat 25 Tune Each Axis Use the Tune tab to tune an axis ATTENTION When you tune an axis it moves even with the controller in remote program mode In that mode your code is not in control of the axis Before you tune an axis make sure no one is in the way of the axis The default tuning procedure tunes the proportional gains Typically tune the proportional gains first and see how your equipment runs L con
73. base offset is a set of coordinate values the redefines the origin of the robot The correct base offset values are typically available from Publication LOGIX UM 002B EN P J anuary 2007 92 Kinematics in RSLogix 5000 Software Enter the Base Offset values epee For the robot shown in our example the Base Offset values are e X1b 3 0 e X3b 4 0 Publication LOGIX UM 002B EN P J anuary 2007 the robot manufacturer Enter the values for the base offsets in the X1b and X3b fields of the Coordinate System Properties dialog z Coordinate System Properties Articulated_Independent General Geometry Units Offsets Joints Tag Type Articulated Independent Top View Transform Dimension 3 End Effector Offsets Xle x2e 0 0 Xe 0 0 R Xx1b X2b 3b End Effector Offsets The robot can have an end effector attached to the end of robot link L2 If there is an attached end effector then you must configure the end effector offset value on the Coordinate System Properties dialog The end effector offsets are defined with respect to the tool reference frame at the tool tip Some robots also have an offset defined for the J3 joint as illustrated in the robot example refer to on page 90 You can account for this value when computing the X3e end effector offset value In the value Kinematics in RSLogix 5000 Software 93 for X3e offset is entered as the sum of X3e1 X3e2 341 5 1 5 The conf
74. corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Servo Loop Block Diagrams 377 Torque Servo The Torque Servo configuration provides torque servo control using only the motor mounted feedback device for commutation Synchronous input data to the servo loop includes only the Torque Offset This values are updated at the coarse update rate of the associated motion group The Torque Offset value is derived from the current value of the corresponding attribute This offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Drive Gains Rockwell Automation servo drives use Nested Digital Servo Control Loop such as shown in the block diagrams above consisting typically of a position loop with proportional integral and feed forward gains around a digitally synthesized inner velocity loop again with proportional and integral gains for each axis These gains provide software control over the servo dynamics and allow the servo system to be completely stabilized Unlike analog servo controllers these digitally set gains do not drift Furthermore once these gains are set for a particular system another
75. current or computed value for the Vel P Gain using the following formula Vel Gain 0 25 0 001 Sec mSec Vel P Gain Assuming a Vel P Gain value of 0 25 Sec this results in a Vel Gain value of 15 6 mSec Sec Publication LOGIX UM 002B EN P J anuary 2007 360 Axis Attributes Attribute Axis Type Data Type Access Description Velocity AXIS_ SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Integrator Error AXIS_SERVO_DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Integrator Error in Position Units mSec Sec Velocity Integrator Error is the running sum of the Velocity Error in the configured axis Position Units per Second for the specified axis For an axis with an active velocity servo loop the velocity integrator error is used along with other error terms to drive the motor to the condition where the velocity feedback is equal to the velocity command Velocity Limit AXIS_SERVO_DRIVE REAL GSV Position Units sec i SSV EA l Bipolar This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE REAL GSV Position Units sec i SSV am negative This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a descr
76. dc nominal operation e Wire these inputs for current sourcing operation OK Contacts 24V dc Field Power Supply x OK Pilot Relay General A K 0K From the motion module gt C0720 x OK O 43397 OK Pilot Relay Start 24V ac dc Contacts Stop CRI or 120V ac M1 typical 43398 CR1 Notes e Use the OK relay contacts to connect to an E stop string that controls power to the associated pumps or drives e The OK contacts are rated to drive an external 24V dc pilot relay for example Allen Bradley 700 HA32Z24 whose contacts can be incorporated into the E stop string Publication LOGIX UM 002B EN P J anuary 2007 156 Wiring Diagrams Notes Publication LOGIX UM 002B EN P anuary 2007 Appendix B Axis Properties Introduction Use this appendix for a description of the properties of an axis General Tab AXIS SERVO The General screen depicted below is for an AXIS SERVO data type e Axis Properties myservolaxis Tune Dynamics Gains Dutput Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Axis Configuration Servo b Motion Group mymotiongroup T H New Group m Associated Module Module mymO2module o Module Type 1756 M024E Channel hoo YS Cancel Apply Help Axis Configuration Selects and displays the intended use of the axis e Feedback
77. differential encoder interface signals This interface hardware provides a robust differential encoder input interface to condition each of the encoder signals before being applied to an Encoder to Digital Converter EDC FPGA The EDC decodes the encoder signals and uses a 16 bit bidirectional counter to accumulate feedback counts A regular Timer Event signal applied to the EDC latches the encoder counters for all axes simultaneously This same Timer Event signal also triggers the servo interrupt service routine that performs the servo loop computations One of the first things done by the interrupt service routine is to read the latched encoder counter values from the EDC The change in the encoder counter value from the last timer event is computed and this delta value is added to a 32 bit signed integer position accumulator which represents the Actual Position of the axis The Actual Position value is used as feedback to the position servo loop and as input to the Watch Event Handler The delta position value represents velocity feedback which when configured to do so may be filtered and applied to the inner velocity servo loop Synchronous Serial Interface SSI Some servo modules like the 1756 M 02AS provide an interface to transducers with Synchronous Serial Interface SS outputs SSI outputs use standard 5V differential signals RS422 to transmit information from the transducer to the controller The signals consist of a Clock gene
78. e Handle Faults e Create and Configure a Coordinate System e Inhibit an Axis Publication LOGIX UM 002B EN P J anuary 2007 30 Start Notes Publication LOGIX UM 002B EN P anuary 2007 Introduction Chapter 2 Test an Axis with Motion Direct Commands The Motion Direct Commands feature lets you issue motion commands while you are online without having to write or execute an application program Motion Direct Commands are particularly useful when you are commissioning or debugging a motion application During commissioning you can configure an axis and monitor the behavior using Trends in the Controller Organizer Use of Motion Direct Commands can fine tune the system with or without load to optimize its performance When in the testing and or debugging cycle you can issue Motion Direct Commands to establish or reestablish conditions such as Home Often during initial development or enhancement to mature applications you need to test the system in small manageable areas These tasks include e Home to establish initial conditions e Incrementally Move to a physical position e Monitor system dynamics under specific conditions Publication LOGIX UM 002B EN P J anuary 2007 32 Testan Axis with M otion Direct Commands Access Motion Direct Access the Motion Direct Commands for the Motion Group Commands To access the Motion Direct Commands for the motion group right click the group in the Controller Organizer
79. for the Damping Factor of 0 8 should work fine for most applications Publication LOGIX UM 002B EN P J anuary 2007 284 Attribute DC Bus Voltage Axis Attributes Axis Type AXIS_SERVO_DRIVE Data Type Access DINT GSV Tag Description Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Volts This parameter is the present voltage on the DC Bus of the drive Decel Status AXIS_CONSUM ED AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL BOOL Tag Set if the axis is currently being commanded to decelerate Use the Accel Status bit and the Decel Status bit to see if the axis is accelerating or decelerating If both bits are off then the axis is moving at a steady speed or is at rest Direct Drive Ramp Rate AXIS_ SERVO REAL GSV SSV Volts Second The Direct Drive Ramp Rate attribute contains a slew rate for changing the output voltage when the Direct Drive On M DO instruction is executed A Direct Drive Ramp Rate of 0 disables the output ramp rate limiter allowing the Direct Drive On voltage to be applied directly Directional Scaling Ratio AXIS_SERVO REAL GSV SSV In some cases the speed or velocity scaling of the external drive actuator may be directionally dependent This non linearity can be substantial in hydraulic a
80. generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability Every servo update the current Position Error is accumulated in a variable called the Position Integral Error This value is multiplied by the Position Integral Gain to produce a component to the Velocity Command that attempts to correct for the position error The characteristic of Pos Gain correction however is that any non zero Position Error accumulates in time to generate enough force to make the correction This attribute of Pos Gain makes it invaluable in applications where positioning accuracy or tracking accuracy is critical The higher the Pos Gain value the faster the axis is driven to the zero Position Error condition Unfortunately Pos Gain control is intrinsically unstable Too much Pos Gain results in axis oscillation and servo instability If the axis is configured for an external velocity loop servo drive the Pos Gain should be zero most analog velocity loop servo amplifiers have integral gain of their own and do not tolerate any amount of Pos Gain in the position loop without producing severe oscillations If Pos Gain is necessary for the application the velocity integrator in the drive must be disabled In certain cases Pos Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case w
81. has communicated the existence of this fault to the servo module via the Drive Fault input This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear Publication LOGIX UM 002B EN P J anuary 2007 286 Axis Attributes Attribute Axis Type Data Type Access Description Drive Fault AXIS_SERVO_DRIVE DINT Tag Lets you access all the drive fault bits in one 32 bit word This tag is the same as the Drive Fault Bits attribute Tag Bit Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault 1 Pos Hard Overtravel Fault 2 Neg Hard Overtravel Fault 3 M ot Feedback Fault 4 M ot Feedback Noise Fault 5 Aux Feedback Fault 6 Aux Feedback Noise Fault 7 Reserved 8 Drive Enable Input Fault 9 Common Bus Fault 10 Precharge Overload Fault 11 Reserved 12 Ground Short Fault 13 Drive Hard Fault 14 Overspeed Fault 15 Overload Fault 16 Drive Overtemp Fault 17 M otor Overtemp Fault 18 Drive Cooling Fault 19 Drive Control Voltage Fault 20 Feedback Fault 21 Commutation Fault 22 Drive Overcurrent Fault 23 Drive Overvoltage Fault 24 Drive Undervoltage Fault 25 Power Phase Loss Fault 26 Position Error Fault 27 SERCOS Fault 28 Overtravel Fault 29 Reserved 30 Manufacturer Specific Fault 31 Do you want any of these faults to give the controller a major fault e YES
82. immediately placed in the shutdown state Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop To recover from this state a reset instruction must be executed Master Delay Compensation Use this checkbox to Enable Disable Master Delay Compensation Checkbox Master Delay Compensation is used balance the delay time between reading the master axis command position and applying the associated slave command position to the slave s servo loop This feature ensures that the slave axis command position accurately tracks the actual position of the master axis that is zero tracking error Publication LOGIX UM 002B EN P J anuary 2007 166 Axis Properties Enable Master Position Filter Checkbox Master Position Filter Bandwidth Publication LOGIX UM 002B EN P J anuary 2007 Clicking on this box enables Master Delay Compensation The default setting is Disabled If the axis is configured for Feedback only Master Delay Compensation should be disabled Use this checkbox to Enable Disable Master Position Filter The default is disabled and must be checked to enable position filtering Master Position Filter when enabled effectively filters the specified master axis position input to the slave axis s gearing or position camming operation The filter smooths out the actual position signal from the master axis and thus smooths out the corresponding motion of the slave axis
83. in a motor coupled directly to a 5 pitch lead screw 5 turns per inch With a user defined Position Unit of Inches the conversion constant is calculated as shown below K 1000 Lines Rev 4 Counts Line 5 Revs Inch 20 000 Counts Inch Attention If Conversion Constant is changed it invalidates all of the settable attributes with Position Unit conversions in Description column To be valid the Conversion Constant must be set to the desired value prior to setting including defaulting any of the affected attributes Coordinated AXIS_CONSUMED BOOL Tag Set if any coordinated motion profile is currently active upon the axis It Motion Status AXIS GENERIC is cleared as soon as Coordinated M otion is complete or stopped AXIS_ SERVO AXIS_ SERVO_DRIVE AXIS_VIRTUAL Damping Factor AXIS_ SERVO REAL GSV The Damping Factor attribute value is used in calculating the maximum AXIS SERVO DRIVE SSV Position Servo Bandwidth see below during execution of the M RAT M otion Run Axis Tune instruction In general the Damping Factor attribute controls the dynamic response of the servo axis W hen gains are tuned using a small damping factor like 0 7 a step response test performed on the axis would demonstrate under damped behavior with velocity overshoot A gain set generated using a larger damping factor like 1 0 would produce a system step response that has no overshoot but has a significantly lower servo bandwidth The default value
84. in one 32 bit word This AXIS GENERIC attribute is the same as the Axis Event tag AXISESERVO Event Status Bit AXIS SERVO DRIVE 5 7 Watch Event Armed Status 0 AXIS_ VIRTUAL Watch Event Status 1 Reg Event 1 Armed Status 2 Reg Event 1 Status 3 Reg Event 2 Armed Status 4 Reg Event 2 Status 5 Home Event Armed Status 6 Home Event Status 7 Axis Fault AXIS CONSUMED DINT Tag The axis faults for your axis AXIS GENERIC z 7 Type of Fault Bit AXIS_SERVO Se AXIS SERVO_DRIVE Physical Axis Fault 0 Config Fault 2 This attribute is the same as the Axis Fault Bits attribute Axis Fault Bits AXIS_CONSUMED DINT GSV The axis faults for your axis AXIS GENERIC z z Type of Fault Bit AXIS_SERVO ate AXIS SERVO_DRIVE Physical Axis Fault 0 Config Fault 2 This attribute is the same as the Axis Fault tag Publication LOGIX UM 002B EN P anuary 2007 274 Axis Attributes Attribute Axis Type Data Type Access Description Axis Info Select 1 AX S_SERVO DINT GSV An axis has a group of attributes that don t get updated by default AXIS_SERVO_DRIVE SSV e To use one of them you must choose it for Real Time Axis Information for the axis Otherwise its value won t change and you won t see the right value as the axis runs e You can choose up to 2 of these attributes To use a GSV instruction to choose an attribute for Real Time Axis Information set the Axis Info Select 1 or Axis Info Select 2 attribute Axis Info Select 2 Publication LOGIX UM
85. in the Axis Ready state with the servo loop disabled 4 For single turn equipment consider homing to a marker The marker homing sequence is useful for single turn rotary and linear encoder applications because these applications have only one encoder marker for full axis travel 5 For multi turn equipment home to a switch or switch and marker These homing sequences use a home limit switch to define the home position e You need a home limit switch if the axis moves more than one revolution when it runs Otherwise the controller can t tell which marker pulse to use e For the most precise homing use both the switch and marker 6 If your equipment can t back up use unidirectional homing With unidirectional homing the axis doesn t reverse direction to move to the Home Position For greater accuracy consider using an offset e Use a Home Offset that is in the same direction as the Home Direction e Use a Home Offset that is greater than the deceleration distance e f the Home Offset is less than the deceleration distance e The axis simply slows to a stop The axis doesn t reverse direction to move to the Home Position In this case the M AH instruction doesn t set the PC bit e Ona rotary axis the controller adds 1 or more revolutions to the move distance This makes sure that the move to the Home Position is unidirectional Publication LOGIX UM 002B EN P J anuary 2007 136 Configure Homing
86. instance of the map entry representing the module Marker Distance AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE Tag Publication LOGIX UM 002B EN P anuary 2007 Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 M arker Distance in Position Units Marker Distance is the distance between the axis position at which a home switch input was detected and the axis position at which the marker event was detected This value is useful in aligning a home limit switch relative to a feedback marker pulse to provide repeatable homing operation Attribute M aster Input Configuration Bits Axis Type Data Type Access AXIS_ GENERIC DINT GSV AXIS_ SERVO SSV AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis Attributes 311 Description Bits 0 M aster Delay Compensation 1 M aster Position Filter Master Delay Compensation By default both the Position Camming and Gearing functions when applied to a slave axis perform M aster Delay Compensation to compensate for the delay time between reading the master axis command position and applying the associated slave command position to the input of the slave s servo loop When the master axis is running at a fixed speed this compensation technique insures that the slave axis command position accurately tracks the actual position of the master axis in other words M
87. instruction to execute If you click on the Motion Group Shutdown button and it is successfully executed a Result message is displayed in the results window below the dialog Since the use of this button is an abrupt means of stopping motion an additional message is displayed in the error text field The message MOTION GROUP SHUTDOWN executed is displayed with the intention of giving greater awareness of the execution of this command If the command fails then an error is indicated as per normal operation See Error Conditions later in this chapter There is space above the Motion Group Shutdown button and below the line where status text is displayed when a command is executed Execute Button Clicking the Execute button verifies the operands and initiates the current Motion Direct Command Test an Axis with M otion Direct Commands 39 Motion Direct Command Whenever a Motion Direct Command is executed there are two levels Error Process of error detection that are presented The first level is verification of the command s operands If a verification error is detected a message Failed to Verify is posted on the dialog and an appropriate message is posted to the error result window The second level is the initial motion direct command s error response retum code If an error code is detected a message Execution Error is posted on the dialog KJ Motion Direct Commands my_virtual_axis 14 fee Motion Axis Move Axi
88. is 100 Sec Bandwidth Method If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 Position servo systems typically run with at least a unity gain bandwidth of 16 Hertz The typical value for the Position Proportional Gain is 100 Sect Maximum Bandw idth There are limitations to the maximum bandwidth that can be achieved for the position loop based on the dynamics of the inner velocity and torque loops of the system and the desired damping of the system Z These limitations may be expressed as follows Bandwidth Pos 0 25 1 Z2 Bandwidth Vel 0 25 1 Z2 Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz and the position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed Note that the bandwidth of the torque loop includes feedback sampling delay and filter time constant Publication LOGIX UM 002B EN P anuary 2007 Attribute Position Servo Bandwidth Axis Type Data Type Access AXIS_ SERVO REAL GSV AXIS_SERVO_DRIVE SSV Axis Attributes 333 Description Hertz The value for the Position Servo Bandwidth represents the unity gain bandwidth that is to be used to calculate the gains for a subsequent M AAT M
89. is active which is the required configuration for interfacing the servo axis to a torque loop servo drive e Hydraulic enables features specific to hydraulic servo applications Publication LOGIX UM 002B EN P J anuary 2007 Loop Configuration Enable Drive Fault Input Drive Fault Input Enable Direct Drive Ramp Control Direct Drive Ramp Rate Real Time Axis Information Attribute 1 Attribute 2 Axis Properties 169 Select the configuration of the servo loop For this release only Position Servo is available Check this box if you wish to enable the Drive Fault Input When active the motion module receives notice whenever the external drive detects a fault Specifies the usual state of the drive fault input when a fault is detected on the drive e Normally Open when a drive fault is detected it opens its drive fault output contacts e Normally Closed when a drive fault is detected it closes its drive fault output contacts Clicking on the Enable Direct drive Ramp Control check box lets you set the Direct Drive Ramp Rate in volts per second for when an MDO instruction is executed The Direct Drive Ramp Rate is a slew rate for changing the output voltage when a Direct Drive On MDO instruction is executed A Direct Drive Ramp Rate of 0 disables the output rate limiter letting the Direct Drive On voltage to be applied directly Select up to two axis attributes whose status are transmitted along with the a
90. limit switch and or the encoder marker is used for this axis Active homing sequences always use the trapezoidal velocity profile For LDT and SSI feedback selections the only valid Home Sequences for Homing Mode are immediate or switch as no physical marker exists for the LDT or SSI feedback devices Passive In this mode homing redefines the absolute position of the axis on the occurrence of a home switch or encoder marker event Passive homing is most commonly used to calibrate uncontrolled axes although it can also be used with controlled axes to create a custom homing sequence Passive homing fora given home sequence works similar to the corresponding active homing sequence except that no motion is commanded the controller just waits for the switch and marker events to occur Publication LOGIX UM 002B EN P J anuary 2007 188 Axis Properties e Absolute AXIS SERVO_DRIVE and AXIS SERVO when associated with a 1756 HYD02 LDT feedback or 1756 M02AS SSI feedback module only In this mode the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device The only valid Home Sequence for an absolute Homing Mode is immediate In the LDT and SSI cases the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position less any enabled Absolute Feedback Offset to the repo
91. maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units sec Limit Negative SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 263 Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units sec Limit Positive SSV are This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Actual AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled Acceleration AXIS_GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS_SERVO_DRIVE Actual Acceleration in Position Units Sec2 AXIS_VIRTUAL Actual Acceleration is the current instantaneously measured acceleration of an axis in the configured axis Position Units per second per second It is calculated as the current increment to the actual velocity per coarse update interval Actual Acceleration is a signed value the sign or depends on which direction the axis is curren
92. measure the real Cartesian positions WARNING Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions causing machine damage and or injury or death to personnel The reference frame for an Articulated Dependent robot is at the base of the robot as shown in the figure below X1 Figure 1 Articulated Dependent Before you begin establishing the Joint to Cartesian reference frame relationship it is important to know some information about how the Kinematics in RSLogix 5000 Software Kinematic mathematical equations in the ControlLogix 1756 Loxx controllers were written The equations were written as if the Articulated dependent robot joints were positioned as shown in Figure 2 Articulated Dependent 95 e J1 is measured counterclockwise around the X3 axis starting at an angle of J1 0 when J1 is aligned with the X1 axis e J2 is measured counterclockwise starting with J2 0 when J2 is parallel to X1 X2 plane e J3 is measured counterclockwise with J3 0 when J3 is parallel to the X1 X2 plane Side View x1 Figure 2 Articulated Dependent When your robot is physically in the The RSLogix 5000 Actual Position position illustrated in tags for the axes must read as Figure 2 Articulated Dependent J1 0 J2 0 J3 0 Figure 3 Articulated Dependent J1 0 J2 90 3 0 AX Side View Figure 3 Articulated Dependent Xi P
93. mode If that happens this bit turns on Publication LOGIX UM 002B EN P J anuary 2007 282 Attribute Commutation Fault Axis Attributes Axis Type AXIS SERVO_DRIVE Data Type Access DINT BOOL Description Set when the commutation feedback source associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable motor shaft information to perform commutation Config Fault AXIS_CONSUM ED AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL BOOL Tag Set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module Do you want this fault to give the controller a major fault e YES Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Config Update In Process AXIS_CONSUM ED AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL BOOL Tag When you use an SSV instruction to change an attribute the controller sends the change to the motion module If you want to wait until the change is done monitor the ConfigUpdatelnProcess bit of the axis If the bit is e ON The controller is changing the attribute e OFF The change is done Continuous Torque Limit AXIS_SERVO_DRIVE
94. more than one motion group Action Details 1 Choose your coarse update The coarse update period is a trade off between updating positions of your axes and period scanning your code Use these guidelines as a rough starting point A How many axes do you have e Less than 11 axes Set the coarse update period to 10 ms e 11 axes or more Set the coarse update period to 1 ms per axis B Leave at least half the controller s time for the scan of all your code C If you have SERCOS interface motion modules set the coarse update period to a multiple of the cycle time of the motion module Example if the cycle time is 2 ms set the coarse update period to 8 ms 10 ms 12 ms and so on D If you have analog motion modules set the coarse update period to 1 At least 3 times the servo update period of the motion module 2 A multiple of the servo update period of the motion module Publication LOGIX UM 002B EN P anuary 2007 Stat 19 Action Details 2 Add the motion group E Controller My_Controller Controller Tags E3 Controller Fault Handler C3 Power Up Handler 3 6 Tasks 24 MainTask E3 Unscheduled Programs Phases A Ga C Trends E Ctrl C Ctrl V Description Cancel Help Usage Type Alias For Data Type MOTION_GROUP Bj Scope j My_Controller X Style C N Open MOTION_GROUP Configuration _ 3
95. need 1 or 2 Output Cam Execution Targets for a specific axis Each axis can be configured differently Output Cam Lock AXIS_CONSUMED DINT GSV Set of Output Cam Lock Status bits AXIS_ GENERIC Ta es fue 3 The Output Cam Lock Status bit is set when an Output Cam has been AXIS_ SERVO armed This would be initiated by executing an M AOC instruction with AXIS_SERVO_DRIVE Immediate execution selected when a pending output cam changes to AXIS VIRTUAL armed or when the axis approaches or passes through the specified axis E arm position As soon as this output cam current position moves beyond the cam start or cam stop position the Output Cam Lock bit is cleared This bit is also cleared if the Output Cam is terminated by a M DOC instruction Output Cam Lock AXIS_CONSUMED DINT Tag A set of bits that are set when an Output Cam is locked to the M aster Status AXIS SERVO Axis The bit number corresponds with the execution target number One bit per execution target AXIS_SERVO_DRIVE AXIS_VIRTUAL Output Cam AXIS_CONSUMED DINT GSV set Ti that are mo an Output Cam is a for an armed utput Cam to move beyond its cam start cam end position Pending Status A IS_GENERIC Tag The bit number corresponds with the execution target number One bit AXIS_SERVO per execution target AXIS_SERVO_DRIVE The Output Cam Pending Status bit is set if an Output Cam is currently AXIS VIRTUAL pending the completion of another Output Cam This would be initiated by ex
96. of the axis is greater than 0 75 or less than 0 75 position units as shown here This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed Specifies the maximum position error the servo module accepts in order to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity Output Limit Manual Adjust Axis Properties 231 For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units as shown here Provides a method of limiting the maximum servo output voltage of a physical axis to a specified level The servo output for the axis as a function of position servo error both with and without servo output limiting is shown below The servo output limit may be used as a software current or torque limit if you are using a servo drive in torque loop mode The percentage of the drive s maximum current that the servo controller ever commands is equal to the sp
97. of the integrator action is too slow to be effective An alternative approach that has superior dynamic response is to use Velocity and Acceleration Feedforw ard The Velocity Feedforward Gain attribute is used to provide the Velocity Command output necessary to generate the commanded velocity It does this by scaling the current Command Velocity by the Velocity Feedforward Gain and adding it as an offset to the Velocity Command generated by the position loop control elements With this done the position loop control elements do not need to generate much of a contribution to the Velocity Command hence the Position Error value is significantly reduced Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations One thing that may force a smaller Velocity Feedforward value is that increasing amounts of feedforward tends to exacerbate axis overshoot If necessary the Velocity Feedforward Gain may be tweaked from the 100 value by runn
98. of the torque loop includes feedback sampling delay and filter time constant The velocity loop in the motion controller is not used when the servo module is configured for a velocity loop servo drive Thus establishing the Velocity Proportional Gain is not required in this case The typical value for the Velocity Proportional Gain is 250 Sect Continued on next page Publication LOGIX UM 002B EN P J anuary 2007 362 Axis Attributes Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO_DRIVE Proportional Gain 7 l l cont The standard RA SERCOS drive s digital velocity loop provides damping Publication LOGIX UM 002B EN P anuary 2007 without the requirement for an analog tachometer The Velocity Error is multiplied by the Velocity Proportional Gain to produce a Torque Command that ultimately attempts to correct for the velocity error creating the damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability The velocity loop also allows higher effective position loop gain values to be used however too much Velocity Proportional Gain leads to high frequency instability and resonance effects Note that units for Velocity Proportional Gain are identical to that of the Position Proportional Gain making it easy to perform classic calculations to determine damping and bandwidth If you know the desired unity ga
99. on Metric or English Drive Units as defined by the SERCOS Interface standard When the bit is clear default the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also cleared which instructs the drive to use the M etric scaling parameters W hen the bit is set the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also set which instructs the drive to scale in English units If the Scaling Unit is set to rotary the Linear Scaling Unit bit has no affect When interfacing to Rockwell SERCOS drive products the Standard Drive Units based on the Scaling Unit and Linear Scaling Unit bit selections are shown in the following table Standard Drive Units Metric English Rotary Rev Rev Linear M illimeter Inch Data Reference The Data Reference bit determines which side of the mechanical transmission to reference position velocity acceleration and torque data If motor is selected then position velocity acceleration and torque data is referenced to the motor side of the transmission If load is selected then position velocity acceleration and torque data is referenced to the load side of the transmission This is only applicable when using an auxiliary feedback device Publication LOGIX UM 002B EN P anuary 2007 296 Axis Attributes
100. one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The currently operative maximum negative torque current limit magnitude The value should be the lowest value of all torque current limits in the drive at a given time This limit includes the amplifier peak limit motor peak limit user current limit amplifier thermal limit and the motor thermal limit Publication LOGIX UM 002B EN P J anuary 2007 324 Axis Attributes Attribute Axis Type Data Type Access Description Output Cam AXIS_CONSUMED DINT GSV Represents the number of Output Cam nodes attached to this axis Valid Execution Targets AXIS_GENERIC range 0 8 with default of 0 AXIS_SERVO The Output Cam Execution Targets attribute is used to specify the AXIS_SERVO_DRIVE number of Output Cam nodes attached to the axis This attribute can AXIS VIRTUAL only be set as part of an axis create service and dictates how many Output Cam Nodes are created and associated to that axis Each Output Cam Execution Target requires approximately 5 4k bytes of data table memory to store persistent data W ith four Output Cam Execution Targets per axis an additional 21 6k bytes of memory is required for each axis The ability to configure the number of Output Cam Execution Targets for a specific axis reduces the memory required per axis for users who do not need Output Cam functionality or only
101. or DPM 24V Connections 15V Connections Ground Interrogate Interrogate 12V dc Pulse FAV Output Pulse Ground Output Interrogate 43473 Output Pulse Interrogate Interrogate No shield connections on these examples This table lists the LDT connections Table 1 1 LDT Connections for Fabricating Your Ow n LDT Cable Function 1756 HYD02 RTB Wiring N umbers below Temposonics 1 Balluff represent terminal numbers RPM or DPM BTL type Channel 0 Channel 1 24V dc 15V dc Interrogate 26 25 9 Yellow 1 Yellow 1 Yellow Interrogate 28 27 10 Green 3 Pink 3 Pink Power Supply N A 5 Red 12V 7 Brown 24V 7 Brown 15V 8 White 15V Ground 34 33 1 White 6 Blue 6 Blue 8 White Output Pulse 30 29 8 Purple 2 Gray 2 Gray 32 31 5 Green 5 Green and wires of the same function should be a twisted pair within the cable 2 Do not connect to pins 2 3 4 6 or 7 Publication LOGIX UM 002B EN P J anuary 2007 Wiring Diagrams 153 Temposonic GH Feedback Device Temposonle 1756 HYD02 GH Series Temposonic GH RTE Cable Color Code Yellow See eee re rennan pnr ec cae eae ane Lasand Chassis Chassis Customer A 24 V DC LDT Power Supply Supply Common To Local Ground Bus Temposonic GH Series Temposonic GH Cable Color Code Supply V DC Red or Brown Supply Com 6
102. power supply voltages associated with the drive circuitry fall outside of acceptable limits Drive Cooling Fault AXIS_ SERVO_DRIVE BOOL Publication LOGIX UM 002B EN P anuary 2007 Tag Set when the ambient temperature surrounding the drive s control circuitry temperature exceeds the drive ambient shut down temperature Attribute Drive Enable Input Fault Drive Enable Input Fault Action Axis Attributes 285 Axis Type Data Type Access Description AXIS_SERVO_DRIVE BOOL AXIS_SERVO_DRIVE SINT Tag GSV SSV This fault would be declared if either one of two possible conditions occur 1 If an attempt is made to enable the axis typically via M SO or M AH instruction while the Drive Enable Input is inactive 2 If the Drive Enable Input transitions from active to inactive while the axis is enabled This fault can only occur when the Drive Enable Input Fault Handling bit is set in the Fault Configuration Bits attribute If the Drive Enable Input Fault Action is set for Stop Command and the axis is stopped as a result of a Drive Enable Input Fault the faulted axis cannot be moved until the fault is cleared Any attempt to move the axis in the faulted state using a motion instruction results in an instruction error If the Drive Enable Fault Action setting is Status Only or Stop Command and an attempt is made to enable the axis typically via MSO or MAH instruction while the Drive Enable Input is active the a
103. quantity For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units as shown here The Peak Torque Force Limit specifies the maximum percentage of the motors rated current that the drive can command as either positive or negative torque force For example a torque limit of 150 shall limit the current delivered to the motor to 1 5 times the continuous current rating of the motor The Continuous Torque Force Limit specifies the maximum percentage of the motors rated current that the drive can command on a continuous or RMS basis For example a Continuous Torque Force Limit of 150 limits the continuous current delivered to the motor to 1 5 times the continuous current rating of the motor Click on this button to open the Limits tab of the Manual Adjust dialog for online editing of the Position Error Tolerance Position Lock Axis Properties 235 Tolerance Peak Torque Force Limit and Continuous Torque Force Limit parameters Manual Adjust mysercos1laxis X Dynamics Gains Output Limits Offset Position Error Tolerance oo Pasition Units Reset Position Lock Tolerance 0 01 Position Units PeakT orque Force Limit 0 0 Rated Continuous Torque Force Limit fi 00 0 4 e Rated OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameter
104. rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration limits of the drive and motor The Maximum Acceleration value entered is used when the motion instruction is set with Accel Units of Maximum When a motion instruction is configured with Accel Units units per sec field then the Maximum Acceleration is taken from the motion instruction faceplate The maximum deceleration rate of the axis in Position Units second it is initially set to approximately 85 of the measured tuning deceleration rate by the tuning process If set manually this value should typically be set to about 85 of the maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the deceleration limits of the drive and motor The Maximum Deceleration value entered is used when the motion instruction is set with decel Units of Maximum When a motion instruction is configured with Decel Units units per sec field then the Maximum Deceleration is taken from the motion instruction faceplate The jerk parameters apply to S curve profile moves using the Motion Axis Jog MAJ or Motion Axis Move MAM instructions The Maximum Acceleration Jerk rate of the axis in Position Units second defaults to 100 of the maximum acceleration time after tuning The Publication LOGIX UM 002B EN P J anuary 2007 206 Axis Properties Maximum Decelerat
105. right half of the Joint Ratio column is a configurable field that lets you specify a value for the joint axis units denominator Keep in mind that Joint axis units are always specified as degrees J oint Units The Joint Units column is a read only field that displays the configured axis position units to the joint units The Axis Position units are defined in the Axis Properties Units dialog Joint units are always defined as Degrees Create and Configure a Coordinate System 65 If you are configuring a Cartesian coordinate system click on the Dynamics tab to access the Coordinate System Properties Dynamics dialog Coordinate System Properties cartesian_coordinate_system General Geometry Units Offsets Dynamics Tag Vector S Manual Adjust Maximum Speed 0 0 Coordination Units s Maximum Acceleration 0 0 Coordination Units s 2 Maximum Deceleration 0 0 X Coordination Units s 2 Position Tolerance Actual 0 0 Coordination Units Command 0 0 Coordination Units ok Cancel Arey Help Dynamics Tab The Dynamics dialog is accessible only if you are configuring a Cartesian Coordinate System The Dynamics tab is for entering the Vector values used for Maximum Speed Maximum Acceleration and Maximum Deceleration It is also used for entering the Actual and Command Position Tolerance values Vector Box In the Vector box values are entered for Maximum Speed Maximum Acceleration and Maximum Decelerat
106. routine sets the position error tolerance to twice the following error at maximum speed based on the measured response of the axis In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed Publication LOGIX UM 002B EN P J anuary 2007 330 Axis Attributes Attribute Axis Type Data Type Access Description Position AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS SERVO DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Position Feedback in Position Units Position Feedback is the current value of the Fine Actual Position into the position loop summing junction in configured axis Position Units Within the servo loop the Position Feedback represents the current position of the axis Position Integral AX S_SERVO REAL GSV 1 mSec Sec oan ace aia al Position Integral Gain Pos Gain improves the steady state positioning performance of the system By using Position Integral Gain it is possible to achieve accurate axis positioning despite the presence of such disturbances as static friction or gravity Increasing the integral gain
107. single prismatic joint Configuring a SCARA robot in RSLogix 5000 software uses the Articulated Independent two axis geometry Use these guidelines when configuring a SCARA Establish the Reference Frame The reference frame for the SCARA geometry is at the base of link L1 The J1 axis rotates around the X3 axis When J1 is at zero degrees L1 is along the X1 axis J2 is a revolute joint whose axis of rotation is parallel to the X3 axis J3 is a prismatic axis that moves parallel to the X3 axis Kinematics in RSLogix 5000 Software 107 When configuring the parameters for the source Coordinate system and the target Coordinate system for a SCARA robot keep the following information in mind e The transform dimension value should be set to two because only J1 and J2 are involved in the transformations e The Z axis is configured as a member of both the Source and Target Coordinate systems For additional information about establishing a reference frame refer to the section entitled Configure an Articulated Independent Robot in this manual s Coordinate System Properties Cartesian ol Coordinate System Properties Articulated_Independent General Geometry Units Olfsets Dynamics Tag General Geometry Units Offsets Joints Tag Motion Group motion_group EF Motion Group MT f Type Cartesian E i Type Articulated Independent X Dimension 4 Transform Dimension 2 24
108. software overtravel checking in position units The Maximum Negative limit must always be less than the Maximum Positive limit Publication LOGIX UM 002B EN P J anuary 2007 234 Axis Properties Position Error Tolerance Position Lock Tolerance Peak Torque Force Limit Continuous Torque Force Limit Manual Adjust Publication LOGIX UM 002B EN P anuary 2007 Specifies how much position error the servo tolerates before issuing a position error fault This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 position units means that a position error fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 position units as shown here This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed Specifies the maximum position error the servo module accepts in order to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a
109. support The options are 1 2 or 3 in keeping with its support of a maximum of three axes Changes in the Dimension spin box also reflect in the Axis Grid by either expanding or contracting the number of fields available Data is set back to the defaults for any axis that is removed from the Axis Grid due to reducing the Dimension field Transform Dimension Enter the number of axes in the coordinate system that you want to transform The options are 1 2 or 3 in keeping with its support of a maximum of 3 axes The number of axes that you transform must be equal to or less than the specified coordinate system dimensions The transform function always begins at the first axis For example if you have specified that the coordinate system has 3 axes but indicate only Publication LOGIX UM 002B EN P J anuary 2007 56 Create and Configure a Coordinate System Publication LOGIX UM 002B EN P anuary 2007 that 2 axes be transformed then axes 1 and 2 will be transformed In other words you cannot specify that only axes number 2 and number 3 be transformed Axis Grid The Axis Grid is where you associate axes to the Coordinate System There are five columns in the Axis Grid that provide information about the axes in relation to the Coordinate System Brackets The Brackets column displays the indices in tag arrays used with the current coordinate system The tag arrays used in multi axis coordinated motion instructions map to axe
110. the Maximum Maximum Deceleration REAL GSV SSV Coordination Units Sec The Maximum Deceleration attribute value is used by motion instructions such as MCLM MCCM and so on to determine the deceleration rate to apply to the coordinate system vector when the deceleration is specified as a percent of the Maximum Maximum Pending M oves DINT GSV The Maximum Pending M oves attribute is used to determine how many M ove Pending queue slots should be created as part of the Coordinate System s create service Limited to a queue of one Publication LOGIX UM 002B EN P anuary 2007 398 Coordinate System Attributes Attribute Data Type Access Description SSV The value of the Maximum Speed attribute is used by various motion instructions for example M CLM M CCM and so on to determine the steady state speed of the coordinate system vector when the speed is specified as a percent of the Maximum M odule Fault BOOL Tag The Module Fault bit attribute is set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition Modules Faulted DINT GSV Shows which axes in this coordinate system have a module fault Tag If this bitis on Then
111. the OK contact opened Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop To recover from the Shutdown state requires execution of one of the axis or group Shutdown Reset instructions M ASR or M GSR PWM Frequency Select AXIS_SERVO_DRIVE SINT GSV The PWM Frequency Select attribute controls the frequency of the pulse width modulated voltage applied to the motor by the drive s power structure Higher PW M Frequency values reduce torque ripple and motor noise based on the motor s electrical time constant Higher PW M frequencies however mean higher switching frequencies which tends to produce more heat in the drive s power structure So for applications that have high torque demands a lower PWM frequency would be more appropriate 0 low frequency default 1 high frequency Publication LOGIX UM 002B EN P J anuary 2007 336 Axis Attributes Attribute Axis Type Data Type Access Description Reg 1 Input AXIS_SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE e ON Registration 1 input is active e OFF Registration 1 input is inactive Reg 2 Input AXIS_SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE e ON Registration 2 input is active e OFF Registration 2 input is inactive Reg Event 1 AXIS_CONSUMED BOOL Tag Set when a registration checking has been armed for registration input 1 Armed Status AXIS GENERIC through executio
112. the desired unity gain bandwidth of the velocity servo in Hertz you can use the following formula to calculate the corresponding P gain Vel P Gain Bandwidth Hertz 6 28 The typical value for the Velocity Proportional Gain is 250 mSec 1 This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab At every servo update the current Velocity Error is accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Torque Command that attempts to correct for the velocity error The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too much I Gain results in axis oscillation and servo instability In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Publication LOGIX UM 002B EN P J anuary 2007 218 Axis Properties Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use o
113. the inertia of the motor without any load attached to the motor shaft in Torque Scaling units of Rated Pos Units per Sec The Load Inertia Ratio attribute s value represents the ratio of the load inertia to the motor inertia Auto tuning uses the M otor Inertia value to calculate the Load Inertia Ratio based on the following equation Load Inertia Ratio Total Inertia M otor Inertia M otor Inertia Total Inertia is directly measured by the auto tuning algorithm and applied to the Torque Scaling attribute in units of Rated Pos Units per Sec If the Load Inertia Ratio value is known the M otor Inertia value can also be used to calculate a suitable Torque Scaling value for the fully loaded motor without performing an auto tune The equation used by RSLogix5000 to calculate the Torque Scaling value is as follows Torque Scaling 1 Load Inertia Ratio M otor Inertia The value for Load Inertia may be automatically calculated using Rockwell s M otionBook program while the value for M otor Inertia is derived from the M otion database file based on the motor selection Motor Overtemp AXIS_SERVO_DRIVE BOOL Tag Set when the motor s temperature exceeds the motor shutdown Fault temperature M otor Thermal AXIS_SERVO_DRIVE SINT GSV Fault Action SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop M otion 2 Status Only 3 M ove Status AXIS_CONSUMED BOOL Tag Set if a Move motion profile is currently in prog
114. this bit means that communication is lost with the producing controller This bit clears when communication is reestablished Axis Attributes 283 Attribute Axis Type Data Type Access Description Controlled By AXIS_CONSUMED BOOL Tag If the bit is Transform Status axis GENERIC e ON A transform is moving the axis AXIS_ SERVO e OFF A transform isn t moving the axis AXIS_SERVO_DRIVE AXIS_ VIRTUAL Conversion AXIS CONSUMED REAL GSV Counts Position Unit Constant AXIS_ GENERIC SSV i AXIS_SERVO Range 0 1 le AXIS_SERVO_DRIVE Default 8000 0 AXIS_VIRTUAL tye ge To allow axis position to be displayed and motion to be programmed in the position units specified by the Position Unit string attribute a Conversion Constant must be established for each axis The Conversion Constant sometimes known as the K constant allows the Axis Object to convert the axis position units into feedback counts and vice versa Specifically K is the number of feedback counts per Position Unit Note that the 1756M 02AE encoder based servo module uses 4X encoder feedback 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 For example suppose this servo axis utilizes a 1000 line encoder
115. total inertia for the axis as calculated from the measurements made during the tuning procedure In actuality the units of Tune Inertia are not industry standard inertia units but rather in terms of percent of rated drive output per M egaCounts Sec of feedback input In this sense it represents the input gain of torque servo drive These units represent a more useful description of the inertia of the system as seen by the servo controller The Tune Inertia value is used by the M AAT Motion Apply Axis Tune instruction to calculate the Torque Scaling If the Tune Inertia value exceeds 100 Rated M egaCounts Per Second performance of the digital servo loop may be compromised due to excessive digitization noise associated with the velocity estimator This noise is amplified by the Torque Scaling gain which is related to the Tune Inertia factor and passed on to the torque output of the drive A high Tune Inertia value can thus result in excitation of mechanical resonances and also result in excessive heating of the motor due to high torque ripple The only solution to this problem is to lower the loop bandwidths and optionally apply some output filtering Since the Tune Inertia value represents a measure of the true system inertia this situation can occur when driving a high inertia load relative to the motor that is a high inertia mismatch But it can also occur when working with a drive that is undersized for the motor or with a syst
116. 00 230 AC IAM 3kW PS 94 Cont 174 Peak 2094 4COS MPS Kinetix 6000 230VAC IAM 3kW PS 5A Cont 104 Peak Allen Bradley 2094 AC09 M02 Kinetix 6000 230VAC IAM 6kW PS 154 Cont 304 Peak Allen Bradley 2094 4C16 M03 Kinetix 6000 230VAC IAM 15kW PS 244 Cont 49A P Allen Bradley 2094 4C32 M0S Kinetix 6000 230VAC IAM 23kW PS 494 Cont 984P Allen Bradley 2094 4M01 Kinetix 6000 230VAC AM 94 Cont 174 Peak Allen Bradley 2094 AMO2 Kinetix 6000 230VAC AM 154 Cont 304 Peak 2094 AMO3 Kinetix 6000 230 AC AM 244 Cont 494 Peak New Module 2094 AMOS Kinetix 6000 230 AC AM 494 Cont 984 Peak Type 2094 4C03 M02 Kinetix 6000 230VAC IAM 6kw PS 154 Cont 304 F Find Allen Bradle Vendor By Vendor F By Category Cancel 5 6 Node number of the drive on the SERCOS ring 1 C Tl Open Module Properties Publication LOGIX UM 002B EN P J anuary 2007 Set Up Each SERCOS Set the data rate and cycle time for each SERCOS interface module in your project Interface Module 1 CompactLogix controller ControlLogix controller Controller My_Controller Controller My_Controller Tasks Tasks Motion Groups Motion Groups C3 Trends CI Trends Data Types Data Types 3 63 1 0 Configuration 3 8 1 0 Configuration sii 1768 Bus 1756 Backplane 1756 47 Simi 1 1768 M045E My_SERCOS_Module Simi M1 1756 MO8SE My_SERCOS_Module SERCOS Networ
117. 002B EN P anuary 2007 AXIS_ SERVO AXIS_SERVO_DRIVE Value None default None default Position Command Position Command 1 Position Feedback Position Feedback 2 Aux Position Feedback Aux Position Feedback 3 Position Error Position Error 4 Position Integrator Error Position Integrator Error 5 Velocity Command Velocity Command 6 Velocity Feedback Velocity Feedback 7 Velocity Error Velocity Error 8 Velocity Integrator Error Velocity Integrator Error 9 Acceleration Command Acceleration Command 10 Acceleration Feedback Acceleration Feedback 11 Servo Output Level 12 M arker Distance M arker Distance 13 Torque Command 14 Torque Feedback 15 Positive Dynamic Torque 16 Limit Negative Dynamic Torque 17 Limit M otor Capacity 18 Drive Capacity 19 Power Capacity 20 Bus Regulator Capacity 21 M otor Electrical Angle 22 Torque Limit Source 23 DC Bus Voltage 24 Absolute Offset 25 Axis Attributes 275 Attribute Axis Type Data Type Access Description Axis Instance AXIS CONSUMED INT GSV Instance Number assigned to Axis AXIS_ GENERIC l The Axis Instance attribute is used to return the instance number of an AXIS_SERVO axis M ajor fault records generated for an axis major fault contains only AXIS_SERVO_DRIVE the instance of the offending axis This attribute would then typically be AXIS VIRTUAL used by a user to determine if this was the offending axis that is if the instance nu
118. 14 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication LOGIX UM 002B EN P J anuary 2007 PN 953030 71 Supersedes Publication LOGIX UM 002A EN P May 2005 Copyright 2007 Rockwell Automation Inc All rights reserved Printed in the U S A AB Allen Bradley Moton Mochides in Logix5000 Control Systens
119. 140 Configure Homing Notes Publication LOGIX UM 002B EN P anuary 2007 Appendix A Wiring Diagrams Introduction Use the diagrams in this appendix to wire the motion control equipment of your control system To wire this See page 1756 M 02AE M odule 142 Ultra 100 Series Drive 143 Ultra 200 Series Drive 143 Ultra3000 Drive 145 1394 Servo Drive in Torque M ode only 147 1756 M 02AS Module 149 1756 HYD02 Application Example 150 1756 HYD02 M odule 151 LDTs 152 Temposonic GH Feedback Device 153 24V Registration Sensor 154 5V Registration Sensor 154 Home Limit Switch Input 155 OK Contacts 155 Publication LOGIX UM 002B EN P J anuary 2007 142 Wiring Diagrams 1756 M 02AE M odule 2 O 9 E General Cable l 0UT 0 0UT 1 To servo drive 4 23 C0720 OUT 0 OUT 1 e os A ENABLE 0 ENABLE 1 1g o f ENABLE 0 ENABLE 1 General Cable To servo drive 10 CO O C0721 DRVFLT 0 DRVFLT 1 RO Ou CHASSIS CHASSIS A 14 13 r IN_COM O Ol IN COM General Cable To home eo OB C0720 limit switch HOME 0 HOME 1 A 18 D7 Ws ces REG24V 0 9 oN REG24V 1 General Cable To registration 205 Clg9 k l C0720 sensor REGS5V 0 REG5V 1 RO Q21 0K OK RIS Oz 7 CH
120. 1491 Position Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 78 in IEC Scaling Exp 1491 Position Data AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 77 in IEC Scaling Factor 1491 Position AXIS_SERVO REAL GSV In some External Velocity Servo Drive applications where the level of SSV damping provided by the external drive is insufficient for good position servo loop performance additional damping may be achieved via the Position Loop Differential Gain Assuming a non zero Position Loop Differential Gain value the difference between the current Position Error value and the last Position Error value is computed This value is then multiplied by the Position Loop Differential Gain to produce a component to the Servo Output or Velocity Command that attempts to correct for the change in position error creating a damping effect Increasing this gain value results in greater damping of the axis Differential Gain Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 329 Attribute Axis Type Data Type Access Description Position Error AXIS_ SERVO REAL GSV Important To use this attribute choose it as one of the attributes for AXIS SERVO DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the j G right value as the axis runs See Axis Info Select 1 Position Error in Position Units Positio
121. 2007 28 Start If J og_Pushbutton on and the axis on M y_Axis_X ServoActionStatus on then The MAJ instruction jogs the axis forward at 8 units s Jog Pushbutton My Axis ServadctionStatus Motion Axis Jog Axis My Axis x E Motion Control My_Axis_X_Jog Direction My_Axis_ x _Jog_Direction pe Speed My Axis x_SetUp ManuallogSpeed 80e Speed Units Units per sec More gt gt If J og_Pushbutton off then The MAS instruction stops the axis at 100 units s M ake sure that Change Decel is Yes Otherwise the axis decelerates at its maximum speed Jog_Pushbutton MAS 7 Motion Axis Stop EN Axis My Aris x E DN Motion Control My Axis x MAS ER3 Stop Type Jog IP3 gt Change Decel Yes PC gt Decel Rate My_Axis_X_SetUp ManualogDecel 100 06 Decel Units Units per sec2 If Move_Command on and the axis on M y_Axis_X ServoActionStatus on then The MAM instruction moves the axis The axis moves to the position of 10 units at 1 unit s Move_Command My_Axis gt ServoActionStatus AM Motion Axis Move EN Axis My Axis x E EDN Motion Control My_Axis_x_Move ER Move Type 0 P gt Position 10 Speed My_Axis gt SetUp AutoS peedCommand 1 06 Speed Units Units per sec More gt gt Publication LOGIX UM 002B EN P J anuary 2007 Stat 29 Whats Next Bee these chapters to continue programming your motion control system e Test an Axis with Motion Direct Commands e Configure Homing
