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1771-6.5.44, Linear Positioning Module User Manual

1. Figure 5 8 Discrete Input Connections Auto Manual Auto Manual a Start sir e o BIB o O O ren Aa cag eta E stop switches in series A E ee yi agta et gma cee Pat aa ey ek EBD Jats yee esp ie VAP F Jog Forward Jog Forward mil O NON j j Wiring Arm Jog Reverse Jog Reverse Terminals 2 LOOP 2 kabi ay 4 e O O 14 AUTOMAN AUTOMAN 13 mni Input 1 16 START START 15 aie 18 STOP stop at 1 o o ooo JOG FWD 19 20 JOG FWD Input 2 Input 2 22 JOG REV JOGREV 21 INPUT 1 23 silat piling 24 INPUT 1 INPUT 2 25 o Q hg j 26 INPUT 2 I P SUPPLY 27 o 28 I P COMMON 15 to 24 VDC Discrete Input Supply Customer Supplied CA t a ia o 2 Belden 8761 or equivalent 50 ft max 50049 If you are driving a discrete input from a discrete output of another module keep in mind that you must measure the output voltage at the discrete output itself and not at the discrete output power supply There is a 1 6 VDC drop between the power supply and the discrete output at maximum current To yield the minimum 10 VDC at the discrete output the discrete output supply must be greater than 11 6 VDC 5 13 Chapter 5 Installing the Linear Positioning Module 5 14 Power Supply To connect the discrete input
2. Figure 10 11 Data Table Contents for Application Program 2 Motion Block 2 Project Name Application Program 2 Axis 1 Pagg of Designer Address of Date Axis No 1 Block Description Motion Block 2 Data Table Address Position File Data Description N80 31 1 2 1 O 2 Motion block control word 2 motion segments 3 2 2 1 1 1 2 17 Motion segment control word 1 next motion segment 18 33 3 0 0 8 9 Motion segment control word 2 input 2 trigger 34 4 0 0 2 0 MS Desired position 20 000 inches 35 5 0 0 0 0 LS Desired position 36 6 013 0 0 Local velocity 3 00 ips 37 7 0 0 3 0 Local acceleration 3 0 ips s 38 8 0 0 1 0 Local deceleration 1 0 ips s 39 9 0 0 0 0 Trigger velocity or MS trigger position 40 10 0 0 0 0 LS Trigger position 41 11 1 2 O E 18 Motion segment control word 1 next motion segment 14 42 12 OJ 1 7 A Motion segment control word 2 input 1 AND position trigger 43 13 0 0 O 0 MS Desired position 0 000 inches 44 14 0101 1000 LS Desired position 45 15 0 51100 Local velocity 5 00 ips 46 16 0 0 5 0 Local acceleration 5 0 ips s 47 17 0 Qi O Local deceleration 1 0 ips s 48 18 0 0 0 0 Trigger velocity or MS trigger position 0 000 inches 49 19 olo 0 0 LS Trigger position Figure 10 12 Data Table Contents for Application Program 2 Motion Block 3 Project Name Applicati
3. Figure 2 5 Positioning Loop with Feedforwarding Feed Forward KF Desired Position Following Velocity Velocity Command Error Pi Command Servo Valve gt fat gt Kp DIA Bi lt gt kao Integrator Axis ad Actual Linear Position Displacement Transducer Ji di ag Feedforwarding requires an additional summing point and an amplifier Multiply the desired velocity by the feedforward gain Kp to produce a feedforward value The feedforward value added to a multiplication of the following error by the proportional gain Kp generates the velocity command Without feedforwarding axis motion does not begin until the following error is large enough to overcome friction and inertia The feedforward component generates a velocity command to move the cylinder almost immediately This immediate response keeps the actual position closer to the desired position and thereby reduces the following error Integral Control Reset Control You can increase the positioning accuracy of the control loop by adding an integral component See Figure 2 6 To achieve the integral component of the positioning loop integrate the following error over time and amplify it to produce an integral value Then add this integral value to the proportional component and the feedforward value to generate the velocity command 2 5 Chapter 2 Positioning Concepts Without int
4. 40 O P SUPPLY Ce LOOP 1 NO L NO LOOP 2 Ce GATE 1 lt gt 2 GATE Ce O GATE 3 lt lt Transducer Transducer gt 4 GATE Ce O INTERR 5 gt f Interface Interface 6 INTERR O INTERR 7 gt GG 8 INTERR O 5 VDC 9 O 10 45 COMMON O UNUSED 11 p 12 UNUSED AG AUTOMAN 13 lt ma 14 AUTO MAN iy START 15 e gt 1 46 START O STOP 7T lt Discrete Discrete Io STOP Oro JOGFWD 19 lt Inputs Inputs gt 20 JOGFWD JOGREV a a Se a No aS INPUT 2 235 lt CO O P SUPPLY 27 7 28 I P COMMON O ANALOG 29 Analog Analog lt 30 ANALOG AC ANaLoG a Outputs Outputs lt 32 ANALOG ao 15VDC 133 34 15 COMMON ray l p 15VDC 35 N Pha Paan 36 OUTPUT1 o Ce OUTPUTI 37 gt Discrete utputs yu 38 OUTPUT2 e OUTPUT2 39 Outputs 50010 The input and output terminals of each of the module s control loops are in four groups Each group is electrically isolated from the 1771 backplane and from the three other groups a transducer interface terminals discrete input terminals 4 2 Transducer Interface Determining the Optimum Number of Circulations Chapter 4 Hardware Description analog output interface terminals
5. Figure 10 4 Data Table Contents for Application Program 1 Parameter Block Project Name Application Program 1 Axis 1 Pagg of Designer Address sof Date Axis No 1 Block Description Parameter Data Table Address Position File Data Description N45 1 1 4 1 O 9 Parameter control word Axis 1 inches BCD 2 2 O 1 O O Analog range 100 3 3 Diri 4G O O Analog calibration constant 25 00 ips 4 4 2 5 O O Analog calibration constant 25 00 ips 5 5 O O O 9 MS Transducer calibration constant 9 0500 microsec inch 6 6 015 0 0 LS Transducer calibration constant 7 7 8 O O 5 MS Zero position offset 5 000 inches 8 8 O o0 0 O LS Zero position offset 9 9 0 2 1 Software travel limit 21 0 inches 10 10 8 O 1 O Software travel limit 1 0 inch 11 11 O 1 O O In position band 0 100 inches 12 12 0 5 O O PID band 0 500 inches 13 13 010 O O Deadband 0 000 inches 14 14 1 O O O Excess following error 1 000 inch 1 5 15 1 0 O O Maximum PID error 1 000 inch 16 16 OJ O 1 O Integral term limit 10 17 17 016 0 Proportional gain 0 0600 ips mil 18 18 0 0 0 o Gain break speed 0 00 ips 19 19 O 0 O O Gain factor 0 00 20 20 014 2 Q Integral gain 0 0420 ips s mil 21 21 Ol 4 2 0 Derivative gain 0 0420 22 22 0 3 O 0 Feedforward gain 30 0
6. 50060 Chapter 7 Formatting Module Data WRITES Important If you change the axis polarity exchange the forward and reverse analog calibration constants The zero position offset defines the direction of forward and reverse motion Calculate the zero position offset by measuring the distance between the zero position and the transducer s head as shown above The module accepts a maximum of 799 900 inches 7999 00 millimeters The sign defines whether the transducer head is on the positive or negative end of the axis If the zero position offset is zero then the positive direction is away from the transducer head in the extend direction Figure 7 7 Zero Position Offset Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign t Most significant digits 0 Zero position offset BCD or binary 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Ni ing I 3 m Least significant 3 digits 50029 Important If you select binary format both words are represented as 2 s complement integers compatible with the PLC 5 See Appendix H for examples of these words Software Travel Limits words 9 10 and 38 39 When a setpoint command calls for the axis to move beyond a software travel limit the module aborts the move and reports a programming fault When a jog command calls for t
7. A A ANY Axes used 01 Axis 1 10 Axis 2 Stop Start Enhancement 11 Both axes 0 Disabled 1 Enabled Units E 0 Inch Binary Position Format 1 Metric 0 Double Word 1 Single Word Format 0 Binar Transducer Interface i ban y 0 Enabled 1 Disabled Discrete Inputs 0 Enabled Analog Outputs Ca 1 Disabled 0 Enabled 1 Disabled Figure B 3 Status Word 1 words 2 and 6 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 i A A A A A A A A A Input 2 Ready Input 1 Setpoints received Jog reverse Done Jog forward In Position Stop Auto Mode Start Programming error Auto manual PID active Inputs enabled Block transfer write toggle Appendix B Status Block Figure B 4 Status Word 2 words 3 and 7 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Setpoint Number binary format 0 13 15 a motion segment is active Internal fault B Reserved Analog fault Error valid Feedback fault 7 Position valid Discrete fault Diagnostic valid Immediate stop Integral limit reached PID error Excess following error Figure B 5 Position Error Diagnostic Words words 4 5 and 8 9 Diagnostic Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 C2020 0 0 020 8 O20 O Block ID 0 Not applicable 1 Parameter 2
8. 3 1 Chapter 3 Positioning with the Linear Positioning Module 3 2 How the Module Interacts with a PLC Axis Movement The module is a dual loop position controller occupying a single slot in the Allen Bradley 1771 universal I O chassis The module communicates with the PLC through the 1771 backplane There are two kinds of transfers read operations and write operations By programming the PLC you can transfer parameter setpoint motion and command blocks to the module to control the two axes You can also use the PLC to monitor the status of the module s two loops through block read operations For more details on block transfers see Chapters 6 and 7 Read Operations Read operations enable the programmable logic controller to monitor the status of both axes through the status block The status block includes detailed information on the two axes fault conditions current axis position positioning error and diagnostic information Write Operations The following four types of write operations enable the programmable controller to control axis movement Parameter Block defines the module s operating parameters for each axis These parameters include calibration constants software travel limits zero position offset in position and PID bands PID gains maximum velocities jog rates maximum accelerations and decelerations and more Setpoint Block defines up to 12 setpoints for each axis with option
9. 23 23 1 O o Q Global velocity 10 00 ips 24 24 1 O O Global acceleration 100 0 ips s 25 25 1 O O O Global deceleration 100 0 ips s 26 26 0 3 O o Velocity smoothing constant 3 00 ips s ms 27 27 o 1 O o Lowjog rate 1 00 ips 28 28 1 0 o o High jog rate 10 00 ips 29 29 O 0 0 Reserved 30 30 O1 o 0 o Reserved 10 6 Chapter 10 Sample Application Programs Figure 10 5 Data Table Contents for Application Program 1 Setpoint Block Project Name Application Program 1 Axis 1 Page of Designer Address of Date Axis No 1 Block Description Setpoint Data Table Address Position File Data Description N4 5 61 1 8 1 O 4 Setpoint block control word Axis 1 4 setpoints 62 2 0 O O O Incremental absolute word all absolute 63 3 0 0 O 2 Move 1 MS Setpoint position 2 000 inches 64 4 0 0 0 0 LS Setpoint position 65 5 1 0 0 0 Local velocity 10 00 ips 66 6 0 5 0 0 Local acceleration 50 0 ips s 67 7 015 0 0 Local deceleration 50 0 ips s 68 8 0 0 O 4 Move 2 MS Setpoint position 4 000 inches 69 9 0 0 0 0 LS Setpoint position 70 10 0 5 0 0 Local velocity 5 00 ips 71 11 012 5 0 Local acceleration 25 0 ips s 72 12 0141010 Local deceleration 40 0 ips s T3 13 O O O 8 Move 3 MS Setpoint position
10. Motion segment control word 1 Motion segment control word 2 MS Desired position LS Desired position Local velocity Local acceleration Local deceleration Trigger velocity or MS trigger position LS Trigger position 1st motion segment Motion segment control word 1 Motion segment control word 2 Up to MS Desired position 56 words LS Desired position 2nd motion Local velocity segment Local acceleration Local deceleration Trigger velocity or MS trigger position LS Trigger position y Motion segment control word 1 Motion segment control word 2 MS Desired position LS Desired position Local velocity Local acceleration Local deceleration Trigger velocity or MS trigger position LS Trigger position i nth motion segment y Programmable I O Control Word i Optional Note A maximum of 6 motion segments can be specified in one motion block In total the module can hold up to 114 motion segments per axis 50084 Chapter 9 Advanced Features Figure 9 2 illustrates a motion profile consisting of five motion segments Segments 14 through 17 move the axis in one direction while segment 18 returns it to its original position and triggers segment 14 The solid line indicates the actual axis movement and the dotted lines show the profile of each motion segment if its motion were not interrupted by the triggering of the subsequent motion segment See Chap
11. gt lt Deceleration Time 0 Start Finish 50003 The module employs a technique called velocity curve smoothing to shape the velocity curve into an S curve To achieve this smoothing acceleration and deceleration rates are changed to provide more gradual application and removal of force thus reducing mechanical wear The velocity smoothing constant that you set in the parameter block determines how quickly acceleration and deceleration change The lower the value of the velocity smoothing constant the more slowly acceleration and deceleration change producing a smoother transition Figure 3 4 shows the effect of velocity curve smoothing on the axis movement 3 3 Chapter 3 Positioning with the Linear Positioning Module Figure 3 4 Axis Movement with Velocity Curve Smoothing Velocity Constant Final Velocity Velocity l Acceleration T Deceleration Time Acceleration Final Accel 0 Final Decel Time Deceleration 50004 Commanding Motion There are three ways to specify module axis motion by setpoints by jogging or by motion blocks All motion must be started using the command block and or hardware inputs Setpoints The module must have the axis controller in auto mode if you are using setpoint moves You can switch between modes using the auto manual bit in the command block or the auto manual discrete input Important The auto manual bit and the auto
12. it moves the tool or workpiece in the reverse direction until it reaches the software limit or until the input goes low Reverse is the direction of negative movement relative to the zero position offset Important If the module detects a feedback fault the jog inputs will perform open loop jogs only This means that the module can send velocity commands to the servo valve at the low jog rate but can t monitor axis position Therefore software travel limits are ignored General Purpose Inputs There are two general purpose inputs for each control loop of the module at terminals INPUT 1 23 24 and INPUT 2 25 26 You can monitor the state of the signal at these terminals through the status block These inputs can also be configured as programmable as described in Chapter 9 The module s analog outputs terminals 29 through 32 connect to a hydraulic valve for each axis that the module controls These outputs supply up to 100 mA for direct servo valve control or up to 10 V for proportional valve amplifiers or other voltage controlled devices 4 7 Chapter 4 Hardware Description Discrete Outputs The analog output interface circuit is electrically isolated from the 1771 I O chassis This feature protects other devices on the 1771 backplane from noise and current surges in the analog output circuit An internal relay automatically shuts off these outputs in the event of a module fault For details on connecting the servo valv
13. 30 30 O1 o 0 o Reserved 8 4 Chapter 8 Initializing and Tuning the Axes Figure 8 2 Command Block Data Table Project Name QB SETUP Axis 1 Page oo Designer Address of Date Axis No 1 Block Description Command Data Table Address Position File Data Description N45 131 1 E O O 4 Axis control word 1 Diagnostic auto 132 2 0 O O O Axis control word 2 133 3 O O O O MS Setpoint 13 position 134 4 O O O O LS Setpoint 13 position 135 5 O O O O Setpoint 13 velocity 136 6 O O O O Setpoint 13 acceleration 137 7 O O O O Setpoint 13 deceleration 8 5 Chapter 8 Initializing and Tuning the Axes Figure 8 3 Program Rungs for QB SETUP Rung 2 0 BTR BTW ENABLE ENABLE N7 0 N7 5 BTR Jr tr it BLOCK TRNSFR READ 15 Rack Group Module Control Block Rung 2 1 Data file AXIS 1 Length READY Continuous N44 2 1 MOVE Source Dest Rung 2 2 AXIS 1 READY N44 2 0 Rung 2 3 BTR BTW ENABLE ENABLE N7 0 N7 5 BTW Ic BLOCK TRNSFR WRITE 15 15 Rack Group Module Control Block N7 5 Data file N45 131 Length 0 Continuous N Rung 2 4 Chapter 8 Initializing and Tuning the Axes Verifying Analog Output You should verify the analog output polarity using low speed open loop jogs as Polarity follows accelerate out of position when then loop
14. 8 000 inches 74 14 0 0 0 0 LS Setpoint position 75 15 0 5 0 0 Local velocity 5 00 ips 76 16 0 2 5 0 Local acceleration 25 0 ips s 77 17 0 0 5 0 Local deceleration 5 0 ips s 78 18 0o 0 O Move 4 MS Setpoint position 0 000 inches 79 19 olololo LS Setpoint position 80 20 2lololo Local velocity 20 00 ips 81 21 olioli olo Local acceleration global acceleration 82 22 oioi olo Local deceleration global deceleration Chapter 10 Sample Application Programs Figure 10 6 Data Table Contents for Application Program 1 Command Block Project Name Application Progam 1 Axis 1 Page of Designer Address of Date Axis No 1 Block Description Command Data Table Address Position File Data Description N45 131 1 E O O 4 Axis control word 1 Diagnostic auto 132 2 0 O O O Axis control word 2 133 3 O O O O MS Setpoint 13 position 134 4 O O O O LS Setpoint 13 position 135 5 O O O O Setpoint 13 velocity 136 6 O O O O Setpoint 13 acceleration 137 7 O O O O Setpoint 13 deceleration Figure 10 7 Data Table Contents for Application Program 1 Sequencer Data Project Name Application Program 1 Axis 1 Page of Designer Address of Date 737 AxisNo N A Block Description Sequencer Data Data Table Address Position File Data Description D9 0 1 0 0 0 0 1 2
15. Connect to TRANSDUCER Transducer Head TRANSDUCER p2 N td RAE M SIN Ej 4 4 5 Com Transcucer Ground the shield at Supply the I O chassis end a Customer Supplied i iy Wiring Arm Terminals LOOP 2 LOOP 1 N 2 GATE GATE 1 4 GATE amp GATE 3 6 INTERR INTERR 5 8 INTERR S INTERR 7 Y 10 5 COMMON 5 VDC 9 Y Ground the shield Ground the shield at the I O chassis end at the I O chassis end i Belden 8723 or equivalent 50 ft max Belden 8227 Belden 9207 Belden 1162A or equivalent 200 ft max 4 Belden 8761 or equivalent 25 ft max Belden 9318 or equivalent 50 ft max 5 Belden 8723 or equivalent 50 ft max Power Supply To connect the transducer power supply follow these steps 1 Connect 5 VDC from your power supply to the 5 VDC terminal 9 on the module 2 Connect VDC from your power supply to the transducer 5 11 Chapter 5 Installing the Linear Positioning Module 3 Connect VDC from your power supply to the transducer 4 Connect the common terminal on your power supply to the 5 COMMON terminal 10 on the module to ground at the I O chassis and to the transducer 5 Connect the cable shields to ground at the I O chassis end 6 Connect the power supply chassis to ground Transducer Interface After connecting the transducer power supply to the module make the Gate and Interrogate connections Use a single continuous shielded cable segment
16. F 5 Appendix Hexadecimal Data Table Forms For your convenience we have included data table forms for each type of block and both axes where applicable on the following pages Copy these forms and fill it in with hexadecimal values for the parameter setpoint motion and command blocks and necessary sequencer data for your PLC programs G 1 Appendix G Hexadecimal Data Table Forms Project Name Page of Designer Address of Date Axis No 1 Block Description Parameter Data Table Address Position File Data Description N45 1 1 4 1 Parameter control word 2 2 Analog range 3 3 Analog calibration constant 4 4 Analog calibration constant 5 5 MS Transducer calibration constant 6 6 LS Transducer calibration constant 7 7 MS Zero position offset 8 8 LS Zero position offset 9 9 Software travel limit 10 10 Software travel limit 11 11 In position band 12 12 PID band 13 13 Deadband 14 14 Excess following error 15 15 Maximum PID error 16 16 0 Integral term limit 17 17 Proportional gain 18 18 Gain break speed 19 19 Gain factor 20 20 Integral gain 21 21 Derivative gain 22 22 0 Feedforward gain 23 23 Global velocity 24 24 Global acceleration 25 25 Global deceleration 26 26 Velocity smoothing constant 27 27 Low jog rate 28 28 High jog rate 29 29 0 O Reserved 30 30 0
17. If you command a jog the axis movement continues until the actuator reaches the software travel limit or until you turn off the jog bit or jog input whichever occurs first Jog Rates You define two jog rates high and low through the parameter block You select between low and high jog rates through the jog rate select bit in the command block If you change jog rates from high to low or from low to high during a jog movement the axis decelerates accelerates to the new rate Important Jog commands are ignored in auto mode Motion Blocks A motion block contains information similar to that which the setpoint block uses to define axis movement In addition a motion block also contains trigger conditions that will initiate a subsequent axis movement thus changing the motion of the axis without the intervention of the programmable controller See Chapter 9 for a full explanation of motion blocks 3 5 Indicators Hardware Description This chapter describes the Linear Positioning Module hardware as well as other hardware required for a positioning system Figure 4 1 shows the three indicators on the module Figure 4 1 Indicators LINEAR POSITIONING FAULT LOOP1 actve Loop2 ACTIVE 50009 When you first power up the module all three indicators turn on for about one second Next the LOOP 1 ACTIVE and LOOP 2 ACTIVE indicators turn off while the module performs diagnostics If the d
18. LS Setpoint position 175 15 Local velocity 176 16 Local acceleration IT 17 Local deceleration 178 18 Move 4 MS Setpoint position 179 19 LS Setpoint position 180 20 Local velocity 181 21 Local acceleration 182 22 Local deceleration 183 23 Move 5 MS Setpoint position 184 24 LS Setpoint position 185 25 Local velocity 186 26 Local acceleration 187 27 Local deceleration 188 28 Move 6 MS Setpoint position 189 29 LS Setpoint position 190 30 Local velocity 191 31 Local acceleration 192 32 Local deceleration 50107 G 6 Appendix G Hexadecimal Data Table Forms Project Name Page of Designer Address Oo c Date Axis No 2 Block Description Setpoint Data Table Address Position File Data Description 193 33 Move 7 MS Setpoint position 194 34 LS Setpoint position 195 35 Local velocity 196 36 Local acceleration 197 37 Local deceleration 198 38 Move 8 MS Setpoint position 199 39 LS Setpoint position 200 40 Local velocity 201 41 Local acceleration 202 42 Local deceleration 203 43 Move 9 MS Setpoint position 204 44 LS Setpoint position 205 45 Local velocity 206 46 Local acceleration 207 47 Local deceleration 208 48 Move 10 MS Setpoint position 209 49 LS Setpoint position 210 50 Local velocity 211 51 Local acceleration 212 52 Local deceleration 213
19. Local acceleration Local deceleration y t A Upto MS Setpoint position 62 LS Setpoint position words Local velocity Move 2 Local acceleration Local deceleration Y MS Setpoint position A LS Setpoint position Local velocity Move N Local acceleration y Local deceleration y Figure D 2 Setpoint Block Control Word word 1 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 10 0 0 00 000000 kA 4 d Noy Identifies this as A Number of setpoints a setpoint block 1 to 12 binary Destination format 0 1 Axisi 1 0 Axis2 1 1 Both Axes 50079 D 1 Appendix D Setpoint Block Figure D 3 Incremental Absolute Word word 2 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 00 TE amp PoE oe Setpoints 12 through 1 0 absolute 1 incremental Figure D 4 Setpoint Position Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign T Most significant digits 0 Setpoint position BCD or binary 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 i Least significant 3 digits 50081 Figure D 5 Local Velocity Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50082 D 2 Appendix D Setpoint Block
20. O Reserved 50102 G 2 Appendix G Hexadecimal Data Table Forms Project Name Page of Designer Address of Date Axis No 2 Block Description Parameter Data Table Address Position File Data Description N45 31 31 Analog range 32 32 Analog calibration constant 33 33 Analog calibration constant 34 34 MS Transducer calibration constant 35 35 LS Transducer calibration constant 36 36 MS Zero position offset 37 37 LS Zero position offset 38 38 Software travel limit 39 39 Software travel limit 40 40 In position band 41 41 PID band 42 42 Deadband 43 43 Excess following error 44 44 Maximum PID error 45 45 0 Integral term limit 46 46 Proportional gain 47 47 Gain break speed 48 48 Gain factor 49 49 Integral gain 50 50 Derivative gain 51 51 0 Feedforward gain 52 52 Global velocity 53 53 Global acceleration 54 54 Global deceleration 55 55 Velocity smoothing constant 56 56 Low jog rate 57 57 High jog rate 58 58 0 0 Reserved 59 59 oio Reserved 50103 G 3 Appendix G Hexadecimal Data Table Forms Project Name Pagg of Designer Address sof Date Axis No 1 Block Description Setpoint Data Table Address
21. Position File Data Description N45 61 1 8 0 Setpoint block control word 62 2 Incremental absolute word 63 3 Move 1 MS Setpoint position 64 4 LS Setpoint position 65 5 Local velocity 66 6 Local acceleration 67 7 Local deceleration 68 8 Move 2 MS Setpoint position 69 9 LS Setpoint position 70 10 Local velocity 71 11 Local acceleration 72 12 Local deceleration 73 13 Move 3 MS Setpoint position 74 14 LS Setpoint position 75 15 Local velocity 76 16 Local acceleration 77 17 Local deceleration 78 18 Move 4 MS Setpoint position 79 19 LS Setpoint position 80 20 Local velocity 81 21 Local acceleration 82 22 Local deceleration 83 23 Move 5 MS Setpoint position 84 24 LS Setpoint position 85 25 Local velocity 86 26 Local acceleration 87 27 Local deceleration 88 28 Move 6 MS Setpoint position 89 29 LS Setpoint position 90 30 Local velocity 91 31 Local acceleration 92 32 Local deceleration 50105 G 4 Appendix G Hexadecimal Data Table Forms Project Name Page of Designer Address of Date Axis No 1 Block Description Setpoint Data Table Address Position File Data Description 93 33 Move 7 MS Setpoint position 94 34 LS Setpoint position 95 35 Local velocity 96 36 Local acceleration 97 37 Local deceleration 98 38 Mov
22. a verify the analog output polarity tune the loop parameters for the axis copy the new loop parameters for the axis into the data table of the application program Important For these procedures to work servo valves and motors must be capable of controlling axis motion according to your requirements The module cannot overcome inherent limitations of the proportional valve or axis mechanisms Before you perform these procedures you must disconnect the actuator from the tool or workpiece If you can t disconnect the actuator make sure that sudden or erratic motion will not result in equipment damage or personnel injury before continuing if the system uses axis overtravel limit switches verify their operation supply power for and wire up the transducer analog outputs and the I O chassis containing the programmable controller and the module The discrete inputs and outputs do not have to be powered up or wired in 8 1 Chapter 8 Initializing and Tuning the Axes Adjusting the Servo Valve The first step in initializing the module is to adjust the null on each servo valve Nulls To do so carry out the following steps 1 Turn off axis power 2 Disconnect the servo valve from the module 3 Start the hydraulic pump and check the system pressure clear of the axis and have a competent person standing by to disconnect axis power and stop the flow of hydraulic fluid if necessary A ATTENTION To guard a
23. in the programmable I O word is configured Important When the module is reset with the command block previously defined motion segment and setpoint data is lost but the programmable I O configuration remains as it was prior to axis reset If power is cycled the programmable I O configuration changes to its default Here are some recommended ways of stopping axis motion while motion segments are active The one you use will depend upon your particular application perform a slide stop software execute an immediate stop hardware or software initiate a setpoint the final axis position will be the setpoint s endpoint initiate a motion segment which will not have its trigger conditions satisfied the final axis position will be at the motion segment s endpoint put the programmable controller in programming mode Important When a motion segment is commanded with the hardware start enabled hardware starts are automatically accepted during axis motion regardless of the Stop Start enhancement setting axis control word 1 in the command block When you initiate a motion segment with the hardware start enabled in the command block the specified motion segment will not begin execution until the module recognizes a rising edge on the hardware start input However subsequent motion segments triggered by another motion segment will not require a hardware start to begin execution Chapter 9 Advanced Features Imp
24. via wiring arm terminals The transducer senses the axis position and feeds it back to the module thereby closing the control loop The module s built in processor samples the linear displacement transducer interfaces and determines positions along each of the two axes every two milliseconds The module then updates the analog outputs based on a proprietary algorithm designed specifically to handle hydraulic actuators This rapid update rate provides repeatable positioning and superior control of velocity without jerky movement Motion blocks provide for complex motions by allowing motion segments to be blended or chained together These motion segments may also be synchronized using the hardware input triggers and outputs Cam emulation permits motion segments in one axis to start motion segments in another axis Articulated motions and axis sequencing may be easily accomplished 1 5 Positioning Concepts This chapter explains concepts and principles of axis positioning If you are thoroughly familiar with the concepts of closed loop servo positioning you can go on to Chapter 3 Axis Motion Figure 2 1 illustrates a typical method of converting the flow of fluid into a linear displacement Figure 2 1 Piston Type Hydraulic Cylinder Electric g NINN ONO SERVO VALVE Control 5 Hydraulic Hydraulic Fluid gt Fluid Axis Motion gt Hydraulic fluid Hydraulic f