122. 38 Offset Tab AXIS SERVO DRIVE 04 241 Fault Actions Tab AXIS SERVO 0 0000 00s 245 Fault Actions Tab AXIS SERVO DRIVE 248 Tag TaD areni Wak acer deat Sha od ec ated A ECR ae CA 253 Appendix C INDOCUCHON sno sere eisai pee pase OA A Ae G Gath 257 How to Access Attributes 0 cee eee eee 257 Axis AUNDUCS asorar ea keyed E eas 258 Appendix D mMiroducton esses eri Eneti bce APSR A Ca ee ee ks 367 Interpreting the Diagrams cc eee eee eee 367 AXIS SERVO ky ceil eben bs Bk ke Bae ea kad Ree 368 AXIS SERVO DRIVE op opeth tet xresg te hte sta tate ohare eS 370 Appendix E TRO GUCHON 35 37 ak eal tian oh RR cdc Riese oe et 379 AXIS CONSUMED i 020 cca biee eel 0 oo dae hes 379 AXIS GENERIC eet sued eho tl ete gS wade We ae het 382 AXIS SERVO srani a O acy Cup ER eS 384 AXIS SERVO DRIVE a 5 8 Satad 2 dare aad 4 he tae hee 387 AXIS VIRTUAL e stance Bate oe wae Ale eR ee 391 Appendix F How to Access Attributes 0 e eee e eee eee 393 Coordinate System Atiributes 00000 cee 393 Introduction Description of the Modules Motion Module Preface Use this manual to setup and program motion control using these Logix5000 motion modules This table describes the Logix5000 motion modules Description 1756 M 02AE The 1756 M 02AE is a two axis servo module for drives actuators that need a 10V velocity or torque reference Us
123. 7 e Alias refers to a tag that references another tag with the same definition Special parameters appear on the New Tag dialog that allow you to identify to which base tag the alias refers Alias For If you selected Alias as the Tag Type the Alias For field displays Enter the name of the associated Base Tag Data Type In the Data Type field select COORDINATE SYSTEM if you entered from either method that did not fill this field automatically Scope Enter the Scope for the tag A Coordinated System Tag can only be Controller Scope Style The Style parameter is not activated No entry for this field is possible After the information for the tag is entered you have two options You can either press the OK button to create the tag or you can press the Configure Button located next to the Data Type field to use the Wizard screens to enter the values for the Coordinate System Tag Pressing the OK button creates the tag and automatically places it in the Ungrouped Axes folder or the Motion Group if the tag was initiated from the Motion Group menu Pressing the Configure button next to the Data Type field invokes the Coordinate System Tag Wizard to let you continue to configure the Coordinate System tag The Coordinate System Wizard screens walk you through the process of configuring a Coordinate System These are the same screens that appear when you access Coordinate System Properties but instead of appearing as tabbed scree
124. 7 Integrator Hold 218 Manual Tune 219 Proportional Position Gain 216 Proportional Velocity Gain 211 217 Set Custom Gains 219 Velocity Feedforward 212 215 Homing Tab AXIS_VIRTUAL 191 Mode 195 Position 195 Sequence 196 Homing Tab SERVO_AXIS and SERVO_AXIS_DRIVE 186 Direction 189 194 Limit Switch 189 193 Mode 187 191 Offset 189 193 Position 188 192 Return Speed 190 194 Sequence 189 193 Speed 190 194 Hookup Tab AXIS_ SERVO 196 Feedback Polarity 196 Output Polarity 197 Test Feedback 197 Test Increment 196 Test M arker 197 Test Output amp Feedback 197 Hookup Tab Overview AXIS_SERVO_DRIVE 198 Drive Polarity 198 Test Feedback 199 Test Increment 198 Test M arker 199 Test Output amp Feedback 199 Limits Tab AXIS_ SERVO 228 M anual Tune 231 M aximum Negative 230 M aximum Positive 230 Output Limit 231 Position Error Tolerance 230 Soft Travel Limits 230 Limits Tab AXIS_SERVO_ DRIVE 232 Continuous Torque Force Limit 234 Hard Travel Limits 233 M anual Tune 234 Maximum Negative 233 Maximum Positive 233 Peak Torque Force Limit 234 Position Error Tolerance 234 Position Lock Tolerance 234 Set Custom Limits 235 Soft Travel Limits 233 M otor Feedback Tab AXIS_SERVO_ DRIVE 182 M otor Cycles 182 M otor Feedback Type 182 M otor Interpolation Factor 183 Per 182 Offset Tab AXIS_ SERVO 238 Backlash Compensation 240 Reversal Offset 240 Stabilization Window 240 Friction Deadband Compensation
125. 720 0UT 11 23 COMMAND ENABLE 4 Interface General Cable ENABLE 1 20 ENABLE Cable From 0721 P 1756 M02AE X DRVFLT READY IN_COM Ji CHA J4 7 AQUT X CHA J1 8 AOUT CHB 31 91 BOUT From ee Cable 1756 MO2AE ee CHB BOUT CHZ 1 11 OUT X CHZ J4 12 IQUT Notes e This is an example of one way to wire the drive e See Ultra 200 Series Drive Installation Manual publication number 1398 5 0 for other configurations Publication LOGIX UM 002B EN P J anuary 2007 144 Wiring Diagrams Publication LOGIX UM 002B EN P J anuary 2007 1398 CFLAExx Cable Doi a Individually J acketed pairs 24V BRAKE RESET g P 1398 CFLAE gel A 5 0 in D Pinouts for 1398 CFLAExx Cable m a WHTORG 226A _ a z9 BRAKE A WHT YEL 22GA A 50 BRAKE DRAIN it TO eee eee eae eee A JANIZEGA 21 RESET Wires 44 _ DRAIN 14 Stripped fo Back ie WHT RED 22GA PAN 5 24VDC 25 in LA WHT BLK 22GA A 6 24VCOM 3 ge WHTGRN22GA a 22 COMMAND A WHT BLU 22GA LA 23 COMMAND i DRAIN ta fo ee eee et oe 26 24VDC BROWN 28GA ie 24 READY oe A 20 ENABLE tes ORANGE SE te 25 READY iA YELLOW 28GA A 13 24VCOM Ha DRAIN ira Wires Rusa Soo Le eee ra Terminated with i o E ae Ferrules a WoLE
126. AD Feedforward Gains Proportional 260 41 666 He s Velocity 0 0 Integral joo He 1 ms s Acceleration 0 0 mj OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Set Custom Gains Click on this button to open the Custom Gain Attributes dialog Custom Gain Attributes X Name vaue units Te VelocityDroop 0 0 Position Units s REAL Close Cancel Help At this dialog box you can edit the VelocityDroop attribute Publication LOGIX UM 002B EN P J anuary 2007 220 Axis Properties Attribute Output Tab AXIS_SERVO Publication LOGIX UM 002B EN P anuary 2007 When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 software and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them The following attribute value can be monitored and edited in this dialog box Table 2 A Attribute Description VelocityDroop This 32 bit un
127. ASSIS CHASSIS sO Oz CHA 0 CHA 1 KIS C27 CHA 0 CHA 1 30 29 CHB 0 z l CHB 1 General Cable To encoder 2O 31 C0722 CHB 0 CHB 1 KS 6833 CHZ 0 CHZ 1 36 C35 CHZ 0 CHZ 1 General Cable C0720 To E stop relay coil U Notes This example shows the wiring for Axis 1 Wire Axis 0 the same way Publication LOGIX UM 002B EN P J anuary 2007 Wiring Diagrams 143 Ultra 100 Series Drive J1 to 50 pin Terminal Block Ultra 100 Series Kit P N 9109 1391 Digital Servo Drive uwe zwe riae Field Power Supply 24 READY 24 VCOM 11 6 24vcom 1 13 24VCOM OUT J1 22 COMMAND From r X m P N 9109 1369 003 1756 M02AE OUT 23 COMMAND ENABLE z Interface From c General Cable ENABLE 11 20 ENABLE J 1756 MO2AE c0721 DRVFLT J1 25 READY IN_COM CHA 11 2 AQUT X CHA 11 8 AOUT iom m General Cable X CHB 31 9 BOUT 1756 MO2AE 00722 CHB J1 10 BouT CHZ 1 11 10UT X CHZ 34 42 10UT Notes e This is an example of one way to wire the drive e See Ultra 100 Series Drive Installation Manual publication number 1398 5 2 for other configurations Ultra 200 Series Drive J1 to 50 pin Terminal Block Ultra 200 Series Kit P N 9109 1391 Digital Servo Drive z2 READY alt 6 or 13 24VCOM OUT 1 22 COMMAND From enea Cable a P N 9109 1369 003 1756 MO2AE C0
128. AT Motion Run Axis Tuning instruction that initiates a tuning procedure on the targeted axis Use the attribute to determine when the M RAT initiated operation has successfully completed Conditions may occur how ever that make it impossible for the control to properly perform the operation When this is the case the tune process is automatically aborted and a tune fault reported that is stored in the Tune Status output parameter Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 355 Attribute Axis Type Data Type Access Description Tuning AXIS_ SERVO DINT GSV Bits Configuration AXIS_SERVO_DRIVE SSV 0 Tuning Direction Reverse Bits 1 Tune Position Error Integrator 2 Tune Velocity Error Integrator 3 Tune Velocity Feedforward 4 Tune Acceleration Feedforward 5 Tune Output Low Pass Filter 6 bidirectional Tuning 7 Tune Friction Compensation 8 Tune Torque Offset Tuning Direction Reverse The Tune Direction Reverse bit determines the direction of the tuning procedure If this bit is set true motion is initiated in the reverse or negative direction Tune Position Error Integrator If this bit is e ON The tuning procedure calculates the Position Integral Gain e OFF The tuning procedure sets the Position Integral Gain to 0 Tune Velocity Error Integrator If this bit is e ON The tuning procedure calculates the Velocity Integral Gain e OFF The tuning procedure sets the Velocity
129. AXIS_ SERVO AXIS_SERVO_DRIVE BOOL Tag If this bit is e ON The axis position error is less than or equal to the Position Lock Tolerance value of the axis e OFF The axis position error is greater than the Position Lock Tolerance value of the axis Position Lock Tolerance AXIS_ SERVO AXIS_SERVO_DRIVE REAL GSV SSV Position Units The Position Lock Tolerance attribute value specifies how much position error the motion module tolerates when giving a true Position Locked Status indication W hen used in conjunction with the Position Locked Status bit it is a useful parameter to control positioning accuracy The Position Lock Tolerance value should be set in Position Units to the desired positioning accuracy of the axis Note that the position lock tolerance value is interpreted as a quantity For example if your position units are Inches specifying a position lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 inches as shown below Position Lock Range 0 2 0 1 0 0 0 1 Position Error Position Polarity AXIS_ SERVO_DRIVE INT GSV This attribute is derived from the Drive Polarity attribute See IDN 55 in IEC 1491 Publication LOGIX UM 002B EN P J anuary 2007 332 Axis Attributes Attribute Axis Type Data Type Access Description Proportional Gain AXIS_SERVO_DRIVE SSV The Position Error is multiplied by the Position Proportional Gain Pos P Gain to produc
130. Allen Bradley Motion Modules in Logix5000 Control Systems Catalog Numbers 1756 HYD02 1756 L60M 03SE 1756 M02AE 1756 M 02AS 1756 M 03SE 1756 M O8SE 1756 M 16SE 1768 M 04SE User Manual mn e i j N L te i if TE LN iti S i Rockwell Automation Pore i n d i e Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for ac
131. Average Velocity resolution in Position Units per second may be calculated using the equation below Feedback Counts 7 L Position Unit _ Average Velocity Timebase Seconds x K For example on an axis with position units of inches and a conversion constant K of 20000 an averaged velocity time base of 0 25 seconds results in an average velocity resolution of nches Inches 1 0002 0 012 0 25 x 20000 Second Minute Average Velocity Timebase AXIS_CONSUM ED AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL REAL GSV SSV Sec The Average Velocity Timebase attribute is used to specify the desired time in seconds to be used for calculating the Average Velocity of the axis When the Average Velocity Value is requested the value is computed by taking the total distance traveled by the axis in the amount of time given by the Average Velocity Timebase and dividing this value by the timebase The Average Velocity Timebase value should be large enough to filter out the small changes in velocity which would otherwise result in a noisy velocity value but small enough to track significant changes in axis velocity Typically a value between 0 25 and 0 5 seconds works well for most applications Publication LOGIX UM 002B EN P J anuary 2007 270 Axis Attributes Attribute Axis Type Data Type Access Description Axis Address AXIS_CONSUM ED GSV Used for debugging AXIS_GENERIC AXIS_S
132. Axis Type Data Type Access Description Motor Feedback AXIS_SERVO_DRIVE INT GSV The controller and drive use this for scaling the feedback device counts Configuration These attributes are derived from the corresponding M otor and Auxiliary Feedback Unit attributes Bit 0 Feedback type e 0 rotary default e 1 linear 1 reserved 2 Linear feedback unit e 0 metric e 1 english 3 Feedback Polarity Aux Only e 0 not inverted e 1 inverted If the bits are Then Feedback Resolution is scaled to 2 1 0 0 0 Feedback Cycles per Feedback Rev 1 0 Feedback Cycles per Feedback Rev 0 1 Feedback Cycles per mm 1 1 Feedback Cycles per inch Feedback Polarity The Feedback Polarity bit attribute can be used to change the sense of direction of the feedback device This bit is only valid for auxiliary feedback devices W hen performing motor feedback hookup diagnostics on an auxiliary feedback device using the M RHD and M AHD instructions the Feedback Polarity bit is configured for the auxiliary feedback device to insure negative feedback into the servo loop M otor feedback devices must be wired properly for negative feedback since the Feedback Polarity bit is forced to 0 or non inverted Motor Feedback AXIS_SERVO_DRIVE DINT GSV Feedback Counts per Cycle Interpolation Factor The Feedback Interpolation attributes establish how many Feedback Counts there are in one Feedback Cycle T
133. COS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Publication LOGIX UM 002B EN P J anuary 2007 350 Axis Attributes Attribute Axis Type Data Type Access Description Torque Limit AXIS_SERVO_DRIVE DINT GSV Important To use this attribute choose it as one of the attributes for Source Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 This parameter displays the present source if any of any torque limiting for the axis 0 Not Limited 1 Neg e Torque Limit 2 Pos Torque Limit 3 Amp Peak Limit 4 Amp I t Limit 5 Bus Regulator Limit 6 Bipolar Torque Limit 7 Motor Peak Limit 8 Motor I t Limit 9 Voltage Limit Torque Limit AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the axis torque command is greater than the Status configured Torque Limit Torque Offset AXIS_ SERVO REAL GSV Torque Offset from 100 to 100 AXIS SERVO DRIVE SSV Torque Offset compensation can be used to provide a dynamic torque E z command correction to the output of the velocity servo loop Since this Tag value is updated synchronously every Coarse Update Period the Torque Offset can be tied into custom outer control loop algorithms using Function Block programming Torque Polarity AXIS_SERVO_DRIVE INT GSV eae is derived from the Drive Polarity attribute See IDN 85 in Publi
134. COS Phase m SERCOS Ring Status SERCOS Ring Status M odule Status Ooo Module Status CP OOK If the lights on the module look like this Then do this cP Ring OK Off Off Off e Make sure the module is all the way in the chassis or connected and locked to the other modules e Is this a 1768 M 04SE module e No Check the power supply for power e Yes Check the power supply and controller for power Off Off Flashing Red Wait Someone is updating the firmware of the module Flashing Off Flashing e Look for cables that are broken unplugged or in the wrong port Orange Green e Check the drives for faults Solid Orange Flashing Red Flashing e Make sure each drive has its own address Green e Make sure that all of the drives have the same baud rate e Set the Data Rate of the SERCOS interface module to Auto Detect e Check the Cycle Time of the SERCOS interface module See Specifications Flashing Red Flashing Flashing Did you configure the module and Green Green Green e NO Use RSLogix 5000 software to configure the module e YES Check the configuration of the module and drives in RSLogix 5000 software Flashing Flashing Flashing Check the configuration of the axes in RSLogix 5000 software Green Green Green Solid Green Solid Green Flashing e Check the configuration of the drives in RSLogix 5000 software Green e Check the motion group drives and axes for faults
135. Conversion Ratio Units x_axis 1 0 11 Position Units Coordination Units y_axis 1 0 T1 Position Units Coordination Units Cancel Help Units Tab The Units tab of the Coordinate System Properties is where you Publication LOGIX UM 002B EN P J anuary 2007 determine the units that define the coordinate system This screen is where you define the Coordination Units and the Conversion Ratios Coordination Units The Coordination Units field lets you define the units to be used for measuring and calculating motion related values such as position velocity and the like The coordination units do not need to be the same for each coordinate system Enter units that are relevant to your application and maximize ease of use When you change the Coordination Units the second portion of the Coordination Ratio Units automatically changes to reflect the new units Coordination Units is the default Axis Grid The Axis Grid of the Units dialog displays the axis names associated with the Coordinate System the conversion ratio and the units used to measure the conversion ratio Create and Configure a Coordinate System 61 Axis Name The Axis Name column contains the names of the axes assigned to the Coordinate System in the General screen These names appear in the order that they were configured into the current coordinate system This column is not editable from this screen Conversion Ratio The Conversion Ratio column defines the
136. Cross Reference Ctrl E Print b Publication LOGIX UM 002B EN P J anuary 2007 Properties N Motion Group Properties My_Motion_Group E BR Axis Assignment Attribute Tag Coarse Update Period ms in 0 5 increments Auto Tag Update Enabled bi General Fault Type Non Major Fault Scan Times elapsed time Max fus Last us OK Cancel Help Handle Faults 45 Choose the Fault Actions Use the fault actions to set how an axis responds to different types of for an Axis If you want to Then choose Shutdown the axis and let it Shutdown coast to a stop faults The type of faults depends on the type of axis and how you configure it Description Shutdown is the most severe action Use it for faults that could endanger the machine or the operator if you don t remove power quickly and completely For this axis type When the fault happens AXIS_ SERVO e Axis servo action is disabled e The servo amplifier output is zeroed e The appropriate drive enable output is deactivated e The OK contact of the servo module opens Use this to open the E Stop string to the drive power supply AXIS_SERVO_DRIVE e Axis servo action and drive power structure are immediately disabled e The axis coasts to a stop unless you use some form of external braking Disable the axis andlet the drive Disable Drive stop the axis using it s best available stopping method For this axis type When th
137. Decima DriveEnablelnputFault BOOL Decima CommonBusFault BOOL Decima PreChargeOverloadFault BOOL Decima GroundShortFault BOOL Decima DriveHardFault BOOL Decima OverSpeedFault BOOL Decima OverloadFault BOOL Decima DriveOvertempFault BOOL Decima M otorOvertempFault BOOL Decima DriveCoolingFault BOOL Decima DriveControlVoltageFault BOOL Decima FeedbackFault BOOL Decima CommutationFault BOOL Decima DriveOvercurrentFault BOOL Decima DriveOvervoltageFault BOOL Decima DriveUndervoltageFault BOOL Decima PowerPhaseLossFault BOOL Decima PositionErrorFault BOOL Decima SERCOS Fault BOOL Decima SERCOSErrorCode INT Hex Axis Data Types 391 AXIS_VIRTUAL Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decima M oduleFault BOOL Decima ConfigFault BOOL Decima AxisStatus DINT Hex ServoActionStatus BOOL Decima DriveEnableStatus BOOL Decima Shutdow nStatus BOOL Decima ConfigUpdatelnProcess BOOL Decima InhibitStatus BOOL Decima M otionStatus DINT Hex AccelStatus BOOL Decima DecelStatus BOOL Decima M oveStatus BOOL Decima J ogStatus BOOL Decima GearingStatus BOOL Decima HomingStatus BOOL Decima StoppingStatus BOOL Decima AxisHomedStatus BOOL Decima PositionCamStatus BOOL Decima TimeCamStatus BOOL Decima PositionCamPendingStatus BOOL Decima TimeCamPendingStatus BOOL Decima GearingLockStatus BOOL Decima PositionCamLockStatus BOOL Decima M
138. Device 292 Rotary Gear Head WITHOUT Aux Feedback Device 292 Servo Loop Configuration 342 Servo Loop Block Diagrams 370 Auxiliary Dual Command Servo 375 Auxiliary Position Servo 372 Dual Command Feedback Servo 376 Dual Feedback Servo 373 M otor Dual Command Servo 374 M otor Position Servo 371 Torque Servo 377 Velocity Servo 376 Servo Drive Status Attributes Acceleration Command 260 Acceleration Feedback 260 Aux Position Feedback 268 Bus Regulator Capacity 279 280 DC Bus Voltage 284 Drive Capacity 284 Drive Status Bit Attributes 296 Marker Distance 310 M otor Capacity 319 M otor Electrical Degrees 319 Negative Dynamic Torque Limi 323 Position Command 328 Position Error 329 Position Feedback 330 Position Integrator Error 331 Positive Dynamic Torque Limit 334 Power Capacity 334 Torque Command 348 Torque Feedback 348 Torque Limit Source 350 Velocity Command 357 Velocity Error 357 Velocity Feedback 358 Velocity Integrator Error 360 Servo Fault Configuration Servo Fault Actions 287 303 304 305 329 344 Servo Gains Acceleration Feedforward Gain 297 261 393 Bandwidth Method 332 Integrator Hold Enable 308 Loop Gain Method 332 Maximum Bandwidth 332 Position Differential Gain 328 Position Integral Gain 330 Position Proportional Gain 332 Velocity Feedforward Gain 358 Velocity Integral Gain 359 Velocity Proportional Gain 361 Backlash Reversal Error 277 Backlash Stabilization Window 278 Di
139. Direct Drive Off Clear all motion faults for an axis M AFR Yes Motion Axis Fault Reset Control axis position Stop any motion process on an axis MAS Yes Motion Axis Stop Home an axis MAH Yes Motion Axis Home J og an axis MAJ Yes Motion Axis og M ove an axis to a specific position MAM Yes Motion Axis Move Start electronic gearing between 2 axes MAG Yes Motion Axis Gear Change the speed acceleration or deceleration ofa MCD Yes move or a jog that is in progress Motion Change Dynamics Change the command or actual position of an axis MRP Yes Motion Redefine Position Calculate a Cam Profile based on an array of cam M CCP No points Motion Calculate Cam Profile Start electronic camming between 2 axes M APC No Motion Axis Position Cam Start electronic camming as a function of time M ATC No Motion Axis Time Cam Calculate the slave value slope and derivative of MCSV No the slope for a cam profile and master value Motion Calculate Slave Values Publication LOGIX UM 002B EN P J anuary 2007 Test an Axis with M otion Direct Commands 35 If you want to And Use this instruction Motion direct Command Initiate action on all axes Stop motion of all axes MGS Yes Motion Group Stop Force all axes into the shutdown state MGSD Yes Motion Group Shutdown Transition all axes to the ready state MGSR Yes Motion Group Shutdown Reset Latch the current command and actual position of all MGSP Yes axes Motio
140. Disable 335 Hard Shutdown 335 M otion Homing Configuration Active Homing Active Immediate Home 136 Home Configuration Bits 306 Home Switch Normally Closed 306 Home Mode 307 Home Offset 307 Home Position 307 Home Return Speed 307 308 Home Sequence and Home Di rection 306 307 Home Speed 308 Passive Homing Passive Home with M arker 139 Passive Home with Switch 139 Passive Home with Switch then Marker 139 Passive Immediate Home 139 M otion Planner Configuration At tributes M aster Input Configuration Bits 311 312 M aster Delay Compensation 311 M aster Position Filter 312 M aster Position Filter Band width 312 Output Cam Execution Targets 324 M otion Unit Configuration Attributes Publication LOGIX UM 002B EN P anuary 2007 Average Velocity Timebase 269 Position Units 333 Position Unwind 333 Rotary Axis 339 Interface Attributes Axis Configuration State 270 Axis Data Type 272 Consumed 272 Feedback 272 Generic 272 Servo 272 Servo Drive 272 Virtual 272 Axis Instance 275 Axis State 276 C2C Connection Instance 280 C2C Map Instance 280 Group Instance 305 Home Event Task Instance 306 Map Instance 310 Memory Usage 314 Memory Use 314 Module Channel 314 Module Class Code 315 Registration 1 Event Task Instance 336 Registration 2 Event Task Instance 336 Watch Event Task Instance 365 M odule Fault Bit Attribute 315 M otion Coordinate System Status Attributes Axis Fault 395 Faulted 394 398 399 Servo On Ax
141. E DRIVE OK State off Description Chapter 7 Interpret M odule Lights LEDs Use this chapter to interpret the lights on the front of your module For This Module See Page 1756 M 02AE M odule 115 1756 M 02AS Module 117 1756 HYD02 M odule 120 SERCOS interface M odule 123 OK Light Recommended Action The module is not operating Apply chassis power Verify the module is completely inserted into the chassis and backplane Flashing green The module has passed internal diagnostics but it is not communicating axis data over the backplane None if you have not configured the module If you have configured the module check the slot number in the 1756 M 02AE Properties dialog box Steady green e Axis data is being exchanged with the None The module is ready for action e The module is in the normal operating state Flashing red e A major recoverable failure has occurred e Check the servo fault word for the source of the error e A communication fault timer fault or NVS e Clear the fault condition using the motion instructions update is in progress e Resume normal operation e The OK contact has opened e If the flashing persists reconfigure the module Solid red e A potential non recoverable fault has e Reboot the module If the solid red persists replace the module e The OK contact has opened Publication LOGIX UM 002B EN P J anuary 2007 116 Interpret M odu
142. ERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis AXIS_CONSUMED SINT GSV State of the axis configuration state machine ae ee The Axis Configuration State attribute is used for debugging to indicate where in the axis configuration state machine this axis presently is AXIS_SERVO_DRIVE Even consumed and virtual axes will utilize this attribute AXIS_ VIRTUAL If the attribute is e 128 the axis is configured and ready for use e Not 128 the axis isn t configured Publication LOGIX UM 002B EN P J anuary 2007 Attribute Axis Control Bits Axis Type AXIS_ SERVO AXIS_SERVO_DRIVE Axis Attributes 271 Data Type Access Description DINT GSV Bits 0 Abort Process Request 1 Shutdown Request 2 Zero DAC Request 3 Abort Home Request 4 Abort Event Request 5 14 Reserved 15 Change Cmd Reference Abort Process If this bit is set any active tuning or test process on the axis is aborted Shutdow n Request If this bit is set the axis is forced into the shutdown state For an AXIS_ SERVO data type the OK contact opens and the DAC output goes to 0 Zero DAC Request Only for AXIS_SERVO Data Type If this bit is set the servo module forces the DAC output for the axis to zero volts This bit only has an affect if the axis is in the Direct Drive State with the drive enabled but no servo action Abort Home Request If this bit is set any active homing procedures are cancelled Abort Event Request If this bit is se
143. Feedback PA Feedback Position The Motor Position Servo configuration provides full position servo control using only the motor mounted feedback device to provide position and velocity feedback This servo configuration is a good choice in applications where smoothness and stability are more important that positioning accuracy Positioning accuracy is limited due to the fact that the controller has no way of compensating for non linearity in the mechanics external to the motor Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Position Feedback Coarse Position Accum ulator Publication LOGIX UM 002B EN P J anuary 2007 372 Servo Loop Block Diagrams Auxiliary Position Servo Servo Config Aux Position Servo c P didt gt FF
144. Friction Compensation 239 Friction Compensation Window 239 Manual Tune 241 Output Offset 240 Torque Offset 240 Velocity Offset 240 Offset Tab AXIS_SERVO_DRIVE 241 Backlash Compensation 243 Reversal Offset 243 Stabilization Window 244 Friction Compensation 242 Friction Compensation Window 243 Manual Tune 244 Torque Offset 244 Velocity Offset 244 Output Tab SERVO_AXIS 220 Enable Low pass Output Filter 223 Low pass Output Filter Bandwidth 223 Manual Tune 224 Torque Scaling 222 Velocity Scaling 221 Output Tab Overview AXIS_SERVO_DRIVE 224 Enable Low pass Output Filter 227 Enable Notch Filter 226 Index 403 Load Inertia Ratio 226 Low pass Output Filter Bandwidth 227 M anual Tune 228 M otor Inertia 226 Notch Filter 226 Torque Scaling 226 Servo Tab AXIS_SERVO 168 Direct Drive Ramp Rate 169 Drive Fault Input 169 Enable Direct Drive Ramp Control 9 Enable Drive Fault Input 169 External Drive Configuration 168 Hydraulic 168 Torque 168 Velocity 168 Loop Configuration 169 Real Time Axis Information 169 Attribute 1 Attribute 2 169 Tag Tab 253 Data Type 255 Description 254 Name 254 Scope 255 Style 255 Tag Type 254 Tune Tab AXIS_SERVO AXIS_SERVO_DRIVE 200 Damping Factor 201 Direction 201 Speed 200 Start Tuning 203 Torque AXIS_SERVO 201 Torque Force AXIS_SERVO_ DRIVE 200 Travel Limit 200 Tune 202 AXIS Structures 257 AXIS_ CONSUMED 257 AXIS SERVO 257 AXIS SE
145. Integral Gain to 0 Tune Velocity Feedforw ard If this bit is e ON The tuning procedure calculates the Velocity Feedforward Gain e OFF The tuning procedure sets the Velocity Feedforward Gain to 0 Tune Acceleration Feedforward If this bit is e ON The tuning procedure calculates the Acceleration Feedforward Gain e OFF The tuning procedure sets the Acceleration Feedforward Gain to 0 Tune Output Low Pass Filter If this bit is e ON The tuning procedure calculates the Output Filter Bandwidth e OFF The tuning procedure sets the Output Filter Bandwidth to 0 which disables the filter Continued on next page Publication LOGIX UM 002B EN P anuary 2007 356 Axis Attributes Attribute Axis Type Data Type Access Description Tuning Configuration Bits cont Tuning Speed AXIS_SERVO REAL AXIS_SERVO_DRIVE GSV SSV Bidirectional Tuning The Bidirectional Tuning bit determines whether the tuning procedure is unidirectional or bidirectional If this bit is set true the tuning motion profile is first initiated in the specified tuning direction and then is repeated in the opposite direction Information returned by the Bidirectional Tuning profile can be used to tune Friction Compensation and Torque Offset W hen configured for a hydraulics External Drive Type the bidirectional tuning algorithm also computes the Directional Scaling Ratio Tune Friction Compensation This tuning configur
146. Interfac 341 Servo Loop Configuration 342 Servo Polarity Bits 343 Feedback Polarity Negative 343 Index 407 Servo Polarity Negative 343 SSI Clock Frequency 344 SSI Code Type 344 SSI Data Length 344 Servo Drive Attributes Analog Input 264 Attribute Error Code 264 Attribute Error ID 264 Axis Control Bit Attributes 271 Abort Process 271 Change Cmd Reference 271 Shutdown Request 271 Axis Info Select 274 Axis Response Bit Attributes 275 Abort Event Acknowledge 275 Abort Home Acknowledge 275 Abort Process Acknowledge 275 Change Pos Reference 275 Shutdown Request Acknowl edge 275 Commissioning Configuration At tributes M otor Inertia amp Load Inertia Ra tio 310 322 Commissioning Status Attributes Test Direction Forward 347 Test Status 347 Tune Acceleration 352 Tune Acceleration Time 352 Tune Deceleration 352 Tune Deceleration Time 352 Tune Inertia 353 Tune Status 354 Drive Fault Bit Attributes 288 Drive Gains 377 Advanced Drive Gain Attributes 357 Output Notch Filter Frequency 326 Velocity Proportional Gain Maximum Bandwidth 362 Drive Limits Advanced Drive Limits 262 263 349 351 360 364 365 Continuous Torque Limit 282 Torque Limit 349 Drive Offsets Backlash Reversal Error 277 Backlash Stabilization Window Publication LOGIX UM 002B EN P J anuary 2007 408 Index 278 Drive Fault Actions 285 297 322 Advanced Stop Action At tributes 345 346 Brake Engage Delay 279 Brake Release Delay 279 Resist
147. L Tag If this bit is e ON The servo output is at or past the Output Limit value e OFF The servo output is within the Output Limit value Publication LOGIX UM 002B EN P J anuary 2007 326 Axis Attributes Attribute Axis Type Data Type Access Description Output LP Filter AXIS_SERVO REAL GSV Hertz Bandwidth AXIS_SERVO_DRIVE SSV The Output LP Low Pass Filter Bandwidth controls the bandwidth of the drive s low pass digital output filter The programmable low pass output filter is bypassed if the configured Output LP Filter Bandwidth for this filter is set to zero the default This output filter can be used to filter out or reduce high frequency variation of the drive output to the motor The lower the Output LP Filter Bandwidth the greater the attenuation of these high frequency components of the output signal Unfortunately since the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Output LP Filter Bandwidth usually requires lowering the Position or Velocity Proportional Gain of the system to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Output Notch AXIS_SERVO_DRIVE REAL GSV Hertz j SSV PINE ORECUENGY The Output Notch Filter Frequency attribute controls the center frequency of the drive s digital notch filter Curre
148. LOGIX UM 002B EN P J anuary 2007 334 Axis Attributes Attribute Axis Type Data Type Access Description Positive Dynamic AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Torque Limit Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The currently operative maximum positive torque current limit magnitude The value should be the lowest value of all torque current limits in the drive at a given time This limit includes the amplifier peak limit motor peak limit user current limit amplifier thermal limit and the motor thermal limit Power Capacity AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the T i o3 right value as the axis runs See Axis Info Select 1 The present utilization of the axis power supply as a percent of rated capacity Power Limit AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the actual supplied power is greater than the Status configured Power Threshold Power Phase AXIS_SERVO_DRIVE BOOL Tag Set when the drive detects that one or more of the three power line Loss Fault phases is lost from the 3 phase power inputs Power Supply ID AXIS_SERVO_DRIVE INT GSV The Power Supply ID attribute contains the enumeration of the specific A B Power Supp
149. Load Inertia Motor Inertia Torque Force Scaling foo Rated Position Units s 2 System Acceleration foo Position Units s 2 at 100 Rat I Enable Notch Filter Frequency Notch Filter Frequency oo Hertz I Enable Low pass Output Filter Low pass Output Filter Bandwidth fo 0 Hertz Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication LOGIX UM 002B EN P J anuary 2007 226 Axis Properties Motor Inertia Load Inertia Ratio Torque Scaling Enable Notch Filter Notch Filter Publication LOGIX UM 002B EN P anuary 2007 The Motor Inertia value represents the inertia of the motor without any lo
150. Local coordinate system and the reference frame For more information about Motion Instructions refer to the Logix5000 Controllers Motion Instruction Reference manual publication number 1756 RM007 Identify the Work Envelope The work envelope for a Cartesian Gantry robot is typically a solid rectangle of length width and height that is equal to the axis travel limits Define Configuration Parameters Link Lengths Does not apply to a Cartesian Gantry robot configuration Base Offsets Does not apply to a Cartesian Gantry robot configuration End Effector Offsets Does not apply to a Cartesian Gantry robot configuration The H bot is a special type of Cartesian two axis gantry robot This type of machine has three rails positioned in the form of a letter H Two motors are positioned at the end of each leg of the robot Unlike Publication LOGIX UM 002B EN P J anuary 2007 104 Kinematics in RSLogix 5000 Software Publication LOGIX UM 002B EN P J anuary 2007 a standard gantry robot neither motor is riding on top of the moving rails Use these guidelines when configuring a Cartesian H bot Sliding M ember y2 X2virt Sliding rail a Stationary Rails y N ee C j Stationary M otors A Stationary Motors B In the Cartesian H bot illustration above the X1 and X2 axes are the real axes on the robot X1 Virt and X2 Virt are configured as the virtual axes The configuration of the H bot mechanical linkage
151. M ASR instruction to clear the fault Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 267 Attribute Axis Type Data Type Access Description Aux Feedback AXIS_SERVO_DRIVE FLOAT GSV Aux Feedback Units per M otor Feedback Unit Pano The Aux Feedback Ratio attribute represents the quantitative relationship between auxiliary feedback device and the motor For a rotary auxiliary feedback device this attribute s value should be the turns ratio between the auxiliary feedback device and the motor shaft For linear auxiliary feedback devices this attribute value would typically represent the feed constant between the motor shaft and the linear actuator The Aux Feedback Ratio attribute is used in calculating range limits and default value calculations during configuration based on the selected motor s specifications The value is also used by the drive when running the dual feedback servo loop configuration Aux Feedback AXIS_SERVO_DRIVE DINT GSV Cycles per Aux Feedback Unit Resolution The M otor and Aux Feedback Resolution attributes are used to provide the A B drive with the resolution of the associated feedback device in cycles per feedback unit These parameters provide the SERCOS drive with critical information needed to compute scaling factors used to convert Drive Counts to Feedback counts Publication LOGIX UM 002B EN P anuary 2007 268 Axis Attributes
152. NK 28GA INPUT 5 INPUT 5 PNK 28GA CN1 Connector Axis 0 WHT BLK RED 28GA INPUT 6 INPUT 6 WHT BLK RED 28GA Axis 1 RED BLK 28GA INPUT 7 INPUT 7 RED BLK 28GA WHT BLK ORG 28GA INPUT 8 INPUT 8 WHT BLK ORG 28GA ORG BLK 28GA OUTPUT 2 OUTPUT 2 ORG BLK 28GA WHT BLK YEL 28GA OUTPUT 3 OUTPUT 3 WHT BLK YEL 28GA YEL BLK 28GA OUTPUT 4 OUTPUT 4 YEL BLK 28GA DRAIN DRAIN For more information see Ultra3000 Digital Servo Drives Installation Manual publication number 2098 IN003 Publication LOGIX UM 002B EN P J anuary 2007 146 Wiring Diagrams 2090 U3AE D44xx Cable AXIS 0 CN1 10 AX0 RELAY AX0 Li 10 PWR AXO AUX PWR AXO gine GO aa sub hig MO2AE density 44 pin i view shown without cover AUX PWR AX1 10 PWR AX1 RELAY AX1 10 AX1 with 45 black S PVC overmold gt asi AXIS 1 CN1 Publication LOGIX UM 002B EN P J anuary 2007 Wiring Diagrams 147 1394 Servo Drive in Torque Mode only Servo Module RTB ouro d o o PATE 4 iP 3 F OUTO U P ENABLET WHT ENABLE0 ENBEI UHI ENABLE 0 E
153. Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type LDT Linear Displacement Transducer LDT Type Recirculations 1 rm Calculated Values Conversion Constant 1080 00 Calibration Constant 3 0 us in Minimum Servo Update Period 349 000000 Length 36 0 in id Calculate Scaling f 0 Position Units in M Enable Absolute Feedback Absolute Feedback Offset ao Position Units OK Cancel Help LDT Type This field selects the type of LDT to use to provide feedback to the Hydraulic module The available types are PWM Start Stop Rising or Start Stop Falling Recirculations Use this field to set the number of repetitions to use to acquire a measurement from an LDT Calibration Constant This is a number that is engraved on the LDT by the manufacturer It specifies the characteristics of the individual LDT Each LDT has its own calibration constant therefore if you change the LDT you must change the Calibration constant Publication LOGIX UM 002B EN P J anuary 2007 174 Axis Properties Length Scaling Enable Absolute Feedback Absolute Feedback Offset Calculated Values Publication LOGIX UM 002B EN P anuary 2007 This value defines the stroke of travel of the hydraulic cylinder The length value is used with the number of recirculations to determine the minimum servo update period Sca
154. OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration1Position REAL Float Registration2Position REAL Float RegistrationlTime DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float M asterOffset REAL Float StrobeM asterOffset REAL Float StartM asterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float Publication LOGIX UM 002B EN P anuary 2007 384 Axis Data Types AXIS_SERVO Publication LOGIX UM 002B EN P anuary 2007 Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decima M oduleFault BOOL Decima ConfigFault BOOL Decima AxisStatus DINT Hex ServoActionStatus BOOL Decima DriveEnableStatus BOOL Decima Shutdow nStatus BOOL Decima ConfigUpdatelnProcess BOOL Decima InhibitStatus BOOL Decima M otionStatus DINT Hex AccelStatus BOOL Decima DecelStatus BOOL Decima M oveStatus BOOL Decima J ogStatus BOOL Decima GearingStatus BOOL Decima HomingStatus BOOL Decima StoppingStatus BOOL Decima AxisHomedStatus BOOL Decima Positio
155. Paes mal 8 AOUT ee rr 9 BOUT 1 WHITE 286A ot 1 BONT rH aE Q 11 IOUT ii TAN 12 IOUT i DRAIN Wiring Diagrams 145 Ultra3000 Drive Ultra3000 to 1756 M 02AE Interconnect diagram RELAY WHT ORG 22GA WHT ORG 22GA RELAY RELAY Kr WHT YEL 22GA RELAY RELAY aL WHT YEL 22GA RELAY DRAIN user configured user configured DRAIN 10 PWR WHT RED 22GA WHT RED 22GA 10 PWR 10 COM Xt warietack 22GA gene Loawe Rl ueu 22GA 10 COM DRAIN DRAIN a AUX PWR 45 RED 22GA RED 22GA AUX PWR 45 AUXCOM ECOM g BLACK 22GA AUX PWR AUX PWR BLACK 22GA AUXCOM ECOM DRAIN optional optional DRAIN AXIS 0 AXIS 1 ANALOG COMMAND WHT GRN 22GA 0uT 0 5 1 207 1 WHT GRN 22GA ANALOG COMMAND ANALOG COMMAND R WHT BLU 22GA OUT 0 4 3 OUT 1 WHT BLU 22GA f ANALOG COMMAND DRAIN CHASSIS 45 11 L CHASSIS DRAIN 10 POWER BROWN 28GA j ENABLE O 6 5
156. Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Name Description Tag Type Base Data Type AxIS_SERVO_DRIVE Scope My_ Controller Style z Cancel Apply Help Name Displays the name of the current tag You can rename this tag if you wish Description Displays the description of the current tag if any is available You can edit this description if you wish Tag Type Indicates the type of the current tag This type may be e Base e Alias e Consumed Displays the data type associated with the current tag Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 255 Data Type Displays the axis data type of the current tag Scope Displays the scope of the current tag The scope is either controller scope or program scope based on one of the existing programs in the controller Style Displays the default style in which to display the value of the tag Note that style is only applicable to an atomic tag a structure tag does not have a display style Publication LOGIX UM 002B EN P J anuary 2007 256 Axis Properties Publication LOGIX UM 002B EN P anuary 2007 Appendix C Axis Attributes Introduction Use this chapter to get configuration status and fault information about an axis The controller stores information about an axis as attributes of the axis Topic
157. Position Tolerance Actual Enter the value in coordination units for Actual Position to be used by Coordinated Motion instructions when they have a Termination Type of Actual Tolerance Command Enter the value in coordination units for Command Position to be used by Coordinated Motion instructions when they have a Termination Type of Command Tolerance M anual Adjust Button The Manual Adjust button on the Coordinate System Dynamics tab accesses the Manual Adjust Properties dialog The Manual Adjust button is enabled only when there are no pending edits on the properties dialog Create and Configure a Coordinate System 67 Dynamics Tab Manual Adjust At this dialog you can make changes to the Vector and Position Tolerance values Dynamics Vector Maximum Speed 0 0 Coordination Units s Reset fe Maximum Acceleration 0 0 Coordination Units s 2 Maximum Deceleration 0 0 Coordination Units s 2 r Position Tolerance Actual 0 0 Coordination Units Command 0 0 Coordination Units OK Cancel Apply Help These changes can be made either online or offline The blue arrows to the night of the fields indicate that they are immediate commit fields This means that the values in those fields are immediately updated to the controller if online or to the project file if offline Reset Button The Reset Button reloads the values that were present at the time this dialog
158. Publication LOGIX UM 002B EN P J anuary 2007 74 Inhibit an Axis Do you have 1394 drives on a SERCOS ring Publication LOGIX UM 002B EN P J anuary 2007 w 1394 drives Mo CCC g Inhibit the axes in any order Yes Oo No SERCOS ring Inhibit all of the axes to the right of the one that you want to inhibit It s OK to inhibit them at the same time NOT inhibited NOT inhibited inhibited E inhibited inhibited inhibited NOT inhibited NOT inhibited Inhibit an Axis 75 Example Inhibit an Axis 1 Make sure all axes are off This axis is off And this axis is off All axes are off My_Axis_X ServoActionStatus My_Axis_Y ServoActionStatus All Axes_Off i P es 2 Use a one shot instruction to trigger the inhibit Your condition to inhibit Your condition to All axes are off Give the command to inhibit the the axis is on uninhibit the axis is off eee S My_Axis_X_Inhibt My_Axis_X_Uninhibitt All_Axes_Off SS ee el One Shot Rising Storage Bit My Output Bit My_Axis_X_Inhibit_Cmd 3 Inhibit the axis The inhibit command turns on My_A amp xis_X_Inhibit_Cmd SSY Set System Yalue Class Name AXIS Instance Name My_Axis_X Attribute Name InhibitAxis Source One 4 Inhibit the axis 4 Wait for the inhibit process to fin
159. RVO_DRIVE 257 AXIS_VIRTUAL 257 Axis Tag types alias tag 48 base tag 48 Base Offsets definition of 91 Block diagrams for a 1756 M 02AE module 367 Publication LOGIX UM 002B EN P anuary 2007 404 Index With a torque servo drive 368 With a velocity servo drive 369 C Cartesian Gantry configuration parameters 103 configure 102 establish reference frame 102 identify the work envelope 103 Cartesian H bot base offsets 106 configuration parameters 106 configure 103 end effector offsets 106 establish reference frame 105 identify the work envelope 105 link lengths 106 Catalog 178 coarse update period set 18 configure SERCOS interface module 17 coordinate system overview 29 Coordinate System Properties Dynamics Tab 65 M anual Adjust 67 Reset Button 67 M anual Adjust Button 66 Position Tolerance Box 66 Actual 66 Command 66 Vector Box 65 M aximum Acceleration 66 M aximum Deceleration 66 M aximum Speed 66 Editing 52 General Tab 54 Axis Grid 56 Axis Name 56 Coordinate 56 Coordination M ode 57 Ellipsis Button 56 Dimension 55 Ellipsis button 55 Enable Coordinate System Auto Tag Update 57 Motion Group 55 New Group button 55 Transform Dimension 55 Type 55 Publication LOGIX UM 002B EN P anuary 2007 Geometry Tab 58 Link Lengths 58 zero angle orientations box 59 J oints Tab 63 J oint Ratio 64 J oint Units 64 Offsets Tab 62 Base Offsets 63 Tag Tab 68 Data Type 69 Description 68 Name 68 Scope 69 Tag
160. Rated 3000 RPS 0 0333 Rated Revs Per Second Note that if the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also do not reflect the true performance of the system Torque Threshold AXIS_SERVO_DRIVE REAL GSV Rated SSV ie l This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Torque Threshold AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Torque Feedback is less Status than the configured Torque Threshold Transform State AXIS_CONSUMED BOOL Tag If the bit is Status AXIS_ GENERIC e ON The axis is part of an active transform AXIS_ SERVO e OFF The axis isn t part of an active transform AXIS_SERVO_DRIVE AXIS_ VIRTUAL Publication LOGIX UM 002B EN P J anuary 2007 352 Axis Attributes Attribute Axis Type Data Type Access Description Tune AXIS_ SERVO REAL GSV Position Units Sec2 Acceleration AXIS_SERVO_DRIVE The Tune Acceleration and Tune Deceleration attributes return the measured acceleration and deceleration values for the last run tuning procedure These values are used in the case of an external torque servo drive configuration to calculate the Tune Inertia value of the axis and are also typically used by a subsequent M AAT Motion Apply Axis Tune to determine the tuned values for the M aximum Accelera
161. SERCOS module programmed with these gain values will operate identically to the original one Publication LOGIX UM 002B EN P J anuary 2007 378 Servo Loop Block Diagrams Notes Publication LOGIX UM 002B EN P anuary 2007 Introduction AXIS_CONSUMED Axis Data Types Appendix E When you add an axis to your project RSLogix 5000 software makes a tag for the axis The tag stores status and fault information for the axis The layout of the tag depends on the type of axis For This Type of Axis See Page AXIS_ CONSUMED 379 AXIS_ GENERIC 382 AXIS SERVO 384 AXIS SERVO_DRIVE 387 AXIS_ VIRTUAL 391 Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decima M oduleFault BOOL Decima ConfigFault BOOL Decima AxisStatus DINT Hex ServoActionStatus BOOL Decima DriveEnableStatus BOOL Decima Shutdow nStatus BOOL Decima ConfigUpdatelnProcess BOOL Decima InhibitStatus BOOL Decima M otionStatus DINT Hex AccelStatus BOOL Decima DecelStatus BOOL Decima M oveStatus BOOL Decima J ogStatus BOOL Decima GearingStatus BOOL Decima HomingStatus BOOL Decima StoppingStatus BOOL Decima AxisHomedStatus BOOL Decima Publication LOGIX UM 002B EN P J anuary 2007 380 Axis Data Types Member Data Type Style PositionCamStatus BOOL Decima TimeCamStatus BOOL Decima Po
162. SI feedback device rolls over at its maximum turns count 1 rev A multi turn Absolute SSI feedback device there are multiple revs or feedback baseunit distances the device rolls over at its maximum turns count which is usually either 1024 or 2048 If you need to establish the rollover of the feedback device a ladder rung using an SSV to set Home_Sequence equal Home to marker with the following parameters Class Name SSI_Axis Attribute Name Home_Sequence and Value 2 to Marker must be added to the application program cannot be set Axis Properties and must be reset back to its initial value 0 Immediate or 1 Switch after establishing the rollover The Home Sequence to M arker must be used to allow feedback to travel until the rollover that is pseudo marker is found This must be done without the motor attached to any axis as this could cause up to M aximum number of turn s before pseudo marker is found Position Type the desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position is set to zero although any value within the software travel limits can be used After the homing sequence is complete the axis is left in this position Publication LOGIX UM 002B EN P anuary 2007 If the Positioning mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If
163. STRING MSG AXIS_ GENERIC Fixed length string of 32 characters The Position Units attribute can support an ASCII text string of up to 32 AXIS_SERVO characters This string is used by RSLogix 5000 software in the axis AXIS_SERVO_DRIVE configuration dialogs to request values for motion related parameters in AXIS VIRTUAL the specified Position Units Position Unwind AXIS_CONSUMED DINT GSV Counts per Revolution AXIS_ GENERIC SSV oe If the axis is configured as a rotary axis by setting the corresponding AXIS_SERVO Rotary Axis bit Servo Configuration Bit word a value for the Position AXIS_ SERVO_DRIVE Unwind attribute is required This is the value used to perform automatic AXIS VIRTUAL electronic unwind of the rotary axis Electronic unwind allows infinite position range for rotary axes by subtracting the unwind value from both the actual and command position every time the axis makes a complete revolution To avoid accumulated error due to round off with irrational conversion constants the unwind value is requested in units feedback counts per axis revolution and must be an integer For example suppose that a given axis is configured as a Rotary Axis with Position Units of Degrees and 10 feedback counts per degree It is desired to unwind the axis position after every revolution In this case the Position Unwind attribute should be set to 3600 since there are 3600 feedback counts 10 360 per revolution of the axis Publication
164. Stabilization Window o o Position Units Velocity Offset fo 0 Position Units s Torque Force Offset fo 0 Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Friction Compensation The percentage of output level added to a positive current Servo Output value or subtracted from a negative current Servo Output Publication LOGIX UM 002B EN P J anuary 2007 Friction Compensation Window Backlash Compensation Reversal Offset Axis Properties 243 value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called s
165. Status Only only lets motion continue if the drive itself is still enabled and tracking the command reference Publication LOGIX UM 002B EN P anuary 2007 46 Handle Faults Set the Fault Action foran Use the following steps to set the fault actions for an axis Axis 1 Controller My_Controller Tasks Motion Groups r My_Motion_Group gt ee Motion Direct Commands ja 4 My_Axis_Y N 7 ar Cross Reference Ctrl E Ungrouped Axes Trends Print B Data Types 1 0 Configuration ane N e Axis Properties My_Axis_X ER General Motion Planner Units Drive Motor stor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Drive Enable Input Disable Drive T Set Custom Stop Action Drive Thermal Disable Drive x Motor Thermal Disable Drive Feedback Noise Disable Drive x Feedback Disable Drive x Position Error Disable Drive x Hard Overtravel Disable Drive gt Soft Overtravel Disable Dive x Cancel Apply Help Publication LOGIX UM 002B EN P J anuary 2007 Introduction 3 Controller My_Controller Tasks 3 6 Motion Groups Sa My_Motion_Group D gt My_Axis_X D gt My_Axis_ Chapter 4 Create and Configure a Coordinate System In RSLogix 5000 software a coordinate system is a grouping of one or more primary and or an
166. TA 1 DATA 0 26 DATA 1 SSICOM uO Oss SSICOM CHASSIS e CHASSIS roy Notes To servo drive or valve To servo drive valve or pump TOLE General cable C0720 To home limit switch N General cable C0720 To registration sensor To Synchronous Serial Interface SSI To E stop relay coil 43394 This example shows the wiring for Axis 1 Wire Axis 0 the same way Publication LOGIX UM 002B EN P J anuary 2007 150 Wiring Diagrams 1756 HYD02 Application Example PC with RS Logix 5000 ControlLogix controller This example uses a 1 axis loop with a differential LDT input 24V Power Supply He Drive Output OUT of OUT CHASSIS tooo ANT amp INT Servo or IMPORTANT This Proportional module s analog Amplifier output require an external amplifier to drive the valve RET amp RET CHASSIS Publication LOGIX UM 002B EN P J anuary 2007 Piston type Hydraulic Cylinder and LDT F s C 15V dc Power Supply for LDTs ih Earth Ground 43474 1756 HYD02 Module 0UT 0 26 Or OUT 0 O Cs 0UT 1 OUT 1 General
167. TUAL WatchEventTask AXIS_CONSUMED DINT MSG Shows which task is triggered when the watch event happens AXIS_ GENERIC e Aninstance of 0 means that no event task is configured to be AXIS SERVO triggered by the watch event AXIS SERVO DRIVE e The task is triggered at the same time that the Process Complete 7 a bit is set for the instruction that armed the watch event AXIS_VIRTUAL i T e The controller sets this attribute Don t set it by an external device Watch Position AXIS_CONSUMED REAL GSV Watch Position in Position Units AXIS GENERIC Tag Watch Position is the current set point position of an axis in the gt configured axis Position Units as set up in the last most recently AXIS_SERVO executed MAW Motion Arm Watch instruction for that axis AXIS_ SERVO_DRIVE AXIS_ VIRTUAL Publication LOGIX UM 002B EN P J anuary 2007 366 Axis Attributes Publication LOGIX UM 002B EN P anuary 2007 Introduction Interpreting the Diagrams Appendix D Servo Loop Block Diagrams This appendix shows the servo loop block diagrams for common motion configurations Topic Page Interpreting the Diagrams 367 AXIS_ SERVO 368 AXIS_SERVO_ DRIVE 370 The diagrams use these labels for axes attributes Label AXIS Attribute Acc FF Gain AccelerationFeedforw ardGain Friction Comp FrictionCompensation Output Filter BW OutputFilterBandwidth Output Limit OutputLimit Output Offset OutputOffset Output Scaling Out
168. X UM 002B EN P anuary 2007 382 Axis Data Types AXIS_GENERIC Publication LOGIX UM 002B EN P anuary 2007 Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decima M oduleFault BOOL Decima ConfigFault BOOL Decima AxisStatus DINT Hex ServoActionStatus BOOL Decima DriveEnableStatus BOOL Decima Shutdow nStatus BOOL Decima ConfigUpdatelnProcess BOOL Decima InhibitStatus BOOL Decima M otionStatus DINT Hex AccelStatus BOOL Decima DecelStatus BOOL Decima M oveStatus BOOL Decima J ogStatus BOOL Decima GearingStatus BOOL Decima HomingStatus BOOL Decima StoppingStatus BOOL Decima AxisHomedStatus BOOL Decima PositionCamStatus BOOL Decima TimeCamStatus BOOL Decima PositionCamPendingStatus BOOL Decima TimeCamPendingStatus BOOL Decima GearingLockStatus BOOL Decima PositionCamLockStatus BOOL Decima M asterOffsetM oveStatus BOOL Decima CoordinatedM otionStatus BOOL Decima AxisEvent DINT Hex WatchEventArmedStatus BOOL Decima WatchEventStatus BOOL Decima RegEventlArmedStatus BOOL Decima RegEvent1Status BOOL Decima RegEvent2ArmedStatus BOOL Decima RegEvent2Status BOOL Decima HomeEventArmedStatus BOOL Decima Axis Data Types 383 Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex
169. XIS SERVO DRIVE parameters for an axis of the type AXIS SERVO DRIVE e Axis Properties AxisO iol x Homing Hookup Tune Dynamics Gains Outout Limits Offset FaultActions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Feedback Type TTL with Hall v Cycles 2000 per Rev X Interpolation Factor a Cancel Apply Help The Axis Configuration selection made on the General tab and the Loop Configuration selection made on the Drive tab determine which sections of this dialog box Motor and Auxiliary Feedback are enabled Feedback Type This field displays the type of feedback associated with the selected motor Cycles The number of cycles of the associated feedback device This helps the Drive Compute Conversion constant used to convert drive units to feedback counts Depending on the feedback type you select this value may be either read only or editable Per The units used to measure the cycles Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 183 Interpolation Factor This field displays a fixed read only value for each feedback type This value is used to compute the resolution of the feedback device Aux Feedback Tab peas sear Aaa ie e a A P me onfiguration field is se ux Feedback Only Aux Position Servo AXIS_SERVO_ DRIVE Dual Position Servo Dual Command Servo or Aux Dual Command Servo Use this tab to configure mot
170. XIS_SERVO_DRIVE 2 Servo Control AXIS_VIRTUAL 3 Axis Faulted 4 Axis Shutdown 5 Axis Inhibited 6 Axis Ungrouped 7 No Module 8 Configuring Axis Status AXIS_CONSUMED DINT Tag Lets you access all the axis status bits in one 32 bit word This tag is the AXIS GENERIC same as the Axis Status Bits attribute pasos Axis Status Bit AXIS_SERVO_DRIVE z Servo Action Status 0 AXIS_VIRTUAL Drive Enable Status 1 Shutdown Status 2 Config Update In Process 3 Inhibit Status 4 Axis Status Bits AXIS_CONSUMED DINT GSV Lets you access all the axis status bits in one 32 bit word This attribute AXIS GENERIC is the same as the Axis Status tag plea Axis Status Bit AXIS_SERVO_DRIVE 5 Servo Action Status AXIS_VIRTUAL Publication LOGIX UM 002B EN P anuary 2007 Drive Enable Status Shutdown Status Config Update In Process Inhibit Status e wl N ej Axis Attributes 277 Attribute Axis Type Data Type Access Description Axis Type AXIS_ GENERIC INT AXIS_ SERVO AXIS_SERVO_DRIVE Backlash AXIS_ SERVO REAL Reversal Offset AXIS_SERVO_DRIVE GSV SSV GSV SSV The Axis Type attribute is used to establish the intended use of the axis If Then set the attribute to The axis is unused in the application whichisa 0 common occurrence when there are an odd number of axes in the system You only want the position information fromthe 1 feedback interface The axis is intended for full servo operation 2 Axis Ty