25. words 5 6 and 34 35 Zero Position Offset words 7 8 and 36 37 Software Travel Limits words 9 10 and 38 39 Zero Position and Software Travel LimitExamples In Position Band words 11 and 40 PID Band words 12 and 41 002 e eee eae Deadband words 13 and 42 0c cece eee Excess Following Error words 14 and 43 Maximum PID Error words 15 and 44 Integral Term Limit words 16 and 45 a Proportional Gain words 17 and 46 Gain Break Speed words 18 and 47 iv Table of Contents Gain Factor words 19 and 48 Integral Gain words 20 and 49 Derivative Gain words 21 and 50 a Feedforward Gain words 22 and Global Velocity words 23 and 52 Bi ieslkdlan oadeaewsone Global Acceleration Deceleration words 24 25 and 53 54 Velocity Smoothing Jerk Constant words 26 and 55 Jog Rate Low and High words 27 28 and 56 57 Reserved words 29 30 and 58 59 Setpoint Block Setpoint Block Control Word word 1 Incremental Absolute Word word Setpoint Position Local Velocity Local Acceleration Deceleration Command Block Axis Control Word 1 words 1 and Axis Control Word 2 words 2 and a eee PARAAN
26. 0 0 0 1 2 3 0 0 0 2 Axis 1 setpoint sequence 3 4 0 0 0 3 4 5 0 0 0 4 Program Rungs for Application Program 1 Figure 10 8 shows the ladder diagram programming for this application on a PLC 5 15 system The rungs perform the following functions Rung 2 0 Rung 2 0 reads the module s status block and in conjunction with rung 2 4 performs bidirectional block transfers to and from the module 10 8 Chapter 10 Sample Application Programs Rung 2 1 Rungs 2 1 2 2 and 2 3 determine which block parameter setpoint or command will be sent to the module via the next block transfer write BTW If the axis ready bit is low the module is in powerup or a reset command has just been executed rung 2 1 moves the source address of the parameter block into the BTW s control block This causes the programmable controller to send the parameter block when rung 2 4 is executed Rung 2 2 If the ready bit is high and the setpoints received bit is low the module has received a valid parameter block but has not yet received a setpoint block rung 2 2 moves the source address of the setpoint block into the BTW s control block This causes the programmable controller to send the setpoint block when rung 2 4 is executed Rung 2 3 If the ready bit and the setpoints received bit are high the module has received a valid parameter block and the setpoint block rung 2 3 moves the source address of the comman
27. 11 2 provides a logical procedure to help you isolate a problem with the Linear Positioning Module You can also use it at system startup to check out the module for proper operation Numbered explanatory notes follow the flowchart Many of the flowchart boxes that specify corrective actions contain more than one instruction When using the flowchart perform instruction first If this fails to correct the problem perform instruction 2 and so on Your ladder diagram program should allow you to display parameter setpoint motion command and status blocks on an industrial terminal Figure 11 2 Chapter 11 Troubleshooting Troubleshooting Flowchart Consult PLC Assembly and Installation Manual Power up the I O chassis containing the module Return the module for repair if the fault indicator remains lit when you restore power 2 START D Processor RUN Indicator 0 adapter ACTIVE Indicator 2 OFF Consult PLC Installation Manual a Check the module s Indicators 1 Module Fault NO YES Check the module address in block Block Transfer DONE bits off transfer instructions w ae Display status block on industrial terminal 11 5 Chapter 11 Troubleshooting Figure 11 2 Troublesho
28. 12 13 and 14 15 and following error for words 16 17 and 18 19 These selections use the extended status information See Chapter 7 for details on the command block 6 9 Chapter 6 Interpreting Module to PLC Data READS Diagnostic Information words 4 5 and 8 9 After a reset command or powerup the module displays diagnostic information so you can detect parameter block errors The module doesn t accept command blocks until after it receives a valid parameter block Use the diagnostic words to determine the cause of a block transfer error The block ID identifies the last block received by the module It is updated with each block transfer The word pointer identifies the location of the problem and the error code determines the nature of the problem The diagnostic information is displayed in BCD format See Appendix H for an explanation of numbering formats Figure 6 5 Diagnostic Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0050 6 0 0 0 0 0 0 bo of KO pak Block ID 0 Not applicable Parameter Setpoint Command Motion 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 1 2 3 4 Word pointer This BCD Error Code This BCD number number indicates which word indicates the error that occurred within the block is in error 50054 The second of the two diagnostic words gives the error code and points to the word where the e
29. 13 12 11 10 09 08 07 06 05 04 03 02 01 00 t Least significant 4 digits 50028 C 3 Appendix C Parameter Block Figure C 6 Zero Position Offset Words words 7 8 and 36 37 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 3 Sign i Most significant digits 0 1 Zero position offset BCD or binary 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 3 Sign t Least significant 3 digits 0 50029 Figure C 7 Software Travel Limit Words words 9 10 and 38 39 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 l Sign Positive software travel limit 0 BCD or binary 1 799 9 inches or 7999 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign Negative software travel limit 0 BCD or binary 799 9 inches or 7999 mm max 50061 C 4 Appendix C Parameter Block Figure C 8 In Position Band Word words 11 and 40 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 This value times two is the in position band BCD or binary 9 999 inch or 99 99 mm max 50006 Figure C 9 PID Band Word words 12 and 41 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 This value times two is the PID band BCD or binary 9 999 inch or 99 99 mm max
30. 2 Error Valid Bit 6 7 Error Words 6 9 Excess Following Error 7 16 Excess Following Error Bit 6 8 F Feedback Fault Bit 6 9 Feedforwarding 2 5 Following Error 2 4 7 16 Excess Following Error Bit 6 8 G Gain Derivative 2 6 7 22 Feedforward 2 5 Integral 2 6 7 21 Proportional 2 4 7 18 INI Gain Break Speed 7 19 Gain Factor 7 19 General Purpose Inputs 4 7 5 16 H Hardware Start Enable Bit 7 35 Hardware Start Input 4 6 Index Hardware Stop Input 4 7 Immediate Stop Bit 6 8 7 37 In Position Band 7 13 In Position Bit 6 4 Inch Metric Bit 7 3 Incremental Move 13 Bit 7 35 Incremental Positioning 7 29 7 34 Incremental Absolute Word 7 29 INPUT 2 Trigger 9 10 Input Bits 6 6 Input Triggers 9 7 9 10 Inputs Enabled Bit 6 5 Installation 5 1 Integral Control 2 5 Integral Gain 2 6 7 21 Integral Limit Reached Bit 6 8 Integral Term Limit 7 17 Internal Fault Bit 6 9 INTPUT 1 Trigger 9 10 J Jog Bits 6 6 Jog Rate Select Bit 7 35 Jog Rates 3 5 7 26 7 35 Jogging 3 5 L Linear Positioning Module Description 1 1 In a Positioning System _1 Loop Fault Output 6 8 6 9 Manual Mode 3 5 7 35 Maximum PID Error 7 16 Module Inserting in I O Chassis 5 5 Installation 5 1 Location 5 1 Motion Block 9 1 9 2 9 12 Control Word 9 4 Motion Segment 9 1 9 2 Control Word 9 8 9 9 Desired Position Word 9 11 Example 9
31. 2 Module Configuration Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 0 0 0 0 20 0 oto mm A A A AA KANI Axes used 01 Axis 1 Stop Start Enhancement 3 a n 0 Disabled 1 Enabled Units HA 0 Inch Binary Position Format 1 Metric 0 Double Word 1 Single Word Format Transducer Interface 0 K Aa 0 Enabled 1 Disabled Discrete Inputs 0 Enabled Analog Outputs 1 Disabled 0 Enabled 1 Disabled 50001 Status Word 1 words 2 and 6 Each bit in status word 1 corresponds to a particular axis condition Bit 0 Ready The module turns off the ready bit after powerup or after a reset command See Chapter 7 The module turns this bit on when it receives a valid parameter block for this loop Unless it detects a fault the module enables the analog output for the axis when the ready bit turns on The module does not accept setpoint motion or command blocks until the ready bit is on Chapter 6 Interpreting Module to PLC Data READS Figure 6 3 Status Word 1 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 AA A A A A A A AA A Input 2 Ready Input 1 Setpoints received Done Jog reverse Jog forward In Position Stop Auto Mode Start Programming error Auto manual PID active Inputs enabled Block transfer write toggle
32. 2 trigger OUTPUT 1 pulse 00 High level duration 01 Low level 10 Positive edge Normal complement 11 Negative edge 0 1 programmable OUTPUT 1 INPUT 1 trigger 00 High level Programmable 01 Low level OUTPUT 2 pulse 10 Positive edge duration 11 Negative edge aa Normal complement OUTPUT 2 0 1 programmable 00 20 ms 0 Loop Fault OUTPUT 2 01 50 ms 1 Programmable 10 100 ms Programmable outputs 11 200 ms OUTPUT 1 Aa reset fault state 0 In position 0 Last state 1 Programmable 1 Reset Bits 4 and 5 OUTPUT 2 Pulse Duration If OUTPUT 2 is configured to be programmable and motion segment control word 2 specifies that OUTPUT 2 is pulsed when trigger conditions are satisfied these bits define the duration of the pulse to be 20 50 100 or 200 milliseconds 9 6 Chapter 9 Advanced Features Bit 7 Normal Complement OUTPUT 2 If OUTPUT 2 is configured to be programmable this bit defines whether OUTPUT 2 is normal active high or complement active low See the description for bit 3 of this word Bit 8 Outputs Reset Fault State This bit indicates whether OUTPUT 1 and OUTPUT 2 when configured as programmable outputs remain in their last state or are reset when a software reset command is sent to the module the module has faulted a the programmable controller has faulted the programmable controller is placed in programming mode Module faults include lo
33. 3 Local Acceleration Word 9 11 Local Deceleration Word 9 11 Local Velocity Word 9 11 Next Setpoint Bits 7 38 Number of Axes Bit 7 3 0 OUTPUT 1 4 9 5 21 6 4 9 5 9 7 9 9 OUTPUT 2 4 9 5 21 6 8 9 5 9 6 9 7 9 9 P Parameter Block 3 2 Control Word 7 3 PID Active Bit 6 5 PID Band 2 7 7 14 PID Error Bit 6 8 PID Error Maximum 7 16 Position Valid Bit 6 8 Position Words 6 9 6 11 Positioning Absolute 7 29 Incremental 7 29 7 34 Power Supplies Avoiding Backplane Power Supply Overload 5 1 Connecting 5 10 5 11 5 14 5 19 5 21 Programmable I O 9 1 9 5 9 7 Control Word 9 5 Default Configuration 9 8 Programming Error Bit 6 5 Proportional Gain 2 4 7 18 R Rate Control 2 6 Read Operations 3 2 Readout Select Bit 7 38 Ready Bit 6 3 Reset Bit 7 37 Reset Control 2 5 S Setpoint 13 Words 7 39 Setpoint Block 3 2 Control Word 7 28 Setpoint Moves 3 4 Setpoint Number 6 7 Setpoint Position 7 30 Setpoints Received Bit 6 4 Shielded Cables 5 6 Slide Stop Bit 7 36 Software Travel Limits 7 9 Start Bit 6 6 7 34 Status Block 9 11 Status Words 6 3 Stop Bit 6 6 T Transducer 1 2 Connecting 5 12 Index 1 3 Interface Terminals 4 2 Power Supply 5 11 Transducer Calibration Procedure 8 7 Trigger Condition 9 1 Trigger Conditions 9 3 9 7 Multiple 9 10 V Velocity Curve Smoothing 3 3 Velocit
34. 500 1270 Rarely necessary to use a smaller value 0 0 Rarely necessary or desirable 1000 2540 Non zero value important for safety 1000 2540 Non zero value important for safety 10 10 Important to prevent integral windup 600 600 Follow tuning procedure 0 0 Rarely necessary 0 0 Rarely necessary 420 420 Set to 70 of proportional gain value 420 420 Set to 70 of proportional gain value 300 300 Use these values or follow optional tuning procedure 1000 2540 Must be less than maximum velocity 1000 2540 Application dependent 1000 2540 Application dependent 300 762 Application dependent 100 254 Must not exceed high jog rate 1000 2540 Must be less than maximum velocity 0 0 0 0 Make sure that you have set the analog configuration switches correctly and that you have entered the correct range into the parameter block sudden high speed motion Incorrect analog output polarity will A ATTENTION Incorrect analog output configuration can cause cause the axis to accelerate out of position when you close the loop 8 3 Chapter 8 Initializing and Tuning the Axes Figure 8 1 Parameter Block Data Table Project Name QB SETUP Axis 1 Page of Designer Address of Date Axis No 1 Block Description Parameter Data Table Address Position File Data Description N45 1 1 4 1 O 9 Parameter control word Axis 1 inches BCD
35. 8 9 12 13 and 14 15 The position words give the present position measured at the transducer The position information is in either BCD or binary format You choose the format you want through the parameter block Binary format is compatible with integer data 16 bit 2 s complement used by PLC 5 family programmable controllers See Appendix H for an explanation of numbering formats The maximum position displayed is 799 900 inches or 7999 00 millimeters If the status words 4 5 and 8 9 are specified in the command block to display position when the axis exceeds the maximum the maximum is displayed and the position valid bit in the second status word turns off 6 11 Chapter 6 Interpreting Module to PLC Data READS 6 12 Figure 6 6 Position Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 gt i Most significant 3 digits 09 ing L R Position value BCD or binary format 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 x gt som ng 2 m Least significant 3 digits 50055 As long as the parameter control word see Chapter 7 is configured for binary bit 3 0 and single word bit 7 1 formats values between 32 768 inches and 32 767 inches 327 68 mm and 327 67 mm may be displayed entirely in the second word The first word will be zero Following Error Information words
36. AA Setpoint 13 Words words 3 to 7 and 10 to 14 Initializing and Tuning the Axes Before YouBegin Adjusting the Servo Valve Nulls Initializing the Parameter Block Verifying Analog Output Polarity Verifying Transducer Calibration Constants Axis Tuning Analog Calibration Constants Feedforward Gain PID Loop Gains Update the Application Program Advanced Features 2222220 2 2a aaa aaa san Motion Block Motion Block Control Word Programmable Input and Output Programmable I O Control Word Default I O Configuration Motion Segments Motion Segment Control Words Desired Position Local Velocity Local Acceleration and Local Deceleration Words Trigger Velocity Position Words The Command Block and the Motion BIOCK aa ka aa The Status Block and the Motion Block Table of Contents v Using the Motion Block a 9 12 Sample Application Programs 02 2055 10 1 Programming Objectives 2 0dseeedadicedewebinweeiwss 10 1 Block Transfer Sequencing 00eeeeeeeeeee 10 2 PLC 5 Block Transfer Instructions 000005 10 3 Application Program 1 1 0 ee 10 3 Planning the Data Blocks for Application Program 1 10 5 Program Rungs for Application Program 1 10 8 Application Progra
37. ANALOG terminal to the 15 COMMON terminal 34 4 Connect the cable shields to ground at the I O chassis end Important Wire servo valve coils in series Refer to the instructions for your device Chapter 5 Installing the Linear Positioning Module Connecting the Discrete The two discrete outputs for each loop are powered by the discrete output power Outputs supply The characteristics of the discrete outputs are Low no voltage applied to the output High output supply voltage applied to output Maximum Current 100 mA Voltage Drop 1 6 VDC maximum at 100 mA between the dis crete output power supply terminal 40 and the discrete outputs Power for the OUTOUT 1 and OUTPUT 2 discrete outputs comes from the discrete output power supply through terminal 40 on the module wiring arm The return for the load driven by OUTOUT 1 or OUTPUT 2 connects to the common of the discrete output power supply Figure 5 12 shows a typical discrete output connection Figure 5 12 Discrete Output Connections Wiring Arm Terminals LOOP 2 LOOP 1 36 OUTPUT 1 OUTPUT1 37 38 OUTPUT 2 OUTPUT 2 39 40 O P SUPPLY m U J LOADS LOADS 5 to 30 VDC Discrete Output Supply vile Customer Supplied t Ground the shield at the I O chassis end The discrete outputs can b