171. a maximum total linear travel of 1 billion feedback counts With this mode the unwind feature is disabled and you can limit the linear travel distance traveled by the axis by specifying the positive and negative travel limits for the axis Publication LOGIX UM 002B EN P J anuary 2007 186 Axis Properties e Rotary enables the rotary unwind capability of the axis This feature provides infinite position range by unwinding the axis position whenever the axis moves through a complete unwind distance The number of encoder counts per unwind of the axis is specified by the Position Unwind parameter Conversion Constant Type the number of feedback counts per position unit This conversion or K constant allows axis position to be displayed and motion to be programmed in the position units set in the Units tab The conversion constant is used to convert axis position units into feedback counts and vice versa for the AXIS SERVO type and for the AXIS SERVO_DRIVE the number of counts per motor revolution as set in the Drive Resolution field of the Drive tab Position Unwind This parameter is not editable for an axis of the data type AXIS CONSUMED Instead this value is set in and taken from a producing axis in a networked Logix processor For a Rotary axis AXIS SERVO this value represents the distance in feedback counts used to perform automatic electronic unwind Electronic unwind allows infinite position range for rotary axes by
172. acceleration command to the servo loop is zero that is when we are not commanding any acceleration or deceleration that would engage the teeth of the gearbox Properly configured with a suitable value for the Backlash Stabilization Window this algorithm entirely eliminates the gearbox buzz without sacrificing any servo performance The Backlash Stabilization parameter determines the width of the window over which backlash stabilization is applied In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Patent Pending Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 279 Attribute Axis Type Data Type Access Description Brake Engage AXIS_SERVO_DRIVE REAL Delay Time GSV SSV Sec The Brake Engage Delay attribute controls the amount of time that the drive continues to apply torque to the motor after the motor brake output is changed to engage the brake This gives time for the motor brake to engage This is the sequence of events associated with engaging the motor brake e Disable axis is initiated via M SF or drive disable fault action e Drive stops tracking command reference Servo Action Status bit clears e Decel to zero speed using configured Stopping Torque e Zero speed or Stopping Time Limit is reached e Turn motor brake output off to engage the motor brake e Wait Brake Engage Delay Time e Disab
173. ad attached to the motor shaft in Torque Scaling units The Load Inertia Ratio value represents the ratio of the load inertia to the motor inertia The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS2 0 0333 Rated Revs Per Second2 If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also do not reflect the true performance of the system Select this to enable the drive s notch filter De select this to disable this filter With Enable Notch Filter selected this value sets the center frequency of the drive s digital notch filter If t
174. ally a module fault affects all axes associated with the motion module A module fault generally results in AXIS_ SERVO the shutdown of all associated axes Reconfiguration of the motion AXIS_SERVO_DRIVE module is required to recover from a module fault condition AAR MATURE Do you want this fault to give the controller a major fault e YES Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Module Fault Bits AXIS_CONSUMED DINT GSV Lets you access the module fault bits in one 32 bit word This attribute is the same as the Module Faults tag Module Fault Bit Control Sync Fault Module Sync Fault Timer Event Fault M odule Hardware Fault SERCOS Ring Fault Inter M odule Sync Fault on gt wl N ej These faults have module scope instead of axis scope e These faults show up in all the axes that are connected to the motion module e The motion planner updates these fault bits every coarse update period Do you want any of these faults to give the controller a major fault e YES Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Publication LOGIX UM 002B EN P anuary 2007 316 Axis Attributes Attribute M odule Faults Axis Type Data Type Access Description AXIS_SERVO DINT AXIS_SERVO_ DRIVE Tag Lets you access the module fault bits in one 32 bit word This ta
175. ally support 4x interpolation so the Interpolation Factor for these devices would be set to 4 Feedback Counts per Cycle Cycles are sometimes called Lines High Resolution Sin Cosine feedback device types can have interpolation factors as high as 2048 Counts per Cycle The product of the Feedback Resolution and the corresponding Feedback Interpolation Factor is the overall resolution of the feedback channel in Feedback Counts per Feedback Unit In our example a Quadrature encoder with a 2000 line rev resolution and 4x interpolation factor would have an overall resolution of 8000 counts rev Factor Aux Feedback AXIS_SERVO_DRIVE BOOL Tag Set when there is noise on the feedback device s signal lines Noise Fault e For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback noise e Feedback noise shown below is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring You can see both of these on an oscilloscope e To troubleshoot the loss of channel quadrature look for e physical misalignment of the feedback transducer components e excessive capacitance or other delays on the encoder signals e Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a M otion Axis Fault Reset M AFR or Motion Axis Shutdown Reset
176. am of 1756 HYD02 wiring 151 wiring connections home limit switch input 155 OK contacts 155 Wiring diagrams 1394 drive 147 registration sensor 154 Servo module RTB 142 Ultra 100 drive 143 Ultra 200 drive 143 Ultra3000 Drive 145 Publication LOGIX UM 002B EN P anuary 2007 412 Index wiring diagrams 141 home limit switch 155 OK contacts 155 Wizard dynamics 52 Publication LOGIX UM 002B EN P J anuary 2007 general 51 geometry 51 offset 51 tag 52 units 51 How Are We Doing Your comments on our technical publications will help us serve you better in the future Thank you for taking the time to provide us feedback wy You can complete this form and mail or fax it back to us or email us at RADocumentComments ra rockw ell com Pub Title Type M otion M odules in Logix5000 Control Systems Cat No Pub No LOGIX UM002B EN P Pub Date january 2007 PartNo 957988 76 Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Overall Usefulness 1 2 3 How can we make this publication more useful for you 2 3 Can we add more information to help you Completeness all necessary information procedure step illustration feature is provided rer example guideline other explanation definition Technical Accuracy 1 2 3 Can we be more accurate all provided information is correct text illustration Clarity 1 2 3 How can w
177. ameters have not yet been saved or applied This dialog lets you set and view the Maximum Acceleration or Deceleration Jerk in Jerk Units of Time Use the slider to select the value unit of Time The numeric value in the Maximum Accel Decel Jerk status box updates as the slider is moved Click on the OK button to accept the new value or click the Cancel button to leave without changing the value The Unit of Time is allowed for Jerk limiting only via the Instruction Faceplate Only the Profile S curve allows Jerk control Programmable S curve The units for programming Jerk limiting are Publication LOGIX UM 002B EN P J anuary 2007 208 Axis Properties more easily expressed in terms of of Time rather than Position Units s Calculate Maximum Acceleration Jerk of Time Maximum Acceleration Jerk 3000 0 Position Units s 3 Cancel Help Gains Tab AXIS SERVO Use this tab to perform these offline functions e adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog e manually configure gains for the velocity and position loops Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 209 for an axis of the type AXIS SERVO which has been configured for Servo operations set in the General tab of this dialog box with Position Loop Configuration e Axis Properties myservolaxis iof x General Mation Planner Units S
178. an Rie so PosiNeg Coarse oa Torque Filter Filter Torque Fine Offset BW Limit e gt interpolator gt FF ow Gain Position pem rong Command Velocity Gomman d ka Coarse Command Velocity Comman d Error Low Fine jel Torque Frict Notch Torque Torque e gt interpolator O ain P scaling z gt comp gt Lined P Fitter gt Limit P amplifier Velocity Feedback m Motor Low Pass Filter zk Feedback Polarity Motor Channel Y Hardware yiii mace Faarao ne Feedback Positie l Aux H m H Feedback Channel Position Hardware pa 4 Accum j Feedback feu ulator Positio Publication LOGIX UM 002B EN P J anuary 2007 The Motor Dual Command Servo configuration provides full position servo control using only the motor mounted feedback device to provide position and velocity feedback Unlike the Motor Position Servo configuration however both command position and command velocity are applied to the loop to provide smoother feedforward behavior This servo configuration is a good choice in applications where smoothness and stability are important Positioning accuracy is limited due to the fact that the controller has no way of compensating for non linearities in the mechanics external to the motor Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Command
179. an be run Publication LOGIX UM 002B EN P J anuary 2007 210 Axis Properties Proportional Position Gain Integral Position Gain Publication LOGIX UM 002B EN P anuary 2007 Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability To set the gain manually you must first set the appropriate output scaling factor either the Velocity Scaling factor or Torque Scaling factor in the Output tab of this dialog Your selection of External Drive Configuration type either Torque or Velocity in the Servo tab of this dialog determines which scaling factor you must configure before manually setting gains If you know the desired loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 The typical value for the Position Proportional Gain is 100 Sec 1 The Integral that is summation of Position Erro
180. ance Instance AXIS_ GENERIC 3 When the Axis Data Type attribute is specified to be Consumed then AXIS_SERVO this axis is associated to the consumed data by specifying both the C2C AXIS_SERVO_DRIVE M ap Instance and the C2C Connection Instance For all other Axis Data AXIS VIRTUAL Types if this axis is to be produced then this attribute is set to 1 one to indicate that the connection is off of the local controller s map instance Command AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled Acceler tion AXIS GENERIC Tag for the motion group default setting Otherwise you won t see the right z value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Command Acceleration in Position Units Sec2 AXIS_VIRTUAL Command Acceleration is the commanded speed of an axis in the configured axis Position Units per second per second as generated by any previous motion instructions It is calculated as the current increment to the command velocity per coarse update interval Command Acceleration is a signed value the sign or depends on which direction the axis is being commanded to move Command Acceleration is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on command velocity is 0 00001 feedback counts per coarse update period per coarse update period Publi
181. and Status Only Feedback Position Error Hard Overtravel Soft Overtravel Phase Loss Axis Properties 251 Specifies the fault action to be taken when Feedback Fault is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when an axis encounters a travel limit switch for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured in the Limits tab of this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when a phase loss situation occurs for an axis configured as Servo on the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only The default is Shutdown When Status Only is chosen Logix 5000 motion commands con
182. and phased properly for marker detection When the testis initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Runs the Feedback Test which checks and if necessary reconfigures the Feedback Polarity setting When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Runs the Command amp Feedback Test which checks and if necessary reconfigures both the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Executing any test operation automatically saves all changes to axis properties Publication LOGIX UM 002B EN P anuary 2007 200 Axis Properties Tune Tab AXIS SERVO Use this tab to configure and initiate the axis tuning sequence for an e Axis Properties sercosaxis1 x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Ottset Fault Actions Tag Travel Limit Position Units Start Tuning Speed 20 0 Position Units s This tuning procedure may cause axis Torque Force f 00 0 Rated ead ea Direction For
183. andard motion instruction set in RSLogix 5000 software and these instructions e Motion Coordinated Transform MCT e Motion Calculate Transform Position MCTP The MCT instruction binds two coordinate systems and establishes a coordinate transformation between two coordinate systems After the MCT instruction is configured and executed you can program the Publication LOGIX UM 002B EN P J anuary 2007 78 Kinematics in RSLogix 5000 Software robotic arm in the Cartesian coordinate system or the Joint coordinate system Any Motion Any Motion Instruction Coordinate Coordinate Instruction Source System 1 Instruction lt p System 2 Target Cartesian CS1 CS2 J oint Virtual M achine The MCTP instruction is a calculate instruction that transforms a specified position from the source coordinate system into the target coordinate system and vice versa This instruction can also be used for position recovery and teach position routines The RSLogix 5000 integrated Kinematics function provides you with an easy to use interface for e Forward Kinematics Joint space coordinates are transformed to Cartesian space coordinates e Inverse Kinematics Cartesian coordinates are transformed to Joint space coordinates In RSLogix 5000 software Cartesian space is typically configured by using virtual axes and Joint space is usually configured by using real axes Robot geometries supported for two and thre
184. ary 2007 402 Publication LOGIX UM 002B EN P anuary 2007 Index Maximum Deceleration J erk 207 M anual Tune 207 M aximum Acceleration 205 M aximum Acceleration J erk 205 M aximum Deceleration 205 M aximum Deceleration J erk 206 M aximum Velocity 205 Fault Actions Tab AXIS_ SERVO 245 Drive Fault 247 Feedback Loss 247 Feedback Noise 247 Position Error 248 Soft Overtravel 248 Fault Actions Tab AXIS_SERVO_ DRIVE 248 Drive Thermal 250 Feedback 251 Feedback Noise 250 Hard Overtravel 251 M otor Thermal 250 Position Error 251 Set Custom Stop Action 252 Soft Overtravel 251 Feedback Tab AXIS SERVO 170 Feedback Type 170 A Quadrature B Encoder Inter face AQB 170 Linear Displacement Transducer LDT 171 Absolute Feedback Offset Calculated Values 174 Calculate Button 175 Conversion Constant 174 M in Servo Update Period Calibration Constant 173 Enable Absolute Feedback 174 LDT Type 173 Length 174 Recirculations 173 Scaling 174 Synchronous Serial Interface SSI 170 Absolute Feedback Offset 172 Clock Frequency 172 Code Type 171 Data Length 172 Enable Absolute Feedback 172 Gains Tab AXIS_ SERVO Differential 211 Integral Position Gain 210 Integrator Hold 213 Manual Tune 213 Proportional Position Gain 210 Proportional Velocity Gain 211 Gains Tab AXIS_ SERVO_DRIVE 208 213 Acceleration Feedforward 212 215 Integral Position Gain 216 Integral Velocity Gain 211 21
185. aster Delay Compensation allows for zero tracking error when gearing or camming to the actual position of a master axis The M aster Delay Compensation algorithm extrapolates the position of the master axis at the predicted time when the command position is applied to the slave s servo loop Since master axis position is measured in discrete feedback counts and is inherently noisy the extrapolation process amplifies that noise according to the total position update delay The total position update delay is proportional to the Coarse Update Period of the motion group and if the master or the slave involves an AXIS_SERVO_DRIVE data type it also includes the delay term that is proportional to the SERCOS Update Period The greater the delay the greater the noise introduced by the extrapolator The M aster Delay Compensation feature also has an extrapolation filter to filter the noise introduced by the extrapolation process The time constant of the filter is fixed at 4x the total position update delay independent of the M aster Position Filter Bandwidth which again is a function of the Coarse Update Period and the SERCOS Update Period if a AXIS_SERVO_DRIVE data type The controller uses a 15 order extrapolation algorithm that results in zero tracking error while the master axis is moving at constant velocity If the master axis accelerates or decelerates the tracking error is non zero and proportional to the acceleration or deceleration rate a
186. ata Type Access Description Home AXIS_ GENERIC DINT GSV 0 Reserved i j AXIS_ SERVO SSV i i 1 Home Switch Normally Closed Bits AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 Marker Edge Negative Home Switch Normally Closed The Home Switch Normally Closed bit attribute determines the normal state of the home limit switch used by the homing sequence The normal state of the switch is its state prior to being engaged by the axis during the homing sequence For example if the Home Switch Normally Closed bit is set true then the condition of the switch prior to homing is closed When the switch is engaged by the axis during the homing sequence the switch is opened which constitutes a homing event Home Direction AXIS_ GENERIC SINT GSV 0 unidirectional forward AXIS_ SERVO V ETEN z 2 1 bidirectional forward AXIS SERVO_DRIVE AXIS_ VIRTUAL 2 unidirectional reverse 3 bidirectional reverse Home Event AXIS_CONSUMED BOOL Tag Set when a home event has been armed through execution of the M AH Armed Status AXIS GENERIC Motion Axis Home instruction Cleared when a home event occurs AXIS_ SERVO AXIS_ SERVO_DRIVE AXIS_ VIRTUAL Home Event AXIS_CONSUMED BOOL Tag Set when a home event has occurred Cleared when another M AH Status AXIS GENERIC Motion Axis Home instruction is executed AXIS_ SERVO AXIS_ SERVO_DRIVE AXIS_ VIRTUAL Home Event Task AXIS_CONSUMED DINT MSG User Event Task that is triggered to execute when a Home event occurs AXIS GENERIC An instan
187. ate and Configure a Coordinate System 69 Tag Type Indicates the type of the current Coordinate System tag This type may be e Base e Alias The field is not editable and is for informational purposes only Data Type Displays the data type of the current Coordinate System tag which is always COORDINATE SYSTEM This field cannot be edited and is for informational purposes only Scope Displays the scope of the current Coordinate System tag The scope for a Coordinate System tag can be only controller scope This field is not editable and is for informational purposes only Publication LOGIX UM 002B EN P J anuary 2007 70 Create and Configure a Coordinate System Publication LOGIX UM 002B EN P anuary 2007 Introduction W hen to Inhibit an Axis Chapter 5 Inhibitan Axis Use this chapter to block the controller from using an axis Use the following information to determine when to inhibit an axis 25 Controller My_Controller Tasks C Motion Groups ce My_Motion_Group You want to block the controller from using an to ery axis because the axis is faulted or not installed gt My Axis Y tee Ungrouped Axes You want to let the controller use the other L Trends axes 29 Data Types J 1 0 Configuration Example 1 Suppose you make equipment that has between 8 and 12 axes depending on which options your customer buys In that case set up one project for all 12 axes When
188. ately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared Status Only If a fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate Selecting the wrong fault action for your application can cause a dangerous condition Keep clear of moving machinery Specifies the fault action to be taken when a Drive Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when a Motor Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when excessive feedback noise is detected The available actions for this fault are Shutdown Disable Drive Stop Motion
189. atics Functionality in RSLogix 5000 77 Useful Tens rases sea dees byes cede a siete ahd 79 Gather Information about Your Robot 79 Summary of Kinematic StepS 0 0 eee eee 80 Determine the Coordinate System Type 82 Configure an Articulated Independent Robot 84 Configure an Articulated Dependent Robot 94 Configure a Cartesian Gantry Robot 102 Configure a Cartesian H bot 0 0 0 uee 103 Configure a SCARA esere naun A Ce Oe eA A 106 Arm SOMOS ica Since e a T E E E AAA 110 Left Arm and Right Arm Solutions for Two Axes Robots 110 Solution Mirroring for Three Dimensional Robots 110 Activating Kinematics 0 0 ccc eee ee ee ene 111 Change the Robot Arm Solution 05 112 Plan for Singularity 4 47 boa 545 8 eh wie Kae aes ek ea 112 Encounter a No solution Position 00 113 Error CONGIMONS saa cote ce eh bee oe Ma eden A 113 Chapter 7 INMOCUCHOI bccn tari aoe oat Mae Sean a OEE aos 115 1756 M02AE Module cy ae at oi Aelia as ag a 115 1756 M02AS Module cece eee eens 117 TT SGT Y DO2 MOdule sss so ase akon te alo Wee e eoaste begs Bes 120 SERCOS interface Module asa ytsencia ve Yow see aa etd 123 Chapter 8 IANO CNCHOD a2 250 a E con eae wanker aed ass 125 Why does my axis accelerate when I stop it 125 Why does my axis overshoot its target speed 127 Why is there a de
190. ation Fault The Attribute Error ID defaults to zero and after a fault has occurred may be reset to zero by reconfiguration of the motion module To quickly see the Attribute Error in RSLogix 5000 1 Select the axis in the Controller Organizer 2 Look at the bottom of the Controller Organizer for the Attribute Error Attribute Aux Feedback Configuration Axis Type AXIS SERVO_DRIVE Axis Attributes 265 Data Type Access Description INT GSV The controller and drive use this for scaling the feedback device counts These attributes are derived from the corresponding M otor and Auxiliary Feedback Unit attributes Bit 0 Feedback type e 0 rotary default e 1 linear 1 reserved 2 Linear feedback unit e 0 metric e 1 english 3 Feedback Polarity Aux Only e 0 not inverted e 1 inverted If the bits are Then Feedback Resolution is scaled to 2 1 0 Feedback Cycles per Feedback Rev Feedback Cycles per mm 0 0 1 0 Feedback Cycles per Feedback Rev 0 1 1 1 Feedback Cycles per inch Feedback Polarity The Feedback Polarity bit attribute can be used to change the sense of direction of the feedback device This bit is only valid for auxiliary feedback devices W hen performing motor feedback hookup diagnostics on an auxiliary feedback device using the M RHD and M AHD instructions the Feedback Polarity bit is configured for the auxiliary feedback device to insu
191. ation is only valid if configured for bidirectional tuning If this bit is e ON The tuning procedure calculates the Friction Compensation Gain e OFF The Friction Compensation Gain is not affected Tune Torque Offset This tuning configuration is only valid if configured for bidirectional tuning If this bit is e ON The tuning procedure calculates the Torque Offset e OFF The Torque Offset is not affected Position Units Sec The Tuning Speed attribute sets the maximum speed of the tuning procedure This attribute should be set to the desired maximum operating speed of the motor before you run the tuning procedure The tuning procedure measures maximum acceleration and deceleration rates based on ramps to and from the Tuning Speed Thus the accuracy of the measured acceleration and deceleration capability is reduced by tuning at a speed other than the desired operating speed of the system Tuning Torque AXIS_SERVO REAL AXIS_SERVO_DRIVE Publication LOGIX UM 002B EN P anuary 2007 GSV SSV The Tuning Torque attribute determines the maximum torque of the tuning procedure This attribute should be set to the desired maximum safe torque level before you run the tuning procedure The default value is 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanic
192. ation provides full position servo control using the auxiliary feedback device for position feedback and the motor mounted feedback device to provide velocity feedback This servo configuration combines the advantages of accurate positioning associated with the auxiliary position servo with the smoothness and stability of the motor position servo configuration Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Publication LOGIX UM 002B EN P anuary 2007 374 Servo Loop Block Diagrams Motor Dual Command Servo Servo Config Motor Dual Command Ace P dat gt FF Gal Velocity Comm
193. attribute provides a selection for the units of the LDT calibration constant attribute This attribute is only active if the Transducer Type is set to LDT LDT Length AXIS_SERVO REAL GSV This attribute provides for setting the length of an LDT device This attribute is only active if the Transducer Type is set to LDT LDT Length Units AXIS_SERVO SINT GSV 0 m 1 in This attribute provides a selection for the units of the LDT length attribute This attribute is only active if the Transducer Type is set to LDT LDT AXIS_ SERVO SINT GSV This attribute provides the number of recirculations This attribute is Recirculations only active if the Transducer Type is set to LDT and LDT Type is set to PWM LDT Scaling AXIS_SERVO REAL GSV This attribute provides for setting the scaling factor for LDT devices This attribute is only active if the Transducer Type is set to LDT LDT Scaling Units AXIS_SERVO SINT GSV 0 Position Units m 1 Position Units in This attribute provides a selection for the units of the LDT scaling attribute This attribute is only active if the Transducer Type is set to LDT Publication LOGIX UM 002B EN P anuary 2007 310 Axis Attributes Description 0 PWM 1 Start Stop Rising 2 Start Stop Falling This attribute provides a selection for the LDT Type It provides the following enumerated values PWM Start Stop Rising and Start Stop Falling This attribute is only active if the Transducer Type is set to LDT Rated
194. axis Position Units per second It is calculated as the current increment to the actual position per coarse update interval Actual Velocity is a signed value the sign or depends on which direction the axis is currently moving Actual Velocity is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on actual velocity is 1 feedback counts per coarse update Publication LOGIX UM 002B EN P J anuary 2007 264 Axis Attributes Attribute Axis Type Data Type Access Analog Input1 AXIS_SERVO_DRIVE REAL GSV SSV Analog Input 2 Description This attribute applies only to an axis associated with a Kinetix 7000 drive This attribute has an integer range 16384 representing the analog value of an analog device connected to the Kinetix 7000 drive analog input These inputs are useful for web converting applications with load cell measuring web force on a roller or dancer measuring web force position directly that can be directly connected to the drive controlling the web Attribute Error AXIS_SERVO INT GSV Code AXIS_SERVO_DRIVE Tag CIP Error code returned by erred set attribute list service to the module When an Axis Configuration Fault occurs one or more axis parameters associated with a motion module or device has not been successfully updated to match the value of
195. based on the Drive Resolution and Conversion Constant The ratio of Drive Resolution and the Conversion Constant determines the number of Position Units ina Drive Unit Drive Resolution Conversion Constant Position Units Drive Unit rev inch or mm In general the Drive Resolution value may be left at its default value of 200000 Drive Counts per Drive Unit independent of the resolution of the feedback device s used by the drive This is because the drive has its own set of scale factors that it uses to relate feedback counts to drive counts Drive Travel Range Limit Because the drive s position parameters are ultimately limited to signed 32 bit representation per the SERCOS standard the Drive Resolution parameter impacts the drive s travel range The equation for determining the maximum travel range based on Drive Resolution is as follows Drive Travel Range Limit 2 147 483 647 Drive Resolution Based on a default value of 200 000 Drive Counts per Drive Unit the drive s range limit is 10 737 Drive Units While it is relatively rare for this travel range limitation to present a problem it is a simple matter to lower the Drive Resolution to increase the travel range The downside of doing so is that the position data is then passed with lower resolution that could affect the smoothness of motion Fractional Unwind In some cases however the user may also want to specifically configure Drive Resolution value to hand
196. butes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Servo Loop Block Diagrams 373 Dual Feedback Servo Servo Config Dual Feedback Torque Offset Acc eat FF Velocity Gain Offset Output Output Low Pass Notch Filter Filter PosiNeg Torque Limit Vel BW gt didt gt FF Gain Position Valooliy Accel Command Command command command Velocity Coarse Position Error rror ian Fine Pos P Vel P Torque Frict Notch Torque Torque e gt interpolator gt Gain gt Gain E H scaling z Comp gt on gt Filter P Limit P amplifier Position y M Command Velocity Feedback Error Bei Error mia Position Accum p Pos Accum gt vel Feedback ulator ulator Position Velocity Integrator Integrator Motor Error Error Low Pass Filter zk Feedback Polarity Motor Feedback Y Channel Hardware Feedback e Position Motor Feedback Position i Feedback i AUK i Coarse i Feedback y Channel Position Hardware hae 2 Accum Feedback e ulator Position Feedback This configur
197. c configuration of the servo loop topology when the axis is set to servo 0 custom 1 feedback only 2 aux feedback only 3 position servo 4 aux position servo 5 dual position servo 6 dual command servo 7 aux dual command servo 8 velocity servo 9 torque servo 10 dual command feedback servo Attribute Servo Output Level Axis Type AXIS_ SERVO Data Type Access REAL GSV Tag Axis Attributes 343 Description Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Servo Output Level in Volts Servo Output Level is the current voltage level of the servo output of the specified axis The Servo Output Level can be used in drilling applications for example where the servo module is interfaced to an external Torque Loop Servo Drive to detect when the drill bit has engaged the surface of the work piece Servo Polarity Bits AXIS_ SERVO DINT GSV 0 Feedback Polarity Negative 1 Servo Polarity Negative Feedback Polarity Negative This Feedback Polarity Negative bit attribute controls the polarity of the encoder feedback and when properly configured insures that when the axis is moved in the user defined positive direction that the axis Actual Position value increases This bit can be configured automatically using the MRHD and MAHD motion in
198. cable C0720 4ENABLE 0 s6 ENABLE 0 so 7 DRVFLT 0 foo Go DRVFLT 1 CHASSIS f2 Or1 CHASSIS IN_COM 40 J IN_COM ENABLE 1 ENABLE 1 General cable C0721 HOM E 0 f HOM E 1 REG24V 0 REG24V 1 REGSV 0 200 REG5SV 1 K 26 2t OK CHASSIS 4S U CHASSIS HNT 0 29 0 HNT 1 INT 0 2 0 INT 1 RET 0 326 0 RET 1 RET 0 26 s1 RET 1 General cable C0722 LDT CMN 4S LDT CMN CHASSIS CHASSIS General cable C0720 Notes General cable C0720 General cable C0720 Wiring Diagrams 151 To valve driver amplifier To hydraulic control unit or To valve or pump To home limit switch To registration sensor To LDT To E stop relay coil 43394 e This example shows the wiring for Axis 1 Wire Axis 0 the same way e Use transducers that use an external interrogation signal e Do not exceed the specified isolation voltage between power sources Publication LOGIX UM 002B EN P J anuary 2007 152 Wiring Diagrams LDTs These diagrams show the connections for Temposonic and Balluff LDTs Etra Other suppliers also have compatible LDTs Before you connect an LDT to your module make sure that it is the best LDT for your application Temposonics Il Balluff BTL type RPM
199. cation LOGIX UM 002B EN P anuary 2007 Attribute Axis Type Data Type Access Command AXIS CONSUMED REAL GSV Position AXIS_ GENERIC Tag AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis Attributes 281 Description Important To use this attribute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Command Position in Position Units Command Position is the desired or commanded position of a physical axis in the configured Position Units of that axis as generated by the controller in response to any previous motion Position Control instruction Command Position data is transferred by the controller to a physical axis as part of an ongoing synchronous data transfer process which results in a delay of one coarse update period Thus the Command Position value that is obtained is the command position that is acted upon by the physical servo axis one coarse update period from now The figure below shows the relationship between Actual Position Command Position and Position Error for an axis with an active servo loop Actual Position is the current position of the axis as measured by the feedback device for example encoder Position error is the difference between the Command and Actual Positions of the servo loop and is used to drive the motor to make the actual position equal to the command position Position Error Command Position
200. cation LOGIX UM 002B EN P J anuary 2007 Attribute Axis Type Data Type Access Torque Scaling AXIS_ SERVO REAL GSV AXIS_SERVO_DRIVE SSV Axis Attributes 351 Description Position Units Per Second The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This has the effect of normalizing the units of the servo loop s gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios In fact the Torque Scaling value when properly established represents the inertia of the system and is related to the Tune Inertia attribute value by a factor of the Conversion Constant e AXIS_SERVO The Torque Scaling value is typically established by the M AAT instruction as part of the controller s automatic tuning procedure e AXIS _SERVO_DRIVE The Torque Scaling value is typically established by the drive s automatic tuning procedure The value can be manually calculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs and that with 100 rated torque applied to the motor the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100
201. ce value of 0 indicates that no event task has been configured 3 to be triggered by the Home Event AXIS_SERVO AXIS_SERVO_DRIVE This attribute indicates which user Task is triggered when a home event AXIS VIRTUAL occurs The user Task is triggered at the same time that the Process Complete bit is set for the instruction that armed the home event This attribute is set through internal communication from the user Task object to the Axis object when the Task trigger attribute is set to select the Home Event Task Instance attribute of the Axis This attribute should not be set directly by an external device This attribute is available to be read externally Get attributes List for diagnostic information Home Input AXIS_ SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE Publication LOGIX UM 002B EN P anuary 2007 e ON The home input is active e OFF The home input is inactive Axis Attributes 307 Attribute Axis Type Data Type Access Description Home Mode AXIS_ GENERIC SINT GSV 0 passive AXIS_ SERVO SSV 1 active default AXIS_ SERVO_DRIVE AXIS_ VIRTUAL 2 absolute Home Offset AXIS_ GENERIC REAL GSV Position Units AXIS_ SERVO SSV When applied to an active or passive Homing M ode using a AXIS_SERVO_DRIVE non immediate Home Sequence the Home Offset is the desired position AXIS_ VIRTUAL offset of the axis Home Position from the position at which the home event occurred The Home Offset is applie
202. cillary axes that you must create to generate coordinated motion You can configure the coordinate system with one two or three dimensions RSLogix 5000 software supports these types of geometry e Cartesian e Articulated Dependent e Articulated Independent Coordinate System Properties joint_coordinate_system General Geometry Units Offsets Joints Tag Motion Group kinematics_motion_group At 2 My Coordinate System n U me Type Articulated Independent LCI Ungrouped Axes m p Cartesian Articulated Dependent Articulated Independent Dimension 2 Transform Dimension 2 uJ Coordinate Axis Name _ Coordination Mode x_axis Ancillary i A y_axis zi Ancillary z The Coordinate System tag is used to set the attribute values to be used by the Multi Axis Coordinated Motion instructions in your motion applications The Coordinate System tag must exist before you can run any of the Multi Axis Coordinated Motion instructions This is where you introduce the COORDINATE SYSTEM data type associate the Coordinate System to a Motion Group associate the axes to the Coordinate System set the dimension and define the values later used by the operands of the Multi Axis Motion Instructions The values for Coordination Units Maximum Speed Maximum Acceleration Maximum Deceleration Actual Position Tolerance and Command Position Tolerance are all defined by the information included when the Coordinate System ta
203. city changes sign a reversal the Logix controller adds or subtracts the Backlash Distance value from the current commanded position This causes the servo to immediately move the motor to the other side of the backlash window and engage the load It is important to note that the application of this directional offset is completely transparent to the user the offset does not have any affect on the value of the Command Position attribute If a value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a non zero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position Publication LOGIX UM 002B EN P J anuary 2007 278 Axis Attributes Attribute Axis Type Data Type Access Description Backlash AXIS_ SERVO REAL GSV The Backlash Stabilization Window attribute is used to control the P AXIS SERVO DRIVE SSV Backlash Stabilization feature in the servo control loop W hat follows is re a description of this feature and the general backlash instability phenomenon M echanical backlash is a common problem in applications that utilize mechanical gearboxes The problem stems from the fact that until the input gear is turned to the point where its proximal tooth contacts an adjacent tooth of the output gear the reflected inertia of the output is not felt at t
204. ck Status 16 Velocity Standstill Status 17 Velocity Threshold Status 18 Torque Threshold Status 19 Torque Limit Status 20 Velocity Limit Status 21 Position Lock Status 22 Power Limit Status 23 Reserved 24 Low Velocity Threshold Status 25 High Velocity Threshold Status 26 Drive Thermal AXIS_SERVO_DRIVE SINT GSV Fault Action SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop M otion 2 Status Only 3 Publication LOGIX UM 002B EN P anuary 2007 298 Axis Attributes Attribute Axis Type Data Type Access Description Drive AXIS_SERVO_DRIVE BOOL Tag Set when drive DC bus voltage is below the predefined operating limits Undervoltage for the bus Fault Drive Unit AXIS_SERVO_DRIVE INT GSV The Drive Unit attribute establishes the unit of measure that is applied to the Drive Resolution attribute value Units appearing in the enumerated list may be linear or rotary english or metric Further discrimination is provided in the enumerated list to specify whether the Drive Unit is referenced directly to the motor or to the external or auxiliary feedback 0 motor revs 1 aux revs 2 motor inches 3 aux inches 4 motor mm 5 aux mm Publication LOGIX UM 002B EN P anuary 2007 Attribute Drive Warning Bits Axis Attributes 299 Axis Type Data Type Access Description AXIS_SERVO_DRIVE DINT GSV Warning Bit Drive Overload W arning Drive Overtemperature W arning M otor Overtemperature W arni
205. configured in the Limits tab of this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Use this tab to specify the actions that are taken in response to the following faults e Drive Thermal Fault e Motor Thermal Fault e Feedback Noise Fault e Feedback Fault e Position Error Fault e Hard Overtravel Fault e Soft Overtravel Fault e Phase Loss Axis Properties 249 for an axis of the type AXIS SERVO_DRIVE Axis Properties axis_servo_drive General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Drive Thermal Motor Thermal Feedback Noise Feedback Position Error Phase Loss H Set Custom Stop Action Disable Drive X Disable Drive X Disable Drive v requires user to ensure axis is stopped and disabled to protect Disable Drive v personnel machine and property Disable Drive v Please reference user manual for additional information Disable Drive A Warning Modifying fault actions Cancel Help When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 s
206. controls an optional external Resistive Brake M odule RBM The RBM is between the drive and the motor and uses an internal contactor to switch the motor between the drive and a resistive load The drive s RBM output controls this contactor When the drive s RBM output is energized the RBM contactor is switched from the load resistors to the UVW motor lines connecting the drive to the motor This switching does not occur instantaneously and enabling the power structure too early can cause electrical arcing across the contactor The resistive brake contact delay is the time that it takes to fully close the contactor across the UVW motor lines In order to prevent electrical arcing across the the contactor the enabling of the drive s power structure is delayed The delay time is variable depending onthe RBM model When applying an RBM you must set the Resistive Brake Contact Delay to the recommended value found in the RBM specification The following cases outline how the RBM output relates to the normal enable and disable sequences Case 1 Enable Sequence Enable axis is initiated via MSO or MAH instruction Turn on RBM output to connect motor to drive Wait for Resistive Brake Contact Delay while RBM contacts close Drive power structure enabled Drive Enable Status bit is set Turn on motor brake output to release brake Wait Brake Release Delay Time while motor brake releases Track Command reference Servo Action Status bit i
207. cs in RSLogix 5000 Software Enter the end effector offset values For the robot shown in our example the end effector values are e Xle 2 0 e X3e 3 0 Configure a Cartesian Gantry Robot Publication LOGIX UM 002B EN P J anuary 2007 The end effector offsets are defined with respect to the tool reference frame at the tool tip z Coordinate System Properties sdsd General Geomety Units Offsets Joints Tag Type Articulated Dependent Top View Transform Dimension 3 x2 End Effector Offsets Mle 120 X2e 0 0 x3e 40 N Side View Base Offsets xib 3 0 x2b 0 0 x3b 14 0 Cancel Use these guidelines when configuring a Cartesian Gantry robot Establish the Reference Frame For a Cartesian Gantry robot the reference frame is an orthogonal set of X4 Xp and X3 axes positioned anywhere on the Cartesian robot All global coordinate measurements points are relative to this reference frame Typically the reference frame is aligned with the X1 X2 and X3 axes of the machine Ne AJ 4 Cartesian XYZ reference frame KSAT Configure a Cartesian H bot Kinematics in RSLogix 5000 Software 103 To establish a Local coordinate system with axes positions different from the reference frame use the Motion Redefine Position MRP instruction to reset the position register You can also use the Offset Vector in the MCT transform instruction to establish an offset between the
208. ctual position data to the Logix processor The values of the selected attributes can be accessed via the standard GSV or Get Attribute List service The servo status data update time is precisely the coarse update period If a GSV is done to one of these servo status attributes without having selected this attribute via the Drive Info Select attribute the attribute value is static and does not reflect the true value in the servo module Publication LOGIX UM 002B EN P J anuary 2007 170 Axis Properties Feedback Tab The Feedback tab lets you to select the type of Feedback used with AXIS_ SERVO your Servo axis e Axis Properties myservolaxis Ioj xi Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type AGB 4 Quadrature B coc a oe Feedback Type Select the appropriate Feedback for your current configuration Your options are dependent upon the motion module to which the axis is associated A Quadrature B Encoder The 1756 M02AE servo module provides interface hardware to Interface AQB support incremental quadrature encoders equipped with standard 5 Volt differential encoder interface signals The AQB option has no associated attributes to configure Synchronous Serial Interface The 1756 M02AS servo module provides an interface to transducers SSI with Synchronous Serial Interface SSI outputs SSI
209. d Eventually it starts to decelerate You start a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you try to stop it with another MAJ instruction The speed of the second instruction is set to 0 The axis continues to speed up and overshoots its initial target speed Eventually it slows to a stop Jog_PB lt Local 4 Data 0 gt My_Axis_OK RI Motion Axis Jog EN Axis My_Axis Motion Control Jog_1 DN Direction 0 Speed Jog_1_Speed 60 0 Speed Units Units per sec Accel Rate Jog_1_Accel 20 06 The MAJ instruction that starts the axis has a higher acceleration rate than the instruction that qTUnits Units per sec2 stops the axis Decel Rate Jog_1_Decel 2006 Decel Units Units per sec2 Profile S Curve Merge Disabled S Curve profile Merge Speed Programmed lt lt Less pataia Jog_PB lt Local4 Data O gt My_Axis_OK Motion Axis Jog EN Axis My_Axis Motion Control Jog_2 DN gt Direction 0 Speed Jog_2_Speed 00e P R f Speed Units Units per sec The MAJ instruction that stops Accel Rate Jog_2_Accel the axis has a lower acceleration 106 rate than the instruction that Units per sec2 starts the axis Decel Rate Jog_2_Decel 20 Decel Units Units per sec2 Profile Curve Merge Disabled Merge Speed Programmed lt lt Less Publ
210. d at the end of the specified homing sequence before the axis moves to the Home Position In most cases Home Offset is set to zero After an active bidirectional homing sequence has completed the axis is left at the specified Home Position If the Home Offset is non zero the axis will then be offset from the marker or home switch event point by the Home Offset value If the Home Offset is zero the axis will sit right on top of the marker or home switch point Home Position AXIS_ GENERIC REAL GSV Position Units AXIS_ SERVO SSV aks i l x The Home Position is the desired absolute position for the axis after the AXIS_SERVO_DRIVE specified homing sequence has been completed After an active homing AXIS_ VIRTUAL sequence has completed the axis is left at the specified Home Position In most cases Home Position is set to zero although any value within the Maximum Positive and Negative Travel limits of the axis if enabled may also be used A description of the Maximum Positive and Negative Travel configuration attributes may be found in the Servo and Drive Axis Object specifications For a rotary axis the Home Position is constrained to be a positive number less than the Position Unwind value divided by the Conversion Constant When configured for absolute Homing M ode the Home Position value is applied directly to the absolute feedback device to establish an absolute position reference for the system Home Return AXIS_ GENERIC REAL GSV P
211. d by the M RAT M otion Run Axis Tune instruction Computing gains based on this maximum value via the M AAT instruction results in dynamic response in keeping with the current value of the Damping Factor described above Alternatively the responsiveness of the system can be softened by reducing the value of the Velocity Servo Bandwidth before executing the M AAT instruction There are practical limitations to the maximum Velocity Servo Bandwidth for the velocity servo loop based on the drive system and in some cases the desired damping factor of the system Z Exceeding these limits could result in an unstable servo operation Data type Bandw idth limits AXIS_ SERVO For an external velocity loop servo drive M ax Velocity Servo Bandwidth Hz 0 159 2 Tune Rise Time For an external torque loop servo drive M ax Velocity Servo Bandwidth Hz 0 159 0 25 1 Z2 1 Drive M odel Time Constant AXIS_SERVO_DRIVE Max Velocity Servo Bandwidth Hz 0 159 0 25 1 2 1 Drive M odel Time Constant The factor of 0 159 represents the 1 2PI factor required to convert Radians per Second units to Hertz Velocity AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is less Standstill Status than the configured Velocity Standstill Window Velocity AXIS_SERVO_DRIVE REAL GSV Position Units sec i SSV AR ee This attribute maps directly to a SERCOS IDN See the SERCOS
212. d displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The tabs for Tune Dynamics Gains Output Limits and Offset are not displayed e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Module Selects and displays the name of the SERCOS drive to which the axis is associated Displays lt none gt if the axis is not associated with any drive Node Displays the base node of the associated SERCOS drive Disabled when the axis is not associated with any drive Publication LOGIX UM 002B EN P J anuary 2007 160 Axis Properties Node with a Kinetix 6000 Drive IM PORTANT later Do you want to use the auxiliary feedback port of a Kinetix 6000 drive as a feedback only axis If YES then make sure the drive has firmware revision 1 80 or Module Module Type Node
213. d to 2 billion SERCOS Error AXIS_SERVO_DRIVE INT GSV Error code returned by SERCOS module indicating source of drive Code Tag parameter update failure The SERCOS Error Code value can be used to identify the source of the drive parameter update failure that resulted in the Axis Configuration Fault The error codes for this attribute are derived from the IEC 1394 SERCOS Interface standard SERCOS Fault AXIS_SERVO_DRIVE BOOL Tag Set when either a requested SERCOS procedure fails to execute properly or the associated drive node has detected a SERCOS communication fault SERCOS Ring AXIS_SERVO_DRIVE BOOL Tag If this bit is set there is a problem on the SERCOS ring that is the light Fault has been broken or a drive has been powered down Servo Action AXIS_CONSUMED BOOL Tag If this bit is Status AXIS_ GENERIC e ON The axis is under servo control AXIS_ SERVO e OFF Servo action is disabled AXIS_SERVO_DRIVE AXIS_ VIRTUAL Servo Fault AXIS_ SERVO DINT Tag Lets you access all the servo fault bits in one 32 bit word This tag is the same as the Servo Fault Bits attribute wo or Servo Fault Pos Soft Overtravel Fault Neg Soft Overtravel Fault Reserved Reserved Feedback Fault Feedback Noise Fault Reserved Reserved Position Error Fault o CO SI GY j A w N e Drive Fault These fault bits are updated every coarse update period Do you want any of these faults to give the contro
214. d under Coordinate System Properties Geometry Wizard Screen The Geometry screen lets you configure key attributes related to non Cartesian geometry and shows the bitmap of the associated geometry Offsets Wizard Screen The Offset screen lets you configure the offsets for the base and end effector This screen shows the bitmaps for the offsets related to the geometry Units Wizard Screen The Units screen lets you determine the units that define the coordinate system At this screen you define the Coordination Units and the Conversion Ratios This screen has the same fields as the Units tab found under Coordinate System Properties Publication LOGIX UM 002B EN P J anuary 2007 52 Create and Configure a Coordinate System Edit Coordinate System Properties Publication LOGIX UM 002B EN P anuary 2007 Dynamics Wizard Screen Use the Dynamics screen for entering the Vector values used for Maximum Speed Maximum Acceleration and Maximum Deceleration It is also used for entering the Actual and Command Position Tolerance values This screen has the same fields as the Dynamics tab found under Coordinate System Properties M anual Adjust Button The Manual Adjust button is inactive when creating a Coordinate System tag via the wizard screens It is active on the Dynamics tab of the Coordinate System Properties screen It is described in detail in the Editing Coordinate System Properties later in this chapter Tag Wi
215. dback device The SSI is an absolute feedback device To establish an appropriate value for the Offset the MAH instruction can be executed with the Home Mode set to Absolute the only valid option if Enable Absolute Feedback is enabled When executed the module computes the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the MAH instruction The actual position of the axis is re referenced during execution of the MAH instruction therefore the servo loop must not be active If the servo loop is active the MAH instruction errors When the Enable Absolute Feedback is disabled the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer A homing or redefine position operation is required to establish the absolute machine reference position The Absolute Home Mode is invalid If using Single turn or Multi turn Absolute SSI Feedback transducers see the Homing tab information for important details concerning Absolute feedback tranducer s marker reference Axis Properties 173 When the servo axis is associated to a 1756 HYD02 motion module then LDT Linear Displacement Transducer is the only option for Feedback Type e Axis Properties myservolaxis x Tune Dynamics Gains
216. dialog box Table 2 B Attribute VelocityLimitBipolar Description This attribute sets the velocity limit symmetrically in both directions If the command velocity exceeds this value VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 AccelerationLimitBipolar This attribute sets the acceleration and deceleration limits for the drive If the command acceleration exceeds this value AccelLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 TorqueLimitBipolar This attribute sets the torque limit symmetrically in both directions When actual torque exceeds this value TorqueLimitStatus of the DriveStatus attribute is set This attribute has a value range of 0 to 1000 VelocityLimitPositive VelocityLimitN egative This attribute displays the maximum allowable velocity in the positive direction If the velocity limit is exceeded bit 5 Velocity Command Above Velocity Limit VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 This attribute displays the maximum allowable velocity in the negative direction If the velocity limit is exceeded bit 5 Velocity Command Above Velocity Limit VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 2 14748x10 to 0 Axis Properties 237
217. direction Information returned by the Bi directional Tuning profile can be used to tune Friction Compensation and Torque Offset Damping Factor Specifies the dynamic response of the servo axis The default is set to 0 8 When gains are tuned using a small damping factor a step response test performed on the axis may generate uncontrolled oscillation The gains generated using a larger damping factor would produce a system step response that has no overshoot and is stable but may be sluggish in response to changes Publication LOGIX UM 002B EN P J anuary 2007 202 Axis Properties The tuning procedure uses the Damping Factor that is set in this field However when the controller recalculates certain attributes in response to a Motor Catalog Number change on the Motor Feedback tab the controller uses the default Damping Factor value of 0 8 and not a different value set in this field Tune Select the gains to be determined by the tuning test Publication LOGIX UM 002B EN P anuary 2007 e Position Error Integrator determines whether or not to calculate a value for the Position Integral Gain e Velocity Feedforward determines whether or not to calculate a value for the Velocity Feedforward Gain e Velocity Error Integrator determines whether or not to calculate a value for the Velocity Integral Gain e Acceleration Feedforward determines whether or not to calculate a value for the Acceleration Feedforward Gain e Fr
218. displays the maximum torque in the positive direction If the torque limit is exceeded the TorqueLimitStatus bit of the DriveStatus attribute is set This attribute has a value range of 0 to 1000 TorqueLimitN egative This attribute displays the maximum torque in the negative direction If the torque limit is exceeded the TorqueLimitStatus bit of the DriveStatus attribute is set This attribute has a value range of 1000 to 0 TorqueThreshold This attribute displays the torque threshold If this limit is exceeded the TorqueThreshold bit of the DriveStatus attribute is set This attribute has a value range of 0 to 1000 Publication LOGIX UM 002B EN P anuary 2007 238 Axis Properties Offset Tab AXIS SERVO Use this tab to make offline adjustments to the following Servo Output values e Friction Compensation e Velocity Offset e Torque Offset e Output Offset for an axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog e Axis Properties myservolaxis iol x General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag r Friction Deadband Compensation a Manual Adjust Friction Compensation po Window joo Position Units Backlash Compensation Reversal Offset joo Position Units Stabilization window a0 Pasition Units Velocity Offset oo P
219. e AXIS VIRTUAL completes or is superseded by some other motion operation Time Cam Status AXIS CONSUMED BOOL Tag Set if a Time Cam motion profile is currently in progress Cleared when AXIS GENERIC the Time Cam is complete or is superseded by some other motion a operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Timer Event Fault AXIS_SERVO BOOL Tag If this bit is set the motion module has a problem with its timer event AXIS SERVO_DRIVE that synchronizes the module s servo loop to the master timebase of the chassis that is Coordinated System Time To clear this bit reconfigure the motion module Torque Command AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The command when operating in Torque M ode in terms of rated Torque Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 86 in IEC Scaling 1491 Torque Data AXIS SERVO DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 94 in IEC Scaling Exp 1491 Torque Data AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 93 in IEC Scaling Factor 1491 Torque Feedback AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Tag Real Time Axis Information for the axi