38. Binary 3276 7 ips s or 32767 mmps s max 50007 Desired Deceleration words 26 and 27 The module calculates the desired deceleration once every two milliseconds based on the velocity smoothing constant and maximum deceleration specified for the move The desired deceleration is a theoretical number representing the rate of velocity decrease that the module wishes to achieve and not necessarily the actual deceleration achieved 6 15 Chapter 6 Interpreting Module to PLC Data READS Figure 6 12 Desired Deceleration Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Desired deceleration BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 50087 Percent Analog Output words 28 and 29 Analog output is controlled by the module s PID and feedforward control algorithms It represents the percentage of the full scale analog output used to control the servo valve The maximum full scale output is determined by the hardware switches see Chapter 5 and the analog range word see Chapter 7 Example If the analog output switches are configured for 100 mA and an analog range of 50 is specified in the parameter block an analog output of 100 0 represents 50 mA and 100 0 represents 50mA with respect to the ANALOG output If the most significant bit of the analog range word is set to reverse the analog output polarity 100 will still represent 50 m
39. Gain Derivative Gain Feedforward Gain Global Velocity Global Acceleration Global Deceleration Velocity Smoothing Constant Low Jog Rate High Jog Rate Reserved Reserved Table C A Parameter Block Values 1 to 100 0 to 327 67 ips 0 to 327 67 ips 0 0001 to 99 9999 microsec in 799 900 to 799 900 in 799 9 to 799 9 in 799 9 to 799 9 in 0 to 9 999 in 0 to 9 999 in 0 to 9 999 in 0 to 9 999 in 0 to 9 999 in 0 to 100 0 to 0 9999 ips mil 0 to 327 67 ips 0 00 to 9 99 0 to 0 9999 ips s mil 0 to 0 9999 0 to 99 9 0 to 327 67 ips 0 to 3276 7 ips s 0 to 3276 7 ips s 0 to 327 67 ips s ms 0 to 327 67 ips 0 to 327 67 ips Set to Zero Set to Zero Appendix C Parameter Block Limits 0 to 3276 7 mmps 0 to 3276 7 mmps 0 00001 to 9 99999 microsec mm 7999 00 to 7999 00 mm 7999 to 7999 mm 7999 to 7999 mm 0 to 99 99 mm 0 to 99 99 mm 0 to 99 99 mm 0 to 99 99 mm 0 to 99 99 mm 0 to 0 9999 mmps mil 0 to 3276 7 mmps 0 to 0 9999 mmps s mil 0 to 3276 7 mmps 0 to 32767 mmps s 0 to 32767 mmps s 0 to 3276 7 mmps s ms 0 to 3276 7 mmps 0 to 3276 7 mmps C 11 Setpoint Block Figure D 1 Setpoint Block Word Assignments Appendix A Setpoint block control word Incremental absolute word A MS Setpoint position LS Setpoint position Local velocity Move 1
40. Milliamperes a unit of measurement for electric current Memory A group of circuit elements that can store data Millisecond ms One thousandth of a second Module A unit of a larger assembly Motion Block A block containing motion segments and optionally a programmable I O configuration word Motion Segment A movement profile trigger conditions and programmable output options that provide an advanced axis motion description MS Most significant word byte or bit Noise An extraneous signal in an electrical circuit capable of interfering with the desired signal Open Loop A signal path without feedback Overshoot The amount that a controlled variable exceeds the desired value after a change of input PID See Proportional Integral and Derivative control PLC Programmable Logic Controller An A B device that you can program to control and monitor modules in a process control system PLC Programming Storing programs and ladder logic diagrams in the PLC data table Proportional Control The component that causes an output signal to change as a direct ratio of the error signal variation RAM Random access memory Read To acquire data from a source as in a block transfer of data from an I O module to the PLC data table Read Operation A PLC request for module status information This may be in the form of a status block or a status monitor byte Register A memory word or area used for temporary s
41. O chassis ground bus shown in Figure 5 4 5 9 Chapter 5 Installing the Linear Positioning Module Connecting the Transducer Interface Power Supplies The 1771 backplane provides the power for most of the module circuits You ll need external power supplies for the analog outputs transducer interfaces discrete inputs and discrete outputs All four power supplies and their associated module circuits are electrically isolated from the I O chassis and from each other To provide maximum isolation of the four sets of circuits the four supplies should be from separate sources However you can use the same power supply to power two or more circuits if you don t need the isolation that separate supplies provide Information on how to connect the power supply for each circuit is under the heading for that circuit Figure 5 7 shows the transducer interface connections You should refer to the wiring diagrams supplied with your transducer to determine pinouts on the transducer head Important The transducer must be configured for external interrogation Chapter 5 Installing the Linear Positioning Module Figure 5 7 Transducer Connections LOOP 2 LOOP 1
42. Setpoint 3 Command 4 Motion 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Word pointer This BCD Error Code This BCD number number indicates which word indicates the error that occurred within the block is in error 50054 B 3 Appendix B Status Block Figure B 6 Position Error Diagnostic Words words 4 5 8 9 12 13 and 14 15 Position Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 gn i Most significant 3 digits Position value BCD or binary format 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 AB som ing 1 3 Least significant 3 digits 50055 Figure B 7 Position Error Diagnostic Words words 4 5 8 9 16 17 and 18 19 Following Error Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign t Most significant 3 digits O Following Error value BCD or binary format 180 000 inches or 4572 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 NA Least significant 3 digits 09 ig 1 3 gt 50056 Appendix B Status Block Figure B 8 Active Motion Segment Setpoint words 10 and 11 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 0 0 0 0 0 040 6 o a Vv Active moti
43. accurate position Chapter 7 Formatting Module Data WRITES The integral term alters response to positioning errors If the integral gain is relatively high the system will be more sensitive to positioning errors However if the gain is too high the axis may overshoot and oscillate around programmed endpoints On the other hand if the gain is too low the system will take longer to compensate for positioning errors Derivative Gain words 21 and 50 The derivative gain factor Kp is used by the derivative component during final axis positioning i e when the desired velocity is zero and the axis is in the PID band Figure 7 29 Derivative Gain Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Derivative gain BCD or binary 0 9999 max unitless 50072 The module uses derivative control to increase system stability by opposing changes to positioning error Derivative gain reduces overshoots and oscillations around an endpoint caused by proportional and integral control but too large a derivative gain will actually cause oscillations instead of reducing them Derivative control is also very susceptible to electrical noise We recommend that you set derivative gain to zero if it isn t required to improve system performance Feedforward Gain words 22 and 51 The percentage of the axis velocity applied through feedforwarding determines the corresponding reduction in the following
44. and motion continues to the endpoint specified in the old data 7 34 Chapter 7 Formatting Module Data WRITES Bit 1 Hardware Start Enable Bit 1 in the first axis control word is the hardware start enable bit Setting this bit enables the hardware start input If this bit is reset the loop ignores hardware start commands Note that the discrete inputs must also be enabled by the parameter block before the module will recognize hardware start inputs Hardware start commands aren t accepted until the loop is in auto mode If the start stop enhancement bit in the parameter block control word is reset the hardware start commands are not accepted until the axis in in position If this bit is set the hardware start commands will be accepted during axis motion just as software start commands are Bit 2 Auto Manual The auto manual bit selects the mode of operation for the axis Off manual mode a On auto mode The module enters manual mode if either the hardware input or the auto manual bit go low If the hardware inputs are disabled via the parameter block the hardware auto manual input is ignored Important If the mode is changed while the axis is in motion the status block indicates a programming error and the axis stops at the current deceleration rate The programming error bit clears when the axis motion stops If the mode change is still commanded after axis motion stops the mode will change Bit 3 Incr
45. at the I O chassis end Ground the common at the I O chassis end Belden 8761 or equivalent 200 ft max Belden 8723 or equivalent 50 ft max Chapter 5 Installing the Linear Positioning Module setting of the most significant bit of the analog range words in the parameter block See Chapter 7 Incorrect wiring of the analog outputs or an incorrect setting of this most significant bit can cause the axis to accelerate out of position when the loop is closed A ATTENTION The polarity of the analog outputs is affected by the Power Supply To connect the analog output supply 1 Connect the side of the power supply to the 15 VDC module terminal 33 2 Connect the side to the 15 VDC module terminal 35 3 Connect the common to 15 COMMON module terminal 34 and to ground at the I O chassis 4 Connect the shield to ground at the I O chassis end 5 Connect the analog power supply chassis to ground Analog Output To connect the analog output of the control loop to the servo valve interface 1 Be sure that you set the control loop s voltage current selection switches to match your servo valve s requirements 2 Check that the analog output power supply is connected 3 Connect the ANALOG module terminal 29 30 and the ANALOG module terminal 31 32 to the servo valve coil terminals Important If you select voltage output for a loop the module internally connects that loop s
46. discrete output terminals The terminals for these four groups are divided between loop 1 and loop 2 Odd number terminals are for loop 1 even numbered terminals apply to loop 2 Terminals 1 through 8 on the module s wiring arm provide connection points for the transducer interface The module is designed to work with the linear displacement transducers LDT listed in Chapter 1 The transducer interface circuit is electrically isolated from the 1771 I O chassis This protects the 1771 backplane from noise and current surges in the transducer circuits The transient isolation exceeds 1 500 volts RMS The transducer interface is also isolated from the other module interfaces and external power supplies The module supports a transducer length of up to 15 feet 4572 mm and can resolve the signal from the transducer to within two thousandths of an inch with one circulation You can achieve a higher accuracy by configuring the transducer for more circulations For example the resolution for 60 inches 1524 mm is better than one thousandth of an inch if two recirculations are used Every two milliseconds the module sends an interrogate signal to the transducer The transducer returns a pulse width that is proportional to the axis position The maximum pulse width that can be measured without overflowing the counter is about 1680 microseconds 1 680 milliseconds The pulse width returned to the module depends on the transducer stroke length
47. error The magnitude of the feedforward contribution is calculated as follows feedforward velocity Kf speed where Kf feedforward gain Speed desired axis speed Chapter 7 Formatting Module Data WRITES Figure 7 30 Feedforward Gain Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 020140 0 F Feedforward gain BCD or binary 0 99 9 50073 Without feedforwarding axis motion does not begin until the following error is large enough to overcome friction and inertia The feedforward component generates a velocity command to move the cylinder almost immediately This immediate response keeps the actual position closer to the desired position and thereby reduces the following error Example Following Error Calculation If axis movement is 5 ips and proportional gain Kp at that speed is 0 05 ips mil then following error 5 0 05 100 mil A feedforward gain of 50 will reduce the following error to 50 mil 1 mil 0 001 inches Global Velocity words 23 and 52 This parameter is used by setpoints and motion segments that use the global velocity The global velocity must not exceed the maximum specified by the greater of either analog calibration constant Figure 7 31 Global Velocity Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Global velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3
48. into a module Planning the Data Blocks for Application Program 2 For application program 2 a PLC 5 15 processor is assumed and the data blocks are assigned as shown in Table 10 C The files used are shown in Table 10 D The data table for the parameter block for application program 2 is the same as shown in Figure 10 4 for application program 1 Table 10 C Data Blocks for Application Program 2 Block Starting Address Status N44 1 Parameter N45 1 Command N45 131 Motion N80 1 Table 10 D Files for Application Program 2 Size File Elements Usage B3 2 last block transfer toggle control R6 3 sequencer control N7 10 block transfer control D9 20 sequencer data N44 34 status block N45 145 parameter command blocks N80 53 motion block Chapter 10 Sample Application Programs Figure 10 10 to Figure 10 14 show the hexadecimal values for the motion and command blocks and necessary sequencer data for this example Figure 10 10 Data Table Contents for Application Program 2 Motion Block 1 Project Name Application Program 2 Axis 1 Page of Designer Address sof Date Axis No 1 Block Description Motion Block 1 Data Table Address Position File Data Description N80 1 1 2 1 0 3 Motion block control word 3 motion segments 2 2 O E O F 14 Motion segment contr