220. e ssg 3 anise Rate tee ok whe we web tee 164 WHS lab ere Zea wet Subse eae MeO Le ase ESS 167 Servo Tab AXIS SERVO aly gree wa A alan ea ack aed ueheca ane 168 Feedback Tab AXIS SERVO 0000 170 Drive Motor Tab AXIS SERVO DRIVE 175 Motor Feedback Tab AXIS SERVO DRIVE 182 Aux Feedback Tab AXIS SERVO DRIVE 183 CONVETSION Tabs 54240 45s beth ond toe e Sere Oe eos 185 Homing Tab AXIS SERVO sss sok aid goatee doa da 186 Homing Tab AXIS SERVO DRIVE 191 Homing Tab AXIS VIRTUAL 4 ws 5 5 406d ete wed aed 195 Hookup Tab AXIS SERVO 4 3 0 tea wcchss vebsleop eta dan 196 Hookup Tab Overview AXIS SERVO DRIVE 198 Tune Tab AXIS SERVO AXIS SERVO DRIVE 200 Dynamics Tab AXIS SERVO AXIS SERVO DRIVE AXIS VIRTUAL saw he naa ont ade keels ened aa a Gy 203 Gains Tab AXIS SERVO 0 ccc eee eee eens 208 Publication LOGIX UM 002B EN P J anuary 2007 Table of Contents 8 Axis Attributes Servo Loop Block Diagrams Axis Data Types Coordinate System Attributes Publication LOGIX UM 002B EN P anuary 2007 Gains Tab AXIS SERVO DRIVE 00055 213 Output Tab AXIS SERVO 0 cece eee ee 220 Output Tab Overview AXIS SERVO DRIVE 224 Limits Tab AXIS SERVO o ac sso cura eres ees 228 Limits Tab AXIS SERVO DRIVE 0055 232 Offset Tab AXIS SERVO sc 8 souds ese ea Wane Acad em decees 2
221. e Apply button You must re download the edited program to the controller before it can be run Publication LOGIX UM 002B EN P J anuary 2007 230 Axis Properties Soft Travel Limits Maximum Positive Maximum Negative Position Error Tolerance Position Lock Tolerance Publication LOGIX UM 002B EN P anuary 2007 Enables software overtravel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog Software overtravel limits are disabled during the tuning process Type the maximum positive position to be used for software overtravel checking in position units The Maximum Positive limit must always be greater than the Maximum Negative limit Type the maximum negative position to be used for software overtravel checking in position units The Maximum Negative limit must always be less than the Maximum Positive limit Specifies how much position error the servo tolerates before issuing a position error fault This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 position units means that a position error fault is generated whenever the position error
222. e Cam Status 9 Position Cam Pending Status 10 Time Cam Pending Status 11 Gearing Lock Status 12 Position Cam Lock Status 13 Reserved 14 M aster Offset M ove Status 15 Coordinated M otion Status 16 Motor Capacity AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 The present utilization of motor capacity as a percent of rated capacity M otor Data AXIS_SERVO_DRIVE Struct MSG Struct length datal INT The M otor Data attribute is a structure with a length element and an array of bytes that contains important motor configuration information SINT needed by an A B SERCOS drive to operate the motor The length element represents the number of valid data elements in the data array 256 The meaning of data within the data array is understood only by the drive The block of data stored in the M otor Data attribute is derived at configuration time from an RSLogix 5000 motion database file Motor Electrical AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Angle Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Degrees The present electrical angle of the motor shaft Publication LOGIX UM 002B EN P anuary 2007 320 Axis Attributes Attribute
223. e a component to the Velocity Command that tries to correct for the position error Increasing this gain increases the bandwidth of the position servo loop and results in greater static stiffness of the axis which is a measure of the corrective force that is applied to an axis for a given position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain results in axis oscillation due to servo instability A well tuned system moves and stops quickly and shows little or no ringing during constant velocity or when the axis stops If the response time is poor or the motion sloppy or slow you may need to increase the proportional gain If excessive ringing or overshoot is observed when the motor stops you may need to decrease the proportional gain While the tuning procedure sets the Pos P Gain you can also set it manually You can compute the Pos P Gain based on either the desired loop gain or the desired bandwidth of the position servo system Loop Gain Method If you know the desired loop gain in Inches per M inute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil A loop gain of 1 IPM mil Pos P gain 16 7 Sec gives stable positioning for most axes However position servo systems typically run much tighter than this The typical value for the Position Proportional Gain
224. e axes are e Cartesian e Articulated Dependant e Articulated Independent Three axes Selective Compliant Assembly Robot Arm SCARA geometry is supported by leveraging the Articulated Independent geometry configuration Publication LOGIX UM 002B EN P anuary 2007 Useful Terms Term Kinematics in RSLogix 5000 Software 79 Understanding the terms used in this chapter enables you to properly configure your robot Definition Forward Kinematics The solution of source positions given the target positions In practice this would be computing the Cartesian positions given the J oint positions Forward Transform The solution of source positions given target positions Inverse Kinematics Inverse Transform The solution of joint positions given Cartesian positions Typically converts Cartesian positions to joint positions The solution of target positions given source positions J oint axis A rotary robotic coordinate axis typically having overtravel rather than rollover limits Kinematics The family of mathematical equations that convert positions back and forth between two linked geometries Orientation Robotic term for directional attitude or rotation about a point in Cartesian 3D space Orientation is Reference frame expressed as three ordered rotations around the X Y and Z Cartesian axes Animaginary Cartesian coordinate system used to define a Cartesian origin and reference orientat
225. e condition where the velocity feedback is equal to the velocity command Publication LOGIX UM 002B EN P J anuary 2007 358 Axis Attributes Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS SERVO DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Feedback in Position Units Sec Velocity Feedback is the actual velocity of the axis as estimated by the motion module in the configured axis Position Units per second The estimated velocity is computed by applying a 1 KHz low pass filter to the change in actual position over the servo update interval Velocity Feedback is a signed value the sign or depends on which direction the axis is currently moving Feedforward AXIS_SERVO_DRIVE SSV i l Gain Servo Drives require non zero command input to generate steady state axis acceleration or velocity To provide the non zero output from the Servo M odule a non zero position or velocity error needs to be present We call this dynamic error while moving following error Well this non zero following error condition is a situation we are trying to avoid We ideally want zero following error all the time This could be achieved through use of the position integral gain controls as described above but typically the response time
226. e creating a base tag or an alias tag Make entries in the following fields Field Entry Name Type a name for the coordinate system tag The name can have a maximum of 40 characters containing letters numbers and underscores _ Description Type a description for your motion axis for annotation purposes This field is optional Type Click on the radio button for the type of tag to create The only valid choices are Tag and Alias Selecting either Produced or Consumed generates an error when the OK button is pressed Alias For This field displays only when Alias is selected for Tag Type Enter the name of the related Base Tag Data type Enter COORDINATE_SYSTEM Scope A Coordinate System tag can be created only at the controller scope Style This field cannot be edited Name Enter a relevant name for the new tag The name can be up to 40 characters and can be composed of letters numbers or underscores Description Enter a description of the tag This is an optional field and is used for annotating the tag Type For a Coordinate System you may choose either Base or Alias for the Tag Type Click on the appropriate radio button for the type of tag you are creating e Base refers to a normal tag selected by default Publication LOGIX UM 002B EN P J anuary 2007 50 Create and Configure a Coordinate System Coordinate System Wizard Screens Publication LOGIX UM 002B EN P anuary 200
227. e fault happens AXIS_SERVO e Axis servo action is disabled e The servo amplifier output is zeroed e The appropriate drive enable output is deactivated AXIS_SERVO_DRIVE e The drive switches to local servo loop control and the axis is slowed to a stop using the Stopping Torque e f the axis doesn t stop in the Stopping Time the servo action and the power structure are disabled Leave the servo loop on and stop Stop Motion the axis at its Maximum Deceleration rate Use this fault action for less severe faults It is the gentlest way to stop Once the axis stops you must clear the fault before you can move the axis The exception is Hardware Overtravel and Software Overtravel faults where you can jog or move the axis off the limit For this axis type When the fault happens AXIS_SERVO The axis slows to a stop at the M aximum Deceleration Rate without disabling servo action or the servo module s Drive Enable output AXIS_SERVO_DRIVE e Control of the drive s servo loop is maintained e The axis slows to a stop at the M aximum Deceleration rate without disabling the drive Write your own application code Status Only to handle the fault Use this fault action only when the standard fault actions are not appropriate With this fault action you must write code to handle the motion faults For Stop Motion or Status Only the drive must stay enabled for the controller to continue to control the axis Selecting
228. e ie 60 0 tart peed Units nits per sec ene S s KACA OIR Jog 1_ Accel e motion 206 Accel Units Units per sec2 Decel Rate Jog_1_Decel 20 0 Decel Units Units per sec2 Profile Merge Disabled Merge Speed Programmed lt lt Less Publication LOGIX UM 002B EN P J anuary 2007 126 Troubleshoot Axis Motion Cause When you use an S curve profile jerk determines the acceleration and deceleration time of the axis e An Scurve profile has to get acceleration to 0 before the axis can slow down e The time it takes depends on the acceleration and speed e In the meantime the axis continues to speed up The following trends show how the axis stops with a trapezoidal profile and an S ccurve profile Stop while accelerating Trapezoidal S curve speed goes up until acceleration is 0 40 target speed 20 acceleration The axis slows down as soon as you start the The axis continues to speed up until the S curve profile brings stopping instruction the acceleration rate to 0 Corrective action Ifyou want the axis to slow down right away use a trapezoidal profile Publication LOGIX UM 002B EN P J anuary 2007 Troubleshoot Axis M otion 127 Why does my axis overshoot its target speed Example Look for While an axis is accelerating you try to stop the axis or change its speed The axis keeps accelerating and goes past its initial target spee
229. e in the servo control loop Properly configured with a suitable value for the Backlash Stabilization Window entirely eliminates the gearbox buzz without sacrificing any servo performance In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Provides a dynamic velocity correction to the output of the position servo loop in position units per second Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output Click on this button to open the Offset tab of the Manual Adjust dialog for online editing of the Friction Deadband Compensation Backlash Fault Actions Tab AXIS_SERVO Axis Properties 245 Compensation Velocity Offset Torque Offset and Output Offset parameters Manual Adjust AxisO Fa Dynamics Gains Qutput Limits Ottset Friction Compensation Friction Compensation 0 0 Faszi Window 0 0 Position Units Backlash Compensation Reversal Offset 0 0 Position Units Stabilization Window 10 0 Position Units Velocity Offset joo a Position Units s Torque Force Offset 0 0 OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Use this tab t
230. e is in the normal operating state Flashing red One of the following If an NVS update is in progress complete the NVS update e A major recoverable failure has occurred If an NVS update is not in progress A communication fault timer fault or non volatile memory storage NVS update is e Check the Servo Fault word for the source of the error in progress e Clear the servo fault condition via M otion Axis Fault e The OK contact has opened Reset instruction e Resume normal operation e If the flashing persists reconfigure the module Steady red One of the following e A potential non recoverable fault has Reboot the module occurred e The OK contact has opened If the solid red persists replace the module Publication LOGIX UM 002B EN P J anuary 2007 118 Interpret M odule Lights LEDs FDBK Light State Description Off The axis is not used Recommended Action None if you are not using this axis If you are using this axis make sure the module is configured and an axis tag has been associated with the module Flashing green The axis is in the normal servo loop inactive state Steady green The axis is in the normal servo loop active state None The servo axis state can be changed by executing motion instructions None The servo axis state can be changed by executing motion instructions Flashing red The axis servo loop error tolerance has been e Correct the source of the proble
231. e make things clearer all provided information is easy to understand Other Comments You can add additional comments on the back of this form Your Name Your Title Function Would you like us to contact you regarding your comments Location Phone ___No there is no need to contact me ___ Yes please call me ___ Yes please email me at ___Yes pleasecontactmevia 222222222 Return this form to Rockwell Automation Technical Communications 1 Allen Bradley Dr Mayfield Hts OH 44124 9705 Fax 440 646 3525 Email RADocumentComments ra rockwell com Publication ClG CO521C EN P M ay 2003 PN 957988 76957782 91 PLEASE FASTEN HERE DO NOT STAPLE Other Comments PLEASE FOLD HERE NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE Allen Bradley EELAMEIR DOOGE ROCKWELL FESS _ Rockwell Automation 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 Rockwell Automation Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can Support find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an addit
232. e the 1756 M 02AE when your equipment has quadrature encoder feedback The module also has e Home limit switch inputs e Drive fault inputs e Drive enable outputs e 5V or 24V position registration inputs e 250 us position and velocity loop updates 1756 HYD02 The 1756 HY D02 is a two axis servo module for hydraulic actuators that need a 10V velocity reference Use the 1756 HYD02 when your equipment has magnostrictive linear transducer LDT feedback The module is similar to the 1756 M 02AE with these exceptions e Feed Forward adjust in addition to single step Auto Tune e Gain ratio between extend direction and retract direction to accommodate hydraulic cylinder dynamics e Intelligent transducer noise detection filtering in hardware and firmware replaces programmable IIR filtering 1756 M 02AS The 1756 M 02AS is a two axis servo module for drives actuators that need a 10 volt velocity or torque reference input Use the 1756 M02AS when your equipment has Serial Synchronous Input SSI position feedback The module is similar to the 1756 M 02AE with these exceptions e Gain ratio between extend direction and retract direction to accommodate hydraulic cylinder dynamics e Intelligent transducer noise detection filtering in hardware and firmware replaces programmable IIR filtering e SSI interface consisting of Differential Clock output and Data return signals replaces the differential encoder interface 1756 M 03SE Use a SERCOS interface modu
233. e the output shaft exactly 1 revolution Linear Ball Screw WITHOUT Aux Feedback Device Based on a rotary motor selection Drive Resolution would be expressed as Drive Counts per M otor Rev and be applied to the Rotational Position Resolution IDN The user would set the Conversion Constant to Drive Counts per user defined Position Unit If it is a 5mm pitch ball screw and the user s Position Unit is say mm the user simply sets the Conversion Constant to 200 000 5 or 40 000 Drive Counts per mm based on the default Drive Resolution value of 200 000 Drive Counts M otor Rev If the pitch is irrational the method for addressing this is the same as described in Rotary Gear Head WITHOUT Aux Feedback Device Rotary Gear Head WITH Aux Feedback Device Based ona rotary motor feedback selection Drive Resolution would be expressed as Drive Counts per Aux Rev and be applied to the Rotational Position Resolution IDN Now that position is based on the auxiliary feedback device according to the Servo Loop Configuration the Data Reference bit of the various Scaling Types should be Load Referenced rather than M otor Referenced The motor feedback would be rotary and resolution expressed in cycles per motor rev The aux feedback device is also rotary and its resolution expressed in cycles per aux rev The Aux Feedback Ratio would be set to the number of aux feedback revs per motor rev and internally applied to IDNs 121 and 122 for the purpose of relating po
234. e this method if you are operating the axes between the travel limits determined prior to programming a Motion Redefine Position MRP instruction and want these travel limits to stay operational e Method 2 uses a MRP instruction to redefine the axes position to align with the Joint reference frame This method may require the soft travel limits to be adjusted to the new reference frame Method 1 Establishing a Reference Frame Each axis for the robot has the mechanical hard stop in each of the positive and negative directions Manually move or press each axes of Publication LOGIX UM 002B EN P J anuary 2007 Set the Zero Angle Orientations Kinematics in RSLogix 5000 Software 87 the robot against its associated mechanical hard stop and redefine it to the hard limit actual position provided by the robot manufacturer J1 is the axis at the base of the robot that rotates around X3 When the robot is moved so that Link is parallel to the X3 axis and Link2 is parallel to X1 axis as shown in Figure 2 Articulated Independent the RSLogix 5000 Actual Position tag values should be equal to e Ji 0 e J2 90 degrees e J3 90 degrees If the RSLogix 5000 Positions tags do not correspond to these values configure the Zero Angle Orientation for the joint s that do not correspond For example If the RSLogix 5000 software read out Set the Zero Angle Orientations on the values are Coordinate System Properties dialog to J1 10 Z71
235. ecified servo output limit For example if the drive is capable of 30 Amps of current for a 10 Volt input setting the servo output limit to 5V limits the maximum drive current to 15 Amps The servo output limit may also be used if the drive cannot accept the full 10 Volt range of the servo output In this case the servo output limit value effectively limits the maximum command sent to the amplifier For example if the drive can only accept command signals up to 7 5 Volts set the servo output limit value to 7 5 volts Click on this button to open the Limits tab of the Manual Adjust dialog for online editing of the Position Error Tolerance Position Lock Tolerance and Output Limit parameters Manual Adjust myservolaxis Ea Dynamics Gains Output Limits Offset Position Error Tolerance 0 0 m Position Units Heset e Position Lock Tolerance 0 0 Position Units Dutput Limit 10 0 j Volts OK Cancel Apply Help Publication LOGIX UM 002B EN P anuary 2007 232 Axis Properties The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Limits Tab Use this tab to make the following offline configurations AXIS_SERVO_DRIVE e enable and set maximum positive and negative software travel limits and e configure both Position Error Tolerance and Position Lock Tolerance for an axis of the
236. ect Commands 055 32 Choose a Command lt 4 2s wick Gace ae ae ace ae es 34 Motion Direct Command Dialog 000 37 Motion Direct Command Error Process 05 39 What If the Software Goes Offline or the Controller Changes MOdES ra ile axe cg itd ans ke wun Ras entra tte ke Dad nk as 42 Can Two Workstations Give Motion Direct Commands 42 Chapter 3 THMOCMCHON 5 foi5 45 4 ace a Perea aad ele RAPE LO ea RR 43 Choose If Motion Faults Shut Down the Controller 44 Choose the Fault Actions for an Axis 00 45 Set the Fault Action for an Axis 0000000 46 Chapter 4 TVR GEC HO ar a yn tas cata ca a a a es S 47 Create a Coordinate System eee eee 48 Entering Tag Information is oe ea ea ame eee eS 48 Editing Coordinate System Properties 05 52 Publication LOGIX UM 002B EN P J anuary 2007 Table of Contents 6 Inhibit an Axis Kinematics in RSLogix 5000 Software Interpret M odule Lights LEDs Troubleshoot Axis Motion Publication LOGIX UM 002B EN P anuary 2007 Chapter 5 POG WOU ONS xe meka ahd elite Soviet et Oe eh gee eeu aeons He 71 When to Inhibit an Axis 5 aries adiaets om emus amceeacente ae 71 Before You Begin 6 cee eee eens 72 Example Inhibit an AXIS 3555 9 4h aes eee we Me eS 75 Example Uninhibit an AxiS sab oes eed oe 76 Chapter 6 lntoduction eens u hing Sah tna ee ad arene a te 77 Overview of Kinem
237. ectively filters the specified master axis position input to the slave s gearing or position camming operation When enabled bit set this filter has the effect of smoothing out the actual position signal from the master axis and thus smoothing out the corresponding motion of the slave axis The trade off for smoothness is an increase in lag time between the response of the slave axis to changes in motion of the master Note that the M aster Position Filter also provides filtering to the extrapolation noise introduced by the M aster Delay Compensation algorithm if enabled When the M aster Position Filter bit is set the bandwidth of the M aster Position Filter is controlled by the M aster Position Filter Bandwidth attribute see below This can be done by setting the M aster Position Filter bit and controlling the M aster Position Filter Bandwidth directly Setting the M aster Position Filter Bandwidth to zero can be used to effectively disable the filter Master Offset AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS_ GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_ SERVO AXIS SERVO DRIVE M aster Offset in M aster Position Units AXIS_VIRTUAL The M aster Offset is the position offset that is currently applied to the master side of the position cam The M aster Offset is returned in master position units The M aster Offset will show
238. ecuting an M AOC instruction with Pending execution selected As soon as this output cam is armed being triggered when the currently executing Output Cam has completed the Output Cam Pending bit is cleared This bit is also cleared if the Output Cam is terminated by a M DOC instruction Output Cam AXIS_CONSUMED DINT GSV A set of bits that are set when the Output Cam has been initiated The Status AXIS GENERIC Tag bit number corresponds with the execution target number One bit per execution target AXIS_ SERVO The Output Cam Status bit is set when an Output Cam has been AXIS_SERVO_DRIVE initiated The Output Cam Status bit is reset when the cam position AXIS VIRTUAL moves beyond the cam start or cam end position in Once execution mode with no Output Cam pending or when the Output Cam is terminated by a M DOC instruction Publication LOGIX UM 002B EN P anuary 2007 Attribute Axis Attributes 325 Data Type Access Axis Type DINT GSV Description A set of bits that are set when the transition from the current armed Output Cam Transition Status AXIS_CONSUM ED AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL Tag Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target The Output Cam Transition Status bit is set when a transition between the currently armed and the pending Output Cam is in process Therefore each O
239. ed for this instance in bytes AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL Memory Use AXIS_CONSUMED INT GSV Controller memory space where instance exists AXIS_ GENERIC z 105 0x69 1 0 space AXIS_SERVO AXIS_SERVO_DRIVE 106 0x6a Data Table space ae RSLogix 5000 software uses this attribute to create axis instances in 1 0 memory for axes that are either to be produced or consumed The M emory Use attribute can only be set as part of an axis create service and is used to control which controller memory the object instance is created in Module Channel AXIS_ GENERIC SINT GSV Zero based channel number of the module Oxff indicates unassigned AXIS_ SERVO oe a i 7 The axis is associated to a specific channel on a motion module by AXIS_SERVO_DRIVE specifying the Module Channel attribute Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 315 AXIS_ SERVO AXIS_SERVO_DRIVE Attribute Axis Type Data Type Access Description Module Class AXIS_ SERVO DINT GSV ASA Object class code of the motion engine in the module for example Code AXIS SERVO DRIVE OxAF for the M 02AE module The ASA class code of the object in the motion module which is Supporting motion for example OxAF is the ASA object ID of the Servo Module Axis Object residing in the 1756 M 02AE module M odule Fault AXIS_CONSUMED BOOL Tag Set when a serious fault has occurred with the motion module AXIS GENERIC associated with the selected axis Usu
240. edures Manual 1756 PM001 ladder diagram LD e Logix5000 Controllers Motion structured text ST Instructions Reference Manual i 1756 RM007 sequential function chart SFC e Logix5000 Controllers General e Each motion instruction works on one or more axes Instructions Reference Manual 1756 RM003 e Each motion instruction needs a motion control tag The tag uses a MOTION INSTRUCTION data type The tag stores the status information of the instruction MSO Motion Servo On N3 Axis it No Motion control tag Motion control ERD ATTENTION Use the tag for the motion control operand of motion instruction only once Unintended operation of the control variables may happen if you re use of the same motion control tag in other instructions Example Here s an example of a simple ladder diagram that homes jogs and moves an axis If Initialize Pushbutton on and the axis off My_Axis_X ServoActionStatus off then The MSO instruction turns on the axis MSO Initialize_Pushbutton My_Axis_ ServadctionStatus Motion Servo On _ Axis My Axis x E Motion Control My_Axis_X_On If Home_ Pushbutton on and the axis hasn t been homed My Axis X AxisHomedStatus off then The M AH instruction homes the axis MAH Home_Pushbutton My Axis _ AxisHomedStatus Motion Axis Home Axis My Axis x E Motion Control My Axis x Home Publication LOGIX UM 002B EN P J anuary
241. eed Programmed lt lt Less Jog_PB lt Local 4 Data O gt AS Motion Axis Stop EN Axis My_Axis ECDN f i Motion Control Stop_1 ER gt The instruction that stops the axis keeps the Stop Type Jog Pp S Curve profile Suppose you use an MAS TEE C instruction with the Stop Type set to Jog In that case the axis keeps the profile of the MAJ instruction that started the axis Troubleshoot Axis M otion 131 Cause When you use an Scurve profile jerk determines the acceleration and deceleration time of the axis An S curve profile has to get acceleration to 0 before the axis can speed up again The following trends show how the axis stops and starts with a trapezoidal profile and an S curve profile Start w hile decelerating Trapezoidal S curve 100 D oo own speed goes down until acceleration is 0 S s acceleration The axis speeds back up as soon as you start the jog The axis continues to slow down until the S curve profile again brings the acceleration rate to 0 Corrective action If you want the axis to accelerate right away use a trapezoidal profile Publication LOGIX UM 002B EN P J anuary 2007 132 Troubleshoot Axis Motion While an axis is jogging at its target speed you stop the axis Before the axis stops completely you restart the jog The axis continues to slow down and then reverse direction Eventually the axis changes direction aga
242. efuses to budge Friction Compensation is used to break sticktion in the presence of a nonzero position error This is done by adding or subtracting a percentage output level called Friction Compensation to the Servo Output value The Friction Compensation value should be just less than the value that would break the sticktion A larger value can cause the axis to dither that is move rapidly back and forth about the commanded position To address the issue of dither when applying Friction Compensation and hunting from the integral gain a Friction Compensation Window is applied around the current command position when the axis is not being commanded to move If the actual position is within the Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied If the Friction Compensation Window is set to zero this feature is effectively disabled A nonzero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Friction Compensation to be applied Hun
243. elected This calculated value must be typed into the Conversion Constant field on the Conversion tab as it is not automatically updated Minimum Servo Update Period The Minimum Servo Update period is calculated based on the values entered for Recirculations and Length on the Feedback tab When Axis Properties 175 these values are changed selecting the Calculate button recalculates the Minimum Servo Update Period based on the new values Calculate Button The Calculate Button becomes active whenever you make changes to the values on the Feedback tab Clicking on the Calculate Button recalculates the Conversion Constant and Minimum Servo Update Period values however you must then reenter the Conversion Constant value at the Conversion tab as the values are not updated automatically Drive M otor Tab Use this tab to configure the servo loop for an AXIS SERVO_DRIVE AXIS SERVO DRIVE axis and open the Change Catalog dialog box e Axis Properties mysercoslaxis Io x Homing Hookup Tune Dynamics Gains l Dutput Limits Ottset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Amplifier Catalog Number Motor Catalog Number am Change Catalog Loop Configuration Dual Command Servo Drive Resolution 200000 Drive Counts per Motor Rev x Calculate IV Drive Enable Input Checking T Drive Enable Input Fault Real Time Axis Infomation A
244. elocity Scaling value can be calculated by the following formula Velocity Scaling 100 Speed 100 For example if this axis is using position units of motor revolutions revs and the servo drive is scaled such that with an input of 100 for example 10 Volts the motor goes 5 000 RPM or 83 3 RPS the Velocity Scaling attribute value would be calculated as Velocity Scaling 100 83 3 RPS 1 2 Revs Per Second The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS2 0 0333 Rated Revs Per Second2 If the Torque Scaling value does not reflect the true torque to acceleration characteri
245. elocity Scaling value is typically established by servo s automatic tuning procedure but these values can be calculated if necessary using the following guidelines If the axis is using a velocity servo drive the software velocity loop in the servo module is disabled In this case the Velocity Scaling value can be calculated by the following formula Velocity Scaling 100 Speed 100 For example if this axis is using position units of motor revolutions revs and the servo drive is scaled such that with an input of 100 for example 10 Volts the motor goes 5 000 RPM or 83 3 RPS the Torque Scaling attribute value would be calculated as shown below Velocity Scaling 100 83 3 RPS 1 2 Revs Per Second Publication LOGIX UM 002B EN P anuary 2007 364 Axis Attributes Attribute Axis Type Data Type Access Description Velocity Servo AXIS_SERVO REAL GSV Hertz Bandwidth AXIS_SERVO_DRIVE SSV The value for the Velocity Servo Bandwidth represents the unity gain bandwidth that is to be used to calculate the gains for a subsequent M AAT M otion Apply Axis Tune instruction The unity gain bandwidth is the frequency beyond which the velocity servo is unable to provide any significant position disturbance correction In general within the constraints of a stable servo system the higher the Velocity Servo Bandwidth is the better the dynamic performance of the system A maximum value for the Velocity Servo Bandwidth is generate
246. em having low feedback resolution In general the lower the Tune Inertia the better the performance of the digital servo loops approximates that of an analog servo system The product of the Tune Inertia Rated M CPS and the Velocity Servo BW Hertz can be calculated to directly determine quantization noise levels Based on this product the tuning algorithm can take action to limit high frequency noise injection to the motor For motors with a Tune Inertia BW product of 1000 or more the LP Filter is applied with a Filter BW of 5x the Velocity Servo Bandwidth in Hertz This limits the amount of phase lag introduced by the LP filter to 12 degrees which is relatively small compared to the 30 to 60 degrees of phase margin that we have for a typical tuned servo system Witha typical tuned LP filter BW value of 200 Hz we can expect the high frequency quantization noise in the 1 KHz range to be attenuated roughly by a factor of 5 When the Tune Inertia BW product reaches 4000 or more the LP filter alone is not going to be enough to manage the quantization noise level So the tune algorithm begins to taper the system bandwidth by the ratio of 4000 Tune Inertia Vel Servo BW This holds the quantization noise level at a fixed value independent of the Tune Inertia BW product For example a motor with a Tune Inertia value of 213 and a Vel Servo BW of 41 Hz 8733 Inertia BW product tunes with a Pos P Gain of 46 and a Vel P Gain of 117 and LP
247. encoder marker event Passive homing is most commonly used to calibrate uncontrolled axes although it can also be used with controlled axes to create a custom homing sequence Passive homing fora given home sequence works similar to the corresponding active homing sequence except that no motion is commanded the controller just waits for the switch and marker events to occur Publication LOGIX UM 002B EN P J anuary 2007 192 Axis Properties e Absolute AXIS SERVO_DRIVE and AXIS SERVO when associated with a 1756 HYD02 LDT feedback or 1756 M02AS SSI feedback module only In this mode the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device The only valid Home Sequence for an absolute Homing Mode is immediate In the LDT and SSI cases the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position less any enabled Absolute Feedback Offset to the reported position of the absolute feedback device Prior to execution of the absolute homing process using the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled IMPORTANT For the SSI feedback transducer no physical marker pulse exists However a pseudo marker reference is established by the M02AS module firmware at the feedback device s roll over point A single turn Absolute S
248. ep clear of Drive Fault The Drive Fault field lets you specify the fault action to be taken when Feedback Noise Feedback Loss a drive fault condition is detected for an axis with the Drive Fault Input enabled in the Servo tab of this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown and Disable Drive The Feedback noise field lets you specify the fault action to be taken when excessive feedback noise is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only The Feedback Loss field lets you specify the fault action to be taken when feedback loss condition is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Publication LOGIX UM 002B EN P anuary 2007 248 Axis Properties Position Error The Position Error field lets you specify the fault action to be taken Soft Overtravel Fault Actions Tab AXIS_SERVO_ DRIVE Publication LOGIX UM 002B EN P anuary 2007 when position error exceeds the position tolerance set for the axis for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only The Soft Overtravel field lets you specify the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and
249. eptable Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis Continued on next page Publication LOGIX UM 002B EN P J anuary 2007 262 Axis Attributes Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO_DRIVE Feedforward Gain cont The Acceleration Feedforward Gain attribute is used to provide the Torque Command output necessary to generate the commanded acceleration It does this by scaling the current Command Acceleration by the Acceleration Feedforward Gain and adding it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much control effort hence the Position and or Velocity Error values are significantly reduced When used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward is 100 theoretically In reality however the value may need to be tweaked to accommodate torque loops with non infinite loop gain and other application considerations One thing that may force a
250. eral tab and the spat appears next to General e Axis Properties mysercos4axis Mel X Conversion Homing Hookup Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Feedback Only x Motion Group mymationgroup 7 eB r Associated Module Module my2094dry ne Module Type 2094 4C05 M01 Node 129 Auxiliary Hew Group Cancel Apply Help This also places a spat on the Aux Feedback tab and you must go there and select the appropriate values On the Drive Motor tab the Loop Configuration is changed to Aux Feedback Only Publication LOGIX UM 002B EN P J anuary 2007 162 Axis Properties General Tab The AXIS VIRTUAL General tab is shown below AXIS_VIRTUAL e Axis Properties myvirtualaxis ioj xi General Motion Planner Units Conversion Homing Dynamics Tag New Group Motion Group mymotiongroup fa Cancel Apply Help Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 163 General Tab
251. ert the millimeter link measurements to inches and enter the values in the appropriate link length fields Be sure that the link lengths specified for an articulated coordinate system are in the same measurement units as the affiliated Cartesian coordinate system Your system will not work propery if you are using different measurement units The number of fields available for configuration in the link lengths box is determined by values entered on the General tab for the type of coordinate system total coordinate system dimensions and transform dimensions The link identifiers are L1 and 12 in the corresponding graphic These fields are not configurable for a Cartesian coordinate system Zero Angle Orientations Box The zero angle orientation is the rotational offset of the individual joint axes If applicable enter the offset value in degrees for each joint axis The number of available fields is determined by the coordinate dimension value entered on the General tab The angle identifiers are Z1 Z2 and Z3 in the corresponding graphic Publication LOGIX UM 002B EN P J anuary 2007 60 Create and Configure a Coordinate System To edit the Units properties select the Units tab to access the Coordinate System Properties Units dialog Coordinate System Properties cartesian_coordinate_system DR General Geometry Units Offsets Dynamics Tag Coordination Units Coordination Units Axis Name Conversion Ratio
252. ervo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag ipa Manual Adjust Proportional 0 0 1 s Integral ao TE Differential oo Velocity Gains m Feedforward Gains Proportional oo 17s Velocity oo Integral o o 1 ms s Acceleration ao t t Integrator Hold Enabled z Cancel Apply Help The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it c
253. es e AXIS_ SERVO e AXIS_SERVO_DRIVE e AXIS_GENERIC_DRIVE Publication LOGIX UM 002B EN P J anuary 2007 Inhibit an Axis 73 To inhibit all of the axes of a motion Do you want to inhibit all of the axes of a motion module module inhibit the module instead e YES Inhibit the motion module instead e NO Inhibit the individual axes It s OK to inhibit all of the axes of a module one by one It s just easier to inhibit the module Example Suppose your motion module has two axes and you want to inhibit both of those axes In that case just inhibit the module ims ad My_Controller E Module Properties Local 2 1756 L60MO3SE SERCOS 15 1 as oe iar Groups General Connection SERCOS Interface SERCOS Interface Info Module Info Backplan rends Data Types E 1 0 Configuration 1756 Backplane 1756 413 fa 1 1756 L60M035E My_Controller SERCOS Network ffl 1 2098 D5D 020 5E My_Axis_X ffl 2 2098 DSD 020 SE My_Axis_Y Requested Packet Interval RPI ms I Major Fault On Controller If Connection Fails While in Run Mode r Module Fault If you inhibit all of the axes on a SERCOS ring the drives phase up to phase 2 This happens whether you inhibit all the axis individually or you inhibit the motion module Phase 2 Inhibited Motion Module Motion Module Phase Phase Inhibited Inhibited
254. es 394 Shutdown 395 Coordinate M otion Status 393 396 Coordinate System Status 396 M otion Coordinate System Configuration Attributes Coordinate System Auto Tag Update 396 Coordinate System Dynamics Con figuration Actual Position Tolerance 393 394 Command Position Tolerance 395 Maximum Acceleratio 397 Maximum Deceleration 397 Maximum Speed 398 Max Pending Moves 397 Motion Status Attributes Actual Acceleration 257 263 Actual Position 263 Actual Velocity 263 Average Velocity 269 Command Acceleration 280 Command Position 281 Command Velocity 281 Interpolated Actual Position 308 Interpolated Command Position 309 Interpolation Time 309 M aster Offset 312 Motion Status Bits 319 Registration Position 337 Registration Time 337 Start M aster Offset 345 Start Position 345 Strobe M aster Offset 346 Strobe Position 346 Watch Position 365 Servo Configuration Attributes Absolute Feedback Enable 258 Absolute Feedback Offset 259 Axis Info Select 274 External Drive Type 300 Fault Configuration Bits 301 Drive Fault Checking 301 Drive Fault Normally Closed 302 Hard Overtravel Checking 301 Soft Overtravel Checking 301 LDT Calibration Constant 309 LDT Calibration Constant Units 309 LDT Length 309 LDT Length Units 309 LDT Recirculations 309 LDT Scaling 309 LDT Scaling Units 309 LDT Type 310 Servo Feedback Type 341 A Quadrature B Encoder Inter face 341 Linear Displacement Transducer 342 Synchronous Serial
255. es when configuring an Articulated Independent robot WARNING Before turning ON the Transform and or establishing the reference frame be sure to do the following for the joints of the target coordinate system e set and enable the soft travel limits e enable the hard travel limits Failure to do this can allow the robot to move outside of the work envelope causing machine damage and or serious injury or death to personnel Establish the Reference Frame The reference frame is the Cartesian coordinate frame that defines the origin and the three primary axes X1 X2 and X3 These axes are used to measure the real Cartesian positions WARNING O Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions causing machine damage and or injury or death to personnel The reference frame for an Articulated Independent robot is located at the base of the robot as shown in the figure below Figure 1 Articulated Independent Before you begin establishing the Joint to Cartesian reference frame relationship it is important to know some information about the Kine Kinematics in RSLogix 5000 Software 85 matic mathematical equations used in the ControlLogix 1756 L6xx controllers The equations were written as if the Articulated Indepen dent robot joints were positioned as shown in Figure 2 Articulated Independent e J1 is measured counterclockwise aro
256. ferential Gain helps predict a large overshoot before it happens and makes the appropriate attempt to correct it before the overshoot actually occurs This parameter is enabled for all loop types except Torque loop Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Servo Output or Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects If you know the desired unity gain bandwidth of the velocity servo in Hertz you can use the following formula to calculate the corresponding P gain Velocity P Gain Bandwidth Hertz 6 28 The typical value for the Velocity Proportional Gain is 250 This parameter is enabled for all loop types except Torque loop At every servo update the current Velocity Error is accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Servo Output or Torque Command that attempts to correct for the velocity error The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too much I Gain results in a
257. ffsets value The correct base offset values are typically available from the robot manufacturer The base offset indicators are X1b X2b and X3b in the corresponding graphic If you are configuring an articulated coordinate system click on the Joints tab to access the Coordinate System Properties Joints dialog Coordinate System Properties joint_coordinate_system General Geometry Units Offsets Joints Tag Axis Name Joint Ratio Joint Units J1_axis j Position Units Degrees J2_axis i Position Units Degrees J3_axis i Position Units Degrees Joints Tab The Joints tab is only accessible if you are configuring or editing an articulated coordinate system This screen is where you define the Publication LOGIX UM 002B EN P J anuary 2007 64 Create and Configure a Coordinate System Publication LOGIX UM 002B EN P anuary 2007 Joint Conversion Ratios Joint axis units are always specified in Degrees Axis Name The Axis Name column displays the names of the axes associated to the coordinate system The names appear in the order that they were configured into the coordinate system This is a read only field J oint Ratio The Joint Ratio column shown in white is divided into two columns that define the relationship between the axis position units to the joint axis units The left half of the Joint Ratio column is a configurable field that lets you specify a value for the axis position units numerator The
258. g is configured This chapter describes how to name configure and edit your Coordinate System tag Publication LOGIX UM 002B EN P J anuary 2007 48 Create and Configure a Coordinate System Create a Coordinate System To create a coordinate system right click the motion group in the Controller Organizer and select New Coordinate System B 63 Motion Groups A o RINE mygenerica New Axis z x mysercos2a New Coordinate System x mysercos3a Lem mysercos4a Monitor Group Tag t myservolax gt myvirtualaxi Ungrouped Axe Clear MotionGroup Faults Mea Fault Help The New Tag dialog opens Name mycoordsyst Description Cancel HEE Help of Tag Type Base Alias Produced fa consumers I C Consumed Data Type co ORDINATE_SYSTEM Bi Configure Scope My_Controller controller Style z Enter Tag Information A tag lets you allocate and reference data stored in the controller A tag can be a single element array or a structure With COORDINATE SYSTEM selected as the Data Type there are only two types of tags that you can create e A base tag lets you create your own internal data storage e An alias tag lets you assign a name of your choosing to an existing coordinate system tag Publication LOGIX UM 002B EN P J anuary 2007 Create and Configure a Coordinate System 49 New Tag Parameters The following parameters appear on the New Tag dialog when you ar
259. g is the same as the M odule Fault Bits attribute Module Fault Bit Control Sync Fault Module Sync Fault Timer Event Fault M odule Hardware Fault SERCOS Ring Fault Inter M odule Sync Fault aj gt ws N ej These faults have module scope instead of axis scope e These faults show up in all the axes that are connected to the motion module e The motion planner updates these fault bits every coarse update period Do you want any of these faults to give the controller a major fault e YES Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Module AXIS_ SERVO BOOL Tag If this bit is set the motion module has a hardware problem that in Hardware Fault AXIS SERVO DRIVE general is going to require replacement of the module Module Sync AXIS_ SERVO BOOL Tag If this bit is set the motion module lost communication with the Fault AXIS SERVO DRIVE controller and missed several position updates in a row e The motion module can miss up to 4 position updates After that the motion module shuts down e This bit clears when communication is reestablished M ot Feedback AXIS_SERVO_DRIVE BOOL Tag Set for the A Quad B feedback device when one of these happens Fault e The differential electrical signals for one or more of the feedback Publication LOGIX UM 002B EN P J anuary 2007 channels for example A and A B and B or Z and Z are a
260. gure the Translation vector as 0 0 0 5 Link the CS1 and CS2 using a MCT instruction 6 Home the H bot and then program all moves in CS1 The machine moves the tool center point TCP to the programmed coordinates in CS2 The 45 degree rotation introduced by the Kinematics counteracts the 45 degree rotation introduced by the mechanics of the machine and the H bot moves to the CS1 configured coordinates As a result a programmed move of Xivirt 10 X2virt 5 moves to a real mechanical position of X1 10 X2 5 Establish the Reference Frame For a Cartesian H bot the Base Coordinate system is an orthogonal set of X1 X2 axes postponed anywhere on the Cartesian H bot The angular rotation of the reference frame may not be rotated for this robot since the angular rotation vector is used to achieve the 45 degree rotation required for the mechanical operation Identify the Work Envelope The work envelope for a Cartesian H bot is a rectangle of length and width equal to the axis soft travel limits Publication LOGIX UM 002B EN P J anuary 2007 106 Kinematics in RSLogix 5000 Software Configure a SCARA Publication LOGIX UM 002B EN P J anuary 2007 Define Configuration Parameters Link Lengths Does not apply to a Cartesian H bot configuration Base Offsets Does not apply to a Cartesian H bot configuration End Effector Offsets Does not apply to a Cartesian H bot configuration The typical SCARA has two revolute joints and a
261. he spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software is offline the following parameters can be edited and the program saved to disk using either the Save Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration J erk Axis Properties 205 command or by clicking on the Apply button You must re download the edited program to the controller before it can be run The steady state speed of the axis it is initially set to Tuning Speed by the tuning process This value is typically set to about 90 of the maximum speed rating of the motor This provides sufficient head room for the axis to operate at all times within the speed limitations of the motor The Maximum Speed value entered is used when the motion instruction is set with Speed Units of Maximum If a motion instruction has a Speed Units units per sec value entered then the speed is taken from the motion instruction faceplate The maximum acceleration rate of the axis in Position Units second it is initially set to about 85 of the measured tuning acceleration rate by the tuning process If set manually this value should typically be set to about 85 of the maximum acceleration
262. he Feedback Interpolation Factor depends on both the feedback device and the drive feedback circuitry Quadrature encoder feedback devices and the associated drive feedback interface typically support 4x interpolation so the Interpolation Factor for these devices would be set to 4 Feedback Counts per Cycle Cycles are sometimes called Lines High Resolution Sin Cosine feedback device types can have interpolation factors as high as 2048 Counts per Cycle The product to the Feedback Resolution and the corresponding Feedback Interpolation Factor is the overall resolution of the feedback channel in Feedback Counts per Feedback Unit In our example a Quadrature encoder with a 2000 line rev resolution and 4x interpolation factor would have an overall resolution of 8000 counts rev Publication LOGIX UM 002B EN P J anuary 2007 Axis Attributes 321 Attribute Axis Type Data Type Access Description Motor Feedback AXIS_SERVO_DRIVE DINT GSV Cycles per M otor Feedback Unit pescunan The M otor and Aux Feedback Resolution attributes are used to provide the A B drive with the resolution of the associated feedback device in cycles per feedback unit These parameters provide the SERCOS drive with critical information needed to compute scaling factors used to convert Drive Counts to Feedback counts Motor Feedback AXIS_SERVO_DRIVE INT GSV The M otor and Aux Feedback Type attributes are used to ide
263. he Notch Filter value is set to zero the notch filter is disabled Currently implemented as a 2nd order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output attenuation at the Notch Filter frequency This output notch filter is particularly useful in attenuating mechanical resonance phenomena The output filter is particularly useful in high inertia applications where mechanical Enable Low pass Output Filter Low pass Output Filter Bandwidth Axis Properties 227 resonance behavior can severely restrict the maximum bandwidth capability of the servo loop This value is not applicable for Ultra3000 drives Select this to enable the servo s low pass digital output filter De select this to dis able this filter During tuning if the controller detects a high degree of tuning inertia the controller enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth With Enable Low pass Output Filter selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting is filtered out and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the grea
264. he Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability To set the gain manually you must first set the Torque scaling in the Output tab of this dialog If you know the desired loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 The typical value for the Position Proportional Gain is 100 Sec 1 The Integral that is summation of Position Error is multiplied by the Position Loop Integral Gain or Pos I Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in th
265. he axis is inhibited e OFF The axis is uninhibited The controller changes the InhibitStatus bit only after all of these have happened e The axis has changed to inhibited or uninhibited e All uninhibited axes are ready e The connections to the motion module are running again InhibitAxis AXIS_SERVO INT GSV To Set the attribute to AXIS_SERVO_DRIVE SSV Block the controller from using the axis This 1 or any non zero value inhibits the axis Let the controller use the axis This 0 uninhibits the axis Integrator Hold AXIS_SERVO SINT GSV When the Integrator Hold Enable attribute value is configured TRUE the Enable AXIS SERVO DRIVE SSV servo loop temporarily disables any enabled integrators while the 7 7 command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion W hen the Integrator Hold Enable attribute value is FALSE all active integrators are always enabled 0 disabled 1 enabled Inter Module AXIS_ SERVO BOOL Tag If this bit is on the analog servo cards of a SoftLogix5800 controller Sync Fault aren t synchronized The hardware or vbfirmware of the card causes this fault For example the cable between 2 cards isn t connected Interpolated AXIS_CONSUMED REAL GSV Interpolated Actual Position in Position Units ws Interpolated Actual Position is the interpolation of the actual position AXIS_ GENERIC Ta ape Actual Position 3 based on past axis trajectory history at the t
266. he motor In other words when the gear teeth are not engaged the system inertia is reduced to the motor inertia If the servo loop is tuned for peak performance with the load applied the axis is at best under damped and at worst unstable in the condition where the gear teeth are not engaged In the worst case scenario the motor axis and the input gear oscillates wildly between the limits imposed by the output gear teeth The net effect is a loud buzzing sound when the axis is at rest If this situation persists the gearbox wears out prematurely To prevent this condition the conventional approach is to de tune the servo so that the axis is stable without the gearbox load applied Unfortunately system performance suffers Due to its non linear discontinuous nature adaptive tuning algorithms generally fall short of addressing the backlash problem However a very effective backlash compensation algorithm can be demonstrated using the Torque Scaling gain The key to this algorithm is the tapered Torque Scaling profile as a function of the position error of the servo loop The reason for the tapered profile as opposed to a step profile is that when the position error exceeds the backlash distance a step profile would create a very large discontinuity in the torque output This repulsing torque tends to slam the axis back against the opposite gear tooth and perpetuate the buzzing effect The tapered Torque Scaling profile is only run when the
267. he servo loop includes Position Command and Velocity Offset Torque Offset is ignored The controller updates these values at the coarse update period of the motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes Publication LOGIX UM 002B EN P J anuary 2007 370 Servo Loop Block Diagrams AXIS_SERVO_DRIVE Publication LOGIX UM 002B EN P anuary 2007 Topic Page M otor Position Servo 371 Auxiliary Position Servo 372 DualfeedbackSevo 0 RB M otor Dual Command Servo 374 Auxiliary Dual Command Servo 375 Dual Command Feedback Servo 376 Velocity Servo 376 Torque Servo 377 Drive Gains 377 Servo Loop Block Diagrams 371 Motor Position Servo Servo Config Motor Position Servo Torque Offset Velocity fiset Accel Command Torque Command Position Command Velocity Velocity Coarse El Command Low Pass Filter Fine Notch Interpolator Filter Position Command Pane Pos Velocity ccum Gain Feedback ulator Position Integrator Error Position Feedback Velocity Integrator Error Filter Feedback Polarity Motor Feedback Channel Hardware Feedback Position Motor Feedback 1 1 1 Aux Feedback Hardware Channel Raw
268. he speed of the jog profile used in the return leg s of an active homing sequence The home return speed specified should be less than the maximum speed and greater than zero Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 191 Homing Tab Use this tab to configure the attributes related to homing an axis of the AXIS_SERVO_DRIVE type AXIS SERVO DRIVE Axis Properties axis_servo_drive General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Mode M Position 0 0 Pasition Units Offset o o Position Units Sequence Torque Level cy Active Home Sequence Group 7 Direction Forward Bi directional Torque Level o o Continuous Torque Speed o o Position Units s Return Speed o o Position Units s OK f Comet Amy oo Hee Mode Select the homing mode e Active In this mode the desired homing sequence is selected by specifying whether a home limit switch and or the encoder marker is used for this axis Active homing sequences always use the trapezoidal velocity profile For LDT and SSI feedback selections the only valid Home Sequences for Homing Mode are immediate or switch as no physical marker exists for the LDT or SSI feedback devices Passive In this mode homing redefines the absolute position of the axis on the occurrence of a home switch or
269. hin normal operation limits of the equipment and the limit switch closed This fault condition is latched and requires execution of an Motion Axis Fault Reset M AFR or Motion Axis Shutdown Reset M ASR instruction to clear Any attempt to clear the fault while the overtravel limit switch is still open and the drive is enabled is unsuccessful If this bit is e ON The Negative Overtravel input is active e OFF The Negative Overtravel input is inactive If this bit is e ON The axis moved or tried to move past the Maximum Negative travel limit e OFF The axis moved back within the M aximum Negative travel limit This fault can only happen when the drive is enabled and you configure the axis for Soft Travel Limits If the Soft Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the soft overtravel limit using a motion instruction results in an instruction error As soon as the axis is moved back within the specified soft overtravel limits the corresponding soft overtravel fault bit is automatically cleared However the soft overtravel fault stays through any attempt to clear it while the axis position is still beyond the specified travel limits while the axis is enabled Negative Dynamic Torque Limit AXIS_SERVO_DRIVE REAL GSV Tag Important To use this attribute choose it as
270. his value is computed by taking the total distance the axis travels in the amount of time specified and dividing this value by the timebase The average velocity timebase value should be large enough to filter out the small changes in velocity that would result in a noisy velocity Publication LOGIX UM 002B EN P anuary 2007 168 Axis Properties value but small enough to track significant changes in axis velocity A value of 0 25 to 0 50 seconds should work well for most applications Click on the Apply button to accept your changes Servo Tab AXIS SERVO Click on the Servo tab from the Axis Properties for AXIS SERVO to a access the Servo dialog e Axis Properties myseryolaxis Ioj xi Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup External Drive Configuration Torque x Loop Configuration Position Servo V Enable Drive Fault Input Drive Fault Input Normally Open Closed IV Enable Direct Drive Ramp Control Direct Drive Ramp Rate 50 0 Yolts Second m Real Time Axis Infomation Attribute 1 Position Command x Attribute 2 Position Feedback x OK Cancel Help External Drive Configuration Select the drive type for the servo loop e Velocity disables the servo module s internal digital velocity loop e Torque the servo module s internal digital velocity loop
271. i Axis M otion Control System 1394 IN002 Installation M anual 1394 SERCOS Integration M anual 1394 IN024 Ultra3000 Digital Servo Drives Installation M anual 2098 IN003 Ultra3000 Digital Servo Drives Integration M anual 2098 IN005 Kinetix 6000 Installation M anual 2094 IN001 Kinetix 6000 Integration M anual 2094 IN002 8720M C High Performance Drive Installation M anual 8720M C IN001 8720M C High Performance Drive Integration M anual 8720M C IN002 The Motion Analyzer utility helps you select the appropriate Rockwell drives and motors based upon your load characteristics and typical motion application cycles The Motion Analyzer guides you through wizard like screens to collect information specific to your application After you enter the information such as load inertia gear box ratio feedback device and brake requirements all available through the robot manufacturer the Motion Analyzer generates an easy to read list of recommended motors drives and other support equipment to interface with the type of robot you are using Preface 11 W here to Find Sample Sample projects from Rockwell Automation as well as other vendors Pr oj ects are available from the RSLogix 5000 software Help system menu Logix 5000 File Edit View Search Logic Communications Tools Window Help Contents Instruction Help Release Notes Online Books vendor Sample Projects E QuickStart E Learning Center FE Resource Center fF About RSLog
272. iated axes has Tag that fault Type Bit Physical Axis Fault 0 M odule Fault 1 Config Fault 2 Axis Inhibit Status BOOL Tag If this bit is e ON An axis in the coordinate system is inhibited e OFF None of the axis in the coordinate system are inhibited Command Pos Tolerance BOOL Tag Use the Command Position Tolerance Status bit to determine when a coordinate Status move is within the Command Position Tolerance The Command Position Tolerance Status bit is set for all term types whenever the distance to programmed endpoint is less than the configured CT value The bit will remains set after an instruction completes The bit is reset when a new instruction is started Command Position REAL GSV Coordination Units Tolerance wa SSV The Command Position Tolerance attribute value is a distance unit used when instructions such as M CLM M CCM and so on specify a Termination Type of Command Position Config Fault BOOL Tag The Configuration Fault bit is set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module Publication LOGIX UM 002B EN P anuary 2007 396 Coordinate System Attributes Attribute Data Type Access Description Coordinate Motion Status DINT GSV Lets you access the motion status bits for the coordinate
273. ication LOGIX UM 002B EN P J anuary 2007 128 Troubleshoot Axis M otion Cause When you use an S curve profile jerk determines the acceleration and deceleration time of the axis e An Scurve profile has to get acceleration to 0 before the axis can slow down e If you reduce the acceleration it takes longer to get acceleration to 0 e In the meantime the axis continues past its initial target speed The following trends show how the axis stops with a trapezoidal profile and an S curve profile Stop while accelerating and reduce the acceleration rate Trapezoidal ee S curve 40 _ Target speed speed goes past its target 40 The axis slows down as soon as you start the The stopping instruction reduces the acceleration of the axis It stopping instruction The lower acceleration doesn t now takes longer to bring the acceleration rate to 0 The axis change the response of the axis continues past its target speed until acceleration equals 0 Publication LOGIX UM 002B EN P J anuary 2007 Troubleshoot Axis M otion 129 Corrective action Use a Motion Axis Stop MAS instruction to stop the axis or set up your instructions like this Jog_PB lt Localt4 Data 0 gt My_Axis_OK Motion Axis Jog EN Axis My_Axis Motion Control 1 n Direction Speed Jog_1_Speed Speed Units Units per sec Accel Rate 1_Accel Use the same acceleration rate as the instr
274. ication LOGIX UM 002B EN P J anuary 2007 224 Axis Properties Manual Adjust Click on this button to access the Output tab of the Manual Adjust dialog for online editing Manual Adjust myservolaxis x Dynamics Gains Output Limits Offset Velocity Scaling fac id Paosition Units s Torque Scaling oo Pasition Units s 2 Direction Scaling Ratio f 0 e Forward Reverse Scaling IV Enable Low pass Output Filter Low pass Output Filter Bandwidth 1000 0 H Hertz OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Output Tab Overview Use this dialog box to make the following offline configurations AXIS_SERVO_DRIVE e set the torque scaling value which is used to generate gains e enable and configure the Notch Filter e enable and configure servo s low pass digital output filter Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 225 for an axis of the type AXIS SERVO _ DRIVE configured as a Servo drive in the General tab of this dialog Axis Properties mysercoslaxis General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Motor Inertia foo Kg m 2 Manual Adjust Load Inertia Ratio w
275. iction Compensation determines whether or not to calculate a value for the Friction Compensation Gain e Torque Offset determines whether or not to calculate a value for the Torque Offset This tuning configuration is only valid if configured for bidirectional tuning e Output Filter determines whether or not to calculate a value for the Output Filter Bandwidth Axis Properties 203 Start Tuning Click on this button to begin the tuning test If the tuning process completes successfully the following attributes are set Dynamics Tab AXIS_SERVO AXIS_SERVO _DRIVE AXIS_ VIRTUAL On this tab Gains tab These attributes are set Velocity Feedforward Gain if checked under Tune above Acceleration Feedforward Gain if checked under Tune above Position Proportional Gain Position Integral Gain if checked under Tune above Velocity Proportional Gain Velocity Integral Gain if checked under Tune above Dynamics tab Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration erk Maximum Deceleration erk Output tab Limits Torque Scaling Velocity Scaling AXIS_ SERVO only Low Pass Output Filter Position Error Tolerance The Tune Bandwidth dialog opens for Servo drives where you can tweak bandwidth values During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output
276. iggered when the registration Event Task AXIS GENERIC event happens AXIS SERVO e An instance of 0 means that no event task is configured to be triggered by the registration event e The task is triggered at the same time that the Process Complete bit is set for the instruction that armed the watch event e The controller sets these attributes Don t set them by an external device Registration 2 AXIS_SERVO_DRIVE Event Task AXIS_ VIRTUAL Publication LOGIX UM 002B EN P anuary 2007 Attribute Axis Attributes 337 Data Type Access Registration 1 Position Registration 2 Position Axis Type AXIS_ CONSUMED AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL REAL GSV Tag Description Position Units Two registration position attributes are provided to independently store axis position associated with two different registration input events The Registration Position value is the absolute position of a physical or virtual axis in the position units of that axis at the occurrence of the most recent registration event for that axis The figure below shows how the registration position is latched by the registration input when a registration event occurs The latching mechanism can be implemented in the controller software soft registration or for greater accuracy in physical hardware hard registration Encoder Registration Position Registration Input The Registration Latch mechani
277. igured value for X3e is 1 5 Coordinate System Properties Articulated_Independent General Geometry Units Offsets Joints Tag Type Articulated Independent Top View Transform Dimension 3 r End Effector Offsets Enter the end effector offset values n X2e 0 0 X3e fa 5 Side View Base Offsets For the robot shown in our example the end effector values are xib 13 0 e Xle 2 0 2b 0 0 e X3e 1 5 X3b 4 0 Publication LOGIX UM 002B EN P J anuary 2007 94 Kinematics in RSLogix 5000 Software Configure an Articulated Dependent Robot Publication LOGIX UM 002B EN P J anuary 2007 The Articulated Dependent robot has motors for the elbow and the shoulder located at the base of the robot The dependent link controls J3 at the elbow Use these guidelines when configuring an Articulated Dependent robot WARNING Before turning ON the Transform and or establishing the reference frame be sure to do the following for the joints of the target coordinate system e set and enable the soft travel limits e enable the hard travel limits Failure to do this can allow the robot to move outside of the work envelope causing machine damage and or serious injury or death to personnel Establish the Reference Frame The reference frame is the Cartesian typically the source coordinate frame that defines the origin and the three primary axes X1 X2 and X3 These are used to
278. ile Edit view Search Logic Communications Tools Window Help A X Ae S slee wy aes selel Te Clea al al Offline D Epu fa Path AB_ETH 1 192 168 1 200 Backplane O AB_ETHA1 182 1681 20 Backplane O v a E Ok ff No Forces E No Edits ay eA al EEEN KAREA ROARS E 1 0 E TE N avorites 4 Timer Counter Input Output Compare Compute Mia 5 6 Controller My_Controller a Hl KJE ales A Controller Tags Controller Fault Handler a C3 Power Up Handler My_Axis_X_Uninhibit_Cmd SSY y H E Tasks Set System Value A BN i Class Name AXIS Fi i an so Instance Name My_Axis_X Els My_Motion_Group Wi Attribute Name InhibitAxis X My_Axis_X Source Zero i My_Axis_ 0 H E Ungrouped Axes v E Type AXIS_SERVO_DRIVE A Description My_Axis_X InhibitStatus My_Axis_X SefvoActionStatus My_Axis_X_OK Axis State a i A Drive Name My_Axis_X Node 41 Axis Fault bA vi ee Use a Get System Value GSV instruction or Set System Value SSV Use the Quick View pane to see the state instruction to read or change the configuration at run time and faults of an axis Use the tag of the axis for status and faults Publication LOGIX UM 002B EN P J anuary 2007 Start 27 Program Motion Control The controller gives you a set of motion control instructions for your axes e Uses these instructions just like the rest of the Logix5000 See instructions You can program motion control in these e Logix5000 Controllers Common programming languages Proc
279. ime specified by the AXIS_ SERVO Interpolated Time attribute AXIS_SERVO_DRIVE AXIS_VIRTUAL Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 309 Attribute Axis Type Data Type Access Description Interpolated AXIS_CONSUMED REAL GSV Interpolated Command Position in Position Units Command AXIS GENERIC Tag Interpolated Command Position is the interpolation of the commanded Position position based on past axis trajectory history at the time specified by AXIS_SERVO the Interpolated Time attribute AXIS_ SERVO_DRIVE AXIS_ VIRTUAL Interpolation AXIS_CONSUMED DINT GSV CST time to interpolate to j AXIS_GENERIC Ta NANE Time 3 3 Interpolated Time is the 32 bit CST time used to calculate the AXIS_ SERVO interpolated positions W hen this attribute is updated with a valid CST AXIS_SERVO_DRIVE value the Interpolated Actual Position and Interpolated Command AXIS_VIRTUAL Position values are automatically calculated J og Status AXIS_CONSUMED BOOL Tag Set if a J og motion profile is currently in progress Cleared when the J og AXIS GENERIC is complete or is superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL LDT Calibration AXIS_SERVO REAL GSV This attribute provides for setting a calibration constant for LDT devices Constant This attribute is only active if the Transducer Type is set to LDT LDT Calibration AXIS_SERVO SINT GSV 0 m sec Constant Units 1 Usec in This
280. in and moves in the programmed direction Why does my axis reverse direction when I stop and start it Example You use a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you use a Motion Axis Jog MAJ instruction to start the axis again The axis continues to slow down and then moves in the opposite direction Eventually goes back to its programmed direction Jog_PB Look for lt Local4 Data O gt My_Axis_OK Motion Axis Jog Axis My_Axis Motion Control Jog_1 Direction 0 Speed Jog_1_Speed S Curve profile in the 60 0 Publication LOGIX UM 002B EN P J anuary 2007 instruction that starts the motion Stop Typeis set to a specific type of motion such as Jog or Move Jog_PB lt Locat 4 1 Data O gt The stopping instruction changes the deceleration For example the Change Dece operand of an MAS instruction is set to Vo This means the axis uses its maximum deceleration rate Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Merge Merge Speed Units per sec Jog_1_Accel 20 06 Units per sec2 Jog_1_Decel 20 06 Units per sec2 Curve Disabled Programmed lt lt Less Troubleshoot Axis M otion 133 Cause When you use an S curve profile jerk determines the acceleration and deceleration time of the axis e An Scurve profile has to get acceleration to 0 before the axis can speed up again e If you reduce the acceleration it takes lo
281. in bandwidth of the velocity servo in Hertz use the following formula to calculate the corresponding P gain Vel P Gain Bandwidth Hertz 6 28 In general modern velocity servo systems typically run with a unity gain bandwidth of 40 Hertz The typical value for the Velocity Proportional Gain is 250 Sec Maximum Bandwidth There are limitations to the maximum bandwidth that can be achieved for the velocity loop based on the dynamics of the inner torque loop of the system and the desired damping of the system Z These limitations may be expressed as follows Bandwidth Velocity 0 25 1 72 Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz Based on this number the corresponding gains for the loop can be computed Note that the bandwidth of the torque loop includes feedback sampling delay and filter time constant Attribute Velocity Scaling Axis Type AXIS_ SERVO Axis Attributes 363 Data Type Access Description REAL GSV SSV Position Units Per Second The Velocity Scaling attribute is used to convert the output of the servo loop into equivalent voltage to an external velocity servo drive This has the effect of normalizing the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The V
282. information for maximum acceleration and deceleration jerk Appendix B Publication LOGIX UM 002B EN P J anuary 2007 Summary of Changes 4 Notes Publication LOGIX UM 002B EN P anuary 2007 Preface Start Testan Axis with Motion Direct Commands Handle Faults Create and Configure a Coordinate System Table of Contents THOCMCHOI 2 44 v5 ye 5 irene E ack BG a ee eae BO 9 Description of the Modules 0 0 0 cee eee 9 Additional Resources i hed ace seine b Care etd aT aR eS 10 Help for Selecting Drives and Motors 10 Where to Find Sample Projects 0000008 11 Chapter 1 IMPOCMCHOM inst erect atch ys in pos Ga E awl SES a 13 Make the Controller the Master Clock 14 Add the Motion Modules 0 00000 c eee 15 Add SERCOS interface Drives 0 0 00 c eee 16 Set Up Each SERCOS Interface Module 17 Add the Motion Grow puis sis bee been ead eee kare ies 18 Add Y Gur AxCS s 5 ice eka a Ree ae Sypris BAB eased 20 Deb Up Each AXIS ia nds Ge lk tue atch ol rater E ge Soe 21 Check the Wiring of Each Dive csso oreeivve aaaea 24 Tune Fach Axis scis sk tales 4 nqsnacace tm rat ietorwed ob ee yh ae mcnen 4 rqsen ab 25 Get Axis INfonnauOn 3 feeb teed bo bee RE Rae ees 26 Program Motion CONWO s ap v 4 eh Case aah ee 27 What s Next ce utd at ies hank und Sued e 29 Chapter 2 TO GMICHON eene 2x Cede we bade dow a aAa et e r ii 31 Access Motion Dir
283. information is application dependent Before you begin configuring the RSLogix 5000 Kinematics for motion control you should know e Robot geometry type e Zero angle orientation e Work envelope e Link lengths e Base offsets e End effector offsets e Arm solution Publication LOGIX UM 002B EN P J anuary 2007 80 Summary of Kinematic Steps Kinematics in RSLogix 5000 Software After you create a Joint target coordinate system tag for your Motion control project there are general steps to follow for Kinematics 1 Determine and then configure the type of coordinate system you need for your robot Refer to page 82 2 Establish the Joint to Cartesian reference frame relationship For more information regarding the Joint to Cartesian reference frame refer to the section about the type of robot you are using 3 Identify your robot work envelope The correct relationship between the oint reference frame and the Cartesian reference frame must be established Failure to do this can allow your robot to move to unexpected positions causing machine damage and or injury or death to personnel 4 Determine and then configure the following parameters including e Link lengths e Base offsets e End effector offsets 5 Create the source and target coordinate systems Coordinate System Properties cs1_Source_Cartesian 7 General Geomety Units Offsets Dynamics Tag Motion Group Motion Group z a
284. ing a simple user program that jogs the axis in the positive direction and monitor the Position Error of the axis during the jog Increase the Velocity Feedforward Gain until the Position Error at constant speed is as small as possible but still positive If the Position Error at constant speed is negative the actual position of the axis is ahead of the command position If this occurs decrease the Velocity Feedforward Gain such that the Position Error is again positive Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis Publication LOGIX UM 002B EN P anuary 2007 Attribute Velocity Integral Gain Axis Type AXIS_ SERVO AXIS_SERVO_DRIVE Data Type Access REAL GSV SSV Axis Attributes 359 Description 1 mSec Sec When configured for a torque current loop servo drive every servo update the current Velocity Error is also accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Servo Output or Torque Command that attempts to correct for the velocity error The characteristic of Vel Gain correction however is that any non zero Velocity Error accumulates in time to generate enough force to make the correction This attribute of Vel Gain makes it invaluable in applications where velocity accuracy is critical The higher the Vel Gain value the faster the axis is driven to
285. ing bit is set If the condition persists the Overload fault is set Often this bit is tied into the IT limit of the drive Overspeed Fault AXIS_SERVO_DRIVE BOOL Tag Set when the speed of the axis as determined from the feedback has exceeded the overspeed limit which is typically set to 150 of configured velocity limit for the motor Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 327 Attribute Axis Type Data Type Access Description Physical Axis AXIS_CONSUMED BOOL Tag If this bit is set the physical axis has one or more faults The specific Fault AXIS GENERIC faults can then be determined through access to the fault attributes of the associated physical axis AXIS_ SERVO AXIS_SERVO_DRIVE Do you want this fault to give the controller a major fault AXIS_ VIRTUAL e YES Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Pos Dynamic AXIS_SERVO_DRIVE REAL Tag The currently operative maximum positive torque current limit Torque Limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit Pos Hard AXIS_SERVO_DRIVE BOOL Tag Set if the axis moves beyond the current position limits as established Overtravel Fault by hardware overtravel limit switches mounted on the equipment This fault can
286. ing torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases The maximum torque of the tune test This attribute should be set to the desired maximum safe torque level prior to running the tune test The default value is 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases The direction of the tuning motion profile e Forward Uni directional the tuning motion profile is initiated in the forward tuning direction only e Forward Bi directional the tuning motion profile is first initiated in the forward tuning direction and then if successful is repeated in the reverse direction Information returned by the Bi directional Tuning profile can be used to tune Friction Compensation and Torque Offset e Reverse Uni directional the tuning motion profile is initiated in the reverse tuning direction only e Reverse Bi directional the tuning motion profile is first initiated in the reverse tuning direction and then if successful is repeated in the forward
287. input to the servo module If this bit is set true then during normal fault free operation of the drive the Drive Fault input should be active that is 24 Volts If a drive fault occurs the drive will open its drive fault output contacts and remove 24 Volts from the servo module s Drive Fault input generating an axis Drive Fault condition This is the default fail safe configuration In some cases it may be necessary to clear the Drive Fault Normally Closed bit to interface with a drive system that closes its contacts when faulted This is generally not recommended for fail safe operation Drive Enable Input Fault Handling When the Drive Enable Input Fault Handling bit is set it lets the drive post a fault based on the condition of the Drive Enable Input If an attempt is made to enable the drive axis without an active Drive Enable Input the drive sets a Drive Enable Input Fault If the Drive Enable Input ever goes from active to inactive while the drive axis is enabled the drive also sets a Drive Enable Input Fault If the Drive Enable Input Fault Handling bit is clear default then the drive does not generate a Drive Enable Input Fault Drive Enable Input Checking When the Drive Enable Input Checking bit is set the default the drive regularly checks the current state of the Drive Enable Input This dedicated input serves as a permissive to enable the drive s power structure and servo loop Once the drive is enabled
288. ion Source system One of two coordinate systems used in a Kinematics transform and having special properties W hen connected to a target system by means of a Kinematics transform motion commanded at the source system s inputs produces motion at both the source and target system s outputs if the physical axes are connected Target system One of two coordinate systems used in a Kinematics transform and having special properties W hen connected to a source system by means of a Kinematics transform motion commanded at the target system s inputs produces motion in both the source and target system s outputs if the physical axes are connected Transform General term for conversion equations which map values in one coordinate space to values in another coordinate space Translation Zero Angle Offset Robotic term for a linear movement or offset in Cartesian 3 dimensional space Translation describes the distance between two Cartesian points Offset on a rotary axis in the J oint Coordinate system between where the Kinematics equations were Gather Information about Your Robot derived and where you want your zero position to be Before you begin the configuration steps for the Kinematics transformation function you need to gather specific information about your robot and application parameters Specifications for your robot can be found in the documentation provided by the manufacturer while other required
289. ion should be less than the unwind distance in position units Publication LOGIX UM 002B EN P anuary 2007 196 Axis Properties Sequence This read only parameter is always set to Immediate Hookup Tab AXIS SERVO Use this tab to configure and initiate axis hookup and marker test re sequences for an axis of the type AXIS SERVO When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Axis Properties Axis3 oO x Tune Dynamics Gains Output Limits Offset FaultActions Taa General Motion Planner Units Servo Feedback Conversion Homing Hookup Test Increment joo Position Units Test Marker Feedback Polarity Positive Negative Pend ee ren Output Polarity Positive C Negative Test Gutput amp Feedback DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Output amp Feedback test may cause axis runaway condition cect a tee TestIncrement Specifies the amount of distance traversed by the axis when executing the Output amp Feedback test The default value is set to approximately a quarter of a revolution of the motor in position units Feedback Polarity The polarity of the encoder feedback this field is automatically set by executing either the Feedback Tes
290. ion Apply Axis Tune instruction If set manually these values should typically be set to 85 of the maximum acceleration and maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration and deceleration limits of the drive and motor Maximum Negative Travel AXIS_ SERVO REAL AXIS_SERVO_DRIVE GSV SSV Position Units The Axis Object provides configurable software travel limits via the M aximum Positive and Negative Travel attributes If the axis is configured for software overtravel limit checking by setting the Soft Overtravel Bit and the axis passes outside these maximum travel limits a Software Overtravel Fault is issued W hen software overtravel checking is enabled appropriate values for the maximum travel in both the M aximum Positive and M aximum Negative Travel attributes need to be established with M aximum Positive Travel always greater than M aximum Negative Travel Both of these values are specified in the configured Position Units of the axis Note The software travel limits are not enabled until the selected homing sequence is completed Publication LOGIX UM 002B EN P J anuary 2007 314 Axis Attributes Attribute Axis Type Data Type Access Description M aximum AXIS_SERVO REAL GSV Position Units Positive Travel AXIS_SERVO_DRIVE SSV The Axis Object provides configurable software travel limits via the M aximum Positive and Negat
291. ion J erk Publication LOGIX UM 002B EN P anuary 2007 speed and acceleration rate for this calculation are determined during S curvethe tuning process 2 MaxAccel M aximum Acceleration J erk Speed The Maximum Accel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Single axis Motion Instruction has Jerk Units units per sec then the maximum acceleration jerk value is derived from the motion instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time This means that the entire S curve move will have Jerk limiting This is the default mode An S curve move with 0 of Time will result in a trapezoidal profile and have 0 Jerk limiting If set manually enter the value in units Position Units second units You can also use the Calculate button to view this value in terms of units of Time The jerk parameters only apply to Scurve profile moves using the MAJ or MAM instructions The Maximum Deceleration Jerk rate of the axis in Position Units second defaults to 100 of the maximum deceleration time after tuning The speed and deceleration rate for the calculation are determined during the tuning process 2 M axDecel Maximum Deceleration J erk Speed The Maximum Decel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Single axis motion instruction has Jerk U
292. ion and are used by the Coordinated Motion instructions in calculations when their operands are expressed as percent of Maximum The Coordination Units to the right of the edit boxes automatically change when the coordination units are redefined at the Units dialog Publication LOGIX UM 002B EN P J anuary 2007 66 Create and Configure a Coordinate System Publication LOGIX UM 002B EN P anuary 2007 Maximum Speed Enter the value for Maximum Speed to be used by the Coordinated Motion instructions in calculating vector speed when speed is expressed as a percent of maximum Maximum Acceleration Enter the value for Maximum Acceleration to be used by the Coordinated Motion instructions to determine the acceleration rate to apply to the coordinate system vector when acceleration is expressed as a percent of maximum Maximum Deceleration Enter the value for Maximum Deceleration to be used by the Coordinated Motion instructions to determine the deceleration rate to apply to the coordinate system vector when deceleration is expressed as a percent of maximum The Maximum Deceleration value must be a nonzero value to achieve any motion using the coordinate system Position Tolerance Box In the Position Tolerance Box values are entered for Actual and Command Position Tolerance values See the Logix5000 Motion Instruction Set Reference Manual publication number 1756 RMO007 for more information regarding the use of Actual and Command
293. ional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http supportrockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3223 Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning it may need to be returned United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 4
294. iption Off One of the following e The axis is not used e The axis is a position only axis type Flashing green The axis drive is in the normal disabled state Recommended Action None if the axis is not used or is a position only type Otherwise make sure the module is configured an axis tag has been associated with the module and the axis type is servo None The servo axis state can be changed by executing motion instructions Steady green The axis drive is in the normal enabled state None The servo axis state can be changed by executing motion instructions Flashing red The axis drive output is in the shutdown state Steady red The axis drive is faulted Publication LOGIX UM 002B EN P anuary 2007 e Check for faults that may have generated this state e Execute the Shutdown Reset motion instruction e Resume normal operation e Check the drive status e Clear the Drive Fault condition at the drive e Clear the servo fault condition using the Motion Axis Fault Reset instruction e Resume normal operation e Check the configuration for the Drive Fault If configured to be normally open and there is no voltage this is the normal condition If configured to be normally closed and 24V dc is applied this is the normal condition SERCOS interface Module 1756 M 03SE 1756 M O8SE 1756 M 16SE L4 eA Interpret Module Lights LEDs 123 1768 M 04S E SERCOS Phase SER
295. iption This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE REAL GSV Position Units sec iy y ae Positive 3 This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the commanded velocity to the velocity servo Status loop input is greater than the configured Velocity Limit Velocity Lock AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is within Status the configured Velocity Window of the current velocity command Velocity Offset AXIS_SERVO REAL GSV Velocity Offset in Position Units Sec AXIS SERVO DRIVE SSV Velocity Offset compensation can be used to give a dynamic velocity correction to the output of the position servo loop Since this value is Tag updated synchronously every Coarse Update Period the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming Velocity Polarity AXIS_SERVO_DRIVE INT GSV Ne is derived from the Drive Polarity attribute See IDN 42 in Publication LOGIX UM 002B EN P J anuary 2007 Attribute Axis Type Velocity AXIS_SERVO Proportional Gain AXIS_SERVO_DRIVE Data Type Access REAL GSV SSV Axis Attributes 361 Description 1 Sec AXIS_SERVO When configured f
296. is case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automatic servo tuning procedure in the Tuning tab of this dialog the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be Proportional Velocity Gain Integral Velocity Gain Axis Properties 217 established for the drive system in the Output tab of this dialog box Once this is done the Pos I Gain can be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 025 0 001 Sec mSec Pos P Gain 2 Assuming a Pos P Gain value of 100 Sec 1 this results in a Pos I Gain value of 2 5 0 1 mSec 1 Sec 1 This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects If you know
297. is has a problem that prevents the drive from receiving accurate or reliable position information from the feedback device Set when one of the feedback sources for the axis can t send accurate or reliable position information because there is a problem For AXIS_ SERVO axis possible problems are e The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset M AFR or Motion Axis Shutdown Reset M ASR instruction to clear the fault Feedback Fault Action AXIS_ SERVO AXIS_SERVO_DRIVE SINT GSV SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop M otion 2 Status Only 3 Publication LOGIX UM 002B EN P anuary 2007 304 Axis Attributes Attribute Axis Type Data Type Access Description Feedback Noise AXIS_SERVO BOOL Fault Tag Set when there is noise on the feedback device s signal lines e For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback
298. is no longer referenced to the absolute machine reference system established by an absolute homing procedure Accel Limit AXIS_SERVO_DRIVE BOOL Status Tag Set when the magnitude of the commanded acceleration to the velocity servo loop input is greater than the configured Velocity Limit Accel Status AXIS_CONSUMED BOOL AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL Tag Set if the axis is currently being commanded to accelerate Use the Accel Status bit and the Decel Status bit to see if the axis is accelerating or decelerating If both bits are off then the axis is moving at a steady speed or is at rest Publication LOGIX UM 002B EN P J anuary 2007 260 Axis Attributes Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Command AXIS SERVO DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Acceleration Command in Position Units Sec2 Acceleration Command is the current acceleration reference to the output summing junction in the configured axis Position Units per Second for the specified axis The Acceleration Command value hence represents the output of the inner velocity control loop Acceleration Command is not to be confused with Command Velocity which represents the rate of change of Command Position input
299. is robots two joint solutions typically exist fora Cartesian position e Three axis robots four joint solutions typically exist for a Cartesian position A robot having an arm configuration has two Kinematics solutions when attempting to reach a given position point A shown on the figure below One solution satisfies the equations for a right armed robot the other solution satisfies the equations for a left armed robot Left Arm Solution A Right Arm Solution Right Arm and Left Arm Solutions For a three dimensional Articulated Independent robot there are four possible solutions for the same point e Left Arm e Right Arm e Left Arm Mirror e Right Arm Mirror For example consider the Cartesian point XYZ 10 0 15 The joint position corresponding to this point has four joint solutions Two of the solutions are the same as the solutions for the two dimensional Activating Kinematics Kinematics in RSLogix 5000 Software 111 case The other two solutions are mirror image solutions where J1 is rotated 180 degrees Right Arm Right Arm M irror A J2 Left Arm Left Arm M irror A x10 v o Y 42250 015 J3 z115 i Z15 WARNING O Be sure to choose an arm solution before activating the Kinematic function Failure to do so can result in machine damage and or serious injury or death to personnel Before activating Kinematics the robot should be in a left arm or right arm solution
300. is uses the Fas Decel Rate of the instruction 206 Decel Units Units per sec2 lt lt Less Publication LOGIX UM 002B EN P J anuary 2007 Chapter 9 Introduction Guidelines for Homing Guideline 1 To move an axis to the home position use Active homing Configure Homing Homing puts your equipment at a specific starting point for operation This starting point is called the home position Typically you home your equipment when you reset it for operation Details Active homing turns on the servo loop and moves the axis to the home position Active homing also e Stops any other motion e Uses a trapezoidal profile 2 For a Feedback only device use Passive homing Passive homing doesn t move the axis e Use passive homing to calibrate a Feedback only axis to its marker e f you use passive homing on a servo axis turn on the servo loop and use a move instruction to move the axis 3 If you have an absolute feedback device consider Absolute homing If the motion axis hardware supports an absolute feedback device Absolute Homing M ode may be used The only valid Home Sequence for an absolute Homing M ode is Immediate In this case the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device Prior to execution of the absolute homing process via the M AH instruction the axis must be
301. ish All of these have happened e The axis is inhibited e All uninhibited axes are ready e The connections to the motion module are running again e For a SERCOS ring the SERCOS ring has phased up again What you want to do next Lo My_Axis_X InhibitStatus SS NOP Publication LOGIX UM 002B EN P J anuary 2007 76 Inhibit an Axis Example Uninhibit an Axis 1 Make sure all axes are off This axis is off And this axis is off All axes are off My_Axis_X ServoActionStatus My_Axis_Y ServoActionStatus All Axes_Off i _ 2 Use a one shot instruction to trigger the uninhibit Your condition to Your condition to inhibit All axes are off Give the command to uninhibit uninhibit the axis is on the axis is off the axis My_Axis_X_Uninhibit My_Axis_X_Inhibit All_Axes_Off e SR One Shot Rising Storage Bit My_AxizA_Uninhibit_SB Output Bit My Axis X _Uninhibit_ Cmd 3 Uninhibit the axis The uninhibit command turns on Uninhibit this axis My_Axis_X_Uninhibit_Cmd SSY Set System Value Class Name AXIS Instance Name My_Axis_X Attribute Name InhibitAxis Source Zero 0 Uninhibit the axis 4 Wait for the inhibit process to finish All of these have happened e The axis is uninhibited e All uninhibited axes are ready e The c
302. ition 34 Motion Run Axis Tuning 35 Motion Run Hookup Diagnostic 35 Motion Servo Off 34 Motion Servo On 34 N Naming a Coordinate System 48 Entering Tag Information 48 Parameters 49 Alias For 50 Data Type 50 Description 49 Name 49 Scope 50 Style 50 Tag Type 49 Alias 50 Base 49 0 Offsets 51 OK contactwire 155 OK contacts wire diagram 155 R registration sensor wiring diagram 154 RSLogix 5000 programming softw are Motion Instructions 31 S SCARA configure 106 Selective Compliant Assembly Robot Arm base offsets 109 configuration parameters 108 configure 106 110 end effector offsets 109 establish reference frame 106 identify work envelope 107 link lengths 109 SERCOS interface drive add to controller 16 SERCOS interface module Index 411 choose 15 setup 17 Singularity planning for definition of 112 Specifications 9 1756 HYD02 M otion M odule 9 1756 M 02AE M otion M odule 9 1756 M 02AS M otion M odule 9 1756 M 03SE 1756 M 08SE amp 1756 M 16SE Motion Module 9 structures AXIS 257 T Troubleshooting 115 1756 HYD02 Module LED 120 DRIVE Indicator 122 1756 M 02AE LED 115 DRIVE LED indicator 116 1756 M 02AS LED 117 FDBK Indicator 118 1756 M 08SE LED SERCOS interface LED 123 1756 M 16SE LED SERCOS interface LED 123 SERCOS interface LED Indicators 123 tune axis 25 U Units 51 W Wiring connections 150 Connecting LDTs to the 1756 HYD02 module 150 152 Example diagr
303. ition Feedback is the current value of the position feedback coming from the auxiliary feedback input Attribute Average Velocity Axis Type AXIS_ CONSUMED AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type Access REAL GSV Tag Axis Attributes 269 Description Important To use this attribute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Average Velocity in Position Units Sec Average Velocity is the current speed of an axis in the configured Position Units per second of the axis Unlike the Actual Velocity attribute value itis calculated by averaging the actual velocity of the axis over the configured Average Velocity Timebase for that axis Average velocity is a signed value The sign doesn t necessarily show the direction that the axis is currently moving It shows the direction the average move is going The axis may be currently moving in the opposite direction The resolution of the Average Velocity variable is determined by the current value of the Averaged Velocity Timebase parameter and the configured Conversion Constant feedback counts per Position Unit for the axis e The greater the Average Velocity Timebase value the better the speed resolution but the slower the response to changes in speed e The minimum Average Velocity Timebase value is the Coarse Update period of the motion group The
304. ive Brake Contact De lay 338 Drive Power Attributes Bus Regulator ID 280 Power Supply ID 334 PWM Frequency Select 335 Drive Warning Bit Attributes 299 Cooling Error Warning 299 Drive Overtemperature W arning 299 M otor Overtemperature W arn ing 299 Overload Warning 299 M odule Fault Bit Attributes 315 M odule Hardware Fault 315 316 Timer Event Fault 315 316 M otor and Feedback Configuration Aux Feedback Ratio 267 Feedback Configuration 265 320 Feedback Polarity 265 320 Feedback Interpolation 266 320 Feedback Resolution 267 321 Feedback Type 268 321 Feedback Units 268 321 M otor Data 319 M otor ID 322 SERCOS Error Code 339 Servo Drive Configuration Attributes Advanced Scaling Attributes 294 Data Reference 295 Linear Scaling Unit 295 Scaling Type 294 Scaling Unit 294 Advanced Servo Configuration Attributes 334 346 Drive ID 284 Drive Polarity 290 Publication LOGIX UM 002B EN P anuary 2007 Advanced Polarity At tributes 331 350 360 Custom Polarity 290 Negative Polarity 290 Positive Polarity 290 Drive Resolution 291 Drive Travel Range Limit 291 Drive Units 298 Fault Configuration Bits 301 Drive Enable Input Check ing 302 Drive Enable Input Fault Handling 302 Hard Overtravel Checking 301 Soft Overtravel Checkin 301 Fractional Unwind 291 Linear Ball Screw WITHOUT Aux Feedback Device 292 Linear Ball Screw Ball Screw Combination WITH Aux Feedback Device 293 Rotary Gear Head WITH Aux Feedback
305. ive Travel attributes If the axis is configured for software overtravel limit checking by setting the Soft Overtravel Bit and the axis passes outside these maximum travel limits a Software Overtravel Fault is issued W hen software overtravel checking is enabled appropriate values for the maximum travel in both the M aximum Positive and M aximum Negative Travel attributes need to be established with M aximum Positive Travel always greater than M aximum Negative Travel Both of these values are specified in the configured Position Units of the axis Note The software travel limits are not enabled until the selected homing sequence is completed Maximum Speed AXIS_ GENERIC REAL GSV Position Units Sec AXIS_ SERVO V f z z The value of the M aximum Speed attribute is used by various motion AXIS_SERVO_DRIVE instructions for example M AJ M AM MCD and so on to determine AXIS_VIRTUAL the steady state speed of the axis These instructions all have the option of specifying speed as a percent of the M aximum Speed attribute value for the axis The M aximum Speed value for the axis is automatically set to the Tuning Speed by the M AAT M otion Apply Axis Tune instruction This value is typically set to 90 of the maximum speed rating of the motor This provides sufficient head room for the axis to operate at all times within the speed limitations of the motor Memory Usage AXIS_CONSUMED DINT MSG Amount of memory consum
306. ix 5000 gt Controller Projects z A Lal ta 77 Recent Projects 6 Open Project routines Ifyou are copying into an existing project conflicts may occur with components that already exist or if the location or type of modules does not match the location assumed in the sample project In that case you may need to rename components change locations or make other modifications as necessary Fi New Project n Open Samp le P roject You can use the RSLogix 5000 Compare utility included on your RSLogix 5000 software CD to compare the sample project file with an empty Le new project file This will help you to identify the components you need to modify Refer to the onlne help included with the RSLogix 5000 Compare utility for more information on performing the comparison Fl Open Vendor Sample Project Sample Projects Click on any of the individual vendor names to see the list of sample projects they have provided for this release DVT Corporation Hardy Instrumente HiProm ProSoft Technology Inc Spectrum Controls Rockwell Automation Qa Vendor Sample Projects Attachments Publication LOGIX UM 002B EN P J anuary 2007 Preface 12 Publication LOGIX UM 002B EN P anuary 2007 Chapter 1 Start Introduction Use this chapter for step by step procedures on how to set up motion control IMPORTANT If you aren t using SERCOS interface drives and module
307. just button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Velocity Scaling The Velocity Scaling attribute is used to convert the output of the servo loop into equivalent voltage to an external velocity servo drive Publication LOGIX UM 002B EN P anuary 2007 222 Axis Properties Torque Scaling Publication LOGIX UM 002B EN P J anuary 2007 This has the effect of normalizing the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The Velocity Scaling value is typically established by servo s automatic tuning procedure but these values can be calculated if necessary using the following guidelines If the axis is configured for a velocity external servo drive in the Servo tab of this dialog the software velocity loop in the servo module is disabled In this case the V
308. k x SERCOS Network N Cross Reference Ctrl E Properties N E Module Properties Local 1 1756 MO8SE 15 1 Generat Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Data Rate Auto Detect Mb Cycle Time 4 Transmit Power High v Transition To Phase 4 H Status Offline Cancel Help y Baud Rate of Drives Number of Drives on the Ring Type of Drives Cycle Time 4Mb lor2 Kinetix 6000 0 5 ms NOT Kinetix 6000 1ms 3or4 lms 5 8 p 2ms 9 16 gt Cantao 8Mb 1 4 Kinetix 6000 0 5 ms NOT Kinetix 6000 1ms 5 8 p Ims 9 16 2 ms Publication LOGIX UM 002B EN P J anuary 2007 18 Start Add the Motion Group Add a motion group to set up the motion planner Motion Planner Part of the controller that takes care of position and velocity information for your axes Coarse Update Period How often the motion planner runs W hen the motion planner runs it interrupts all other tasks regardless of their priority M otion Planner Scans of Your Code System Overhead And So On 0 ms 10 ms 20 ms 30 ms 40 ms In this example the coarse update period 10 ms Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner Add only one motion group for the project RSLogix 5000 software IMPORTANT doesn t let you add
309. l Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Velocity Feedforward Gain scales the current command velocity derivative of command position by the Velocity Feedforward Gain and adds it as an offset to the Velocity Command Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforward Gain scales the current Com
310. lane 1756 47 N li p x Description Vendor 2 Axis Hydraulic Servo Allen Bradley 2 Axis Analog Encoder Servo Allen Bradley 2 Axis Analog SSI Servo artes 3 Axis SERCOS Interface 8 Axis SERCOS Interface 8 Axis Generic SERCOS Interface 16 Axis SERCOS Interface New Module Type 1756 MO8SE 8 Axis SERCOS Interface Vendor Allen Bradle a Name K My_SERCOS_Module Slot Desgfiption Revision E fi Electronic Keying Compatible Keying Can Publication LOGIX UM 002B EN P J anuary 2007 16 Start Add SERCOS interface Add SERCOS interface drives to the I O configuration of the controller Drives 1 This lets you use RSLogix 5000 software to set up the drives CompactLogix controller ControlLogix controller Controller My_Controller Controller My_Controller Tasks Tasks Motion Groups Motion Groups CI Trends CI Trends Data Types Data Types J 10 Configuration 1 0 Configuration 5 8 1768 Bus 9 1756 Backplane 1756 47 f 1 1768 M045E My_SERCOS_Module f 1 1756 M085E My_SERCOS_Module a aE A N FF SERCOS Network N wi F E Select Module Description Vendor Other a 1394C SITO5 D 1394 460VAC SERCOS System Module Sk PS Allen Bradley 1394C SIT10 D 1394 460VAC SERCOS System Module 10kW PS Allen Bradley 1394C 5IT22 D 1394 460VAC SERCOS System Module 22kW PS Allen Bradley Kinetix 60
311. lay when I stop and then restart a jog 130 Why does my axis reverse dir when I stop and start it 132 Configure Homing Wiring Diagrams Axis Properties Table of Contents 7 Chapter 9 IMO OUCTOM 6 srstcks dow dena ak ei a uel gna dade 135 Guidelines for Homing seins fica eco hoe ee hte hee enna 135 Examples i 4 54 bidders peat ak Row Re eee wae wae ae 136 Appendix A IMO UCHON Go ponent Gece a Sos e Paes s Has es RE A 141 1756 M02AE Module ooun ae ween G 142 Ultra 100 Series Dives oxic ia ga eka oe ak a 143 Ultra 200 S res D VE ais 250 0 oly Sad thn BAe heh eee 143 Ultra sO00 DAV Cs g s ci E neet heat ede eateries 145 1394 Servo Drive in Torque Mode only 147 1756 MO2AS Module 0 eee ees 149 1756 HY D02 Application Example 150 1750 HY DOZ Mod ler ire arrio eee hte ene 151 TAD Tesh ving Bearers EE O etc A A E TES 152 Temposonic GH Feedback Device 153 24V Registration Sensor sssaaa aanne 154 5V Registration Sensor sud a oe anaana 154 Home Limit Switch Inputi 4405 44 48 08 vanes eed oe 155 OK CONACS e areak ssl acd ex an BA tach abe a Sora Nes DE 155 Appendix B PO CUCH OE seh pe inaa eke AG dog ty tried e he eet 157 General Tab AXIS SERVO 0 0 00 157 General Tab AXIS SERVO DRIVE 158 General Tab AXIS VIRTUAL s0 c0c eee ese ew Pas 162 General Tab AXIS GENERIC 00 0000 163 Motion Planner Ta
312. le Lights LEDs State Off FDBK Light Description The axis is not used Recommended Action e None if you are not using this axis e If you are using this axis make sure you configured the module and associated an axis tag with the module Flashing green The axis is in the normal servo loop inactive state None You can change the servo axis state by executing motion instructions Steady green The axis is in the normal servo loop active state None You can change the servo axis state by executing motion instructions Flashing red The axis servo loop error tolerance has been e Correct the source of the problem exceeded e Clear the servo fault using a fault reset instruction e Resume normal operation Solid red An axis encoder feedback fault has occurred e Correct the source of the problem by checking the encoder and power connections e Clear the servo fault using the M AFR instruction e Resume normal operation DRIVE Light State Description Recommended Action Off e The axis is not used e None if you are not using the axis or have configured it e The axis is a position only axis type as a position only axis e Otherwise make sure you have configured the module associated an axis tag with the module and configured the axis as a servo axis Flashing green The axis drive is in the normal disabled state None You can change the servo axis state by executing a motion instruction S
313. le fractional unwind applications or multi turn absolute applications requiring cyclic compensation In these cases where the Unwind value for a rotary application does not work out to be an integer value the Rotational Position Scaling attribute may be modified to a value that is integer divisible by the Unwind value The following examples demonstrate how the Drive Resolution value may be used together with the Conversion Constant to handle various applications Continued on next page Publication LOGIX UM 002B EN P J anuary 2007 292 Axis Attributes Attribute Axis Type Data Type Access Description Drive Resolution cont Publication LOGIX UM 002B EN P anuary 2007 Rotary Gear Head WITHOUT Aux Feedback Device Based on a rotary motor selection Drive Resolution would be expressed as Drive Counts per M otor Rev and be applied to the Rotational Position Resolution IDN The user would set the Conversion Constant to Drive Counts per user defined Position Unit If it is a 3 1 gearbox and the user s Position Unit is say Revs of the gear output shaft the Conversion Constant is 200 000 3 which is irrational But in this case you could simply set the Drive Resolution to 300 000 Drive Counts M otor Rev and the Conversion Constant could then be set to 100 000 Drive Counts Output Shaft Rev This system would work with this configuration without any loss of mechanical precision that is a move of 1 output shaft revolution would mov
314. le the drive power structure Drive Enable Status bit clears If the axis is shutdown through either a fault action or motion instruction the drive power structure is disabled immediately and the motor brake is engaged immediately e Drive stops tracking command reference Servo Action Status bit clears e Disable drive power structure Drive Enable Status bit clears e Turn off brake output to engage brake Delay Time GSV SSV Sec The Brake Release Delay attribute controls the amount of time that the drive holds off tracking command reference changes after the brake output is changed to release the brake This gives time for the brake to release This is the sequence of events associated with engaging the brake e Enable axis is initiated via M SO or M AH e Drive power structure enabled Drive Enable Status bit sets e Turn motor brake output on to release the brake e Wait Brake Release Delay Time e Track command reference Servo_Action_Status bit sets The drive does not release the brake unless there is holding torque Bus Ready Status AXIS_SERVO_DRIVE BOOL Tag If the bit is e ON The voltage of the drive s dc bus is high enough for operation e OFF The voltage of the drive s dc bus is too low Publication LOGIX UM 002B EN P J anuary 2007 280 Axis Attributes Attribute Axis Type Data Type Access Description Bus Regulator AXIS_SERVO_DRIVE REAL GSV Important To use this at
315. le to connect the controller to SERCOS interface drives 1756 M 08SE e The SERCOS interface lets you control digital drives using high speed real time 1756 M 16SE serial communication 1768 M 04SE e SERCOS is the IEC 61491 SErial Real time COmmunication System protocol over a fiber optic network e The module uses a fiber optic network for all the wiring between the drives and the module Publication LOGIX UM 002B EN P J anuary 2007 Preface 10 Additional Resources Help for Selecting Drives and Motors Publication LOGIX UM 002B EN P J anuary 2007 See these manuals for more information about using motion modules in a Logix5000 control system Publication Publication Number Logix5000 Controllers Quick Start 1756 QS001 Logix5000 Controllers Common Procedures 1756 PM 001 Logix5000 Controller M otion Instructions Reference Manual 1756 RM 007 Logix5000 Controllers General Instructions Reference Manual 1756 RM 003 Logix5000 Controllers Process and Drives Instructions 1756 RM 006 Reference M anua PhaseM anager User M anual LOGIX UM 001 ControlLogix Controller User M anual 1756 UM 001 CompactLogix Controllers User M anual 1768 UM 001 Analog Encoder AE Servo M odule Installation Instructions 1756 IN047 ControlLogix SERCOS interface M odule Installation 1756 IN572 Instructions CompactLogix SERCOS interface M odule Installation 1768 IN005 Instructions 1394 SERCOS Interface M ult
316. ling defines the relationship between the LDT unit of measure length field and the unit of measure defined at the Units tab This field is grayed out because it is always active when Feedback Type is LDT Enter the amount of offset in position units to be added to the current position of the LDT The LDT is an absolute feedback device To establish an appropriate value for the Offset the MAH instruction can be executed with the Home Mode set to Absolute the only valid option if Enable Absolute Feedback is enabled When executed the module computes the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the MAH instruction The actual position of the axis is re referenced during execution of the MAH instruction therefore the servo loop must not be active If the servo loop is active the MAH instruction errors When the Enable Absolute Feedback is disabled the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer A homing or redefine position operation is required to establish the absolute machine reference position The Absolute Home Mode is invalid Conversion Constant The Conversion Constant is calculated from the values entered on the Feedback screen when the Calculate button is s
317. ller a major fault e YES Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Publication LOGIX UM 002B EN P J anuary 2007 340 Axis Attributes Attribute Axis Type Data Type Access Description Servo Fault Bits AXIS_SERVO DINT GSV Lets you access all the servo fault bits in one 32 bit word This attribute is the same as the Servo Fault tag wo or Servo Fault Pos Soft Overtravel Fault Neg Soft Overtravel Fault Reserved Reserved Feedback Fault Feedback Noise Fault Reserved Reserved Position Error Fault oo CO SI OT A w N e Drive Fault These fault bits are updated every coarse update period Do you want any of these faults to give the controller a major fault e YES Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Publication LOGIX UM 002B EN P anuary 2007 Attribute Servo Feedback Type Axis Type AXIS_ SERVO Axis Attributes 341 Data Type Access Description SINT GSV This attribute provides a selection for the Feedback Type 0 A Quadrature B AQB 1 Synchronous Serial Interface SS 2 Linear Displacement Transducer LDT A Quadrature B Encoder Interface AQB Servo modules such as the 175 6M 02AE provide interface hardware to support incremental quadrature encoders equipped with standard 5 Volt
318. ller handles changes to an S curve profile Do you want to return to revision 15 or earlier behavior for S curves e NO Leave these bits ON default e YES Turn OFF one or more of these bits To turn off this change Turn off this bit Reduced S curve Stop Delay 0 This change applies to the M otion Coordinated Stop M CS instruction It lets you use a higher deceleration jerk to stop an accelerating coordinate system more quickly The controller uses the deceleration jerk of the stopping instruction if it is more than the current acceleration jerk Reduced S curve Velocity Reversals 1 Before revision 16 you could cause a coordinate system to momentarily reverse direction if you decreased the deceleration jerk while the coordinate system was decelerating This typically happened if you tried to restart a move with a lower deceleration rate while the coordinate system was stopping This change prevents the coordinate system from reversing in those situations Reduced S curve Velocity Overshoots 2 You can cause a coordinate system to overshoot its programmed speed if you decrease the acceleration jerk while the coordinate Maximum Acceleration REAL GSV SSV Coordination Units Sec The Maximum Acceleration attribute value is used by motion instructions such as MCLM MCCM and so on to determine the acceleration rate to apply to the coordinate system vector when the acceleration is specified as a percent of