49. is closed The analog output polarity is affected by both the wiring on terminals 29 31 and the sign of the analog range in the parameter block A ATTENTION Incorrect analog output polarity will cause the axis to 1 Turn off axis power 2 Disconnect the transducer gate leads from the wiring arm terminals 1 3 3 Start the hydraulic pump 4 Apply power to the I O chassis the analog output the transducer interface and the discrete inputs Don t power the axis that you are not integrating 5 Clear bit 2 at N45 131 to place the axis in manual mode Use the forward and reverse jog bits in axis control word 1 of the command block bits 5 and 6 at data table address N45 131 to command jogs in the positive and negative directions Check that a forward jog moves the axis in the positive direction as defined by the zero position offset and a reverse jog moves the axis in the negative direction 6 If the direction of motion is incorrect either reverse the analog connections at the module wiring arm or change the sign of the analog range word in the parameter block Recheck that the direction of motion is correct 7 Turn off axis power and the hydraulic pump 8 Re connect the transducer gate leads to the wiring arm terminals Verifying Transducer The module uses the transducer calibration constant to convert pulses received Calibration Constants from the transducer to a position in real world units The transducer constant is usua
50. manual hardware input is true if the module is receiving a high input at the AUTO MAN discrete input terminal 13 14 or if the discrete inputs are disabled in the parameter block Don t confuse the auto mode bit with the auto manual bit bit 9 The auto manual bit simply reflects the state of the signal at the AUTO MAN discrete input terminal 13 14 regardless of whether or not the discrete inputs are disabled Bit 5 Programming Error If the module detects an illegal bit combination such as a non BCD value where it expects a BCD value it turns on the programming error bit You can get additional information from words 4 5 and 8 9 if they are configured to display diagnostics The programming error bit clears when the error condition ends Bit 6 PID Active The PID bit is on when the integral and derivative terms are enabled It turns off during axis movement in response to a setpoint or jog command Bit 7 Block Transfer Write Toggle When the module receives and successfully decodes a block transfer whose block contents or size differ from the previous valid block transfer received the block transfer write bit is toggled As long as no programming error occurs any valid block transfer received by the module will toggle this bit This lets you synchronize block transfers and ensure that every block transfer sent to the module has been received Bit 8 Inputs Enabled The inputs enabled bit is off after powerup or after a
51. position to another position command equals the integration of velocity over time actual position value transducer feedback is the actual position of the axis as measured by the LDT following error equals position command minus actual position velocity command is generated by amplifying the following error and converting the result into an analog output D A Digital to Analog convertor generates the analog output controlling the servo valve Kp proportional gain is the component that causes an output signal to change as a direct ratio of the error signal variation Proportional Gain The following error is a function of the velocity command divided by the proportional gain Kp To generate the velocity command multiply the following error by the proportional gain Proportional gain can be expressed in ips mil where 1 mil 0 001 inches or mmps mil where 1 mil 0 001 mm For example with a velocity of 12 ips and a gain of 1 ips mil the following error is Following Error Velocity Gain 12 ips 1 ips mil 12mil When you increase the gain you decrease the following error and decrease the cycle time of the system However the capabilities of the system limit the gain Too large a gain causes instability 2 4 Chapter 2 Positioning Concepts Feedforwarding To decrease the following error without increasing the gain you can add a feedforward component See Figure 2 5
52. power supply follow these steps 1 Connect the side of the discrete input power supply to the I P SUPPLY terminal 27 of the module 2 Connect the common of the discrete input power supply to the I P COMMON terminal 28 of the module 3 Connect the cable shield to ground at the I O chassis end 4 Connect the power supply chassis to ground Auto Manual Input The auto manual input in conjunction with the auto manual bit in the command block determines the module s mode of operation Both the auto manual input and the auto manual bit must be on to achieve auto mode Otherwise the mode is manual Connect the auto manual and common terminals to an external source Hardware Start Input The hardware start input performs the same function as the software start See Chapter 8 When you command a setpoint no axis movement occurs on that control loop until the module receives a start command or a transition from low to high after at least 20 msec of low at the control loop START terminal 15 16 Example To start movement to a setpoint when Output 1 configured as the in position output of another control loop goes high connect the hardware start input to the Output 1 of that control loop You don t need to connect the hardware start terminals if you won t be using this feature Hardware Stop Input A low input at the STOP terminal 17 18 will stop axis movement for the corresponding control loop This allows
53. programmable output Motion segment ID previously defined in same motion block Appendix Parameter Block Figure C 1 Parameter Block Word Assignments WORD 1 Parameter control word A 2 Analog range 3 Analog calibration constant 4 Analog calibration constant 5 MS Transducer calibration constant 6 LS Transducer calibration constant 7 MS Zero position offset 8 LS Zero position offset 9 Software travel limit 10 Software travel limit 11 In position band 12 PID band 13 Deadband 14 Excess following error 15 Maximum PID error baga ag 16 Integral term limit 17 Proportional gain 18 Gain break speed 19 Gain factor 20 Integral gain 21 Derivative gain 22 Feedforward gain 23 Global velocity 24 Global acceleration 25 Global deceleration 26 Velocity smooting constant 27 Low jog rate 28 High jog rate 29 Reserved 30 Reserved y A Words 31 to 59 specify same parameters as Parameters words 2 to 30 but for axis 2 Values may differ for axis 2 LA C 1 C 2 Appendix C Parameter Block Figure C 2 Parameter Block Control Word word 1 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 1 0100 0 0 Di Di 7h A A A Ahh AN ldentifies this as a Axes used Parameter Block 01 Axis 1 10 Axis 2 Stop Start Enhancement
54. reset command It turns on if you enable the discrete inputs by the parameter block If the discrete inputs are disabled their status is still displayed in bits 9 through 15 of this status word but their functions are disabled Bit 9 Auto Manual The auto manual bit reflects the state of the auto manual hardware input O manual mode 1 auto mode 6 5 Chapter 6 Interpreting Module to PLC Data READS 6 6 Bit 10 Start The start bit reflects the state of the hardware start input O no start 1 start Bit 11 Stop The stop bit reflects the state of the hardware stop input 0 stop 1 no stop Important The hardware stop is a low true signal Bit 12 Jog Forward The jog forward bit reflects the state of the jog forward hardware input 0 no jog 1 jog Bit 13 Jog Reverse The jog reverse bit reflects the state of the jog reverse hardware input 0 no jog 1 jog Bit 14 Input 1 This bit reflects the state of hardware input 1 O off 1 on Bit 15 Input 2 This bit reflects the state of hardware input 2 0 off 1 on Chapter 6 Interpreting Module to PLC Data READS Status Word 2 words 3 and 7 Status word 2 gives the active setpoint and provides additional status information Figure 6 4 Status Word 2 Internal fault Feedback fault Position valid Discrete fault Diagnostic valid Immediate stop Integral lim
55. you to connect any number of normally closed emergency stop switches in series between a high source and the hardware stop terminal Opening any of these switches will immediately zero the analog output for that loop Chapter 5 Installing the Linear Positioning Module due to imprecise valve nulling even with zero analog output It is recommended that emergency stop switches such as overtravel limit switches also turn off axis power and close a blocking valve installed between the servo valve and the prime mover A ATTENTION In servo valve control systems axis drift may occur Important If you have enabled the discrete inputs via the parameter block don t leave the hardware stop terminals disconnected you must connect them to a source which is normally high If the connection breaks the input goes low and axis movement automatically stops drive or stop axis motion only in an emergency Abruptly stopping axis motion places mechanical stress on the positioning assembly Use the slide stop bits in the command block to stop axis motion in non emergencies The slide stop decelerates before stopping and is less abrupt than the hardware stop A ATTENTION Use the hardware stop to disable the servo valve Jog Forward Input Before the module responds to the jog forward input the control loop must be in manual mode If you apply high input more than 10 VDC to the jog forward input the axis moves in the forward dire
56. 0 No output 7 01 Programmable OUTPUT 1 10 Programmable OUTPUT 2 INPUT 2 trigger 11 Both outputs i he Velocity Position trigger Active 00 Inactive 01 Velocity trigger active 10 Relative position trigger active 11 Absolute position trigger active INPUT 1 trigger t 0 Inactive 1 Active 50090 F 3 F 4 Appendix F Motion Block Figure F 5 Desired Trigger Position Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 i Sign A Most significant digits 0 1 Desired Trigger position BCD or binary 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 a Sign 0 4 Least significant 3 digits 50081 Figure F6 Local Trigger Velocity Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local Trigger velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50082 Appendix F Motion Block Figure F 7 Local Acceleration Deceleration Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Local acceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local deceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 50083
57. 0 file address sequence 3 4 0 0 5 0 4 5 0 0 5 0 5 6 6 7 7 8 8 9 9 10 10 11 0101 0 0 Axis 1 11 12 0 0 O 1 Motion blocks to be loaded 12 13 0 l0 1 F word address sequence 1 3 14 O 0 B3 14 15 0 0 3 3 10 15 Chapter 10 Sample Application Programs 10 16 Program Rungs for Application Program 2 Figure 10 15 and Figure 10 16 show the ladder diagram programming for this application on a PLC 5 15 system The rungs perform the following functions Rung 2 0 Rung 2 0 reads the module s status block and in conjunction with rung 2 5 performs bidirectional block transfers to and from the module Important Set the SQO length in rung 2 3 to the number of motion blocks to be loaded plus 1 Rung 2 1 Rungs 2 1 2 3 and 2 4 determine which block parameter motion or command will be sent to the module via the next block transfer write BTW If the axis 1 ready bit is low the module is in powerup or a reset has just been executed rung 2 1 moves the source address of the parameter block into the BTW s control block causing the programmable controller to send the parameter block when rung 2 5 is executed Rung 2 2 When the ready bit first goes high the module has just received a valid parameter block the control files for the sequencer output instructions SQO are reset and a NOT instruction is performed on the status block word containing the block transfer toggle bit bit 7 The result is s
58. 005 46 4 5 0 0004 37 1 6 0 0003 30 9 7 0 0003 26 5 8 0 0002 23 2 9 0 0002 20 6 10 0 0002 18 6 Important Apply a 10 to 20 margin when determining the maximum transducer length The available stroke length will be less than indicated above due to the null space typically 2 inches near the transducer head Discrete Inputs Chapter 4 Hardware Description Terminals 13 through 26 on the module s wiring arm provide connection points for discrete input signals Seven terminals for each loop connect to seven discrete inputs The use of these inputs is optional If you do not want to use them you can disable them through the parameter block See Chapter 7 If you disable the inputs the hardware stop input is deactivated you do not have to tie it high the auto manual input defaults to auto the programmable controller programs can still read the status of the discrete inputs in the status block Because the programmable controller programs can still read the status of the discrete inputs by disabling them you can redefine them for your own purposes Here are the requirements of the discrete inputs low signal 0 to 4 VDC high signal 10 0 to 30 0 VDC peak input current 8 mA at 12 VDC 16 mA at 24 VDC The discrete inputs are configured as current sinks To reduce heat dissipation the module turns the discrete input currents off between samples at a 20 duty cycle every 2 ms Each discr
59. 1 Reserved Bit 11 is reserved for future use The PLC program must set it to zero Chapter 7 Formatting Module Data WRITES Bits 12 and 13 Readout Select Bits 12 and 13 are the readout select bits The third and fourth status words for an axis provide either current axis position following error or diagnostic information The readout select bits determine which information is displayed in the status block It is generally set to diagnostics information when using the extended status information Bits 14 and 15 Control Word ID Bits 14 and 15 identify the control word of the command block Axis Control Word 2 words 2 and 9 The structure of the second axis control word is shown in Figure 7 45 Figure 7 45 Axis Control Word 2 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 CO 00 0 0 0 00 07 Fa 0 Setpoint 1 to 13 or Motion segment 14 to 127 binary format 50087 Bits 0 to 6 Next Setpoint Motion Segment Bits O to 6 in the second axis control word contain the number of the next setpoint or motion segment you wish to initiate See Chapter 9 for more information on motion segments if all bits are O or if the axis is already at the commanded setpoint or motion segment the axis remains unchanged if the new setpoint motion segment is in the opposite direction to the movement of the axis the axis will stop at the deceleration rate for current motion befor
60. 10 415 Direction 50013 7 11 Chapter 7 Formatting Module Data WRITES Example Retracting in the Positive Direction In this example the polarity of the axis has been reversed The positive direction is now towards the transducer head as indicated by the sign of the zero position offset Notice that the software travel limit in the positive direction can have a negative sign Figure 7 11 Retracting in the Positive Direction mi D 5 000 Zero position Positive Limit 5 0 Pos Neg Negative Limit 20 0 Origin Limit Limit Negative 45 0 5 20 Direction 50014 Examples Zero Position Left of the Transducer Head The next two examples demonstrate configurations with the origin past the fully retracted position Figure 7 12 Zero Position Left of the Transducer Head pe D 410 000 i Zero position Positive Limit 45 0 Neg Pos Negative Limit 15 0 Origin Limit Limit af Positive 0 10 415 45 Direcnon aan ITO D Zero position 10 000 Positive Limit 15 0 Pos Neg Negative Limit 45 0 Origin Limit Limit i Negative 0 40 15 45 Direction 50016 7 12 Zero position Positive Limit Negative Limit Zero position Positive Limit Negative Limit Chapter 7 Formatting Module Data WRITES Examples Zero Position Past the End of the Transducer The next two examp