319. loat PosDynamicTorqueLimit REAL Float NegDynamicTorqueLimit REAL Float M otorCapacity REAL Float DriveCapacity REAL Float PowerCapacity REAL Float BusRegulatorCapacity REAL Float M otorElectricalAngle REAL Float TorqueLimitSource DINT Hex DCBusVoltage DINT Decima DriveStatus DINT Hex ProcessStatus BOOL Decima BusReadyStatus BOOL Decima HomelnputStatus BOOL Decima Reg1InputStatus BOOL Decima Reg2InputStatus BOOL Decima PosOvertravellnputStatus BOOL Decima NegOvertravellnputStatus BOOL Decima EnablelnputStatus BOOL Decima AccelLimitStatus BOOL Decima AbsoluteReferenceStatus BOOL Decima VelocityLockStatus BOOL Decima VelocityStandstillStatus BOOL Decima VelocityThresholdStatus BOOL Decima Publication LOGIX UM 002B EN P anuary 2007 390 Axis Data Types Publication LOGIX UM 002B EN P anuary 2007 Member Data Type Style TorqueThresholdStatus BOOL Decima TorqueLimitStatus BOOL Decima VelocityLimitStatus BOOL Decima PositionLockStatus BOOL Decima PowerLimitStatus BOOL Decima Low VelocityThresholdStatus BOOL Decima HighVelocityThresholdStatus BOOL Decima DriveFault DINT Hex PosSoftOvertravelFault BOOL Decima NegSoftOvertravel Fault BOOL Decima PosHardOvertravelFault BOOL Decima NegHardOvertravelFault BOOL Decima M otFeedbackFault BOOL Decima M otFeedbackN oiseFault BOOL Decima AuxFeedbackFault BOOL Decima AuxFeedbackN oiseFault BOOL
320. located in the drive itself Axis Properties 213 Integrator Hold If the Integrator Hold parameter is set to e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion e Disabled all active position or velocity integrators are always enabled Manual Adjust Click on this button to access the Gains tab of the Manual Adjust dialog for online editing Manual Adjust myservolaxis x Dynamics Gains Output Limits Offset m Position Gains Proportional po 4 1 s Integral oo 1 ms s Differential 0 0 e Velocity Gains Feedforward Gains Proportional foo 1 s Velocity 0 0 jez l Integral 0 0 24 1 ms s Acceleration joo H Ez OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Gains Tab Use this tab to perform the following offline functions AXIS_SERVO_DRIVE e Adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog e Manually configure gains for the velocity and position loops e for an axis of the type AXIS SERVO DRIVE Publication LOGIX UM 002B EN P J anuary 2007 214 Axis Properties e A
321. lows higher values of Friction Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Backlash Reversal Offset provides the capability to compensate for positional inaccuracy introduced by mechanical backlash For example powertrain type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical components a motor a gearbox and a ball screw that may introduce inaccuracies and that are subject to wear over their lifetime Therefore when an axis is commanded to reverse direction mechanical play in the machine Publication LOGIX UM 002B EN P J anuary 2007 244 Axis Properties Stabilization Window Velocity Offset Torque Force Offset Manual Adjust Publication LOGIX UM 002B EN P anuary 2007 through the gearing ball screw and so on may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved If a value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a nonzero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position The Backlash Stabilization Window controls the Backlash Stabilization featur
322. ly e Aux Feedback Only Displayed when Axis Configuration is Feedback only e Position Servo Publication LOGIX UM 002B EN P J anuary 2007 Drive Resolution Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Information Attribute 1 Attribute 2 Axis Properties 177 e Aux Position Servo not applicable to Ultra3000 drives e Dual Position Servo e Dual Command Servo e Aux Dual Command Servo e Velocity Servo e Torque Servo e Dual Command Feedback Servo Type in the number of counts per motor revolution motor inch or motor millimeter This value applies to all position data Valid values range from 1 to 2 32 1 One Least Significant Bit LSB for position data equals 360 Rotational Position Resolution Drive Resolution is also referred to as Rotational Position Resolution When you save an edited Drive Resolution value a message box appears asking you if you want the controller to automatically recalculate certain attribute settings Drive Resolution is especially helpful for either fractional unwind applications or multi turn applications requiring cyclic compensation You can modify the Drive Resolution value so that dividing it by the Unwind Value yields a whole integer value The higher the Drive Resolution setting the finer the resolution To activate Drive Enable Input Checking click on the checkbox When active box is checked the drive regularly monitors the state of the Drive E
323. ly or System M odule catalog numbers associated with the axis If the Power Supply ID does not match that of the actual supply hardware an error is generated during the drive configuration process Precharge AXIS_SERVO_DRIVE BOOL Tag The drive s precharge resistor gets too hot if you cycle 3 phase power Overload Fault too many times If that happens this bit turns on Primary AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Servo Loop Configuration attribute Operation M ode See IDN 32 in IEC 1491 Process Status AXIS_SERVO BOOL Tag Set when there is an axis tuning operation or an axis hookup diagnostic AXIS SERVO_DRIVE test operation in progress on the axis Publication LOGIX UM 002B EN P J anuary 2007 Attribute Programmed Stop M ode Axis Type Data Type Access AXIS_GENERIC SINT AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL GSV SSV Axis Attributes 335 Description Determines how a specific axis will stop when the controller has a critical controller mode change or when an M GS M otion Group Stop instruction executes with it s stop mode set to Programmed The modes fo the controller are Program M ode Run M ode Test M ode and Faulted M ode Any mode change into or out of program mode prog gt run prog gt test run gt prog amp test gt prog will initiate a programmed stop for every axis owned by that controller Each individual axis can have its own Programmed Stop M ode configuration independent of othe
324. m exceeded e Clear the servo fault condition using the Motion Axis Fault Reset instruction e Resume normal operation Steady red An axis SSI feedback fault has occurred e Correct the source of the problem by checking the SSI Publication LOGIX UM 002B EN P anuary 2007 device and power connections e Clear the servo fault condition using the Motion Axis Fault Reset instruction e Resume normal operation State Off Flashing green DRIVE Light Description One of the following e The axis is not used e The axis is a position only axis type The axis drive is in the normal disabled state Interpret Module Lights LEDs 119 Recommended Action None if the axis is not used or is a position only type Otherwise make sure the module is configured an axis tag has been associated with the module and the axis type is servo None The servo axis state can be changed by executing motion instructions Steady green The axis drive is in the normal enabled state None The servo axis state can be changed by executing motion instructions Flashing red The axis drive output is in the shutdown state e Check for faults that may have generated this state e Execute the Motion Axis Shutdown Reset instruction e Resume normal operation Steady red The axis drive is faulted e Check the drive status e Clear the Drive Fault condition at the drive e Clear the servo fault condition using the Motion Axis Fault
325. mand Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward is 100 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Publication LOGIX UM 002B EN P J anuary 2007 216 Axis Properties Proportional Position Gain Integral Position Gain Publication LOGIX UM 002B EN P anuary 2007 Acceleration Feedforward Gain is not applicable for applications employing velocity loop servo drives Such systems would require the acceleration feedforward functionality to be located in the drive itself Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to produce a component to t
326. mand position and command velocity are also applied to the loop to provide smoother feedforward behavior This servo configuration is a good choice in applications where smoothness and stability are important as well as positioning accuracy Note that the motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Command and Velocity Offset These values are updated at the coarse update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Velocity Servo The Velocity Servo configuration provides velocity servo control using the motor mounted feedback device Synchronous input data to the servo loop includes Velocity Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Velocity Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the
327. mands 14 MAJ 16 0000 No Error Motion Direct Commands 14 Execution Error MAM 16 000d Failed to execute command The message Execution Error is cleared on subsequent command execution or if a new command is selected from the command list The information pumped to the Error result window after an execution is not cleared This allows for a history of what has been executed from a given instance of the Motion Direct Command dialog Publication LOGIX UM 002B EN P J anuary 2007 42 Test an Axis with M otion Direct Commands What If the Software Goes If RSLogix 5000 software transitions to offline Hard Program mode PROG or Hard Run mode RUN then any executing Direct Offline or the Controller Command instruction continues execution and the Execute button is Changes Modes disabled Can Two Workstations Give Whenever the Execute button is enabled and commands can be gt executed from a workstation the group is locked This means that Motion Direct Commands another workstation cannot execute commands while this lock is in place The lock stays in place until the workstation executing commands relinquishes the lock Publication LOGIX UM 002B EN P J anuary 2007 Chapter 3 Handle Faults Introduction The controller has these types of motion faults Type Description Example Instruction error Caused by a motion instruction A Motion Axis Move MAM e Instruction errors do not impact cont
328. may require the soft travel limits to be adjusted to the new reference frame Method 1 Establishing a Reference Frame Each axis for the robot has the mechanical hard stop in each of the positive and negative directions Manually move or press each axes of the robot against its associated mechanical hard stop and redefine it to the hard limit actual position provided by the robot manufacturer J1 is the axis at the base of the robot that rotates around X3 When the robot is moved so that Link is parallel to the X3 axis and Link2 is parallel to X1 axis as shown in Figure 3 Articulated Dependent the RSLogix5000 values for the Actual Position tags should be e Ji 0 Kinematics in RSLogix 5000 Software 97 e J2 90 degrees e J3 0 degrees If the RSLogix 5000 Actual Position tags do not show these values configure the Zero Angle Orientation for the joint s that do not correspond If the RSLogix 5000 software read out Set the Zero Angle Orientations on the values are Coordinate System Properties dialog to J1 10 71 10 2 80 22 10 3 5 23 5 Coordinate System Properties sdsd R General Geomety Units Offsets Joints Tag Type Articulated Dependent Transform Dimension 3 Link Lengths uu L2 0 0 Zero Angle Orientations Set the Zero Angle Orientations z oo Degrees z2 o0 Degrees z3 T Degrees M ethod 2 Establishing a Reference Frame Position the robot so that
329. mber matches AXIS_ SERVO DINT GSV Bits Axis Response Bits AXIS_SERVO_DRIVE 0 Abort Process Acknowledge 1 Shutdown Acknowledge 2 Zero DAC Acknowledge 3 Abort Home Acknowledge 4 Abort Event Acknowledge 5 14 Reserved 15 Change Pos Reference Abort Process Acknowledge If this bit is set the tuning or test process has been aborted Shutdow n Acknow ledge If this bit is set the axis has been forced into the shutdown state Zero DAC Acknowledge Only for AXIS_SERVO Data Type If this bit is set the DAC output for the axis has been set to zero volts Abort Home Acknowledge If this bit is set the active home procedure has been aborted Abort Event Ac know ledge If this bit is set the active registration or watch position event procedure has been aborted Change Pos Reference If this bit is set the Servo loop has switched to a new position coordinate system The controller uses this bit when processing new position data from the servo module or drive to account for the offset implied by the shift in the reference point The bit is cleared when the conroller acknowledges completion of the reference position change by clearing its Change Cmd Reference bit Publication LOGIX UM 002B EN P J anuary 2007 276 Axis Attributes Attribute Axis Type Data Type Access Description Axis State AXIS_CONSUMED SINT GSV Operating state of the axis AXIS_GENERIC 0 Axis Ready AXIS_ SERVO 1 Direct Drive Control A
330. n Coordinated Stop M CS 36 Publication LOGIX UM 002B EN P anuary 2007 M otion Configuration Instructions M otion Apply Axis Tuning M AAT 35 M otion Apply Hookup Diagnostic M AHD 35 M otion Run Axis Tuning M RAT 35 M otion Run Hookup Diagnostic M RHD 35 M otion Direct Commands 31 M otion Event Instructions M otion Arm Output Cam M AOC 35 M otion Arm Registration M AR 35 M otion Arm Watch Position M AW M otion Disarm Output Cam M DOC 35 M otion Disarm Registration M DR 35 M otion Disarm W atch Position MDW 35 M otion Group Instructions M otion Group Shutdown M GSD 35 M otion Group Shutdown Reset M G SR 35 M otion Group Stop M GS 35 M otion Group Strobe Position M G SP 35 M otion M ove Instructions M otion Axis Gear M AG 34 M otion Axis Home M AH 34 M otion Axis J og M AJ 34 M otion Axis M ove M AM 34 M otion Axis Position Cam M APC M otion Axis Stop MAS 34 M otion Axis Time Cam M ATC 34 M otion Calculate Cam Profile M C CP 34 M otion Calculate Slave Values 34 M otion Change Dynamics M CD 34 M otion Redefine Position M RP 34 M otion State Instructions M otion Axis Fault Reset MAFR 34 M otion Axis Shutdown M ASD 34 M otion Axis Shutdown Reset MASR 34 M otion Direct Drive Off M DF 34 M otion Direct Drive On MDO 34 M otion Servo Off MSF 34 M otion Servo On MSO 34 motion instructions overview 27 motion planner set period 18 Motion Redefine Pos
331. n Error is the difference in configured axis Position Units between the command and actual positions of an axis For an axis with an active servo loop position error is used along with other error terms to drive the motor to the condition where the actual position is equal to the command position Position Error AXIS_ SERVO BOOL Tag Set when the axis position error exceeds the Position Error Tolerance Fault AXIS SERVO_DRIVE This fault can only occur when the drive is in the enabled state The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset M ASR instruction to clear the fault Position Error AXIS_SERVO SINT GSV Fault Action Value Fault Action AXIS_SERVO_DRIVE SSV Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Position Error AXIS_SERVO REAL GSV Position Units Tolerance AXIS_ SERVO_DRIVE ssy The Position Error Tolerance parameter specifies how much position error the servo or drive tolerates before issuing a Position Error Fault Like the position lock tolerance the position error tolerance is interpreted as a quantity For example specifying a position error tolerance of 0 75 Position Units means that a Position Error Fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 Position Units as shown Position Error Fault Position Error Fault Normal System Operation 10 05 00 05 1 0 Position Error The self tuning
332. n Group Strobe Position Arm and disarm special event Arm the watch position event checking for an axis MAW Yes checking functions such as Motion Arm Watch Position registration and watch position Disarm the watch position event checking for an MDW Yes axis Motion Disarm Watch Position Arm the servo module registration event checking MAR Yes for an axis Motion Arm Registration Disarm the servo module registration event checking MDR Yes for an axis M otion Disarm Registration Arm an output cam for an axis and output MAOC No Motion Arm Output Cam Disarm one or all output cams connected to an axis M DOC No Motion Disarm Output Cam Tune an axis and run diagnostic Use the results of an M AAT instruction to calculate MAAT No tests for your control system and update the servo gains and dynamic limits of an Motion Apply Axis Tuning These tests include axis Run a tuning motion profile for an axis M RAT No v M otion Run Axis Tuning e Encoder hookup test Use the results of an M RHD instruction to set MAHD No encoder and servo polarities Motion Apply Hookup Diagnostic e Marker test Run one of the diagnostic tests on an axis MRHD No Motion Run Hookup Diagnostic Publication LOGIX UM 002B EN P J anuary 2007 36 s Test an Axis with M otion Direct Commands If you want to Control multi axis coordinated motion And Use this instruction Motion direct Command Start a linear coordinated move for the axes of M CLM
333. n Planner Units Servo Feedback Conversion Homing Hookup Positioning Mode z Conversion Constant foo Feedback Counts 1 0 Position Units Position Unwind e000 Feedback Counts Unwind Cancel Apply Help The differences in the appearance of the Conversion tab screens for the AXIS SERVO and AXIS SERVO_DRIVE are the default values for Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 185 Conversion Constant and Position Unwind and the labels for these values e Axis Properties mysercos1laxis 0 x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Taa General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Positioning Mode Rotary i Drive Counts 1 0 Position Units Conversion Constant 200000 0 based on 200000 Counts Motor Rey a Drive Counts Unwind Position Unwind 200000 based on 200000 Counts Motor Rev OK Cancel Help Conversion Tab Use this tab to view edit the Positioning Mode Conversion Constant and if configured as Rotary the Unwind values for an axis of the tag types AXIS SERVO AXIS SERVO_DRIVE and AXIS VIRTUAL Positioning Mode This parameter is not editable for an axis of the data type AXIS CONSUMED Instead this value is set in and taken from a producing axis in a networked Logix processor This value can be edited for AXIS SERVO AXIS SERVO DRIVE and AXIS VIRTUAL e Linear provides
334. n of the M AR Motion Arm Registration instruction T Cleared when either a registration event occurs or a M DR M otion AXIS_ SERVO Disarm Registration instruction is executed for registration input 1 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 1 AXIS_CONSUMED BOOL Tag Set when a registration event has occurred on registration input 1 Status AXIS GENERIC Cleared when either another M AR M otion Arm Registration instruction 7 or a M DR M otion Disarm Registration instruction is executed for AXIS_ SERVO registration input 1 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 2 AXIS_CONSUMED BOOL Tag Set when a registration checking has been armed for registration input 2 Armed Status AXIS GENERIC through execution of the M AR M otion Arm Registration instruction 5 Cleared when either a registration event occurs or a M DR M otion AXIS_ SERVO Disarm Registration instruction is executed for registration input 2 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 2 AXIS_CONSUMED BOOL Tag Set when a registration event has occurred on registration input 2 Status AXIS GENERIC Cleared when either another M AR M otion Arm Registration instruction 3 or a M DR M otion Disarm Registration instruction is executed for AXIS_ SERVO registration input 2 AXIS_SERVO_DRIVE AXIS_VIRTUAL Registration 1 AXIS_CONSUMED REAL Tag Registration 1 Position in Position Units Position AXIS_SERVO_DRIVE AXIS_VIRTUAL Registration 1 AXIS_CONSUMED DINT MSG These attributes show which task is tr
335. n the Kinetix family of drives Return Speed The speed of the jog profile used in the return leg s of an active homing sequence The home return speed specified should be less than the maximum speed and greater than zero Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 195 Homing Tab Use this tab to configure the attributes related to homing an axis of the AXIS VIRTUAL type AXIS VIRTUAL General Motion Planner Units Conversion Homing Dynamics Tag Mode Active Position a Position Units Sequence Immediate Cancel Help Only an Active Immediate Homing sequence can be performed foran axis of the type AXIS VIRTUAL When this sequence is performed the controller immediately enables the servo drive and assigns the Home Position to the current axis actual position and command position This homing sequence produces no axis motion Mode This read only parameter is always set to Active Position Type the desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position is set to zero although any value within the software travel limits can be used After the homing sequence is complete the axis is left at this position If the Positioning Mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning Mode is Rotary then the home posit
336. n the MAOC instruction references a specific instance in which a value of zero selects the first instance Program Stop Action Select how a specific axis is stopped when the processor undergoes a mode change or when an explicit Motion Group Programmed Stop MGPS instruction is executed e Fast Disable The axis is decelerated to a stop using the current configured value for maximum deceleration Servo action is maintained until the axis motion has stopped at which time the axis is disabled that is Drive Enable is disabled and Servo Action is disabled Fast Shutdown The axis is decelerated to a stop using the current configured value for maximum deceleration Once the axis motion is stopped the axis is placed in the shutdown state that is Drive Enable is disabled Servo Action is disabled and the OK contact is opened To recover from this state a reset instruction must be executed Fast Stop The axis is decelerated to a stop using the current configured value for maximum deceleration Servo action is maintained after the axis motion has stopped This mode is useful for gravity or loaded systems where servo control is needed at all times Hard Disable The axis is immediately disabled that is Drive Enable is disabled Servo Action is disabled but the OK contact is left closed Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop Hard Shutdown The axis is
337. nCamStatus BOOL Decima TimeCamStatus BOOL Decima PositionCamPendingStatus BOOL Decima TimeCamPendingStatus BOOL Decima GearingLockStatus BOOL Decima PositionCamLockStatus BOOL Decima M asterOffsetM oveStatus BOOL Decima CoordinatedM otionStatus BOOL Decima AxisEvent DINT Hex WatchEventArmedStatus BOOL Decima WatchEventStatus BOOL Decima RegEventlArmedStatus BOOL Decima RegEvent1Status BOOL Decima RegEvent2ArmedStatus BOOL Decima RegEvent2Status BOOL Decima HomeEventArmedStatus BOOL Decima Axis Data Types 385 Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration1Position REAL Float Registration2Position REAL Float RegistrationlTime DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float M asterOffset REAL Float StrobeM asterOffset REAL Float StartM asterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Fl
338. nable Input This dedicated input enables the drive s power structure and servo loop If Drive Enable Input Checking is not active then no such checking of the Drive Enable Input occurs Click on the checkbox to activate the Drive Enable Input Fault When active a fault detected on the external drive notifies the motion module via Drive Fault Input Select up to two axis attributes whose status are transmitted along with the actual position data to the Logix processor The values of Publication LOGIX UM 002B EN P J anuary 2007 178 Axis Properties Change Catalog button the selected attributes can be accessed via the standard GSV or Get Attribute List service The servo status data update time is precisely the coarse update period If a GSV is done to one of these servo status attributes without the having selected this attribute via the Drive Info Select attribute the attribute value is static and does not reflect the true value in the servo module can be used for refine the selection process Change Catalog Number x Catalog Number MPLA330P M 0s OK Cancel Help The Change Catalog button accesses the motor database and provides for selecting a new motor catalog number There are three boxes that Filters Voltage Family Feedback Type 230 0 7 H x SRM 7 Catalog Number Lists the available catalog numbers from the Motor Database based on any selection criteria from the Filter
339. nce and Position Lock Tolerance and e set the servo drive s Output Limit Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 229 for an axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog e Axis Properties myservolaxis Ei x General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag J Soft Travel Limits Manual Adjust Maximum Positive oo Pasition Units Mavimum Negative foo Position Units Position Error Tolerance fo 0 Position Units Position Lock Tolerance joo Position Units Output Limit 10 0 Volts Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on th
340. nd also proportional to the square of the total position update delay time From both a noise and acceleration error perspective minimizing the coarse update period is vital Some applications don t need zero tracking error between the master and the slave axis In these cases it may be beneficial to disable the M aster Delay Compensation feature to eliminate the disturbances the extrapolation algorithm introduces to the slave axis When the M aster Delay Compensation feature is disabled bit cleared the slave axis will appear to be more responsive to movements of the master and run generally smoother than when M aster Delay Compensation feature is enabled bit set However when the master axis is running at a constant velocity the slave will lag the master by a tracking error that is proportional to the speed of the master Note that M aster Delay Compensation even if explicitly enabled is not applied in cases where a slave axis is gearing or camming to the master axis command position Since the controller generates the command position directly there is no intrinsic master position delay to compensate for Continued on next page Publication LOGIX UM 002B EN P J anuary 2007 312 Axis Attributes Attribute Axis Type Data Type Access M aster Input Description Master Position Filter Configuration The M aster Position Filter bit controls the activity of an independent Bits cont single pole low pass filter that eff
341. nd clear the bit Coordinated moves cannot be initiated while this bit is set Stopping Status BOOL Tag The stopping bit is set when a MCS instruction is executed The bit will remain set until all coordinated motion is stopped The bit is cleared when all coordinated motion has stopped Transform Source Status BOOL Tag If the bit is e ON The coordinate system is the source of an active transform e OFF The coordinate system isn t the source of an active transform Transform Target Status BOOL Tag If the bit is e ON The coordinate system is the target of an active transform e OFF The coordinate system isn t the target of an active transform Publication LOGIX UM 002B EN P anuary 2007 400 Coordinate System Attributes Publication LOGIX UM 002B EN P anuary 2007 Numerics 1394C Drive module inhibit an axis 74 1394 CFLAExx Cable Pinouts 148 Wiring Diagram 148 1398 CFLAEXx Cable Diagram 144 Pinouts 144 1756 HY D02 add to controller 15 1756 M 02AE add to controller 15 1756 M 02AE servo module Block diagrams Torque servo drive 368 Velocity servo drive 369 Features 9 Loop and interconnect diagrams 367 Troubleshooting 115 Wiring diagrams 1394 drive 147 Servo module RTB 142 Ultra 100 drive 143 Ultra 200 drive 143 Ultra3000 drive 145 1756 M 02AS add to controller 15 1756 M 03SE add to controller 15 set up 17 1756 M 08SE add to controller 15 set up 17 1756 M 16SE add to controller 15 set up 17 A
342. nded position at any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforward Gain scales the current Command Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward is 100 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforward Gain is not applicable for applications employing velocity loop servo drives Such systems would require the acceleration feedforward functionality to be
343. ndwidth of the velocity feedback filter is determined by the resolution of the feedback device the value for the Drive M odel Time Constant is smaller when high resolution feedback devices are selected Set when drive output current exceeds the predefined operating limits for the drive Drive Overtemp AXIS_SERVO_DRIVE BOOL Fault Tag Set when the drive s temperature exceeds the drive shutdown temperature Drive AXIS_SERVO_DRIVE BOOL Overvoltage Fault Tag Set when drive DC bus voltage exceeds the predefined operating limits for the bus Publication LOGIX UM 002B EN P anuary 2007 290 Axis Attributes Attribute Axis Type Data Type Access Description Drive Polarity AXIS_SERVO_DRIVE DINT Publication LOGIX UM 002B EN P J anuary 2007 GSV SSV 0 Custom Polarity 1 Positive Polarity 2 Negative Polarity Custom Polarity Custom Polarity is used to enable custom polarity configurations using the various polarity parameters defined by the SERCOS Interface standard Positive N egative Polarity Positive and Negative Polarity bit attribute determines the overall polarity of the servo loop of the drive All the advanced polarity parameters are automatically set based on whether the Drive Polarity is configured as Positive or Negative Proper wiring guarantees that the servo loop is closed with negative feedback However there is no such guarantee that the servo drive has the same sense of forward direction
344. ne or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice While the Vel I Gain if employed is typically established by the automatic servo tuning procedure in the Tune tab of this dialog box the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system in the Output tab Once this is done the Vel I Gain can be computed based on the current or computed value for the Vel P Gain using the following formula Vel I Gain 0 25 0 001 Sec mSec Vel P Gain 2 The typical value for the Velocity Proportional Gain is 15 mSec 2 Integrator Hold If the Integrator Hold parameter is set to Publication LOGIX UM 002B EN P anuary 2007 e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion e Disabled all active position or velocity integrators are always enabled Axis Properties 219 Manual Adjust Click on this button to access the Gains tab of the Manual Adjust dialog for online editing Manual Adjust mysercoslaxis X Dynamics Gains Output Limits Offset Position Gains aa Proportional 101 72526 le 1s Integral oo 1 ms s Velocity Gains
345. neral Geometry Units Offsets Joints Tag Type Articulated Dependent Transform Dimension 3 Link Lengths Zero Angle Orientations zi 10 0 Degrees z2 00 Degrees Z3 0 0 Degrees Cancel Apply Help Geometry Tab The Geometry tab of the Coordinate System Properties is where you can specify the link lengths and zero angle orientation values for articulated robotic arms The graphic displayed on this tab shows a typical representation of the type of coordinate system you selected on the General tab Your robot should look similar to the one shown in the graphic but may be somewhat different depending on your application Link Lengths Box The Link Length box displays fields to let you specify a value for the length of each link in an articulated robotic arm coordinate system The measurement units for the articulated coordinate system are defined by the measurement units configured for the affiliated Cartesian coordinate system The two coordinate systems are linked or affiliated with each other by an MCT instruction When specifying the link length values be sure that the values are calculated using the same measurement units as the linked Cartesian coordinate system For example if the manufacturer specifies the robot link lengths using millimeter units and you want to configure Publication LOGIX UM 002B EN P J anuary 2007 Create and Configure a Coordinate System 59 the robot using inches then you must conv
346. ng uj N ej Cooling Error Warning Drive Overload Warning When the load limit of the motor is exceeded the Overload Warning bit is set If the condition persists an Overload Fault occurs This warning bit gives the control program an opportunity to reduce motor loading to avoid a future shutdown situation Drive Overtemperature Warning When the over temperature limit of the drive is exceeded the Drive Overtemperature W arning bit is set If the condition persists a Drive Overtemperature Fault occurs This warning bit gives the control program an opportunity to reduce motor loading or increasing drive cooling to avoid a future shutdown situation M otor Overtemperature Warning When the over temperature limit of the motor is exceeded the M otor Overtemperature W arning bit is set If the condition persists a M otor Overtemperature Fault occurs This warning bit gives the control program an opportunity to reduce motor loading or increasing motor cooling to avoid a future shutdown situation Cooling Error Warning When the ambient temperature limit inside the drive enclosure is exceeded the Cooling Error Warning bit sets If the condition persists a Cooling Error Fault occurs This warning bit gives the control program an opportunity to increase drive cooling to avoid a future shutdown situation Publication LOGIX UM 002B EN P anuary 2007 300 Axis Attributes Attribute Axis Type Data Type Access Description
347. ng applications Strobe Command AXIS_CONSUMED REAL GSV Strobe Command Position in Position Units Position AXIS GENERIC Tag Strobe Actual Position and Strobe Command Position are used to simultaneously store a snap shot of the actual command position and AXIS_SERVO master offset position of an axis when the M GSP Motion Group Strobe AXIS_SERVO_DRIVE Position instruction is executed The values are stored in the configured AXIS VIRTUAL Position Units of the axis Since the M GSP instruction simultaneously stores the actual and command positions for all axes in the specified group of axes the resultant Strobe Actual Position and Strobe Command Position values for different axes can be used to perform real time calculations For example the Strobe Actual Positions can be compared between two axis to provide a form of slip compensation in web handling applications Strobe M aster AXIS_CONSUMED REAL GSV Strobe M aster Offset in M aster Position Units The Strobe M aster Offset is the position offset that was applied to the AXIS_GENERIC Ta 1 a 3 master side of the position cam when the last M otion Group Strobe AXIS_ SERVO Position M GSP instruction was executed The Strobe M aster Offset is AXIS_SERVO_DRIVE returned in master position units The Strobe M aster Offset will show AXIS VIRTUAL the same unwind characteristic as the position of a linear axis Telegram Type AXIS_SERVO_DRIVE INT GSV Set to a value of 7 which means Applica
348. ng is also eliminated at the cost of a small steady state error Gearing Lock AXIS_CONSUMED BOOL Tag Set whenever the slave axis is locked to the master axis in a gearing Status AXIS GENERIC relationship according to the specified gear ratio The clutch function of z the gearing planner is used to ramp an axis up or down to speed in a AXIS_ SERVO gearing process MAG with Clutch selected This bit is cleared during AXIS_SERVO_DRIVE the intervals where the axis is clutching AXIS_VIRTUAL Gearing Status AXIS_CONSUMED BOOL Tag Set if the axis is a slave that is currently gearing to another axis Cleared AXIS GENERIC when the gearing operation is stopped or is superseded by some other F motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Ground Short AXIS_SERVO_DRIVE BOOL Tag When the drive detects an imbalance in the DC bus supply current the Fault Ground Short Fault bit is set indicating that current is flowing through an improper ground connection Group Instance AXIS_CONSUMED DINT GSV Instance Number of Group assigned to Axis AXIS_GENERIC i i i The Group Instance attribute is used to determine what motion group AXIS_SERVO object instance this axis is assigned to AXIS_SERVO_DRIVE AXIS_VIRTUAL Hard Overtravel AXIS_SERVO_DRIVE SINT GSV Fault Action Value Fault Action SSV Shutdown 0 Disable Drive 1 Stop M otion 2 Status Only 3 Publication LOGIX UM 002B EN P J anuary 2007 306 Axis Attributes Attribute Axis Type D
349. nger to get acceleration to 0 e In the meantime the axis continues past 0 speed and moves in the opposite direction The following trends show how the axis stops and starts with a trapezoidal profile and an Scurve profile Start while decelerating and reduce the deceleration rate Trapezoidal S curve 100 Ty 80 60 speed overshoots 0 and axis goes in opposite direction The axis speeds back up as soon as you start the jog The jog instruction reduces the deceleration of the axis It now again The lower deceleration doesn t change the takes longer to bring the acceleration rate to 0 The speed response of the axis overshoots 0 and the axis moves in the opposite direction Publication LOGIX UM 002B EN P J anuary 2007 134 Troubleshoot Axis Motion Corrective action Use the same deceleration rate in the instruction that starts the axis and the instruction that stops the axis Jog_PB sLocat4 Data 0 gt My_Axis_OK MAJ ey Motion Axis Jog EN Axis My_Axis Motion Control Jog_1 DNE Direction 0 ER gt Speed _1_Speed 60 0 P Speed Units Units per sec Accel Rate Jog_1_Accel 20 06 Accel Units Units per sec2 Use the same deceleration rate Decel Rate ee ao 2 in both instructions Decel Units Une persed Profile S Curve Merge Disabled Merge Speed Programmed Jog_PB lt Local 4 Data O gt In a MAS instruction set Change Sr ae Decel to Yes The ax
350. nits units per sec then the Max Deceleration Jerk value is derived from the Motion Instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time meaning the entire Scurve move will have Jerk limiting which is the default mode An S curve move with 0 of Time will result in a trapezoidal profile and have 0 Jerk limiting If set manually enter the value in units Position Units second units You can also use the optional Calculate button to view the value in terms of units of Time Axis Properties 207 Manual Adjust Click on this button to open the Dynamics tab of the Manual Adjust Dynamics Calculate Button dialog for online editing of the Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk and Maximum Deceleration Jerk When values are changed on this dialog either by manually changing the spin control or entering numeric values the new values are instantaneously sent to the controller Manual Adjust axis_vitual Maximum Speed 10 0 H Position Units s e Maximum Acceleration f 00 0 H Position Units s 2 Maximum Deceleration foo 0 Position Units s 2 Maximum Acceleration Jerk j000000 H Position Units s 3 Maximum Deceleration Jerk a000 H e Position Units s 3 Cancel Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above par
351. ns they advance you through the process by individual screens At the bottom of each screen is a series of buttons To advance to the next screen click on the Next button and the information you entered is saved and you advance to the next wizard screen To end your progression through the wizard screens click on the Finish button The information entered to this point is saved and the coordinate System is stored in the Controller Organizer Create and Configure a Coordinate System 51 under either the Ungrouped Axes folder or the Motion Group if a motion group has been associated with the coordinate system It is not necessary to use the wizard screens to configure your coordinate System Once it has been created you can access the Coordinate System Properties screen and enter the information for the coordinate System See the section entitled Editing Coordinate System Properties later in this manual for detailed information about entering configuration information General W izard Screen The General screen lets you e associate the tag to a Motion Group e enter the Coordinate System type e select the Dimension for the tag that is the number of associated axes e specify the number of dimensions to transform e enter the associated axis information e select whether or not to update Actual Position values of the Coordinate System automatically during operation This screen has the same fields as the General tab foun
352. ntered into the Configuration Parameters dialog using the same measurement units Kinematics in RSLogix 5000 Software 109 The following example illustrates the typical configuration parameters for a SCARA robot Figure 1 SCARA Link Lengths Link lengths are the rigid mechanical bodies attached at joints Coordinate System Properties Articulated_Independent General Geometry Units Offsets Joints Tag Type Articulated Independent Transform Dimension 2 Link Lengths Enter the Link Length values 11 fioo L2 8 0 For the robot shown in Figure 1 SCARA the Link Length values a z 00 Degrees are z2 jod Degrees e L1 10 e 12 8 OK l Cancel Help Base Offsets Base offsets do not apply to a SCARA robot configuration End Effector Offsets End effector offsets do not apply to a SCARA robot configuration Publication LOGIX UM 002B EN P J anuary 2007 110 Kinematics in RSLogix 5000 Software Arm Solutions Left Arm and Right Arm Solutions for Two Axes Robots Solution Mirroring for Three Dimensional Robots Publication LOGIX UM 002B EN P anuary 2007 A Kinematic arm solution is the position of all joints on the robot that correspond to a Cartesian position When the Cartesian position is inside the workspace of the robot then at least one solution will always exist Many of the geometries have multiple joint solutions for a single Cartesian position e Two ax
353. ntify the Type motor mounted or auxiliary feedback device connected to the drive Feedback Type Code Rotary Linear Rotary Only Only or Linear lt None gt 0x0000 SRS 0x0001 X SRM 0x0002 X SCS 0x0003 X SCM 0x0004 X SNS 0x0005 X MHG 0x0006 X Resolver 0x0007 X Analog Reference 0x0008 X Sin Cos 0x0009 X TTL 0x000A X UVW 0x000B X Unknown Stegmann 0x000C X Endat 0x000D X RCM 215 4 0x000E X RCM 215 6 0x000F X RCM 215 8 0x0010 X LINCODER 0x0011 X Sin Cos with Hall 0x0012 X TTL with Hall 0x0013 X Motor Feedback AXIS_SERVO_DRIVE INT GSV The M otor Feedback Units attribute establishes the unit of measure that Units is applied to the M otor Feedback Resolution attribute value The Aux Feedback Units attribute establishes the unit of measure that is applied to the Aux Feedback Resolution attribute value Units appearing in the enumerated list cover linear or rotary english or metric feedback devices 0 revs 1 inches 2 mm Publication LOGIX UM 002B EN P anuary 2007 322 Axis Attributes Attribute Axis Type Data Type Access Description M otor ID AXIS_SERVO_DRIVE INT GSV The M otor ID attribute contains the enumeration of the specific A B motor catalog number associated with the axis If the M otor ID does not match that of the actual motor an error is generated during the drive configuration process M otor Inertia AXIS_SERVO_DRIVE REAL GSV Rated Pos Units per Sec SSV The M otor Inertia value represents
354. ntly implemented as a 204 order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output attenuation at the Notch Filter Frequency The programmable notch filter is bypassed if the configured Output Notch Filter Frequency for this filter is set to zero the default This output notch filter is particularly useful in attenuating mechanical resonance phenomena The output filter is particularly useful in high inertia applications where mechanical resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Output Offset AXIS_ SERVO REAL GSV 10V m Another common situation when interfacing an external Servo Drive particularly for velocity servo drives is the effect of drive offset Cumulative offsets of the servo module s DAC output and the Servo Drive Input result in a situation where a zero commanded Servo Output value causes the axis to drift If the drift is excessive it can play havoc on the Hookup Diagnostic and Tuning procedures as well as result in a steady state non zero position error when the servo loop is closed Output offset compensation can be used to correct this problem by adding a fixed value called Output Offset to the Servo Output This value is chosen to achieve near zero drive velocity when the uncompensated Servo Output value is zero Overload Fault AXIS_SERVO DRIVE BOOL Tag When the load limit of the motor drive is first exceeded the Overload warn
355. o specify the actions that are taken in response to these faults e Drive Fault e Feedback Noise Fault e Feedback Loss Fault e Position Error Fault e Soft Overtravel Fault Publication LOGIX UM 002B EN P J anuary 2007 246 Axis Properties e Axis Properties myservolaxis Iof x General Motion Planner Units Servo Feedback Conversion Homina Hookup Tune Dynamics Drive Fault Feedback Noise Feedback Position Error Soft Overtravel Publication LOGIX UM 002B EN P J anuary 2007 Gains Output Limits Offset Fault Actions Tag Disable Drive Cancel Apply Help When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 software and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type e Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deacti
356. oat ServoStatus DINT Hex ProcessStatus BOOL Decima OutputLimitStatus BOOL Decima PositionLockStatus BOOL Decima HomelnputStatus BOOL Decima ReglInputStatus BOOL Decima Reg2InputStatus BOOL Decima DriveFaultInputStatus BOOL Decima ServoFault DINT Hex PosSoftOvertravelFault BOOL Decima Publication LOGIX UM 002B EN P anuary 2007 386 Publication LOGIX UM 002B EN P anuary 2007 Axis Data Types Member Data Type Style NegSoftOvertravel Fault BOOL Decima FeedbackFault BOOL Decima FeedbackNoiseFault BOOL Decima PositionErrorFault BOOL Decima DriveFault BOOL Decima M oduleFaults DINT Hex ControlSyncFault BOOL Decima M oduleS yncFault BOOL Decima TimerEventFault BOOL Decima M oduleHardw areFault BOOL Decima InterM oduleS yncFault BOOL Decima AttributeErrorCode INT Hex AttributeErrorlD INT Hex PositionCommand REAL Float PositionFeedback REAL Float AuxPositionFeedback REAL Float PositionError REAL Float PositionIntegratorError REAL Float VelocityCommand REAL Float VelocityFeedback REAL Float VelocityError REAL Float VelocitylntegratorError REAL Float AccelerationCommand REAL Float AccelerationFeedback REAL Float ServoOutputLevel REAL Float M arkerDistance REAL Float VelocityOffset REAL Float TorqueOffset REAL Float Axis Data Types 387 AXIS_SERVO_DRIVE
357. offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Enables a periodic test that monitors the current state of the positive and negative overtravel limit switch inputs when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for hardware overtravel checking and if that axis passes beyond a positive or negative overtravel limit switch a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault is issued The response to this fault is specified by the Hard Overtravel setting in the Fault Actions tab of this dialog Enables software overtravel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog Software overtravel limits are disabled during the tuning process Type the maximum positive position to be used for software overtravel checking in position units The Maximum Positive limit must always be greater than the Maximum Negative limit Type the maximum negative position to be used for
358. oftware and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type e Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly and completely as possible Publication LOGIX UM 002B EN P J anuary 2007 250 Axis Properties Drive Thermal Motor Thermal Feedback Noise Publication LOGIX UM 002B EN P J anuary 2007 e Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs it brings the axis to a stop by applying the Stopping Torque for up to the Stopping Time Limit During this period the servo is active but no longer tracking the command reference from logix Once the axis is stopped or the stopping limit is exceeded the servo and power structure are disabled Stop Motion If a fault action is set to Stop Motion then when the associated fault occurs the axis immedi
359. oint position exists Kinematics error conditions are detected e upon activation of a transformation by executing a MCT instruction e in some movement conditions Errors can occur for certain movement conditions for either the source or target coordinate system after a transformation has been established These type of errors are reported in the MCT instruction error codes Singularity and other movement error conditions are also reported in the MCT error codes e computing an invalid position via an MCTP instruction For a list and description of error codes refer to the LOGIX5000 Controllers Motion Instructions publication 1756 RM007H EN P Publication LOGIX UM 002B EN P J anuary 2007 114 Kinematics in RSLogix 5000 Software Monitor Status Bits for Kinematics You can monitor the status of the Kinematics functions using RSLogix 5000 software status bits To see if Check the following tag And this bit For A coordinate system is the source of an active transform Coordinate system TransformS ourceStatus On A coordinate system is the target of an active transform Coordinate system TransformTargetStatus On An axis is part of an active transform Axis TransformStateStatus On An axis is moving because of a transform Axis ControlledByTransformStatus On Publication LOGIX UM 002B EN P anuary 2007 Introducti 1756 M 02AE Module on 2 AXIS SERVO CHO CH1 FDBK FDBK DRIV
360. om Workstation fe 3 Date and Time e Time Zone e ie e Vv Make this controller the Coordinated System Time master active axes in any controller in this chassis or chassis synchronized by SynchLink may Is the master experience unexpected motion dh DANGER If CST master is cleared online Synchronized with a master Duplicate master detected Timer hardware faulted Cancel Apply Help If you have more than one controller in the chassis If you have more than one controller in the chassis choose one of the controllers to be the CST master You can t have more than one CST master for the chassis Publication LOGIX UM 002B EN P J anuary 2007 Start 15 Add the Motion Modules 1 IMPORTANT For your motion modules use the firmware revision that goes with the firmware revision of your controller See the release notes for your controller s firmware CompactLogix controller Controller My_Controller Tasks Motion Groups EI Trends Data Types 3 8 1 0 Configuration E CN H E 1769 Bus E Select Module Communications Controllers Digital Motion 1756 H DO2 1756 M024E 1756 M0245 1756 M035E 1756 M085E 1756 M085EG 1756 M165E Other By Category By Verdon ControlLogix controller Controller My_Controller Tasks Motion Groups C3 Trends 5 Data Types 5 6 1 0 Configuration ea 1756 Backp
361. oming sequence has been completed In most cases this position is set to zero although any value within the software travel limits can be used After the homing sequence is complete the axis is left in this position Publication LOGIX UM 002B EN P anuary 2007 If the Positioning Mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning Mode is Rotary then the home position should be less than the unwind distance in position units Axis Properties 189 Offset Type the desired offset if any in position units the axis is to move Sequence Limit Switch Direction upon completion of the homing sequence to reach the home position In most cases this value is zero Select the event that causes the Home Position to be set Sequence Type Description Immediate Sets the Home Position to the present actual position without motion Switch Sets the Home Position when axis motion encounters a home limit switch Marker Sets the Home Position when axis encounters an encoder marker Switch M arker Sets the Home Position when axis first encounters a home limit switch then encounters an encoder marker See the section Homing Configurations below for a detailed description of each combination of homing mode sequence and direction If a limit switch is used indicate the normal state of that switch that is
362. ommand output necessary to generate the commanded acceleration It does this by scaling the current Command Acceleration by the Acceleration Feedforward Gain and adding it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain lets the following error of the servo system during the acceleration and deceleration phases of motion be reduced to nearly zero This is important in applications such as electronic gearing and synchronization where the actual axis position must not significantly lag behind the commanded position at any time When you connect to a velocity servo drive use Acceleration Feedforward to add a term to the Velocity Command that is proportional to the commanded acceleration This can be effective in cases where the external drive shows a steady state velocity error during acceleration and deceleration The best value for Acceleration Feedforward depends on the drive configuration Excessive Acceleration Feedforward values tend to produce axis overshoot For torque servo drive applications the best value for Acceleration Feedforward is theoretically 100 However the value may need to be increased slightly to accommodate servo loops with non infinite lo
363. only occur when the drive is in the enabled state and the Hard Overtravel Checking bit is set in the Fault Configuration Bits attribute If the Hard Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the hard overtravel limit switch using a motion instruction results in an instruction error To recover from this fault the axis must be moved back within normal operation limits of the equipment and the limit switch closed This fault condition is latched and requires execution of an Motion Axis Fault Reset M AFR or Motion Axis Shutdown Reset M ASR instruction to clear Any attempt to clear the fault while the overtravel limit switch is still open and the drive is enabled is unsuccessful Pos Lock Status AXIS_ SERVO DINT Tag Set when the magnitude of the axis position error has become less than AXIS SERVO DRIVE or equal to the configured Position Lock Tolerance value for the z associated physical axis Pos Overtravel AXIS_SERVO BOOL Tag If this bit is Input Status AXIS_SERVO_DRIVE e ON The Positive Overtravel input is active e OFF The Positive Overtravel input is inactive Pos Soft AXIS_ SERVO BOOL Tag If this bit is Overtravel Fault AXIS_SERVO_DRIVE e ON The axis moved or tried to move past the Maximum Positive travel limit e OFF The axis moved back within the Maximum Positive travel limi
364. onnections to the motion module are running again This axis is OK to run e Fora SERCOS ring the SERCOS ring has phased up again My_Axis_XInhibitStatus My_Axis_X ServoActionStatus My_Axis_ X_OK jos m a This axis is on Publication LOGIX UM 002B EN P J anuary 2007 Introduction Overview of Kinematics Functionality in RSLogix 5000 Softw are Chapter 6 Kinematics in RSLogix 5000 Softw are This chapter provides you with the information you need when using the Kinematics functionality within RSLogix 5000 software This chapter also provides you with guidelines for robot specific applications RSLogix 5000 software provides built in Kinematics transformation capability for controlling non Cartesian robots The Kinematics function provides seamless transformation of Cartesian coordinates to Joint coordinates enabling the movement of rotating bases elbows and shoulders found in robotic arms The benefits of RSLogix 5000 Kinematics integrated motion includes e Implementation of both sequential and robot arm control within one controller e No synchronization or handshake code required to link the robot arm to the controller e All data is available via the controller resulting in one HMI for both the controller and robot arm e Consistent hardware solution that reduces the need for spare parts and operator training You program the RSLogix 5000 Kinematics function by using the st
365. op gain and other application considerations For velocity servo drive applications the best value for Acceleration Feedforward is highly dependent on the drive s speed scaling and servo loop configuration A value of 100 in this case means only that 100 of the commanded acceleration value is applied to the velocity command summing junction and may not be even close to the optimal value To find the best Acceleration Feedforward Gain run a simple project that jogs the axis in the positive direction and monitors the Position Error of the axis during the jog Usually Acceleration Feedforward is used in tandem with Velocity Feedforward to achieve near zero following error during the entire motion profile To fine tune the Acceleration Feedforward Gain the Velocity Feedforward Gain must first be optimized using the procedure described above W hile capturing the peak Position Error during the acceleration phase of the jog profile increase the Acceleration Feedforward Gain until the peak Position Error is as small as possible but still positive If the peak Position Error during the acceleration ramp is negative the actual position of the axis is ahead of the command position during the acceleration ramp If this occurs decrease the Acceleration Feedforward Gain such that the Position Error is again positive To be thorough the same procedure should be done for the deceleration ramp to verify that the peak Position Error during deceleration is acc
366. or a torque current loop servo drive the servo module s digital velocity loop provides damping without the requirement for an analog tachometer The Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Servo Output or Torque Command that ultimately attempts to correct for the velocity error creating the damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability The velocity loop also allows higher effective position loop gain values to be used however too much Velocity Proportional Gain leads to high frequency instability and resonance effects Note that units for Velocity Proportional Gain are identical to that of the Position Proportional Gain making it easy to perform classic inches min mil calculations to determine static stiffness or damping Maximum Bandwidth There are limitations to the maximum bandwidth that can be achieved for the velocity loop based on the dynamics of the torque loop of the servo drive and the desired damping of the system Z These limitations may be expressed as follows Bandwidth Velocity 0 25 1 Z2 Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz Based on this number the corresponding gains for the loop can be computed Note that the bandwidth
367. or and auxiliary feedback device if any parameters for an axis of the type AXIS SERVO_ DRIVE e Axis Properties Axis1 iol x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion FeedbackT ype knne H Cycles poo ooo per Re Interpolation Factor Poo Feedback Ratio pooo Aux Rev Motor Rev Cancel Apply Help Feedback Type For applications that use auxiliary feedback devices select the type of auxiliary feedback device type These are drive dependent Cycles The number of cycles of the auxiliary feedback device This helps the Drive Compute Conversion constant used to convert drive units to feedback counts Depending on the feedback type selected this value may either be read only or editable Per The units used to measure the cycles Publication LOGIX UM 002B EN P J anuary 2007 184 Axis Properties Interpolation Factor This field displays a fixed constant value for the selected feedback type This value is used to compute the resolution of the feedback device Feedback Ratio Represents the quantitative relationship between the auxiliary feedback device and the motor Click on the Conversion tab to access the Axis Properties Conversion dialog e Axis Properties myservyolaxis Tune Dynamics Gains Output Limits Offset Fault Actions Tag l General Motio
368. osition The Cartesian position of a singularity is dependent on the type of the robot geometry and the size of the link lengths for the robot Not all robot geometries have singularity positions For example singularities for an Articulated Independent robot occur when e the robot manipulator folds its arm back onto itself and the Cartesian position is at the origin e the robot is fully stretched at or very near the boundary of its workspace Encounter a No solution Position Error Conditions Kinematics in RSLogix 5000 Software 113 An error condition is generated when a singularity position is reached Avoid programming your robot towards a singularity position when programming in Cartesian mode The velocity of the robot increases very rapidly as it approaches a singularity position and can result in injury or death to personnel Avoid programming your robot towards a no solution position when programming in Cartesian mode The velocity of the robot increases very rapidly as it approaches this position and can result in injury or death to personnel When a robot is programmed to move beyond its work envelope there is no mathematical joint position for the programmed Cartesian position The system forces an error condition For example if an Articulated Independent robot has two 10 inch arms the maximum reach is 20 inches Programming to a Cartesian position beyond 20 inches produces a condition where no mathematical j
369. osition Units Sec AXIS_ SERVO SSV Speed a The Home Return Speed attribute controls the speed of the jog profile AXIS_SERVO_DRIVE used after the first leg of an active bidirectional homing sequence Home Sequence AXIS_ GENERIC SINT GSV 0 immediate default AXIS_ SERVO SSV 1 switch AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 marker 3 switch then marker 4 torque limit 5 torque limit then marker Publication LOGIX UM 002B EN P J anuary 2007 308 Axis Attributes Attribute Axis Type Data Type Access Description Home Speed AXIS_ GENERIC REAL GSV Position Units Sec AXIS_ SERVO SSV The Home Speed attribute controls the speed of the jog profile used in AXIS_SERVO_DRIVE the first leg of an active homing sequence as described in the above discussion of the Home Sequence Type attribute Homed Status AXIS_CONSUMED BOOL Tag Cleared at power up or reconnection Set by the M AH instruction upon AXIS GENERIC successful completion of the configured homing sequence and later P cleared when the axis enters the shutdown state AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Homing Status AXIS_CONSUMED BOOL Tag Set if a Home motion profile is currently in progress Cleared when the AXIS SERVO homing operation is stopped or is superseded by some other motion fe operation AXIS_SERVO_DRIVE AXIS_ VIRTUAL Inhibit Status AXIS_ SERVO BOOL Tag Use the InhibitStatus bit of an axis to see if the axis is inhibited or oo e ON T
370. osition Units s Torque Offset a0 Output Offset 0 0 Volts Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists Publication LOGIX UM 002B EN P J anuary 2007 Friction Deadband Compensation Friction Compensation Friction Compensation Window Axis Properties 239 When RSLogix 5000 software is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run The percentage of output level added to a positive current Servo Output value or subtracted from a negative current Servo Output value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called sticktion that even with a significant position error the axis r
371. otion Apply Axis Tune instruction The unity gain bandwidth is the frequency beyond which the position servo is unable to provide any significant position disturbance correction In general within the constraints of a stable servo system the higher the Position Servo Bandwidth is the better the dynamic performance of the system A maximum value for the Position Servo Bandwidth is generated by the M RAT M otion Run Axis Tune instruction Computing gains based on this maximum value via the M AAT instruction results in dynamic response in keeping with the current value of the Damping Factor described above Alternatively the responsiveness of the system can be softened by reducing the value of the Position Servo Bandwidth before executing the M AAT instruction There are limitations to the maximum bandwidth that can be achieved for the position loop based on the dynamics of the inner velocity and current loops of the servo system and the desired damping of the system Z Exceeding these limits could result in an unstable system These bandwidth limitations may be expressed as follows M ax Position Bandwidth Hz 0 25 1 Z2 Velocity Bandwidth Hz For example if the maximum bandwidth of the velocity servo loop is 40 Hz and the damping factor Z is 0 8 the maximum the maximum position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed Position Units AXIS_CONSUMED
372. ould only exacerbate the situation Another common case is when performing certain motion When the Integrator Hold Enable attribute is set the servo loop automatically disables the integrator during commanded motion While the Pos Gain if employed is typically established by the automatic servo tuning procedure the Pos Gain value may also be set manually You can compute the Pos Gain based on the current or computed value for the Pos P Gain using the following formula Pos Gain 0 25 0 001 Sec mSec Pos P Gain Assuming a Pos P Gain value of 100 Sec this results in a Pos Gain value of 2 5 0 1 mSec Sec Publication LOGIX UM 002B EN P anuary 2007 Attribute Position Integrator Error Axis Type AXIS_ SERVO AXIS_SERVO_DRIVE Data Type Access REAL GSV Tag Axis Attributes 331 Description Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Position Integrator Error in Position Units mSec Position Integrator Error is the running sum of the Position Error in the configured axis Position Units for the specified axis For an axis with an active servo loop the position integrator error is used along with other error terms to drive the motor to the condition where the actual position is equal to the command position Position Lock Status
373. oup Designation Forward 0 Units per sec 100 Units per sec2 100 Units per sec2 Trapezoidal Disabled Merge Speed Programmed Operands l DANGER Pressing Execute may cause motion Display Area gt Motion Group Shutdown Execute When the Motion Direct Command dialog is opened focus is given to the Command Tree In the Command list you can either type the mnemonic and the list advances to the closest match or you can scroll down the list to select a command Click the desired command and its dialog displays At the top of the dialog in the title bar there is a number at the end of the axis or group that the command is being applied upon This is the Instance reference number This number increases by one every time a command is accessed for that axis or group The number is cleared when you execute RSLogix software Located at the bottom of the dialog are the following buttons Motion Group Shutdown Execute Close and Help Publication LOGIX UM 002B EN P J anuary 2007 38 Test an Axis with M otion Direct Commands Publication LOGIX UM 002B EN P anuary 2007 Motion Group Shutdown Button The Motion Group Shutdown button is located to the left of the screen to avoid accidental invoking of this command when you really want to execute the command accessed from the Command tree Clicking on this button causes the Motion Group Shutdown
374. outputs use standard 5V differential signals RS422 to transmit information from the transducer to the controller The signals consist of a Clock generated by the controller and Data generated by the transducer Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 171 Linear Displacement The 1756 HYD02 Servo module provides an interface to the Linear Transducer LDT Magnetostrictive Displacement Transducer or LDT A Field Programmable Gate Array FPGA is used to implement a multi channel LDT Interface Each channel is functionally equivalent and is capable of interfacing to an LDT device with a maximum count of 240 000 The LDT interface has transducer failure detection and digital filtering to reduce electrical noise The Feedback screen changes in appearance depending on the selected Feedback Type When the servo axis is associated with a 1756 M02AS motion module the only Feedback Type available is SSI Synchronous Serial Interface and the Feedback tab dialog looks like the following illustration e Axis Properties ssiaxis Iof x Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Sewo Feedback Conversion Homing Hookup Feedback Type SSI Synchronous Serial Interface Code Type C Binan Gray Data Length fi3 bits Clock Frequency 208 kHz IV Enable Absolute Feedback Absolute Feedback Offset oo Pasition Units Cancel Apply Help
375. own Reset M ASR instruction to clear the fault Publication LOGIX UM 002B EN P J anuary 2007 318 Axis Attributes Attribute Axis Type Data Type Access Description Motion Status AXIS_CONSUMED DINT Tag Lets you access all the motion status bits in one 32 bit word This tag is AXIS GENERIC the same as the Motion Status Bits attribute AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL wo rr Motion Status Accel Status Decel Status M ove Status og Status Gearing Status Homing Status Stopping Status Homed Status Position Cam Status wo CO y DD OT BY WwW N KF Time Cam Status m Position Cam Pending Status m m Time Cam Pending Status pa N Gearing Lock Status m Ww Position Cam Lock Status m da Reserved M aster Offset M ove Status Coordinated M otion Status m uo m e2 Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 319 Attribute Axis Type Data Type Access Description Motion Status AXIS_CONSUMED DINT GSV Lets you access all the motion status bits in one 32 bit word This Bits AXIS GENERIC attribute is the same as the M otion Status tag ee Motion Status Bit AXIS_SERVO_DRIVE J Accel Status 0 AXIS_VIRTUAL Decel Status 1 M ove Status 2 J og Status 3 Gearing Status 4 Homing Status 5 Stopping Status 6 Homed Status 7 Position Cam Status 8 Tim
376. p to provide smoother feedforward behavior This servo configuration is a good choice in applications where positioning accuracy and good feedforward performance is important The smoothness and stability may be limited however due to the mechanical non linearities external to the motor Note that the motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Command and Velocity Offset These values are updated at the coarse update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Publication LOGIX UM 002B EN P anuary 2007 376 Servo Loop Block Diagrams Publication LOGIX UM 002B EN P anuary 2007 Dual Command Feedback Servo The Motor Dual Command Feedback Servo configuration provides full position servo control using the auxiliary feedback device for position feedback and the motor mounted feedback device to provide velocity feedback Unlike the Dual Feedback Servo configuration however both com
377. pe is not only used to qualify many operations associated with the axis servo loop it also controls the behavior of the servo module s Axis Status LEDs An Axis Type of 1 Feedback Only results in the DRIVE LED being blanked while a value of 0 Unused blanks both the FDBK and DRIVE LEDs RSLogix 5000 software also uses the current configured value for Axis Type to control the look of many of the dialogs associated with configurating an axis Backlash Reversal Offset provides the user the capability to compensate for positional inaccuracy introduced by mechanical backlash For example power train type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical components such as a motor a gearbox and a ball screw which can introduce inaccuracies and which are subject to wear over their lifetime Hence when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw and so on may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved Compensation for mechanical backlash can be achieved by adding a directional offset specified by the Backlash Reversal Offset attribute to the motion planner s command position as it is applied to the associated servo loop Whenever the commanded velo
378. pplications To compensate for this behavior the Directional Scaling Ratio attribute can be applied to the Velocity Scaling based on the sign of the Servo Output Specifically the Velocity Scaling value is scaled by the Directional Scaling Ratio when the sign of the Servo Output is positive Thus the Directional Scaling Ratio is the ratio of the Velocity Scaling in the positive direction positive servo output to the Velocity Scaling in the negative direction negative servo output The value for the Directional Scaling ratio can be empirically determined by running the auto tune procedure in the positive direction and then in the negative direction and calculating the ratio of the resulting Velocity Torque Scaling values Drive Axis ID AXIS_SERVO_DRIVE INT GSV Product Code of Drive Amplifier The Drive ID attribute contains the ASA Product Code of the drive amplifier associated with the axis If the Product Code does not match that of the actual drive amplifier an error is generated during the configuration process Drive Capacity AXIS_SERVO_DRIVE REAL GSV Tag Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 The present utilization of drive capacity as a percent of rated capacity Drive Control Voltage Fault AXIS_SERVO_DRIVE BOOL Tag Set when the
379. putS caling Pos Gain PositionIntegralGain Pos P Gain PositionProportionalGain Position Error PositionError Position Integrator Error PositionIntegratorError Registration Position RegistrationPosition Servo Output Level ServoOutputLevel Vel FF Gain VelocityFeedforwardGain Vel Gain VelocitylntegralGain Vel P Gain VelocityProportionalGain Velocity Command VelocityCommand Velocity Error VelocityError Velocity Feedback VelocityFeedback Velocity Integrator Error VelocityIntegratorError Watch Position WatchPosition Publication LOGIX UM 002B EN P J anuary 2007 368 Servo Loop Block Diagrams AXIS_SERVO Topic Page Position Servo with Torque Servo Drive 368 Position Servo with Velocity Servo Drive 369 Position Servo with Torque Servo Drive Torque Offset e Acc DP dat D gt FF Velocity Gain Offset Output l e Offset Output amp Vel Filter Friction Servo l o gt adt b FF BW Comp Polarity Gain Position r Command Velocity l Coarse Position Command Velocity l Error Error Low l Torque Fine Pos P
380. r axes Fast Stop default 0 When the Programmed Stop M ode attribute is configured for Fast Stop the axis is decelerated to a stop using the current configured value for M aximum Deceleration Servo action is maintained after the axis motion has stopped Fast Disable 1 When the Programmed Stop M ode attribute is configured for Fast Disable the axis is decelerated to a stop using the current configured value for M aximum Deceleration Servo action is maintained until the axis motion has stopped at which time the axis is disabled that is Drive Enable disabled and Servo Action disabled Hard Disable 2 W hen configured for Hard Disable the axis is immediately disabled that is Drive Enable disabled Servo Action disabled but the OK contact is left closed Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop Fast Shutdown 3 W hen configured for Fast Shutdown the axis is decelerated to a stop as with Fast Stop but once the axis motion is stopped the axis is placed in the Shutdown state that is Drive Enable disabled servo action disabled and the OK contact opened To recover from the Shutdown state requires execution of one of the axis or group Shutdown Reset instructions M ASR or M GSR Hard Shutdown 4 When configured for Hard Shutdown the axis is immediately placed in the Shutdown state that is Drive Enable disabled Servo Action disabled and
381. r calculations If the type of coordinate system is specified as Cartesian then Primary axes are used in these calculations For non Cartesian coordinate systems the coordination mode for the axes defaults to Ancillary Enable Coordinate System Auto Tag Update The Enable Coordinate System Auto Tag Update checkbox lets you determine whether or not the Actual Position values of the current coordinated system are automatically updated during operation Click on the checkbox to enable this feature The Coordinate System Auto Tag Update feature can ease your programming burden if you would need to add GSV statements to the program in order to get the desired result However by enabling this feature the Coarse Update rate is increased Whether to use the Coordinate System Auto Tag Update feature depends upon the trade offs between ease in programming and increase in execution time Some users may want to enable this feature in the initial programming of their system to work out the kinks and then disable it and enter the GSV statements to their program to lower their execution time Note Enabling this feature may result in some performance penalty Press Apply to implement your entries or cancel to not save the new entries Publication LOGIX UM 002B EN P J anuary 2007 58 Create and Configure a Coordinate System To edit the Geometry parameters for the robotic arm select the Geometry tab Coordinate System Properties source Ge
382. r instruction starts for an axis for example using a MAM instruction the value of the axis command AXIS_ SERVO position and actual position is stored at the precise instant the motion AXIS_SERVO_DRIVE begins These values are stored as the Start Command Position and AXIS VIRTUAL Start Actual Position respectively in the configured Position Units of the axis Start Positions are useful to correct for any motion occurring between the detection of an event and the action initiated by the event For instance in coil winding applications Start Command Positions can be used in an expression to compensate for overshooting the end of the bobbin before the gearing direction is reversed If you know the position of the coil when the gearing direction was supposed to change and the position at which it actually changed the Start Command Position you can calculate the amount of overshoot and use it to correct the position of the wire guide relative to the bobbin Start Command AXIS_CONSUMED REAL GSV Start Command Position in Position Units Position AXIS GENERIC Tag Whenever a new motion planner instruction starts for an axis for example using a MAM instruction the value of the axis command AXIS_SERVO position and actual position is stored at the precise instant the motion AXIS_SERVO_DRIVE begins These values are stored as the Start Command Position and AXIS VIRTUAL Start Actual Position respectively in the configured Position Units of the z axi
383. r is multiplied by the Position Loop Integral Gain or Pos I Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automatic servo tuning procedure in the Tuning tab of this dialog the Pos I Gain value may also be set manually Before doing this it must be stressed that the Output Scaling factor for the axis must be established for the drive system Once this is done the Pos I Gain can Differential Proportional Velocity Gain Integral Velocity Gain Axis Properties 211 be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 025 0 001 Sec mSec Pos P Gain 2 Assuming a Pos P Gain value of 100 Sec 1 this results in a Pos I Gain value of 2 5 0 1 mSec 1 Sec 1 Position Dif
384. r radius equal to L1 12 and outer radius equal to L1 12 Due to the range of motion limitations on individual joints the work envelope may not be a complete sphere If the range of motion values for the articulated robot are Kinematics in RSLogix 5000 Software 89 Typically the w ork envelope would be J1 170 2 0 to 180 3 100 L1 10 L2 12 oA R2 7 916 R1 10 12 22 R2 10 12cos 80 7 916 ha J1 170 J1 170 Top view Depicts the envelope of the tool center point sweep in J 1 and J 3 while J 2 remains at a fixed position of 0 degrees D R1 22 ri x3 f 4 R2 7 916 E I 11 10 L2 12 X1 4 r i foe x1 t x3 R1 10412 22 R2 10 12co0s 80 7 916 Side view Depicts the envelope of the tool center point sweep in J 2 and 3 while J 1 remains at a fixed position of 0 degrees Publication LOGIX UM 002B EN P J anuary 2007 90 Kinematics in RSLogix 5000 Software Define the Configuration Parameters RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including e Link lengths e Base offsets e End effector offsets The configuration parameter information is available from the robot manufacturer Be sure that the values for the link lengths base offsets and end effector offsets are ente
385. rated by the controller and Data generated by the transducer Each transducer with an SSI output provides output data of a specified number of bits of either Binary or Gray code data The controller must generate a stream of clock pulses with the correct number of bits and a frequency within the range supported by the transducer The servo module can be configured via the Servo Axis Object to generate any number of clock pulses between 8 and 32 and the frequency can be set to either 208kHz or 650kHz The clock signal is maintained in the High state between pulse strings The transducer shifts data out on the Data line M SB first on each rising edge of the clock signal The transducer also maintains the data signal in specified states before and after the data is shifted out These states are checked by the controller to detect missing transducers or broken wires A Field Programmable Gate Array FPGA is used to implement a multi channel SSI Interface on the controller Each channel is functionally equivalent Continued on next page Publication LOGIX UM 002B EN P J anuary 2007 342 Axis Attributes Attribute Axis Type Data Type Access Description Servo Feedback Type cont Servo Loop AXIS_ SERVO INT Configuration AXIS_SERVO_DRIVE Publication LOGIX UM 002B EN P anuary 2007 GSV SSV Linear Displacement Transducer LDT Servo modules like the 1756 HYD02 use the Linear M agnetostrictive Displacement Transducer or LDT
386. re negative feedback into the servo loop M otor feedback devices must be wired properly for negative feedback since the Feedback Polarity bit is forced to 0 or non inverted Aux Feedback Fault AXIS_SERVO AXIS_SERVO_DRIVE BOOL Tag Set for an auxiliary feedback source when one of these happens e The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset M AFR or Motion Axis Shutdown Reset M ASR instruction to clear the fault Publication LOGIX UM 002B EN P anuary 2007 266 Axis Attributes Attribute Axis Type Data Type Access Description Aux Feedback AXIS_SERVO_DRIVE DINT GSV Feedback Counts per Cycle Interpolation The Feedback Interpolation attributes establish how many Feedback Counts there are in one Feedback Cycle The Feedback Interpolation Factor depends on both the feedback device and the drive feedback circuitry Quadrature encoder feedback devices and the associated drive feedback interface typic
387. rectional Scaling Ratio 284 Maximum Bandwidth 361 Output LP Filter Bandwidth 326 Torque Scaling 351 Velocity Scaling 363 Servo Limits Direct Drive Ramp Rate 284 Friction Compensation 304 Friction Compensation Window 305 Maximum Negative Travel 313 Maximum Positive Travel 314 Output Limit 325 Output Offset 326 Position Error Tolerance 329 Position Lock Tolerance 331 Index 409 Torque Offset 350 Velocity Offset 360 Servo Loop Block Diagrams 368 Position Servo with Torque Servo Drive 368 Position Servo with Velocity Servo Drive 369 Servo Status Attributes Acceleration Command 260 Acceleration Feedback 260 Attribute Error Code 264 Attribute Error ID 264 Aux Position Feedback 268 Axis Response Bit Attributes Zero DAC Request Acknowl edge 275 Commissioning Status Attributes Test Direction Forward 347 Test Status 347 Tune Acceleration 352 Tune Acceleration Time 352 Tune Deceleration 352 Tune Deceleration Time 352 Tune Inertia 353 Tune Rise Time 354 Tune Speed Scaling 354 Tune Status 354 Marker Distance 310 Position Command 328 Position Error 329 Position Feedback 330 Position Integrator Error 331 Servo Fault Bit Attributes 340 Servo Output Level 343 Servo Status Bit Attributes 344 Velocity Command 357 Velocity Error 357 Velocity Feedbac 358 Velocity Integrator Error 360 Status Attributes Output Cam Lock Status 324 Output Cam Pending Status 324 Output Cam Status 324 Output Cam Transition Status 325 Motion Axis Fa
388. red into the Configuration Parameters dialog using the same measurement units The following example illustrates the typical configuration parameters for an Articulated Independent robot AX3 12 12 inches t X3e2 1 5 inches t X3e1 3 0 inches Tool reference frame L1 12 inches X3b 4 0 inches _ y __ A Robot Origin X3e X3e1 X3e2 X3e 3 1 5 X1b 3 0 inches X3e 1 5 inches If the robot is two dimensional then X3b and X3e would be X2b and X2e respectively Figure 4 Articulated Independent Publication LOGIX UM 002B EN P J anuary 2007 Kinematics in RSLogix 5000 Software 91 Link Lengths Link lengths are the rigid mechanical bodies attached at joints For an articulated independent robot with The length of Is equal to the value of the distance between 2 dimensions Ll Jland 2 L2 J 2 and the end effector 3 dimensions Ll J2 and 3 L2 3 and the end effector s Coordinate System Properties Articulated_Independent BR General Geometry Units Offsets Joints Tag Type Articulated Independent Transform Dimension 3 P Link Length Enter the Link Length values a a L2 12 0 For the robot shown in Figure 4 Articulated Independent the ae Link Length values are Zero Angle Orientations z 10 0 Degrees e 11 10 0 z2 1 100 Degrees e 2 12 0 23 50 Degrees Cancel Apply Help Base Offsets The
389. relationship of axis position units to coordination units for each axis For example If the position units for an axis is in millimeters and the axis is associated with a coordinate system whose units are in inches then the conversion ratio for this axis coordinate system association is 25 4 1 and can be specified in the appropriate row of the Axis Grid The numerator can be entered as a float or an integer The denominator must be entered as an integer only Conversion Ratio Units The Conversion Ratio Units column displays the axis position units to coordination units used The Axis Position units are defined in the Axis Properties Units screen and the coordination units are defined in Coordinated System Properties Units screen These values are dynamically updated when changes are made to either axis position units or coordination units Click on the Apply button to preserve your edits or Cancel to discard your changes Publication LOGIX UM 002B EN P J anuary 2007 62 Create and Configure a Coordinate System Click on the Offsets tab to access the Coordinate System Properties Offset dialog Coordinate System Properties joint_coordinate_system General Geometry Units Offsets Joints Tag Type Articulated Independent Top View Transform Dimension 3 End Effector Offsets le ino x2e 10 0 x3e 0 0 N Base Offsets xib 10 0 x2b 10 0 x3b 0 0 Offsets Tab The Offsets tab of the
390. ress Cleared when the AXIS_ GENERIC M ove is complete or is superseded by some other motion operation AXIS_ SERVO AXIS_ SERVO_DRIVE AXIS_ VIRTUAL Neg Dynamic AXIS_SERVO_DRIVE REAL Tag The currently operative negative positive torque current limit Torque Limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit Publication LOGIX UM 002B EN P J anuary 2007 Attribute Neg Hard Overtravel Fault Neg Overtravel Input Status Neg Soft Overtravel Fault Axis Type Data Type Access AXIS_SERVO_DRIVE BOOL AXIS_ SERVO BOOL AXIS_SERVO_DRIVE AXIS_ SERVO BOOL AXIS_SERVO_DRIVE Tag Tag Tag Axis Attributes 323 Description Set if the axis moves beyond the negative direction position limits as established by hardware overtravel limit switches mounted on the equipment This fault can only occur when the drive is in the enabled state and the Hard Overtravel Checking bit is set in the Fault Configuration Bits attribute If the Hard Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the hard overtravel limit switch using a motion instruction results in an instruction error To recover from this fault the axis must be moved back wit
391. ressed in cycles per motor rev The aux feedback device is now linear and its resolution expressed in cycles per say mm The Aux Feedback Ratio would be set to the number of aux feedback units mm per motor rev and internally applied to IDN 123 to relate position servo loop counts to velocity servo loop counts in a dual servo loop configuration The Aux Feedback Ratio attribute is also used in range limit and default value calculations during configuration based on the selected motor s specifications If the application uses a 3 1 gearbox and a 5 mm pitch ball screw and the user s Position Unit is say cm the Conversion Constant is again rational since we are Load Referenced The user sets the Conversion Constant to 20 000 Drive Counts cm based on the default Drive Resolution value of 200000 Drive Counts mm This system would work in this configuration without any loss of mechanical precision that is a move of 10 cm would move the actuator exactly 10 cm Publication LOGIX UM 002B EN P J anuary 2007 294 Axis Attributes Attribute Axis Type Data Type Access Description Drive Scaling Bits AXIS_SERVO_DRIVE DINT Publication LOGIX UM 002B EN P anuary 2007 GSV The Drive Scaling Bits attribute configuration is derived directly from the Drive Units attribute Bits 0 Scaling type 0 standard 1 custom 1 Scaling unit 0 rotary 1 linear 2 Linear scaling unit 0 metric 1 english 3 Data Reference 0 motor 1
392. robeA ctualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration1 Position REAL Float Registration2Position REAL Float Registration1Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedA ctualPosition REAL Float M asterOffset REAL Float StrobeM asterOffset REAL Float StartM asterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float M oduleFaults DINT Hex ControlSyncFault BOOL Decima M oduleS yncFault BOOL Decima TimerEventFault BOOL Decima M oduleHardw areFault BOOL Decima SERCOSRingFault BOOL Decima AttributeErrorCode INT Hex AttributeErrorlD INT Hex PositionCommand REAL Float PositionFeedback REAL Float Axis Data Types 389 Member Data Type Style AuxPositionFeedback REAL Float PositionError REAL Float PositionIntegratorError REAL Float VelocityCommand REAL Float VelocityFeedback REAL Float VelocityError REAL Float VelocitylntegratorError REAL Float AccelerationCommand REAL Float AccelerationFeedback REAL Float M arkerDistance REAL Float VelocityOffset REAL Float TorqueOffset REAL Float TorqueCommand REAL Float TorqueFeedback REAL F
393. roller operation instruction with a parameter out of e Look at the error code in the motion control tag to see range why an instruction has an error e Fix instruction errors to optimize execution time and make sure that your code is accurate Fault Caused by a problem with the servo loop e Loss of feedback e You choose whether or not motion faults give the e Actual position exceeding an controller major faults overtravel limit e Can shutdown the controller if you do not correct the fault condition To handle motion faults e Choose If Motion Faults Shut Down the Controller e Choose the Fault Actions for an Axis e Set the Fault Action for an Axis Publication LOGIX UM 002B EN P J anuary 2007 44 Handle Faults Choose If Motion Faults Shut Dow n the Controller Action 1 Choose a General Fault Type By default the controller keeps running when there is a motion fault As an option you can have motion faults cause a major fault and shut down the controller Details Do you want any motion fault to cause a major fault and shut down the controller e YES Choose M ajor Fault e NO Choose Non M ajor Fault You must write code to handle motion faults 2 Set the General Fault Type EJ Controller My_Controller 5 Tasks E Motion Groups 38 My_Motion_Group KD My_Axis_X N a ae I My_Axis_ Ungrouped Axes 9 Data Types 5 1 0 Configuration Motion Direct Commands
394. rted position of the absolute feedback device Prior to execution of the absolute homing process using the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled IMPORTANT For the SSI feedback transducer no physical marker pulse exists However a pseudo marker reference is established by the M02AS module firmware at the feedback device s roll over point A single turn Absolute SSI feedback device rolls over at its maximum turns count 1 rev A multi turn Absolute SSI feedback device there are multiple revs or feedback baseunit distances the device rolls over at its maximum turns count which is usually either 1024 or 2048 If you need to establish the rollover of the feedback device a ladder rung using an SSV to set Home_Sequence equal Home to marker with the following parameters Class Name SSI_Axis Attribute Name Home_Sequence and Value 2 to Marker must be added to the application program cannot be set Axis Properties and must be reset back to its initial value 0 Immediate or 1 Switch after establishing the rollover The Home Sequence to M arker must be used to allow feedback to travel until the rollover that is pseudo marker is found This must be done without the motor attached to any axis as this could cause up to M aximum number of turn s before pseudo marker is found Position Type the desired absolute position in position units for the axis after the specified h
395. rtravel Fault to happen if the axis goes outside the configured travel limits e YES Set this bit e NO Clear this bit The Maximum Positive Travel and Maximum Negative Travel attributes set the travel limits This check supplements but doesn t replace hardware overtravel fault protection that uses hardware limit switches to directly stop axis motion at the drive and deactivate power to the system Hard Overtravel Checking Hard overtravel checking is only available for a linear axis Do you want a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault to happen if the axis activates the positive or negative overtravel limit switch inputs e YES Set this bit e NO Clear this bit Drive Fault Checking The motion module provides a dedicated drive fault input for each axis These inputs may be connected to fault outputs on the external drive if provided to notify the servo module of a fault in the drive itself Set the Drive Fault Checking bit if you are using the servo module s drive fault input and then specify the drive fault contact configuration of the amplifier s drive fault output as described below Continued on next page Publication LOGIX UM 002B EN P anuary 2007 302 Axis Attributes Attribute Axis Type Data Type Access Description Fault DINT GSV Drive Fault Normally Closed Configuration SSV The Drive Fault Normally Closed bit attribute controls the sense of the Bits cont Drive Fault
396. s Start Positions are useful to correct for any motion occurring between the detection of an event and the action initiated by the event For instance in coil winding applications Start Command Positions can be used in an expression to compensate for overshooting the end of the bobbin before the gearing direction is reversed If you know the position of the coil when the gearing direction was supposed to change and the position at which it actually changed the Start Command Position you can calculate the amount of overshoot and use it to correct the position of the wire guide relative to the bobbin Start M aster AXIS_CONSUMED REAL GSV Start M aster Offset in M aster Position Units Offset AXIS GENERIC Tag The Start M aster Offset is the position offset that was applied to the 7 master side of the position cam when the last M otion Axis M ove MAM AXIS_ SERVO instruction with the move type set to Absolute M aster Offset or AXIS_SERVO_DRIVE Incremental M aster Offset was executed The Start M aster Offset is AXIS VIRTUAL returned in master position units The Start M aster Offset will show the same unwind characteristic as the position of a linear axis Stopping Status AXIS_CONSUMED BOOL Tag Set if there is a stopping process currently in progress Cleared when the AXIS GENERIC stopping process is complete The stopping process is used to stop an J axis initiated by an M AS MGS Stop M otion fault action or mode AXIS_SERVO change
397. s Jmy_virtual_axis x H Move Type Incremental 0 0 E Motion Group Speed SSC iSC CNNNNSN C CNCNSWNCWC S CNCA MGS Speed Units 100 0 of Maximum E E Motion Event Re MAW Profle Scuve OS S T amp MDW z DANGER Pressing Execute may cause motion Execution Error Motion Group Shutdown Close Help iComplete 0 error s 0 warning s Motion Direct Commands 14 MAJ 16 0000 No Error Motion Direct Commands 14 Execution Error MAM 16 000d Failed to execute command Errors Whether or not an error is detected a detail message is displayed to the Error result window describing the results of the executed command Publication LOGIX UM 002B EN P J anuary 2007 40 Test an Axis with M otion Direct Commands Motion Direct Command Verification When you select Execute from a Motion Direct Command dialog the operands are verified If any operand fails verification an error message Failed to Verify is displayed on the dialog and a detailed error message is displayed in the error result window describing the fault indicating the instance of Motion Direct Command that the results apply to This allows multiple verification errors to be displayed and provides navigation to the error source that is double clicking the error in the results window will navigate to the appropriate Motion Direct Command dialog GY Motion Direct Commands my_virtual_axis 16 Axis
398. s Otherwise you won t see the Publication LOGIX UM 002B EN P J anuary 2007 right value as the axis runs See Axis Info Select 1 Rated The torque feedback when operating in Torque M ode in terms of rated Attribute Torque Limit Bipolar Axis Attributes 349 Axis Type Data Type Access Description AXIS_SERVO_ DRIVE REAL GSV Rated SSV ET PR l The Torque Limit attribute provides a method of limiting the maximum command current torque to the motor to a specified level in terms of the motor s continuous current torque rating The output of the servo drive to the motor as a function of position servo error both with and without servo torque limiting is shown below Without Servo Output Limiting With Servo Output Limiting Servo Amplifier Output Position Error The torque limit specifies the maximum percentage of the motors rated current that the drive can command as either positive or negative torque For example a torque limit of 150 shall limit the current delivered to the motor to 1 5 times the continuous current rating of the motor Torque Limit Negative AXIS_SERVO_ DRIVE REAL GSV Rated ae This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Torque Limit Positive AXIS_SERVO_ DRIVE REAL GSV Rated V i gt This attribute maps directly to a SER
399. s skip tasks 3 and 4 Topic See page 1 Make the Controller the M aster Clock 14 2 Add the M otion M odules 15 3 Add SERCOS interface Drives 16 4 Set Up Each SERCOS Interface M odule 17 5 Add the M otion Group 18 6 Add Your Axes 20 7 Set Up Each Axis 21 8 Check the W iring of Each Drive 24 9 Tune Each Axis 25 10 Get Axis Information 26 11 Program M otion Control 27 12 What s Next 29 Publication LOGIX UM 002B EN P J anuary 2007 14 Start M ake the Controller the You must make one module in the chassis the master clock for motion Master Clock control This module is called the coordinated system time CST PRAES master The motion modules set their clocks to the CST master In most cases make the controller the CST master 1 Controller My_Controlle a 3 6 Tasks N 2 E4 verify a8 MainTask amp MainProgram Generate Report A Program Tags Print rm Ea MainRoutine My subroutine N 3 Unscheduled Programs Phases A J 3 8 Motion Groups Controller Properties My_Controller General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory i The Date and Time displayed here is Controller local time not workstation local time Use these fields to configure Time attributes of the Controller _SetDate Tine and Zone hi
400. s and it takes 1 us to detect the marker Uncertainty 1 In s x 0 000001 s 0 000001 in Publication LOGIX UM 002B EN P J anuary 2007 138 Configure Homing Sequence Description Active home to switch and markerin This is the most precise active homing sequence available forw ard bidirectional Homing GHEH Axis Welodd foie Podion Ream GEHI 1 The home imi swich in deeded 2 Fhe home imi awitch ia deared 2 Fhe encoder marker ig detected A Fhe home posiion During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and stops 2 The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch 3 The axis keeps moving at the Home Return Speed until it gets to the marker 4 The axis moves back to the marker or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than revolution If the axis is past the home limit switch at the start of the homing sequence the axis reverses direction and starts the return leg of the homing sequence Active home to switch in forw ard This active homing sequence is useful for when an encoder marker is not available and either unidirectional unidirectional motion is required or proximity switch is being used During the sequence 1 The axis moves in the
401. s during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Note that the extrapolation error increases as the Tuning Torque value decreases Attribute Tuning Travel Limit Axis Type AXIS_ SERVO AXIS_SERVO_DRIVE Data Type Access REAL GSV SSV Axis Attributes 357 Description Position Units The Tuning Travel Limit attribute limits the travel of the axis during the tuning procedrue If the axis can t complete the tuning procedure before exceeding the Tuning Travel Limit the motion module stops the tuning procedure and reports that the Tuning Travel Limit was exceeded via the Tune Status attribute This does not mean that the Tuning Travel Limit was actually exceeded but that had the tuning procedure gone to completion that the limit would have been exceeded Velocity Command AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV Tag Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Command in Position Units Sec Velocity Command is the current velocity reference to the velocity servo loop in the configured axis Position Units per Second for the specified axis The Velocity Command value hence represents the output of the o
402. s enable it to move at a 45 degree angle to the axes when either motor A or motor B is rotated For example when e Motor A X1 axis is rotated the robot move along a straight line at 45 degree angle Motor B X2 axis is rotated the machine moves at an angle of 45 degrees Motors A and B are both rotated clockwise at the same speed then the machine moves along a horizontal line e Motors A and B are both rotated counterclockwise at the same speed then the machine moves along a vertical line Any X Y position can be reached by properly programming the two motors For example a move of X1 10 X2 0 causes the X1X2 axes to move to a position of X1 7 0711 X2 7 0711 A move to X1 10 X2 10 causes the robot to move to a position of X1 0 X2 14 142 While this configuration might be very confusing for a programmer utilizing the RSLogix 5000 software Kinematics function configured Kinematics in RSLogix 5000 Software 105 with two Cartesian coordinate systems and a 45 degree rotation easily performs the function To configure two Cartesian coordinate systems Coordinate system 1 CS1 and Coordinate system 2 CS2 each containing two linear axes use the following steps 1 Configure CS1 to contain the virtual X1 and X2 axes 2 Configure CS2 to contain the real X1 and X2 axes 3 Configure the Orientation vector of the MCT instruction as 0 0 45 a negative degree rotation around the X3 axis 4 Confi
403. s fields Filters There are three optional Filter fields that allow you to refine your search of the Motor Database The Filter boxes are defaulted to all Voltage Lets you select a voltage rating from the pull down list to broaden or narrow your search The default is all Publication LOGIX UM 002B EN P J anuary 2007 Calculate button Axis Properties 179 Family The Family filter box pull down list lets you narrow your motor search by restricting it to a particular family of motors The default is all Feedback Type The Feedback Type filter box pull down list lets you manipulate your motor search by acceptable Feedback types The default is all The Calculate button takes you to an input screen that is designed to calculate the Drive Resolution and Conversion Constant based upon your input for Position Unit Scaling and Position Range for Linear Positioning mode If you are in Rotary Positioning Mode then it calculates the Drive Resolution Conversion Constant and Position Unwind based upon your inputs for Position Unit Scaling and Position Unit Unwind When the Conversion screen has Linear as the value for Position Mode clicking on the Calculate button displays the following screen Calculate Position Parameters x Position Unit Scaling fi o Position Units per fi o Motor Inch Position Range fi Ki Position Units m Calculate Parameters Calculate Drive Resolution Conversion Constant Update
404. s have not yet been saved or applied Set Custom Limits Click this button to open the Custom Limit Attributes dialog Custom Limits Attributes E3 Value unts Type Veici y niSpa AccelerationLimitBipolar 0 0 Position Units sREAL VeloctyLimtPostive VeloctyLintNegative VeoctyThreshod 00 Postion Untss REAL VelootyWndow L vVelocityStandstilindow Position Units s REAL AccelerationLimitPositive 0 0 Position Units s REAL AccelerationLimitNegative 0 0 Position Units s REA Close Cancel Help From this dialog box you can monitor and edit the limit related attributes Publication LOGIX UM 002B EN P J anuary 2007 236 Axis Properties Attributes Publication LOGIX UM 002B EN P anuary 2007 When RSLogix 5000 software is online the parameters on this tab transition to a read only state When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 software and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them The following attribute values can be monitored and edited in this
405. s set Case 2 Disable Category 1 Stop 1 Disable axis is initiated via an M SF instruction or a drive disable fault action 2 Drive stops tracking command reference Servo Action Status bit is cleared 3 Apply Stopping Torque to stop motor 4 Wait for zero speed or Stopping Time Limit 5 Turn off brake output to engage motor brake 6 Wait for Brake Engage delay while motor brake engages 7 Disable drive power structure Drive Enable Status bit is cleared 8 Turn off RBM output to disconnect motor from drive w N e x Case 3 Shutdown Category 0 Stop 1 Drive stops tracking command reference Servo Action Status bit is cleared 2 Disable drive power structure Drive Enable Status bit is cleared 3 Turn off brake output to engage brake 4 Turn off RBM output to disconnect motor from drive Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 339 Attribute Axis Type Data Type Access Description Rotary Axis AXIS_CONSUMED SINT GSV 0 Linear AXIS_ GENERIC SSV 1 Rotary AXIS_ SERVO AXIS_SERVO_DRIVE When the Rotary Axis attribute is set true 1 it lets the axis unwind AXIS VIRTUAL This gives infinite position range by unwinding the axis position whenever the axis moves through a complete physical revolution The number of encoder counts per physical revolution of the axis is specified by the Position Unwind attribute For Linear operation the counts don t roll over They are limite
406. s using these indices Coordinate The text in this column X1 X2 or X3 depending on the entry to the Dimension field is used as a cross reference to the axes in the grid For a Cartesian system the mapping is simple Axis Name The Axis Name column is a list of combo boxes the number is determined by the Dimension field used to assign axes to the coordinate system The pull down lists display all of the Base Tag axes defined in the project Alias Tag axes do not display in the pull down list They can be axes associated with the motion group axes associated with other coordinated systems or axes from the Ungrouped Axes folder Select an axis from the pull down list The default is lt none gt It is possible to assign fewer axes to the coordinate system than the Dimension field allows however you will receive a warning when you verify the coordinate system and if left in that state the instruction generates a run time error You can assign an axis only once in a coordinate system Ungrouped axes also generate a runtime error Ellipsis Button The Ellipsis buttons in this column take you to the Axis Properties pages for the axis listed in the row See the Creating and Configuring Your Motion Axis chapter in this manual for information about the Axis Properties page Create and Configure a Coordinate System 57 Coordination Mode The Coordination Mode column indicates the axes that are used in the velocity vecto
407. signed attribute also referred to as static gain acts as a very slow discharge of the velocity loop integrator VelocityDroop may be used as a component of an external position loop system where setting this parameter to a higher nonzero value eliminates servo hunting due to load stick friction effects This parameter only has effect if VelocityIntegralGain is not zero Its value ranges from 0 to 2 14748x10712 This value is not applicable for Ultra3000 drives Use this dialog for offline configuration of e scaling values which are used to generate gains and e the servo s low pass digital output filter for an axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog Axis Properties 221 amp Axis Properties myservolaxis iof x General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Velocity Scaling foo 2 Pasition Units s Manual Adjust Torque Scaling po Position Units s 2 Direction Scaling Ratio f al Forward Reverse Scaling V Enable Low pass Output Filter Low pass Output Filter Bandwidth f 000 0 Hertz OK Cancel Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Ad
408. sition servo loop counts to velocity servo loop counts in a dual servo loop configuration The Aux Feedback Ratio attribute is also used in range limit and default value calculations during configuration based on the selected motor s specifications If the application uses a 3 1 gearbox and the user s Position Unit is say Revs of the gearbox output shaft the Conversion Constant is still rational since our scaling is Load Referenced The user simply sets the Conversion Constant to 200 000 Drive Counts Output Shaft Rev based on the default Drive Resolution value of 200 000 Drive Counts Aux Rev The system would work in this configuration without any loss of mechanical precision that is a move of 1 output shaft revolution would move the output shaft exactly 1 revolution Continued on next page Attribute Drive Resolution cont Axis Type Axis Attributes 293 Data Type Access Description Linear Ball Screw Ball Screw Combination WITH Aux Feedback Device Based on a linear aux feedback selection Drive Resolution would be expressed as Drive Counts per Linear Unit say M illimeters M etric bit selection and be applied to the Linear Position Data Scaling IDNs Now that position is based on the auxiliary feedback device according to the Servo Loop Configuration the Data Reference bit of the various Scaling Types should again be Load Referenced rather than M otor Referenced The motor feedback would be rotary and resolution exp
409. sitionCamPendingStatus BOOL Decima TimeCamPendingStatus BOOL Decima GearingLockStatus BOOL Decima PositionCamLockStatus BOOL Decima M asterOffsetM oveStatus BOOL Decima CoordinatedM otionStatus BOOL Decima AxisEvent DINT Hex WatchEventArmedStatus BOOL Decima WatchEventStatus BOOL Decima RegEventlArmedStatus BOOL Decima RegEvent1Status BOOL Decima RegEvent2ArmedStatus BOOL Decima RegEvent2Status BOOL Decima HomeEventArmedStatus BOOL Decima HomeEventStatus BOOL Decima OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration1Position REAL Float Registration2Position REAL Float RegistrationlTime DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float M asterOffset REAL Float StrobeM asterOffset REAL Float StartM asterOffset REAL Float Publication LOGIX UM 002B EN P anuary 2007 Axis Data Types 381 Member Data Type Style CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float M oduleFaults DINT Hex ControlSyncFault BOOL Decimal Publication LOGI
410. sm is controlled by two Event Control instructions MAR Motion Arm Registration and M DR Motion Disarm Registration The accuracy of the registration position value saved as a result of a registration event is a function of the delay in recognizing the specified transition typically 1 usec for hardware registration and the speed of the axis during this time The uncertainty in the registration position is the distance traveled by the axis during this interval as shown by the equation Uncertainty Axis Speed ees POE x Delay L Second 2i Use the formula given above to calculate the maximum registration position error for the expected axis speed Alternatively you can calculate the maximum axis speed for a specified registration accuracy by re arranging this formula as shown M Position Units Desired Accuracy Position Units L Second all gt Maximum Speed Delay Registration 1 Time Registration 2 Time AXIS_CONSUM ED AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE DINT GSV Tag Lower 32 bits of CST time The two Registration Time values contain the lower 32 bits of CST time at which their respective registration events occurred Units for this attribute are in microseconds AXIS_ VIRTUAL Publication LOGIX UM 002B EN P J anuary 2007 338 Axis Attributes Attribute Axis Type Data Type Access Description Resistive Brake AXIS_SERVO_DRIVE REAL GSV Sec Contact Delay SSV This attribute
411. smaller Acceleration Feedforward value is that increasing amounts of feedforward tends to exacerbate axis overshoot When necessary the Acceleration Feedforward Gain may be tweaked from the 100 value by running a simple user program that jogs the axis in the positive direction and monitors the Position Error of the axis during the jog Usually Acceleration Feedforward is used in tandem with Velocity Feedforward to achieve near zero following error during the entire motion profile To fine tune the Acceleration Feedforward Gain the Velocity Feedforward Gain must first be optimized using the procedure described above While capturing the peak Position Error during the acceleration phase of the jog profile increase the Acceleration Feedforward Gain until the peak Position Error is as small as possible but still positive If the peak Position Error during the acceleration ramp is negative the actual position of the axis is ahead of the command position during the acceleration ramp If this occurs decrease the Acceleration Feedforward Gain such that the Position Error is again positive To be thorough the same procedure should be done for the deceleration ramp to verify that the peak Position Error during deceleration is acceptable Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units se Limit Bipolar SSV ern This attribute
412. stic of the system the gains also does not reflect the true performance of the system Enable Low pass Output Filter Low pass Output Filter Bandwidth Axis Properties 223 Select this to enable the servo s low pass digital output filter De select this to disable this filter During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth With Enable Low pass Output Filter selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting is filtered out and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Publ
413. structions Servo Polarity Negative This Servo Polarity Negative bit attribute controls the polarity of the servo output to the drive When properly configured along with the Feedback Polarity Negative bit it insures that when the axis servo loop is closed that it is closed as a negative feedback system and not an unstable positive feedback system This bit can be configured automatically using the MRHD and MAHD motion instructions Servo Status AXIS_ SERVO DINT Tag Lets you access the status bits for your servo loop in one 32 bit word This tag is the same as the Servo Status Bits attribute ow rr Servo Status Servo Action Status Drive Enable Status Shutdown Status Process Status Output Limit Status Position Lock Status Home Input Status Reg 1 Input Status Reg 2 Input Status wo o y J aj BY Ww N ej Resevered Re Oo Resevered pi m Drive Fault Input Status Publication LOGIX UM 002B EN P anuary 2007 344 Axis Attributes Attribute Servo Status Bits Axis Type AXIS_SERVO Data Type Access Description DINT GSV Lets you access the status bits for your servo loop in one 32 bit word This attribute is the same as the Servo Status tag wo rr Servo Status Servo Action Status Drive Enable Status Shutdown Status Process Status Output Limit Status Position Lock Status Home Input Status Reg 1 Inpu
414. subtracting the unwind distance from both the actual and command position every time the axis travels the unwind distance For axes of the type AXIS SERVO _ DRIVE e when you save an edited Conversion Constant or a Drive Resolution value a message box appears asking you if you want the controller to automatically recalculate certain attribute settings Refer to Conversion Constant and Drive Resolution Attributes e the label indicates the number of counts per motor revolution as set in the Drive Resolution field of the Drive tab Click on Apply to accept your changes Homing Tab AXIS SERVO Use this tab to configure the attributes related to homing an axis of the type AXIS SERVO or AXIS SERVO DRIVE Publication LOGIX UM 002B EN P anuary 2007 Axis Properties 187 e Axis Properties mysercoslaxis Ble x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Mode active y Position foo Position Units Offset foo Position Units Sequence SwitchMarker x Limit Switch Normally Open Closed Active Home Sequence Group Direction Forward Bi directional x Speed joo Position Units s Return Speed oo Position Units s Cancel Apply Help Mode Select the homing mode e Active In this mode the desired homing sequence is selected by specifying whether a home
415. sume normal operation e If the flashing persists reconfigure the module Steady red One of the following e A potential non recoverable fault has occurred e The OK contact has opened Publication LOGIX UM 002B EN P J anuary 2007 Reboot the module If the solid red persists replace the module State Off FDBK Light Description The axis is not used Interpret M odule Lights LEDs 121 Recommended Action None if you are not using this axis If you are using this axis make sure the module is configured and an axis tag has been associated with the module Flashing green The axis is in the normal servo loop inactive state None The servo axis state can be changed by executing motion instructions Steady green The axis is in the normal servo loop active state None The servo axis state can be changed by executing motion instructions Flashing red The axis servo loop error tolerance has been e Correct the source of the problem exceeded e Clear the servo fault condition using the M otion Axis Fault Reset instruction e Resume normal operation Steady red An axis LDT feedback fault has occurred y e Correct the source of the problem by checking the LDT and power connections e Clear the servo fault condition using the M otion Axis Fault Reset instruction e Resume normal operation Publication LOGIX UM 002B EN P J anuary 2007 122 Interpret M odule Lights LEDs DRIVE Light State Descr