61. 11 Both axes 0 Disabled 1 Enabled Units Binary Position Format 2 oe 0 Double Word 1 Single Word Format Transducer Interface 0 K Aa 0 Enabled 1 Disabled Discrete Inputs 0 Enabled Analog Outputs 1 Disabled 0 Enabled 1 Disabled 50001 Figure C 3 Analog Range Word words 2 and 31 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 o Sign 0 Direct action 1 Reverse action Maximum analog range BCD or binary 1 100 50058 Appendix C Parameter Block Figure C 4 Analog Calibration Constant Words words 3 4 and 32 33 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Analog calibration constant for positive motion BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Analog calibration constant for negative motion BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max Note ips inches per second mmps millimeters per second 50027 Figure C 5 Transducer Calibration Constant Words words 5 6 and 34 35 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Ci O00 DH P40 io 2 FE A Most significant digits L Transducer calibration constant BCD or binary 99 9999 microsec inch or 9 99999 microsec mm max 15 14
62. 14 local velocity 2 in s acceleration 2 ips s deceleration 1 ips s INPUT 1 trigger active next motion segment 17 Motion Segment 14 desired position 5 local velocity 5 in s acceleration 4 ips s deceleration 1 ips s position trigger active 3 next motion segment 15 Motion Segment 17 desired position 20 local velocity 3 in s acceleration 3 ips s deceleration 1 ips s INPUT 2 trigger active next motion segment 18 Motion Segment 15 desired position 10 local velocity 3 in s acceleration 1 ips s deceleration 1 ips s velocity trigger active 1 in s next motion segment 16 Motion Segment 18 desired position 0 local velocity 5 in s acceleration 5 ips s deceleration 1 ips s INPUT 1 AND position 0 triggers active next motion segment 14 50096 10 11 Chapter 10 Sample Application Programs 10 12 Important Note that due to the specified acceleration and deceleration rate of move 14 the axis will not achieve the final velocity rate of 5 in s because moves 16 and 17 have discrete input triggers which may be triggered at any time during their movements profiles the axis may not achieve the final velocity rates of 2 in s and 3 in s all motion segments and programmable I O information could be contained in a single motion block Three motion blocks are used here to demonstrate the recommended method of loading multiple motion blocks
63. 2 2 O 1 O O Analog range 100 3 3 Diri 4G O O Analog calibration constant 25 00 ips 4 4 2 5 O O Analog calibration constant 25 00 ips 5 5 O O O 9 MS Transducer calibration constant 9 0500 microsec inch 6 6 015 0 0 LS Transducer calibration constant 7 7 8 O O 5 MS Zero position offset 5 000 inches 8 8 O 0 0 0 LS Zero position offset 9 9 0 2 1 Software travel limit 21 0 inches 10 10 8 O 1 O Software travel limit 1 0 inches 11 11 O 1 O O In position band 0 100 inches 12 12 0 5 O O PID band 0 500 inches 13 13 010 O O Deadband 0 000 inches 14 14 1 O O O Excess following error 1 000 inches 1 5 15 1 0 0 O Maximum PID error 1 000 inches 16 16 OJ O 1 O Integral term limit 10 17 17 016 0 Proportional gain 0 0600 ips mil 18 18 O 0 0 o Gain break speed 0 00 ips 19 19 O 0 O O Gain factor 0 00 20 20 014 2 Q Integral gain 0 0420 ips s mil 21 21 Ol 4 2 0 Derivative gain 0 0420 22 22 O 3 O Feedforward gain 30 0 23 23 1 O o Q Global velocity 10 00 ips 24 24 1 O O Global acceleration 100 0 ips s 25 25 1 O O O Global deceleration 100 0 ips s 26 26 0 3 O o Velocity smoothing constant 3 00 ips s ms 27 27 o 1 O o Lowjog rate 1 00 ips 28 28 1 0 0 High jog rate 10 00 ips 29 29 O 0 0 Reserved
64. 276 7 mmps max 50074 7 23 Chapter 7 Formatting Module Data WRITES Global Acceleration Deceleration words 24 25 and 53 54 This parameter specifies the acceleration and deceleration rate the module uses for all jogs and for those setpoint and motion segment moves that do not use local acceleration and deceleration rates The deceleration value is also used for executing slide stops during manual mode Figure 7 32 Global Acceleration Deceleration Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Global acceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Global deceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max ahbze Velocity Smoothing Jerk Constant words 26 and 55 The velocity smoothing constant also known as the jerk constant specifies the maximum rate that the acceleration or deceleration can change When the module commands a move the acceleration and deceleration increases or decreases at the rate specified by this constant Figure 7 33 Velocity Smoothing Jerk Constant Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Velocity smoothing constant BCD 99 99 ips s ms or 999 9 mmps s ms max Binary 327 67 ips s ms or 3276 7 mmps s ms max 50075 Chapter
65. 4 5 8 9 16 17 and 18 19 Following error is determined by subtracting the actual position of the axis measured at the transducer from the desired position calculated by the module The desired position is calculated every two milliseconds based on the acceleration deceleration and velocity of the move The error information is in either BCD or binary format You choose the format you want through the parameter block Binary format is compatible with integer data 16 bit 2 s complement used by PLC 5 family programmable controllers See Appendix H for an explanation of numbering formats The maximum following error displayed in the status block is 180 000 inches or 4572 00 millimeters If the status words 4 5 and 8 9 are specified in the command block to display errors when the axis exceeds the maximum the maximum is displayed and the error valid bit in the second status word turns off Chapter 6 Interpreting Module to PLC Data READS Figure 6 7 Following Error Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 i Most significant 3 digits som ng 2 Following error value BCD or binary format 180 000 inches or 4572 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 NAP som ing 2 m Least significant 3 digits 50056 As long as the parameter control word see Chapter 7 is configured for binary bit 3 0 and sin
66. 5 2 5 Derivative Control Rate Control n s nunnana 2 6 Deadband 0 ccc ccc eee eee eee 2 1 PID Band si es eye ek ee eed eee ee a eae i 2 7 Positioning with the Linear Positioning Module 3 1 How the Module Fits in a Positioning System 3 1 How the Module Interacts withaPLC 3 2 Read Operations 0000 c cece cece eee 3 2 Write Operations 0 0 cece eee eee eee 3 2 Axis Movement 0 000 cc eee eee eee 3 2 Commanding Motion aaa yan ama wat SseiuGesiesescees 3 4 SOON ak non ka KGG Meee ha NG 3 4 JOGGING oi ccdecd FA na Da GENE ALL oe BAN PABALAN 3 5 Motion Blocks 0 0 0 cece eee eee 3 5 Table of Contents Hardware Description 0eeeeeee eee eeee Indicators 6 iang taa inii ia aa a i an aea ae uie a aa Wiring Arm Terminals 0 0 eee eee eee eee Transducer Interface 0 00 c cece eee eee eee Determining the Optimum Number of Circulations Discrete Inputs 0 00 cece eee ee Auto Manual Input 000 cece eee eee Hardware Start Input 0 0 00 cece eee aes Hardware Stop Input 00 2 0 cece eee eae Jog Forward Input 0 0 eee eee Jog Reverse Input 0 0 cee eee eee General Purpose Inputs 0 0 eee eeeeaeee Analog Output Interface 000 e eee eee eee Discrete Outputs 0 0 0 c eee cee cece OUTPUT 0 02 eect eenees OUTPUT 2 or
67. 50052 Bit 1 Setpoints Received The setpoints received bit is off after powerup or after a reset command It turns on after the module receives a valid setpoint block for the loop Bit 2 Done The module turns the done bit on when the module has finished traversing the axis velocity profile At this point the desired velocity is zero and the position command is stabilized at the target endpoint The module turns this bit off when you command a new setpoint move or jog Important If this bit turns on it does not mean that the axis is in position yet Bit 3 In Position The in position bit turns on when the done bit is on and the following error has closed to within the in position band defined in the parameter block When the in position bit is on the axis has moved to within a specified distance of the programmed endpoint If configured as the in position output then the OUTPUT 1 hardware output reflects the status of this bit The in position bit turns off when the axis receives a jog command or begins a move to a new setpoint Important When OUTPUT 1 turns off it remains off for at least 16 milliseconds This provides compatibility with the hardware start input 6 4 Chapter 6 Interpreting Module to PLC Data READS Bit 4 Auto Mode The auto mode bit turns on when the loop is in auto mode i e when the auto manual bit in the command block is on and the auto manual hardware input is true The auto
68. 50065 Figure C 10 Deadband Word words 13 and 42 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 This value times two is the deadband BCD or binary 9 999 inch or 99 99 mm max 50066 Figure C 11 Excess Following Error Word words 14 and 43 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Excess following error BCD or binary 9 999 inch or 99 99 mm max 50022 C 5 Appendix C Parameter Block Figure C 12 Maximum PID Error Word words 15 and 44 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Maximum PID error BCD or binary 9 999 inch or 99 99 mm max If non zero it must not be within the PID band 50005 Figure C 13 Integral Term Limit Word words 16 and 45 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 010 0 0 0 O a EE N Integral Term Limit BCD or binary 0 100 of analog output range Sio Figure C 14 Proportional Gain Word words 17 and 46 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Proportional gain BCD or binary 0 9999 ips mil or 0 9999 mmps mil max 1 mil 0 001 inch or 0 001 millimeter 50023 C 6 Appendix C Parameter Block Figure C 15 Gain Break Speed Word words 18 and 47 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Gain break speed BC
69. 53 Move 11 MS Setpoint position 214 54 LS Setpoint position 215 55 Local velocity 216 56 Local acceleration 217 57 Local deceleration 218 58 Move 12 MS Setpoint position 219 59 LS Setpoint position 220 60 Local velocity 221 61 Local acceleration 222 62 Local deceleration 50108 G 7 Appendix G Hexadecimal Data Table Forms Project Name Page of Designer Address sof Date AxisNo 797378 Block Description Motion Block Data Table Address Position File Data Description 1 2 Motion block control word O ND or S amp N Har Ks para par N _ o Ha Har ol Har a ve Har eo Har o N i N pira N N N o N gt N Gi N D N mg NI co N oO o C o oO NI to o o A 50101 G 8 Project Name Appendix G Hexadecimal Data Table Forms Page of Designer Address of Date Axis No Block Description Motion Block Data Table Address Position File Data Description 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 50101 G 9 Appendix G Hex
70. 6 Important If the maximum analog range is negative the ANALOG and ANALOG outputs behave as if they were physically reversed ATTENTION An incorrect sign for the analog range can cause the axis to accelerate out of position when you close the loop Figure 7 3 Analog Range Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign Maximum analog range 0 Direct action BCD or binary 1 Reverse action 1 100 50058 ATTENTION Make sure that the analog output doesn t exceed the maximum for your device Example To set an analog output range of 70 mA configure the analog output DIP switches for 100 mA a specify an analog range of 70 in the analog range word Analog Calibration Constants words 3 4 and 32 33 The analog calibration constants specify the highest velocity that the axis can attain in each direction These rates associated with the maximum positive and negative analog outputs are 327 67 ips inches per second or 3276 7 mmps millimeters per second for binary format For BCD the maximum is 99 99 ips or 999 9 mmps The module uses these parameters to determine the relationship between the analog output and the speed of the axis A separate parameter for each direction compensates for directional differences of the device the zero position offset defines the positive and negative directions The module performs this compensation by adjusting
71. 7 Formatting Module Data WRITES The velocity smoothing constant determines how quickly the system will change its acceleration and deceleration The higher the value the more quickly acceleration and deceleration will change A higher faster value produces jerkier motion while a lower slower value produces a smoother transition The following diagrams demonstrate the effect of the velocity smoothing constant Figure 7 34 Lower Velocity Smoothing Constant Velocity Time Acceleration Time Deceleration If the velocity smoothing constant is set to zero velocity smoothing is disabled and acceleration and deceleration will change instantaneously The zero setting produces the jerkiest motion Because of the smoother motion that can be achieved by using this feature you can achieve higher acceleration and deceleration levels without jerk The smoother motion also results in less wear and tear and less tendency to overshoot the intended end position 7 25 Chapter 7 Formatting Module Data WRITES Figure 7 35 Higher Velocity Smoothing Constant Velocity Time Acceleration Time Deceleration 50020 Jog Rate Low and High words 27 28 and 56 57 The jog rate words define the low and high speeds for software and hardware initiated jogs in either direction By setting the jog rate select bit in the command block you select high or low jog rate Setpoint Block Chapter 7 Formattin
72. 7 9 Control R6 2 Length 4 Position 4 50097 10 17 Chapter 10 Sample Application Programs Figure 10 16 Program Rungs for Application Program 2 continued Rung 2 4 AXIS 1 READY N44 2 Rung 2 5 BTR ENABLE N7 0 15 AXIS 1 MOTION BLOCKS LOADED R6 2 1 f DN ELEMENT MOV MOVE Source Dest ENABLE BTW Ji BLOCK TRNSFR WRITE 15 Rack 00 Group 0 Module 0 Control Block N7 5 Data file N45 131 Length 0 Continuous N 50098 10 18 Rung 2 4 If both the ready bit and the sequencer done bit are high the module has received a valid parameter block and has loaded all the motion blocks rung 2 4 moves the source address of the command block into the BTW s control block causing the programmable controller to send a command block when rung 2 5 is executed Rung 2 5 Rung 2 5 writes the block selected by rung 2 1 2 3 or 2 4 to the module Fault Indicators Troubleshooting The module transfers diagnostic information to the programmable controller in the status block In addition the module displays fault information for each loop on the status indicators Unless the module loses backplane power all fault conditions cause the fault indicator to turn on Use the module s indicators and the status block to diagnose and remedy module faults and errors There are three indicators on the module front panel See Figure 11 1 Monitor them for the occurr
73. 9 08 07 06 05 04 03 02 01 00 Maximum positive velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Maximum negative velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50028 B 7 Appendix B Status Block Table B A Error Codes Code B 8 Definition No errors detected Invalid block identifier Non BCD number entered Invalid bit setting unused bits must be set to zero Data is out of range Invalid number of axes programmed Setpoint is not defined Setpoint commanded while in manual mode Position exceeds a software overtravel limit Attempted to switch to auto mode with axis in motion Attempted to switch to manual mode with axis in motion Velocity exceeds maximum High jog rate 5 maximum velocity Low jog rate gt high jog rate Maximum PID error must be outside the PID band Incorrect block length First block after powerup must be a parameter block Negative travel limit 5 positive travel limit Jog commanded while in auto mode Forward and reverse jogs commanded simultaneously Block transfer write attempted before module confirmed all power on wiring arm Specified velocity exceeds maximum velocity for direction of motion Motion segment ID not defined Motion segment commanded while in manual mode A motion segment is attempting to use an output which is not configured as a
74. A with respect to the ANALOG output The percent analog output is updated even when the analog outputs are disabled by a fault or by the parameter control word The percent analog output can be used to monitor the output required to keep the axis stationary If a large value is detected above 15 the servo valve may be out of null or the integral term of the PID algorithm may have driven the analog output towards the minimum or maximum i e integral windup You can limit integral windup by setting the integral term limit see Chapter 7 to 10 or 15 Figure 6 13 Percent Analog Output 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 gt N Percent analog output BCD or binary format 0 00 to 100 0 O 2 IG 1 F 50058 Chapter 6 Interpreting Module to PLC Data READS Maximum Velocity words 30 31 and 32 33 The maximum velocity words represent the maximum speed that the system is capable of moving in each direction and not necessarily the maximum velocity of a particular move The module calculates the theoretical maximum positive and negative velocities by monitoring jogs or setpoint or motion block moves and extrapolating the maximum speeds possible with the servo valve fully open The maximum velocity values returned by the module can greatly simplify the tuning procedures for your axes You can enter the maximum positive velocity as the optimal positive analog ca
75. Allen Bradley 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Publication 1771 6 5 44 September 1993 PN 95592501 Supersedes 1771 6 5 44 August 1988 Copyright 1993 Allen Bradley and Dynapro Systems Inc Printed in Canada
76. Axis 1 10 Axis 2 Programmable 11 Both Axes 1 0 control word 0 No 1 Yes Figure F3 Programmable I O Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 a PD 4a 4 0 i EE AA A A A A Na Wo 7 A A A Programmable INPUT 2 trigger OUTPUT 1 pulse 00 High level duration 01 Low level 10 Positive edge Normal complement 11 Negative edge 0 1 programmable OUTPUT 1 INPUT 1 trigger 00 High level Programmable 01 Low level OUTPUT 2 pulse 10 Positive edge duration 11 Negative edge ka Normal complement OUTPUT 2 0 1 programmable 00 20 ms 0 Loop fault OUTPUT 2 01 50 ms 1 Programmable 10 100 ms Programmable outputs OUTPUT 1 reset fault state 0 In position 0 Last state 1 Programmable 1 Reset 11 200 ms 50089 Appendix F Motion Block Figure F 4 Motion Segment Control Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 J a ENL N V Motion segment ID Next motion segment ID 14 to 127 binary format 14 to 127 slide stop 0 binary format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 DD 0 d0 7 0 a a A A A pt A A A Segment desired osition Output control Absolute 00 Leave output s unchanged a 01 Latch output s on 1 Incremental 10 Latch output s off 11 Pulse output s Multiple trigger ngat Trigger output i nie 0
77. B ALLEN BRADLEY Linear Positioning Module Cat No 1771 QB User Manual Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation the Allen Bradley Company Inc does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley Publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices which should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted manual in whole or in part without written permission of the Allen Bradley Company Inc is prohibited Throughout this manual we use notes t
78. Converting information on upstream conditions into corrective commands to minimize the effect of disturbances Firmware A series of instructions in read only memory These instructions are for internal processor functions only Forward Motion Axis movement in a positive direction along a coordinate axis Gain The ratio of the output of a system to its input Incremental Position A position described by its distance from the previous position along a coordinate axis Initialize To cause a program or hardware circuit to return to an original state Integral Control The component that causes an output signal to change as a function of the error signal and time duration Instability The state or property of a system where there is an output for which there is no input Instruction A statement that specifies an operation and the values or location of its operands Integrator A device that integrates an input signal usually with respect to time Interface The boundary between two systems T O Input Output ips s Inches per second per second ISA Instruments Society of America Jog A control function that provides for the momentary operation of a servo valve or motor for manual control of axis motion Linear Displacement Transducer A position sensing transducer mounted along an axis Loop A signal path A 3 Appendix A Glossary of Terms 4 Abbreviations LS Least significant word byte or bit mA
79. D 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50011 Figure C 16 Gain Factor Word words 19 and 48 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 0 0 0 Gain factor BCD or binary 0 00 to 9 99 Figure C 17 Integral Gain Word words 20 and 49 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Integral gain BCD or binary 0 9999 ips s mil or 0 9999 mmps s mil 1 mil 0 001 inch or 0 001 millimeter 50071 C 7 Appendix C Parameter Block Figure C 18 Derivative Gain Word words 21 and 50 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Derivative gain BCD or binary 0 9999 max unitless 50072 Figure C 19 Feedforward Gain Word words 22 and 51 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 0 0 60 90 Feedforward gain BCD or binary 0 99 9 50073 Figure C 20 Global Velocity Word words 23 and 52 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Global velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50074 Appendix C Parameter Block Figure C 21 Global Acceleration Deceleration Words words 24 25 and 53 54 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Global acceleration rate BCD 999 9 ips s o
80. D9 0 Mask FFFF PN Dest N45 132 Control R6 0 Length 4 Position 1 AXIS 1 START COMMAND N45 131 Rung 2 6 0 a OF FILE 50099 10 10 Chapter 10 Sample Application Programs Application Program 2 This application program illustrates how to use a module to control the motion of a single axis using motion blocks See Chapter 9 Figure 10 9 shows the movement profile for this program Five motion segments describe axis movement Segments 14 through 17 move the axis in one direction and segment 18 returns it to its original position and triggers the first motion segment 14 The solid movement profile line indicates the actual axis movement The dotted profile lines show the movement profiles of each motion segment if its motion were not interrupted by the triggering of the subsequent movement profile When motion segment 14 s trigger conditions are satisfied programmable OUTPUT 1 is pulsed for 200 ms When motion segment 17 s trigger conditions are satisfied programmable OUTPUT 2 is latched high and when motion segment 18 s trigger conditions are satisfied programmable OUTPUT 2 is latched low Figure 10 9 Axis Profile for Motion Block Position Velocity Discrete Discrete trigger trigger INPUT 1 INPUT 2 5 3 1 in s trigger trigger VELOCITY in s 10 12 14 20 Position in 18 Discrete INPUT 1 AND Position trigger 0 Motion Segment 16 desired position
81. Figure D 6 Local Acceleration Deceleration Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local acceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local deceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 50083 D 3 Appendix Command Block Figure E 1 Command Block Word Assignments WORD 1 Axis control word 1 A 2 Axis control word 2 3 MS Setpoint 13 position 4 LS Setpoint 13 position Axis 1 5 Setpoint 13 velocity 6 Setpoint 13 acceleration 7 Setpoint 13 deceleration y 8 Axis control word 1 A 9 Axis control word 2 10 MS Setpoint 13 position 11 LS Setpoint 13 position Axis 2 12 Setpoint 13 velocity 13 Setpoint 13 acceleration 14 Setpoint 13 deceleration y E 1 Appendix E Command Block Figure E 2 Axis Control Word 1 words 1 and 8 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 1 1 0 E T E Nga A A A A A A AAAA AA Control word ID E Start Readout select 00 Position Hardware 01 Following Error start enable 10 Diagnostic Auto manual Integral Disable Incremental move 13 Reset Jog rate 1 high 0 low Immediate stop Jog forward S
82. O chassis slot Keys also help to align the module with the backplane connector Each module is slotted at its rear edge Position the keys on the chassis backplane connector corresponding to the slots on the module s rear edge Insert the keys into the upper backplane connectors Position the keys between the numbers at the right of the connectors as shown in Figure 5 3 Figure 5 3 Module Keying Keying Positions Between pins 16 and 18 pins 30 and 32 50045 After setting analog output switches and setting the keying positions you re ready to insert the module into a slot in the I O chassis To insert the module follow this procedure 1 Remove all power from the I O chassis and from the module s wiring arm before inserting or removing a module 5 5 Chapter 5 Installing the Linear Positioning Module 5 6 Wiring Guidelines 2 Open the module locking latch on the I O chassis and insert the module into the slot keyed for it 3 Press firmly to seat the module into the backplane connector 4 Secure the module with the module locking latch ATTENTION Don t force a module into the backplane connector A If you can t seat a module with firm pressure check the alignment and keying Forcing a module can damage the backplane connector and the module Through the module s terminals you connect the module to external devices The exact wire gauge and maxim
83. ON Don t use a pencil to set switches Lead can jam the switch 5 3 Chapter 5 Installing the Linear Positioning Module 3 Set the current voltage switch for each control loop as shown in Figure 5 2 Figure 5 2 Configuring the Analog Outputs 1771 QB Chassis KELLY OPEN 100mA TYPES OF SWITCHES wy OPEN ON ON ON JON AE SLIDE ROCKER TOGGLE 20mA 50mA 216 10V The range selection switches have no effect when 10V is selected 50044 4 If you have selected a current output set the current range switch to 100 mA 50 mA or 20 mA as shown in Figure 5 2 If your device requires a range that falls between those provided select the next higher range and reduce the range using the analog range word in the parameter block ATTENTION If your switch setting does not provide enough current the servo valve may not operate to its full capability On the other hand excessive currents may damage the servo valve 5 4 Keying Inserting the Module Chapter 5 Installing the Linear Positioning Module A package of plastic keys Cat No 1771 RK is provided with every I O chassis When properly installed these keys prevent the seating of anything but the module in the keyed I
84. P COMMON Module C Wiring Arm LOOP2 14 AUTO MAN 16 START 18 STOP o 20 JOG FWD Pull Down 4 22 JOG REV Resistors 24 INPUT 1 1000 Q 2W 26 INPUT 2 HABA ip common ATTENTION Failure to follow these procedures can result in sporadic operation of the discrete inputs 5 17 Chapter 5 Installing the Linear Positioning Module Connecting the Analog The analog outputs provide the current or voltage by which the module Outputs controls the servo valve By controlling the servo valve the module controls axis motion ATTENTION Applying output to an axis with polarity reversed can A cause sudden high speed motion For maximum safety leave the analog outputs disconnected and the axis power off until you perform the axis tuning procedures in Chapter 8 Figure 5 11 Analog Output Connections LOOP 2 LOOP 1 a 5 i et A SERVO VALVE SERVO VALVE A d a ia Ak a aa ye _ Si C p TG Hi SI D aos lt o Wiring Arm Terminals LOOP 2 LOOP 1 UN 1380 ANALOG ANALOG 29 32 ANALOG ANALOG 31 Y 34 15 COMMON 15 VDC 33 Ng 15 VDC 35 Ground the shield Ground the shield at the I O chassis end 15 VDC at the I O chassis end Analog Power Supply o Customer Supplied Comm 15 ee 15 maa AG 4 Ground the shield
85. UTPUT 1 is configured to be programmable and motion segment control word 2 specifies that OUTPUT 1 is pulsed when trigger conditions are satisfied these bits define the duration of the pulse to be 20 50 100 or 200 milliseconds Bit 3 Normal Complement OUTPUT 1 If OUTPUT 1 is configured to be programmable this bit defines whether OUTPUT 1 is normal active high or complement active low Normal programmable outputs go or stay high when triggered to latch on low when triggered to latch off high for the specified duration when triggered to pulse Complement programmable outputs go or stay low when triggered to latch on high when triggered to latch off 9 5 Chapter 9 Advanced Features low for the specified duration when triggered to pulse When an output changes to a high or low state it is guaranteed to stay in that state for a minimum of 16 milliseconds in order to be compatible with the discrete inputs Thus if two successive changes to an output are initiated within 16 milliseconds of each other the second change will be delayed until the 16 millisecond interval has expired If the second change is a pulse the duration of that pulse will also be shortened by the length of the additional delay Figure 9 4 Programmable I O Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 a Bo a i AE i0 Ay A A AA Naa bl py A A A Programmable INPUT
86. address must match the setting of the I O chassis switches 4 Refer to the application programs in Chapter 10 for examples of rungs that perform this function 5 If you are using hardware jogs check the status block to ensure that the discrete inputs have been enabled The status block shows the current state of each discrete input 11 7 Appendix Glossary of Terms amp Abbreviations Absolute Position A position described by its distance from the zero point of a coordinate axis Acceleration The rate at which the speed of axis motion increases Adapter Module A module that provides communication between an O chassis and the programmable controller It transmits I O chassis input data to and receives output data from the programmable controller Amplifier A signal gain device whose output is a function of its input Analog Used to describe a physical quantity such as voltage or position that normally varies in a continuous manner Axis A principal direction along which the movement of a tool or workpiece occurs Axis Movement The movement of a tool or workpiece along an axis Axis Position The distance along the axis from a pre defined origin in the positive or negative direction Backplane A printed circuit board located in the back of a chassis that contains a data bus power bus and mating connectors for modules installed in the chassis BCD Binary coded decimal Binary A base 2 numbering sy