416. system in one 32 bit word Tag Status Accel Status wo r Decel Status Actual Pos Tolerance Status Command Pos Tolerance Status Stopping Status Reserved M ove Status Transition Status Co S OTF gt w N e M ove Pending Status wo M ove Pending Queue Full Status Coordinate System Auto SINT GSV The Coordinate System Auto Tag Update attribute configures whether the Actual Tag Update Position attribute is automatically updated each motion task scan This is similar SSV to but separate from the M otion Group s Auto Tag Update attribute 0 auto update disabled 1 auto update enabled default Coordinate System Status DINT GSV Lets you access the status bits for the coordinate system in one 32 bit word Tag Stas O Boo C Shutdown Status 0 Ready Status 1 M otionStatus 2 Axis Inhibit Status 3 Decel Status BOOL Tag Use the Decel Status bit to determine if the coordinated vectored motion is currently being commanded to decelerate The deceleration bit is set when a coordinated move is in the decelerating phase due to the current coordinated move It is cleared when the coordinated move has been stopped or the coordinated move is complete Publication LOGIX UM 002B EN P anuary 2007 Attribute Dynamics Configuration Bits Data Type DINT Access GSV SSV Coordinate System Attributes 397 Description Revision 16 improved how the contro
417. t This fault can only happen when the drive is enabled and you configure the axis for Soft Travel Limits If the Soft Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the soft overtravel limit using a motion instruction results in an instruction error As soon as the axis is moved back within the specified soft overtravel limits the corresponding soft overtravel fault bit is automatically cleared However the soft overtravel fault stays through any attempt to clear it while the axis position is still beyond the specified travel limits while the axis is enabled Publication LOGIX UM 002B EN P J anuary 2007 328 Axis Attributes Attribute Axis Type Data Type Access Description Position Cam AXIS CONSUMED BOOL Tag Set whenever the master axis satisfies the starting condition of a Lock Status AXIS GENERIC currently active Position Cam motion profile The starting condition is 5 established by the Start Control and Start Position parameters of the AXIS_ SERVO M APC instruction This bit is bit is cleared when the current position AXIS_SERVO_DRIVE cam profile completes or is superseded by some other motion AXIS VIRTUAL operation In unidirectional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction
418. t any active registration or watch event procedures are cancelled Change Cmd Reference If this bit is set the controller switches to a new position coordinate system for command position The servo module or drive uses this bit when processing new command position data from the controller to account for the offset implied by the shift in the reference point The bit is cleared when the axis acknowledges completion of the reference position change by clearing its Change Position Reference bit Publication LOGIX UM 002B EN P anuary 2007 272 Axis Attributes Attribute Axis Type Data Type Access Description Axis Data Type AXIS_CONSUMED SINT MSG Associated motion axis tag data type AXIS_ GENERIC 0 Feedback AXIS SERVO 1 Consumed AXIS SERVO_DRIVE Evie AXIS VIRTUAL oe benelie te 4 Servo 5 Servo Drive 6 Generic Drive The Axis Data Type attribute and is used to determine which data template memory format and set of attributes are created and applicable for this axis instance This attribute can only be set as part of an axis create service Feedback A feedback only axis associated with feedback only modules like PLS II and CFE supporting quadrature encoder resolver HiperFace and so on Consumed A consumed axis which consumes axis motion data produced by a motion axis on another controller Virtual A virtual axis having full motion planner operation but not associated with any physical device Generic
419. t the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset M AFR or Motion Axis Shutdown Reset M ASR instruction to clear the fault Attribute M ot Feedback Noise Fault Axis Attributes 317 Axis Type Data Type Access Description AXIS_SERVO_ DRIVE BOOL Tag Set when there is noise on the feedback device s signal lines e For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback noise e Feedback noise shown below is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring You can see both of these on an oscilloscope ova LPL LP PL e To troubleshoot the loss of channel quadrature look for e physical misalignment of the feedback transducer components e excessive capacitance or other delays on the encoder signals e Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a Motion Axis Fault Reset M AFR or Motion Axis Shutd
420. t Status Reg 2 Input Status o y J aj BY WwW N ej Resevered Re Oo Resevered j m Drive Fault Input Status Shutdown Status AXIS_CONSUM ED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL BOOL Tag If this bit is e ON The axis is in the Shutdown state e OFF The axis isn t in the Shutdown state Soft Overtravel Fault Action AXIS_ SERVO AXIS_SERVO_DRIVE SINT GSV SSV Fault Action Value Shutdown 0 Disable Drive Stop M otion Status Only Wt N e SSI Clock Frequency AXIS_SERVO SINT GSV 0 208 kHz 1 650 kHz This attribute provides for setting the Clock Frequency in kHz of the SSI device This attribute is only active if the Transducer Type is set to SSI SSI Code Type AXIS_SERVO SINT GSV 0 Binary 1 Gray This attribute provides for setting the whether the SSI device is using Binary or Gray code This attribute is only active if the Transducer Type is set to SSI SSI Data Length AXIS_ SERVO SINT Publication LOGIX UM 002B EN P anuary 2007 GSV This attribute provides for setting the data length of the SSI device This attribute is only active if the Transducer Type is set to SSI Axis Attributes 345 Attribute Axis Type Data Type Access Description Start Actual AXIS_CONSUMED REAL GSV Start Actual Position in Position Units Position AXIS GENERIC Tag Whenever a new motion planne
421. t or the Output amp Feedback Test e Positive e Negative When propery configured this setting insures that axis Actual Position value increases when the axis is moved in the user defined positive direction This bit can be configured automatically using the MRHD and MAHD motion instructions Publication LOGIX UM 002B EN P J anuary 2007 Output Polarity Test Marker Test Feedback Test Output amp Feedback Axis Properties 197 Modifying automatically input polarity values by running the Feedback or Output amp Feedback Tests can cause a runaway condition resulting in unexpected motion damage to the equipment and physical injury or death The polarity of the servo output to the drive this field is automatically set by executing the Output amp Feedback Test e Positive e Negative When properly configured this setting and the Feedback Polarity setting insure that when the axis servo loop is closed it is closed as a negative feedback system and not an unstable positive feedback system This bit can be configured automatically using the MRHD and MAHD motion instructions Runs the Marker test which ensures that the encoder A B and Z channels are connected correctly and phased properly for marker detection When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Runs the Feedback Test
422. te system tag e Enable Disable automatic updating of the tag RSLogix 5000 software supports only one Motion Group tag per controller Publication LOGIX UM 002B EN P J anuary 2007 Create and Configure a Coordinate System 55 M otion Group Selects and displays the Motion Group to which the Coordinate System is associated A Coordinate System assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting lt none gt terminates the Motion Group association and moves the coordinate system to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis button Opens the Motion Group Properties dialog box for the Assigned Motion Group where you can edit the Motion Group properties If no Motion Group is assigned to this coordinate system this button is dimmed New Group button The New Group button opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Type Selects and displays the type of coordinate system robot type in the Motion Group Available choices are Cartesian Articulated Dependent and Articulated Independent The type of coordinate system you choose in this field changes the configuration tabs that are available Dimension Enter the coordinate system dimensions that is the number of axes that this coordinated system is to
423. teady green The axis drive is in the normal enabled state None You can change the servo axis state by executing a motion instruction Flashing red The axis drive output is in the Shutdown state e Check for faults that may have generated this state e Execute the shutdown reset motion instruction e Resume normal operation Solid red The axis drive is faulted e Check the drive status Publication LOGIX UM 002B EN P anuary 2007 e Clear the drive fault condition at the drive e Execute a fault reset motion instruction e Resume normal operation e Check the configuration for the Drive Fault e f configured to be normally open and there is no voltage this is the normal condition e f configured to be normally closed and there is 24V applied this is the normal condition Interpret M odule Lights LEDs 117 1756 M02AS Module OK Light 2 AXIS SERVO SSI State Description Recommended Action Off The module is not operating e Apply chassis power e Verify the module is completely inserted in chassis and backplane Flashing green The module has passed internal diagnostics but itis None if you have not configured the module not communicating axis data over the backplane If you have configured the module check the slot number in the 1756 M 02AS Properties dialog box Steady green One of the following None e Module is exchanging axis data e The modul
424. ter the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Publication LOGIX UM 002B EN P J anuary 2007 228 Axis Properties Manual Adjust Click on this button to open the Output tab of the Manual Adjust dialog for online editing of Torque Force Scaling the Notch Filter Frequency and the Low pass Output Filter parameters Manual Adjust mysercos1laxis x Dynamics Gains Output Limits Offset Torque Force Scaling ao e Rated Position Units s 2 T Enable Notch Filter Frequency e Notch Filter Frequency fac Hertz J Enable Low pass Output Filter Low pass Output Filter Bandwidth fac 4 Hertz OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Limits Tab AXIS SERVO Use this tab to make the following offline configurations e enable and set maximum positive and negative software travel limits and e configure both Position Error Tolera
425. the Positioning mode is Rotary then the home position should be less than the unwind distance in position units Axis Properties 193 Offset Type the desired offset if any in position units the axis is to move Sequence Limit Switch upon completion of the homing sequence to reach the home position In most cases this value is zero Select the event that causes the Home Position to be set Sequence Type Description Immediate Sets the Home Position to the present actual position without motion Switch Sets the Home Position when axis motion encounters a home limit switch Marker Sets the Home Position when axis encounters an encoder marker Switch M arker Sets the Home Position when axis first encounters a home limit switch then encounters an encoder marker Torque Level Sets the Home Position when the specified Homing Torque level is achieved on the assigned axis Torque Level marker Sets the Home Position when the specified Homing Torque level is achieved on the assigned axis only after the axis encounters an encoder marker Refer to the section Homing Configurations for a detailed description of each combination of homing mode sequence and direction If a limit switch is used indicate the normal state of that switch that is before being engaged by the axis during the homing sequence e Normally Open e Normally Closed Publication LOGIX UM 002B EN P anuary 2007
426. the corresponding parameter of the local controller The fact that the configuration of the axis no longer matches the configuration of the local controller is a serious fault and results in the shutdown of the faulted axis The Attribute Error Code is reset to zero by reconfiguration of the motion module Axis Configuration Fault information is passed from the motion module or device to the controller via a 16 bit CIP status word contained in the Set Attribute List service response received by the controller A Set Attribute List service to the motion module can be initiated by a software Set Attribute List service to the controller or by an SSV instruction within the controller s program referencing a servo attribute Various routines that process responses to motion services are responsible for updating these attributes The Set and Get service responses provide a status response with each attribute that was processed That status value is defined by CIP as follows UINT16 Values 0 255 0x00 OxFF are reserved to mirror common service status codes Values 256 65535 are available for object class attribute specific errors Attribute Error ID AXIS_SERVO INT CSV AXIS_SERVO_DRIVE Tag Publication LOGIX UM 002B EN P anuary 2007 Attribute ID associated with non zero Attribute Error Code The Attribute Error ID is used to retain the ID of the servo attribute that returned a non zero attribute error code resulting in an Axis Configur
427. the same unwind characteristic as the position of a linear axis M aster Offset AXIS_CONSUMED BOOL Tag Set if a M aster Offset M ove motion profile is currently in progress This M ove Status bit is cleared when the M aster Offset M ove is complete or is AXIS_ GENERIC 7 superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL M aster Position AXIS_ GENERIC REAL GSV Hertz j j AXIS_ SERVO SSV PENDE a Piter Bandwidth T The M aster Position Filter Bandwidth attribute controls the activity of AXIS_SERVO_DRIVE the single pole low pass filter that filters the specified master axis AXIS_VIRTUAL position input to the slave s gearing or position camming operation Publication LOGIX UM 002B EN P anuary 2007 When enabled this filter has the effect of smoothing out the actual position signal from the master axis and thus smoothing out the corresponding motion of the slave axis The trade off for smoothness is an increase in lag time between the response of the slave axis to changes in motion of the master If the M aster Position Filter is disabled the M aster Position Filter Bandwidth has no effect Attribute Maximum Acceleration Axis Type Data Type Access AXIS_ GENERIC REAL AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL GSV SSV Axis Attributes 313 Description Position Units Sec The M aximum Acceleration and Deceleration attribute values are frequently used by motion instructions such as
428. the zero Velocity Error condition Unfortunately Gain control is intrinsically unstable Too much Gain results in axis oscillation and servo instability In certain cases Vel Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation Another common case is when performing certain motion W hen the Integrator Hold Enable attribute is set the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Velocity Integral Gain is the better choice The typical value for the Velocity Integral Gain is 15 mSec Sec If you have an AXIS_SERVO_DRIVE data type While the Vel Gain if employed is typically established by the automatic servo tuning procedure the Pos Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system Refer to Torque Scaling attribute description for an explanation of how the Torque Scaling factor can be calculated Once this is done the Vel Gain can be computed based on the
429. this axis has a module fault 0 0 1 1 2 2 Motion Status BOOL Tag The M otion Status bit attribute is set indicating that at least one Coordinate M otion instruction is active and the Coordinate System is connected to its associated axes M ove Pending Queue Full BOOL Tag The move pending queue full bit is set there is no room in the instruction queue Status for the next coordinated move instruction Once there is room in the queue the bit is cleared M ove Pending Status BOOL Tag The move pending bit is set once a coordinated motion instruction is queued Once the instruction has begun executing the bit will be cleared provided no subsequent coordinated motion instructions have been queued in the mean time In the case of a single coordinated motion instruction the status bit may not be detected by the user in RSLogix5000 since the transition from queued to executing is faster than the coarse update The real value of the bit comes in the case of multiple instructions As long as an instruction is in the instruction queue the pending bit will be set This provides the RSLogix5000 programmer a means of stream lining the execution of multiple coordinated motion instructions Ladder logic containing coordinated motion instructions can be made to execute faster when the programmer allows instructions to be queued while a preceding instruction is executing W hen the M ovePendingStatus bit is clear the next coordinated motion instruction can be exec
430. ticktion that even with a significant position error the axis refuses to budge Friction Compensation is used to break sticktion in the presence of a nonzero position error This is done by adding or subtracting a percentage output level called Friction Compensation to the Servo Output value The Friction Compensation value should be just less than the value that would break the sticktion A larger value can cause the axis to dither that is move rapidly back and forth about the commanded position To address the issue of dither when applying Friction Compensation and hunting from the integral gain a Friction Compensation Window is applied around the current command position when the axis is not being commanded to move If the actual position is within the Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied If the Friction Compensation Window is set to zero this feature is effectively disabled A nonzero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally al
431. ting is also eliminated at the cost of a small steady state error Publication LOGIX UM 002B EN P J anuary 2007 240 Axis Properties Backlash Compensation Reversal Offset Stabilization Window Velocity Offset Torque Offset Output Offset Publication LOGIX UM 002B EN P anuary 2007 Backlash Reversal Offset provides the capability to compensate for positional inaccuracy introduced by mechanical backlash For example powertrain type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical components a motor a gearbox and a ball screw that may introduce inaccuracies and that are subject to wear over their lifetime Therefore when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw and so on may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved If a value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a nonzero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position The Backlash Stabilization Window controls the Backlash Stabilization feature in the servo control loop
432. tinue and the drive uses available stored DC bus energy to operate the axes Publication LOGIX UM 002B EN P J anuary 2007 252 Axis Properties Set Custom Stop Action Opens the Custom Stop Action Attributes dialog Publication LOGIX UM 002B EN P J anuary 2007 Custom Stop Action Attributes X Name vawe Unts Type StoppingToras oofer Rea StoppingTimeLmt 100s ea BrakeEngageDelayTme oos ea BrakeReleaseDelayTme oos ea ResistiveBrakeContactbeay oos Rea Use this dialog to monitor and edit the Stop Action related attributes When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 software and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Tag Tab Axis Properties 253 Attributes The following attribute or parameter values can be monitored and edited in this dialog box Attribute Description StoppingTorque This attribute displays the amount of torque available to stop the motor This attribute has a value range of 0 1000 StoppingTimeLimit This a
433. tion Telegram See IDN 15 in IEC 1491 Publication LOGIX UM 002B EN P anuary 2007 Axis Attributes 347 Attribute Axis Type Data Type Access Description Test Direction AXIS_ SERVO SINT GSV The direction of axis travel during the last hookup test initiated by a Forward AXIS SERVO DRIVE M RHD M otion Run Hookup Test instruction 0 reverse 1 forward positive For this Data type Details AXIS_ SERVO This value doesn t depend on the Servo Polarity Bits attribute The M AHD M otion Apply Hookup Test instruction uses the Test Direction Forward attribute and the Test Output Polarity attribute to set the Servo Polarity Bits attribute for negative feedback and correct directional sense AXIS_SERVO DRIVE This value doesn t depend on the Drive Polarity attribute The M AHD M otion Apply Hookup Test instruction uses the Test Direction Forward attribute and the Test Output Polarity attribute to set the Drive Polarity attribute for the correct directional sense Test Increment AXIS_SERVO REAL GSV Position Units AXIS_SERVO_DRIVE SSV j z The M otor Feedback Test Increment attribute is used in conjunction with the M RHD M otion Run Hookup Diagnostic instruction to determine the amount of motion that is necessary to satisfy the M RHD initiated test process This value is typically set to approximately a quarter of a revolution of the motor Test Status AXIS_SERVO INT GSV 0 test process successful AXIS_SERVO_DRIVE
434. tion and Maximum Deceleration attributes Tune AXIS_ SERVO REAL GSV Sec j AXIS SERVO DRIVE Acceleration z z The Tune Acceleration Time and Tune Deceleration Time attributes mime return acceleration and deceleration time in seconds for the last run tuning procedure These values are used to calculate the Tune Acceleration and Tune Deceleration attributes Tune AXIS_ SERVO REAL GSV Position Units Sec2 i AXIS_SERVO_DRIVE Becelerauan z The Tune Acceleration and Tune Deceleration attributes return the measured acceleration and deceleration values for the last run tuning procedure These values are used in the case of an external torque servo drive configuration to calculate the Tune Inertia value of the axis and are also typically used by a subsequent M AAT Motion Apply Axis Tune to determine the tuned values for the Maximum Acceleration and Maximum Deceleration attributes Tune AXIS_ SERVO REAL GSV Sec i AXIS_SERVO_DRIVE l oe j The Tune Acceleration Time and Tune Deceleration Time attributes return acceleration and deceleration time in seconds for the last run tuning procedure These values are used to calculate the Tune Acceleration and Tune Deceleration attributes Publication LOGIX UM 002B EN P anuary 2007 Attribute Tune Inertia Axis Type AXIS_ SERVO AXIS_SERVO_DRIVE Axis Attributes 353 Data Type Access Description REAL GSV MegaCounts Per Sec The Tune Inertia value represents the
435. tly accelerating Actual Acceleration is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on actual velocity is 1 feedback counts per coarse update period per coarse update period Actual Position AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS_GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS_SERVO_DRIVE Actual Position in Position Units AXIS_VIRTUAL Actual Position is the current absolute position of an axis in the configured Position Units of that axis as read from the feedback transducer Note however that this value is based on data reported to the controller as part of an ongoing synchronous data transfer process which results in a delay of one coarse update period Thus the Actual Position value that is obtained is the actual position of the axis one coarse update period ago Actual Velocity AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS_GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS_SERVO_DRIVE Actual Velocity in Position Units Sec AXIS_VIRTUAL Actual Velocity is the current instantaneously measured speed of an axis in the configured
436. to the position servo loop Acceleration AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 160 in Data Scaling IEC 1491 Acceleration AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 162 in Data Scaling Exp IEC 1491 Acceleration AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 161 in Data Scaling IEC 1491 Factor Acceleration AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS SERVO DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Acceleration Feedback in Position Units Sec2 Acceleration Feedback is the actual velocity of the axis as estimated by the servo module in the configured axis Position Units per Second2 The Estimated Acceleration is calculated by taking the difference in the Estimated Velocity over the servo update interval Acceleration Feedback is a signed value the sign or depends on which direction the axis is currently moving Publication LOGIX UM 002B EN P J anuary 2007 Attribute Axis Type Data Type Access Acceleration AXIS_SERVO REAL GSV Feedforward AXIS_SERVO_DRIVE ssy Gain Axis Attributes 261 Description AXIS_SERVO When you connect to a torque servo drive use the Acceleration Feedforward Gain to give the Torque C
437. tribute choose it as one of the attributes for Capacity Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 The present utilization of the axis bus regulator as a percent of rated capacity Bus Regulator ID AXIS_SERVO_DRIVE INT GSV The Bus Regulator ID attribute contains the enumeration of the specific A B Bus Regulator or System Shunt catalog numbers associated with the axis If the Bus Regulator ID does not match that of the actual bus regulator or shunt hardware an error is generated during the drive configuration process C2C Connection AXIS_CONSUMED SINT GSV Producer Consumed axis s associated C2C connection instance in Instance AXIS GENERIC reference to the C2C map instance AXIS_SERVO When Axis Data Type is specified to be Consumed then this axis is AXIS_ SERVO_DRIVE associated to the consumed data by specifying both the C2C M ap AXIS VIRTUAL Instance and the C2C Connection Instance This attribute is the connection instance under the C2C map instance which provides the axis data being sent to it from another axis via a C2C connection For all other Axis Data Types if this axis is to be produced then this attribute is set to the connection instance under the local controller s map instance 1 that is used to send the remote axis data via the C2C connection C2C Map AXIS_CONSUMED SINT GSV Producer Consumed axis s associated C2C map inst
438. tribute the M AH instruction may be executed with the Home M ode configured for Absolute the only valid option when Absolute Feedback Enable is True W hen executed the servo module will compute the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the M AH instruction Because the actual position of the axis is re referenced during execution of the M AH instruction the servo loop must not be active If the servo loop is active the M AH instruction errors If Absolute Feedback Enable is set to False the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer In this case a homing or redefine position operation is therefore needed to establish the absolute machine reference position The Absolute Home M ode in this case is considered invalid This attribute is configurable if the Transducer Type is set to SSI For an LDT transducer the Absolute Feedback Enable is forced to True For an AQB transducer the Absolute Feedback Enable is forced to False Axis Attributes 259 Attribute Axis Type Data Type Access Description Absolute AXIS_SERVO REAL Feedback Offset GSV SSV Position Units Important e Use this attribute only for an axis of a 1756 HY D02 or 1756 M 02AS module e Set the
439. troller lt o download RUN REM PROG 4 Controller My_Controller Tasks 38 Motion Groups My_Motion_Group Motion Direct Commands Cross Reference Ctrl E re My_Axis_ Ungrouped Axe Print gt Trends aa Data Types Properties N 1 0 Configuration se Axis Properties My_Axis_X 3 Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit 1 0 Revs 6 Type the limit of movement for the axis during the tuning procedure io Sits 7 Type the maximum speed for your Speed fioo Revs s DANGER This tuning equipm ent procedure may cause axis t s motion with the controller Torque Force Rated Bice Direction LFofward Unidirectional v amping Factor 0 8 8 r Tune J Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feedforward Acceleration Feedforward Publication LOGIX UM 002B EN P J anuary 2007 26 Start Get Axis Information You can get information about an axis in several ways Use the Axis Properties window to configure the axis R RSLogix 5000 My_Controller in Inhibit_Axis ACD 1756 L60M03SE MainProgram Inhibit_Axes ER E F
440. try Units Offsets Joints Tag Type Articulated Dependent Transform Dimension 3 Link Lengths Enter the Link Length values u foo t2 1140 For the robot shown in our example the Link Length values are Zero Angle Orientations L1 10 0 z 00 Degrees e 2 12 0 z2 10 0 Degrees 23 0 0 Degrees Base Offsets The base offset is a set of coordinate values the redefines the origin of the robot The correct base offset values are typically available from Publication LOGIX UM 002B EN P J anuary 2007 Kinematics in RSLogix 5000 Software 101 the robot manufacturer Enter the values for the base offsets in the X1b and X3b fields of the Coordinate System Properties dialog Coordinate System Properties sdsd EE General Geometry Units Offsets Joints Tag Type Articulated Dependent Top View Transform Dimension 3 End Effector Offsets xte 0 0 x2e 0 0 x3e 0 0 Base Offsets Enter the Base Offset values xib 3 0 x2b 0 0 x3b 4 0 For the robot shown in our example the Base Offset values are e X1b 3 0 e X3b 4 0 Cancel Apply Help End Effector Offsets The robot can have an end effector attached to the end of robot link L2 If there is an attached end effector then you must configure the end effector offset value on the Coordinate System Properties dialog Publication LOGIX UM 002B EN P J anuary 2007 102 Kinemati
441. ttribute 1 Position Feedback ft Attribute 2 none gt 7 OK Cancel Help Amplifier Catalog Number Select the catalog number of the amplifier to which this azis is connected Publication LOGIX UM 002B EN P J anuary 2007 176 Axis Properties Catalog Number Select the catalog number of the motor associated with this axis When you change a Motor Catalog Number the controller recalculates the values of the following values using among other values the default Damping Factor of 0 8 On this tab or dialog These attributes are recalculated M otor Feedback tab M otor Feedback Type M otor Feedback Resolution Gains tab Position Proportional Gains Velocity Proportional Gains Dynamics tab M aximum Velocity M aximum Acceleration M aximum Deceleration Limits tab Position Error Tolerance Custom Stop Action Attributes dialog Stopping Torque Custom Limit Attributes dialog Velocity Limit Bipolar Velocity Limit Positive Velocity Limit Negative Acceleration Limit Bipolar Acceleration Limit Positive Acceleration Limit Negative Torque Limit Bipolar Torque Limit Positive Torque Limit Tune Bandwidth dialog Position Loop Bandwidth Velocity Loop Bandwidth The Associated Module selection selected on the General tab determines available catalog numbers Loop Configuration Select the configuration of the servo loop e Motor Feedback Only Displayed when Axis Configuration is Feedback on
442. ttribute displays the maximum amount of time that the drive amplifier remains enabled while trying to stop It is useful for very slow velocity rate change settings This attribute has a value range of 0 6553 5 BrakeEngageDelayTime When servo axis is disabled and the drive decelerates to a minimum speed the drive maintains torque until this time has elapsed This time allows the motor s brake to be set This attribute has a value range of 0 6 5535 BrakeReleaseDelayTime When the servo axis is enabled the drive activates the torque to the motor but ignores the command values from the Logix controller until this time has elapsed This time allows the motor s brake to release This attribute has a value of 0 6 5535 ResistiveBrakeContactDelay The Resistive Brake Contact Delay attribute is used to control an optional external Resistive Brake M odule RBM The RBM sits between the drive and the motor and uses an internal contactor to switch the motor between the drive and a resisted load Use this tab to modify the name and description of the axis When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you Publication LOGIX UM 002B EN P J anuary 2007 254 Axis Properties save your changes all pending changes revert to their previously saved state e Axis Properties mysercos1laxis iol X General Motion
443. tual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss Identifies information that is critical for successful application and E ENRIANT understanding of the product Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence ATTENTION LATT Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present TTET Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt gt efiri Allen Bradley CompactLogix ControlLogix Logix5000 Logix Rockwell Automation TechConnect PLC 5 SLC 500 Logix5550 PowerFlex 700S RSLogix 5000 DriveLogix PowerFlex and
444. type AXIS SERVO _ DRIVE configured as a Servo drive in the General tab of this dialog e Axis Properties mysercoslaxis _ OF x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag P Hard Travel Limits Manual Adjust F Soft Trave Limits Set Custom Limits Maxinum Positive foo Pasition Units Maximum Negative oo Position Units Position Error Tolerance Position Units Position Lock Tolerance pao Position Units Peak Torque Force Limit foo Rated Continuous Torque Force Limit fi 00 0 Rated Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits Publication LOGIX UM 002B EN P J anuary 2007 Hard Travel Limits Soft Travel Limits Maximum Positive Maximum Negative Axis Properties 233 e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software is
445. type of homing sequence that you want s Axis Properties My_Axis_X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ac Mode active Position 0 0 Revs Offset 0 0 Revs Sequence Marker o is Active Home Sequence Group Direction Forward Bi directional __ w C Type homing speeds Publication LOGIX UM 002B EN P J anuary 2007 Speed 0 25 Revs s Retum Speed 0 25 Revs s Stat 23 Action Details 7 Apply your changes Axis Properties My_Axis_X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ax Mode active v Position foo Revs Offset foo Revs Sequence Maker x O Active Home Sequence Group Direction Forward Bi directional Speed 0 25 Revs s Return Speed 0 25 Revs s Cancel Publication LOGIX UM 002B EN P J anuary 2007 24 Start Check the Wiring of Each Use the hookup tests to check the wiring of a drive Drive This Test Does This Notes Test marker Checks that the drive gets the marker You must manually move the pulse axis for this test Test feedback Checks the polarity of the feedback You must manually move the axis for this test Test command Checks the polarity of the drive and feedback ATTENTION These tests make the
446. ublication LOGIX UM 002B EN P J anuary 2007 96 Kinematics in RSLogix 5000 Software Publication LOGIX UM 002B EN P J anuary 2007 If your robot s physical position and joint angle values can not match those shown in Figure 2 Articulated Dependent or in Figure 3 Articulated Dependent then use one of the methods outlined in this section to establish the Joint to Cartesian reference frame relationship WARNING Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions potentially resulting in damage to property or injury to personnel Alternate Methods for Establishing the Reference Frame The following methods let you establish a reference frame for an Articulated Independent robot For each Use one of these methods to establish the reference frame Incremental axis Each time the robot s power is cycled Absolute axis Only when you establish absolute home e Method 1 establishes a Zero Angle Orientation and allows the configured travel limits and home position on the joint axes to remain operational Use this method if you are operating the axes between the travel limits determined prior to programming a Motion Redefine Position MRP instruction and want these travel limits to stay operational e Method 2 uses a Motion Redefine Position MRP instruction to redefine the axes position to align with the Joint reference frame This method
447. uction that stops the axis Or use a lower acceleration Accel Units Units per sec2 Decel Rate Decel Units Profile Curve Merge Disabled Merge Speed Jog_PB lt Local 4 Data O gt My_Axis_OK i Use the same acceleration rate as the instruction that starts the axis Or use a higher acceleration Publication LOGIX UM 002B EN P J anuary 2007 130 Troubleshoot Axis M otion Why is there a delay when stop and then restart a jog Example Look for Publication LOGIX UM 002B EN P J anuary 2007 While an axis is jogging at its target speed you stop the axis Before the axis stops completely you restart the jog The axis continues to slow down before it speeds up You use a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you use a Motion Axis Jog MAJ instruction to start the axis again The axis doesn t respond right away It continues to slow down Eventually it speeds back up to the target speed Jog_PB lt Local 4 Data 0 gt My_Axis_OK ke Motion Axis Jog EN Axis My_Axis Motion Control Jog_1 DNS Direction 0 Speed Jog_1_Speed 60 0 P gt Speed Units Units per sec Accel Rate _1_Accel 20 0 Accel Units Units per sec2 Decel Rate Jog_1_Decel 20 0 The instruction that Decel Units Units per sec2 starts the axis uses an Profile SCurve S Curve profile Merge Disabled Merge Sp
448. ult 29 Reserved 30 Manufacturer Specific Fault 31 Do you want any of these faults to give the controller a major fault e YES Set the General Fault Type of the motion group M ajor Fault e NO You must write code to handle these faults Publication LOGIX UM 002B EN P anuary 2007 Attribute Axis Type Data Type Access Drive Fault Input AXIS_SERVO BOOL Tag Status Axis Attributes 289 Description Digital output from the drive that shows if there is a fault If this bit is e ON The drive is has a fault e OFF The drive doesn t have a fault Drive Hard Fault AXIS_SERVO_DRIVE BOOL Tag Set when the drive detects a serious hardware fault Drive Model Time AX S_SERVO REAL Constant AXIS_SERVO_DRIVE Drive Overcurrent AXIS_SERVO_DRIVE BOOL Fault GSV SSV Tag Sec The value for the Drive M odel Time Constant represents the lumped model time constant for the drive s current loop used by the M RAT instruction to calculate the M aximum Velocity and Position Servo Bandwidth values The Drive M odel Time Constant is the sum of the drive s current loop time constant the feedback sample period and the time constant associated with the velocity feedback filter This value is set to a default value when you configure the axis For this Axis type Details AXIS_ SERVO This value is only used by M RAT when the axis is configured for an External Torque Servo Drive AXIS_SERVO_DRIVE Since the ba
449. ult Reset 34 Motion Axis Gear 34 Motion Axis Home 34 Motion Axis J og 34 Motion Axis Move 34 Motion Axis Position Cam 34 Motion Axis Shutdown 34 Motion Axis Shutdown Reset 34 Publication LOGIX UM 002B EN P anuary 2007 410 Index Motion Axis Stop 34 Motion Axis Time Cam 34 Motion Calculate Cam Profile 34 Motion Calculate Slave Values 34 Motion Change Dynamics 34 motion control add axis 20 choose a motion module 15 coarse update period 18 coordinate system 29 execution 18 overview 13 program 27 set the coordinated system time master 14 set up an axis 21 status information 29 Motion Coordinated Change Dynamics 36 Motion Coordinated Circular Move 36 Motion Coordinated Linear Move 36 Motion Coordinated Shutdown 36 Motion Coordinated Shutdown Reset 36 Motion Coordinated Stop 36 Motion Direct Commands 31 Error Process 39 Transition States 42 Motion Direct Drive Off 34 Motion Direct Drive On 34 Motion Disarm Output Cam 35 Motion Disarm Registration 35 Motion Disarm Watch Position 35 motion group setup 18 Motion Group Shutdown 35 Motion Group Shutdown Reset 35 Motion Group Stop 35 Motion Group Strobe Position 35 Motion Instructions 31 Coordinated M otion Instructions M otion Coordinated Change Dynam ics M CCD 36 M otion Coordinated Circular M ove M CCM 36 M otion Coordinated Linear M ove M CLM 36 M otion Coordinated Shutdown M CSD 36 M otion Coordinated Shutdown Re set M CSR 36 M otio
450. und the X3 axis starting at an angle of J1 0 when J1 is aligned with the X1 axis e J2 is measured counterclockwise starting with J2 0 when J2 is parallel to X1 X2 plane e J3 is measured counterclockwise with J3 0 when J3 is aligned with link L1 Figure 2 Articulated Independent Cee Eg Side View When your robot is physically in the The RSLogix 5000 Actual Position position illustrated in tags for the axes must read as Figure 2 Articulated Independent J1 0 J2 0 J3 0 Figure 3 Articulated Independent J1 0 2 90 3 90 Publication LOGIX UM 002B EN P J anuary 2007 86 Kinematics in RSLogix 5000 Software Figure 3 Articulated Independent Side View If your robot s physical position and joint angle values can not match those shown in Figure 2 Articulated Independent or Figure 3 Articulated Independent then use one of the Alternate Methods for Establishing the Joint to Cartesian reference frame relationship Alternate Methods for Establishing the Reference Frame The following methods let you establish a reference frame for an Articulated Independent robot For each Use one of these methods to establish the reference frame Incremental axis Each time the robot s power is cycled Absolute axis Only when you establish absolute home e Method 1 establishes a Zero Angle Orientation and allows the configured travel limits and home position on the joint axes to remain operational Us
451. urn Speed that is slower than the Home Speed to increase the homing accuracy The accuracy of this sequence depends on the return speed and the delay to detect the transition of the home limit switch Uncertainty Home Return Speed x delay to detect the home limit switch Example Suppose your Home Return Speed is 0 1 in s and it takes 10 ms to detect the home limit switch Uncertainty 0 1 in s x 0 01 s 0 001 in The mechanical uncertainty of the home limit switch also affects the homing accuracy Configure Homing 137 Sequence Description Active home to marker in forward The marker homing sequence is useful for single turn rotary and linear encoder applications bidirectional because these applications have only one encoder marker for full axis travel Homing Velociy AMIE HEr i i Axia Pos ion Keiem Velod iy i The encoder marker ip detected 2 The home position During the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker and stops 2 The axis moves back to the marker or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than revolution The accuracy of this homing sequence depends on the homing speed and the delay to detect the marker transition Uncertainty Home Speed x delay to detect the marker Example Suppose your Home Speed is 1 in
452. uted that is setup in the queue M ove Status BOOL Tag The move bit is set when coordinated motion is generating motion for any associated axes Once coordinated motion is no longer being commanded the move bit is cleared M ove Transition Status BOOL Tag The move transition bit is set once the blend point between two successive coordinated moves has been reach The bit remains set while the blend of the two moves into one is in process Once the blend is complete the move transition bit is cleared Publication LOGIX UM 002B EN P J anuary 2007 Coordinate System Attributes 399 Attribute Data Type Access Description Physical Axes Faulted DINT GSV Shows which axes in this coordinate system have a servo axis fault Tag If this bitis on Then this axis has a servo axis fault 0 0 1 1 2 2 Physical Axis Fault BOOL Tag If the Physical Axis Fault bit is set it indicates that there is one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis Ready Status BOOL Tag The Ready bit is set when all associated axes are enabled It is cleared after an MCSD M GSD ora fault on any of the associated axes Shutdown Status BOOL Tag The Coordinate System bit will be set after an M CSD or M GSD is executed and all associated axes have stopped A M CSR or a M GSR will reset the coordinate system a
453. uter position control loop Velocity Command is not to be confused with Command Velocity which represents the rate of change of Command Position input to the position servo loop Velocity Data Scaling AXIS_ SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 44 in IEC 1491 Velocity Data Scaling Exp AXIS_ SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 46 in IEC 1491 Velocity Data Scaling Factor AXIS_ SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 45 in IEC 1491 Velocity Droop AXIS_ SERVO_DRIVE REAL GSV SSV Position Units sec This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Error AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV Tag Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Error in Position Units Sec Velocity Error is the difference in configured axis Position Units per Second between the commanded and actual velocity of an axis For an axis with an active velocity servo loop velocity error is used along with other error terms to drive the motor to th
454. utput Cam controls a subset of Output Bits The Output Cam Transition Status bit is reset when the transition to the pending Output Cam is complete or when the Output Cam is terminated by a M DOC instruction Output Limit AXIS_ SERVO REAL GSV SSV 0 0 10 0V The Output Limit attribute provides a method of limiting the maximum servo output voltage of a physical axis to a specified level The servo output for the axis as a function of position servo error both with and without servo output limiting is shown below Without Servo Output Limiting With Servo Output Limiting Servo Amplifier Output Position Error The servo output limit may be used as a software current or torque limit if you are using a servo drive in torque current loop mode The percentage of the drive s maximum current that the servo controller commands is equal to the specified servo output limit For example if the drive is capable of 30 Amps of current for a 10 Volt input setting the servo output limit to 5V limits the maximum drive current to 15 Amps The servo output limit may also be used if the drive cannot accept the full 10 Volt range of the servo output In this case the servo output limit value effectively limits the maximum command sent to the amplifier For example if the drive can only accept command signals up to 7 5 Volts set the servo output limit value to 7 5 volts Output Limit Status AXIS_ SERVO BOO
455. vated Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly and completely as possible Axis Properties 247 Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Stop Motion If a fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared Status Only If a fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate Selecting the wrong fault action for your application can cause a dangerous condition resulting in unexpected motion damage moving machinery A to the equipment and physical injury or death Ke
456. vo Output value based on its current sign The Friction Compensation value should be just under the value that would break the sticktion A larger value causes the axis to dither Dither is when the axis moves rapidly back and forth centered on the commanded position Axis Attributes 305 Attribute Axis Type Data Type Access Description Friction AXIS_SERVO REAL GSV Position Units Compensation AXIS_SERVO_DRIVE SSV Window To address the issue of dither when applying Friction Compensation and hunting from the integral gain a Friction Compensation Window is applied around the current command position when the axis is not being commanded to move If the actual position is within the Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied Of course should the Friction Compensation Window be set to zero this feature is effectively disabled A non zero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Friction Compensation to be applied Hunti
457. ward Bi directional gt Damping Factor as Tune JV Position Eror Integrator P Velocity Error Integrator IV Friction Compensation IV Velocity Feedforward Acceleration Feedforward M Torque Offset M Output Filter OK Cancel Help Travel Limit Specifies a limit to the excursion of the axis during the tune test If the servo module determines that the axis is not able to complete the tuning process before exceeding the tuning travel limit it terminates the tuning profile and report that this limit was exceeded Speed Determines the maximum speed for the tune process This value should be set to the desired maximum operating speed of the motor in engineering units prior to running the tune test Torque Force The maximum torque of the tune test Force is used only when a AXIS SERVO DRIVE linear motor is connected to the application This attribute should be z set to the desired maximum safe torque level prior to running the tune test The default value is 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system Publication LOGIX UM 002B EN P J anuary 2007 Torque AXIS_SERVO Direction Axis Properties 201 In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tun
458. was entered The blue arrow to the right of the Reset button means that the values are immediately reset when the Reset button is clicked Publication LOGIX UM 002B EN P J anuary 2007 68 Create and Configure a Coordinate System TagTab The Tag tab is for reviewing your Tag information and renaming the Publication LOGIX UM 002B EN P J anuary 2007 tag or editing the description s Coordinate System Properties cartesian_coordinate_system mk General Geometry Units Offsets Dynamics Gi Name cartesian coordinate systemi Description Type Base Data Type COORDINATE_SYSTEM Scope fa kinematics_basics Use this tab to modify the name and description of the coordinate system When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you save your changes all pending changes revert to their previously saved state Name Displays the name of the current tag You can rename the tag at this time The name can be up to 40 characters and can include letters numbers and underscores _ When you rename a tag the new name replaces the old one in the Controller Organizer after click on the OK or Apply button Description Displays the description of the current tag if any is available You can edit this description The edited description replaces the existing description when you click on either the OK or Apply button Cre
459. xed position of 0 degrees Kinematics in RSLogix 5000 Software 99 Define Configuration Parameters RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including e Link lengths e Base offsets e End effector offsets The configuration parameter information is available from the robot manufacturer Be sure that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog using the same measurement units The following example illustrates the typical configuration parameters for an articulated dependent robot Ky L2 12 inches he I 1 Xle 2 inches Se L1 10 inches o X3b 4 0 inches Robot Origin X1b 3 0 inches If the robot is two dimensional then X3b and X3e would be X2b and X2e respectively Figure 4 Articulated Dependent Publication LOGIX UM 002B EN P J anuary 2007 100 Kinematics in RSLogix 5000 Software Link Lengths Link lengths are the rigid mechanical bodies attached at joints For an articulated dependent robot with The length of Is equal to the value of the distance between two dimensions L1 Jlandj2 L2 J 2 and the end effector three dimensions Ll J2 and 3 L2 J 3 and the end effector Coordinate System Properties sdsd General Geome
460. xis Properties mysercoslaxis x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag pose Manual Adjust Proportional LELE Set Custom Gains Integral m Velocity Gains Feedforward Gains Proportional 260 41 666 s Velocity foo Integral oo 1 ms s Acceleration joo Integrator Hold Enabled x x x Cancel Apply Help The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop The specific design of this nested loop depends upon the Loop Configuration selected in the Drive tab For a discussion including a diagram of a loop configuration click on the following loop configuration types e Motor Position Servo Loop e Auxiliary Position Servo Loop e Dual Position Servo Loop e Motor Dual Command Servo Loop e Auxiliary Dual Command Servo Loop e Velocity Servo Loop e Torque Servo Loop The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits Publication LOGIX UM 002B EN P J anuary 2007 Velocity Feedforw ard Acceleration Feedforward Axis Properties 215 e edit in the Manua
461. xis enables in the faulted state indicating a Drive Enable Input Fault W hen the Drive Enable Fault Action setting is Stop Command instructions that both enable the axis and initiate motion M AH M RAT M AHD abort the motion process leaving the instruction with both the IP and PC bits clear This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear Any attempt to clear the fault while the drive enable input is still inactive and the drive is enabled is unsuccessful However the drive enable input fault may be cleared with the drive enable input inactive if the drive is disabled If the Drive Enable Input Checking bit is clear then the state of the Drive Enable Input is irrelevant so no fault would be declared in any of the above conditions Fault Action Value Shutdown 0 Disable Drive 1 Stop M otion 2 Status Only 3 Drive Enable Status AXIS_CONSUMED BOOL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_ DRIVE AXIS_VIRTUAL Tag AXIS_SERVO If this bit is e ON The Drive Enable output of the axis is on e OFF Drive Enable output of the axis is off AXIS_SERVO_DRIVE If this bit is e ON The drive s power structure is active e OFF The drive s power structure is not active Drive Fault AXIS_ SERVO BOOL Tag If this bit is set then the external servo drive has detected a fault and
462. xis oscillation and servo instability In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation Publication LOGIX UM 002B EN P J anuary 2007 212 Axis Properties Velocity Feedforw ard Acceleration Feedforw ard Publication LOGIX UM 002B EN P anuary 2007 When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice The typical value for the Velocity Proportional Gain is 15 mSec 2 Velocity Feedforward Gain scales the current Command Velocity by the Velocity Feedforward Gain and adds it as an offset to the Velocity Command Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the comma
463. xis to interface with an external velocity servo drive the External Drive Type should be configured for velocity servo This disables the servo module s internal digital velocity loop If the External Drive Type attribute is set to torque servo the servo module s internal digital velocity loop is active This configuration is the required configuration for interfacing to a torque loop servo drive If the External Drive Type attribute is set to hydraulic servo the object will enable certain features specific to hydraulic servo applications In general selecting the hydraulic External Drive Type configures the servo loop the same as selecting the velocity servo External Drive Type Publication LOGIX UM 002B EN P J anuary 2007 Axis Attributes 301 Attribute Axis Type Data Type Access Description Fault AXIS_ SERVO DINT GSV Configuration AXIS_SERVO_DRIVE SSV Bits wo rr Axis Type Fault Configuration AXIS_SERVO Soft Overtravel Checking Reserved Drive Fault Checking Drive Fault Normally Closed AXIS_SERVO_DRIVE Soft Overtravel Checking Hard Overtravel Checking Reserved Reserved Drive Enable Input Fault Handling ajl e GW N e ojl w N Eej Drive Enable Input Checking Change to rotary or Overtravel Checking requires Home range checks Soft Overtravel Checking Soft overtravel checking is only available for a linear axis Do you want a Positive Soft Overtravel Fault or Negative Soft Ove
464. you install the equipment for a customer inhibit those axes that the customer didn t buy Example 2 Suppose you have two production lines that use the same SERCOS ring And suppose one of the lines gets a fault In that case inhibit the axes on that line This lets you run the other line while you take care of the fault Publication LOGIX UM 002B EN P J anuary 2007 72 Inhibit an Axis Before You Begin Before you inhibit or uninhibitan axis Before you inhibit or uninhibit an axis turn off all of the axes 1 Stop all motion 2 Open the servo loops of all the axes Use an instruction such as the M otion Servo Off M SF instruction This lets you stop motion under your control Otherwise the axes turn off on their own when you inhibit or uninhibit one of them The connections to the motion module shut down when you inhibit or uninhibit an axis This opens the servo loops of all the axes that are connected to the module For a SERCOS interface module the SERCOS ring also shuts down J SERCOS Ring Drive M otor J Controller M otion M odule i SERCOS Ring 1 Drive M otor The controller automatically restarts the connections The SERCOS ring also phases back up Inhibit only certain types of axes You can inhibit only these types of ax
465. ys the motion module channel either 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module Motion Planner Tab The Motion Planner tab is where you set edit the number of Output Cam execution targets the type of stop action to use enable or disable Master Delay Compensation enable or disable Master Position Filter and set the bandwidth for Master Position Filter Bandwidth The Motion Planner tab has the same fields regardless of the type of axis o Axis Properties myservolaxis Ioj x Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup a Output Cam Execution Targets 0 Program Stop Action Fast Stop z JV Master Delay Compensation JV Enable Master Position Filter Master Position Filter Bandwidth o Hertz Cancel Apply Help Output Cam Execution Targets Determines how many Output Cam execution nodes instances are created for a specific axis Note that the Execution Target parameter for the MAOC MDOC instructions specify which of the configured execution nodes the instruction is affecting In addition the number Publication LOGIX UM 002B EN P J anuary 2007 Axis Properties 165 specified in the Axis Properties dialog specifies the number of instances of Output Cam in which the value of zero means none and the value specified for Execution Target i
466. zard Screen The Tag screen lets you rename your Tag edit your description and review the Tag Type Data Type and Scope information The only fields that you can edit on the Tag screen are the Name and Description fields These are the same fields as on the New Tag screen and the Coordinate System Properties Tag tab Create your Coordinate System in the New Tag window then configure it If you did not use the Wizard screens available from the Configure button on the New Tag screen you can make your configuration selections from the Coordinate System Properties screen You can also use the Coordinate System Properties screens to edit an existing Coordinate System tag These have a series of tabs that access a specific dialog for configuring the different facets of the Coordinate System Make the appropriate entries for each of the fields An asterisk appears on the tab to indicate changes have been made but not implemented Press the Apply button at the bottom of each dialog to save your selections TIP When you configure your Coordinate System some fields may be unavailable dimmed because of choices you made in the New Tag window Create and Configure a Coordinate System 53 In the Controller Organizer right click on the coordinate system to edit and select Coordinate System Properties from the pull down menu RD myservolaxis AD myvirtualaxis fob mycoordsyst E Ungrouped Axes Monitor Coordinate System Tag

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