87. adecimal Data Table Forms Project Name Page of Designer Address sof Date Axis No 1 and 2 Block Description Command Data Table Address Position File Data Description N45 131 1 Axis1 Axis control word 1 132 2 Axis control word 2 133 3 MS Setpoint 13 position 134 4 LS Setpoint 13 position 135 5 Setpoint 13 velocity 136 6 Setpoint 13 acceleration 137 7 Setpoint 13 deceleration T38 8 Axis2 Axis control word 1 139 9 Axis control word 2 140 10 MS Setpoint 13 position 141 11 LS Setpoint 13 position 142 12 Setpoint 13 velocity 143 13 Setpoint 13 acceleration 144 14 Setpoint 13 deceleration 50109 G 10 Appendix G Hexadecimal Data Table Forms Project Name Page of Designer Address sof Date Axis No Block Description Sequencer Data Data Table Address Position File Data Description D9 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 30 30 31 31 32 32 33 33 34 34 35 HAN G 11 Appendix G Hexadecimal Data Table Forms Project Name Page of Designer Address sof Date Axis No Blo
88. al acceleration deceleration and velocity parameters for each setpoint move The programmable controller selects from among the 12 setpoints using the command block Motion Block permits complex profiles to be executed by the module This advanced feature can be used to blend or chain multiple motion segments in a single continuous motion Command Block you use the command block to select the next setpoint or motion segment to which the axis will move to set a delayed start software stop or reset to set jog bits to select jog rate low or high to set auto manual to enable disable integral control and to define a 13th setpoint When the module receives a setpoint command motion segment command jog command or a discrete jog input it automatically calculates the velocity curve for the requested axis movement using parameters that you define for the move See Figure 3 2 Chapter 3 Positioning with the Linear Positioning Module Figure 3 2 Trapezoidal Axis Movement Velocity Constant Velocity Final Velocity lt Acceleration Deceleration gt Time 0 Start Finish 50002 The actuator may not reach the final velocity during a short move which may only consist of acceleration and deceleration phases without a constant velocity phase This produces a ramp movement See Figure 3 3 Figure 3 3 Ramp Movement Velocity Peak Velocity Acceleration
89. and 10 Enter the result as the new transducer calibration constant and reset the axis by toggling bit 9 of the axis control word N45 131 Repeat steps 3 through 11 to verify that the transducer calibration constant is correct Determine a valid set of parameters for the zero position offset and the software travel limits and enter these into the parameter block Example Verifying Transducer Calibration Constants If the values for axis 1 are initial position 12 324 actual distance 6 423 new position 18 737 transducer calibration constant 9 0500 Then the module distance is 18 737 12 324 6 413 The transducer calibration correction factor is 6 413 6 423 0 99844 and the new transducer calibration constant is 0 99844 x 9 0500 9 0359 8 9 Chapter 8 Initializing and Tuning the Axes Axis Tuning Each axis needs to be tuned to allow for its specific mechanical and electrical characteristics If you change system variables such as hydraulic pressure cylinder size or servo valve characteristics you may need to re tune your axis as well Remember that every time you change parameters in the parameter block you should reset the axis using bit 9 of the axis control word 1 N45 131 Analog Calibration Constants It is important that the positive and negative analog calibration constants be optimized first These are critical constants since the PID and feedforward gains use them to correct for di
90. and the number of circulations Each doubling of the number of circulations doubles the width of the gate pulse and the resolution of the position reading Doubling the gate pulse length however effectively halves the maximum transducer length supported by the module because the maximum pulse width is still determined by the size of the module s counter Overflowing the counter causes a feedback fault Is is recommended that you configure the digital interface box for the highest number of circulations that still allows a long enough stroke length for your application Increasing the number of circulations reduces the effect of noise and improves resolution 4 3 Chapter 4 Hardware Description 4 4 Use these equations to determine the maximum length and positioning resolution for the transducer maximum length 1680 T x N resolution 1 58 5 x T x N where T transducer constant stamped on transducer head typically 9 0500 microseconds per inch N number of circulations The following table gives several maximum transducer lengths assuming a transducer constant of 9 0500 microseconds per inch Resolutions may be limited by the physical capabilities of the transducer See Chapter 8 for a description of a procedure for verifying the transducer constant Number of Resolution Maximum Transducer Length Circulations Inches Inches 1 0 002 185 6 2 0 001 92 8 3 0 0006 61 9 4 0 0
91. ata tables for QB_SETUP are illustrated in Figure 8 1 to Figure 8 3 Important If you change any parameter block data you must either cycle power to the I O chassis or send a reset command to the module by toggling bit 9 at data table address N45 131 8 2 Parameter Analog range Analog calibration constant Analog calibration constant MS Transducer calibration constant LS Transducer calibration constant MS Zero position ofiset LS Zero position offset Software travel limit Software travel limit In position band PID band Deadband Excess following error Maximum PID error Integral term limit Proportional gain Gain break speed Gain factor Integral gain Derivative gain Feedforward gain Global velocity Global acceleration Global deceleration Velocity smoothing constant Low jog rate High jog rate Reserved Reserved Chapter 8 Initializing and Tuning the Axes Table 8 A Default Parameter Block Settings Comments Suggested Values Inches Metric Check servo valve rating Set to maximum velocity in positive direction 2500 6350 Set to maximum velocity in negative direction 9 3 Multiply this by the number of circulations 500 5600 Multiply this by the number of circulations 5 12 Application dependent 0 700 Application dependent 210 533 Set in front of mechanical stop in direction 10 25 Set in front of mechanical stop in direction 100 254 Optional adjust for your application
92. binary as determined by the parameter block The maximum programmable setpoint position is 799 900 inches or 7999 00 millimeters Chapter 7 Formatting Module Data WRITES Figure 7 40 Setpoint Position Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 gt Most significant digits ng 2 gi Setpoint position BCD or binary 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 NAP ing 2 m Least significant 3 digits 50081 Important If you select binary format both words are represented as 2 s complement integers compatible with the PLC 5 See Appendix H for examples of these words Local Velocity The local velocity word defines the velocity you want for the corresponding setpoint move You can disable the local velocity by setting it to zero the module will then use the global velocity Figure 7 41 Local Velocity Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50082 Chapter 7 Formatting Module Data WRITES Local Acceleration Deceleration The local acceleration and deceleration words define the acceleration and deceleration you want for the corresponding setpoint move You can disable either or both of these parameters by setting them to zero The m
93. bles the integral and derivative components for final positioning of the axis See Chapter 2 If the PID band is programmed to zero the integral and derivative terms remain disabled Figure 7 16 PID Band PID band QU Position Endpoint The maximum value of the PID band word is 9 999 inches or 99 99 mm Chapter 7 Formatting Module Data WRITES Figure 7 17 PID Band Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 This value times two is the PID band BCD or binary 9 999 inch or 99 99 mm max 50065 Deadband words 13 and 42 The deadband parameter lets you select an error range on either side of a commanded endpoint where the integral term of the PID algorithm doesn t change Figure 7 18 Deadband Deadband _4d_ l Position Endpoint 50064 The module uses the deadband only after the axis crosses the endpoint The deadband helps reduce oscillations around the endpoint Figure 7 19 Deadband Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 This value times two is the deadband BCD or binary 9 999 inch or 99 99 mm max 50066 7 15 Chapter 7 Formatting Module Data WRITES Excess Following Error words 14 and 43 The excess following error is the maximum allowable axis error above the expected following error at the programmed velocity for the current move The expected following erro
94. both axes move in parallel Incremental Absolute Word word 2 The incremental absolute word defines the type of move performed by each setpoint in the setpoint block absolute setpoint moves define a new endpoint in relation to the zero position offset specified in the parameter block a incremental setpoint moves define a new endpoint in relation to the current axis position if the axis is stationary or to the targeted endpoint if the axis is still in motion 7 29 Chapter 7 Formatting Module Data WRITES 7 30 Example If the axis is stationary at 1 inch from the zero position offset an absolute setpoint move with a position value of 2 inches will move the actuator 1 inch to the 2 inch position An incremental setpoint move with a position value of 2 inches will move the actuator 2 inches to the 3 inch position Bits 1 through 12 control setpoints 1 to 12 with a one to one correspondence If a bit is set to 1 the corresponding setpoint move is incremental If it is reset to 0 the move is absolute Bits 0 13 14 and 15 have no function and must be set to 0 Figure 7 39 Incremental Absolute Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 SLL n IE 30 Setpoints 12 through 1 0 absolute 1 incremental 50080 Setpoint Position You must set the two setpoint position words for each setpoint move Units are in either inches or metric and the format in BCD or
95. ck Description Data Table Address Position File Data Description 1 SG N SG A amp PM mb So ss para _ N Har o ah ol par oa para o Har o N So N pare N N N eo N gt N Qi N ez N mg NI co NI o o C wo oo NI o o o gt o 50104 G 12 BCD 2 s Complement Binary Appendix Data Formats Bit 3 in the parameter control word word 1 in the parameter block determines the format of the data contained in block transfer reads and writes BCD format provides compatibility with older programmable controllers Binary format provides compatibility with the PLC 5 which uses integer 16 bit 2 s complement data This appendix explains both these numbering formats BCD Binary Coded Decimal is a numbering format by which decimal digits are directly represented by 4 bit groups of binary numbers Here s how the decimal digits 0 to 9 are represented Table H A Binary Representation Decimal Digit Binary Representation 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 o O DAN Oa oa Bm WO N Example To represent the number 8761 decimal using BCD notation set the 16 bits of the word like this 1000 0111 0110 0001 8 7 6 1 Importa
96. ck applies to axis 2 Important If bits 8 and 9 are both set the motion block applies to both axes and a single block transfer of a new motion block will update the module s internal motion segment data table for both axes Programmable Input and Output Chapter 9 Advanced Features You can configure the general purpose inputs INPUT 1 and or INPUT 2 so that given their state and the trigger conditions in the current segment another motion segment may be triggered Also any motion segment may optionally pulse or latch the programmable outputs OUTPUT 1 and OUTPUT 2 when the trigger conditions are satisfied Programmable I O Control Word With the programmable I O word you can specify the level edge sensitivity triggers for INPUT 1 and INPUT 2 and specify programmable output parameters for OUTPUT 1 and OUTPUT 2 See Figure 9 4 At any given time only one programmable I O configuration per axis is valid As soon as a programmable I O control word is received by the module it overwrites the previous I O configuration Bits 0 through 10 except for bits 2 and 6 define the configuration of OUTPUT 1 and OUTPUT 2 Bits 2 6 and 11 are reserved while bits 12 through 15 define the trigger configuration for INPUT 1 and INPUT 2 If OUTPUT 1 and OUTPUT 2 are defined as in position and loop fault outputs any relevant configuration specified by bits 0 through 8 are ignored by the module Bits 0 and 1 OUTPUT 1 Pulse Duration If O
97. ction the direction of positive movement relative to the zero position offset It continues to move until the jog forward input is low or until the axis reaches the software travel limit whichever occurs first Chapter 8 explains how to define the zero position offset in the parameter block To set up the jog forward input 1 Connect a normally open push button switch between the JOG FWD input terminal 19 20 and the discrete input power supply s positive terminal 27 2 Mount the jog forward switch so an operator can see the axis motion Leave the jog forward input terminal disconnected if you re not using it Chapter 5 Installing the Linear Positioning Module Jog Reverse Input The jog reverse input is valid only in the manual mode The jog reverse input is similar to the jog forward input except the axis movement is in the reverse direction the direction of negative movement relative to the zero position offset Connect the JOG REV terminal 21 22 in the same way as the jog forward input Leave the terminal disconnected if you are not using it General Purpose Inputs There are two general purpose inputs for each control loop of the module at terminals INPUT 1 23 24 and INPUT 2 25 26 You can monitor the state of the signal at these terminals through the status block see Chapter 6 or use these terminals as programmable inputs see Chapter 9 Connecting Multiple Modules To connect the discrete inputs of
98. d block into the BTW s control block This causes the programmable controller to send the command block when rung 2 4 is executed Rung 2 4 Rung 2 4 writes the block selected by rung 2 1 2 2 or 2 3 to the module Rung 2 5 Rung 2 5 controls the order of axis 1 moves and issues the start command for the move When axis 1 s in position bit goes high the sequencer alters control word 2 in the command block to indicate the next setpoint and the rung issues the start command When the next BTW occurs sends the altered command block the next setpoint movement profile begins executing and the in position bit goes low again 10 9 Chapter 10 Sample Application Programs Figure 10 8 Program Rungs for Application Program 1 Rung 2 0 BTR BTW ENABLE ENABLE N7 0 N7 5 BTR VI WI BLOCK TRNSFR READ EN 15 15 Rack Group Module DN Control Block Rung 2 1 Data file ER AXIS 1 Length READY Continuous N44 2 MOV i MOVE Source 1 Rung 2 2 AXIS 1 AXIS 1 SETPOINTS Dest N7 9 READY RECEIVED 131 N44 2 N44 2 MOV 3 1 MOVE Source 61 Rung 2 3 AXIS 1 AXIS 1 SETPOINTS Dest N7 9 READY RECEIVED 131 N44 2 N44 2 MOV aaa MOVE Source 131 Rung 2 4 Dest N7 9 BTR BTW 131 ENABLE ENABLE N7 0 N7 5 BTW Ik JI BLOCK TRNSFR WRITE EN 15 15 Rack 00 Group 0 Module 0 DN Control Block N7 5 Rung 2 5 Data file N45 131 ER AXIS 1 Length 0 IN Continuous N POSITION N44 2 SQo SEQUENCER OUTPUT EN 3 File
99. deran kA tears oe a hanang Power Supplies 0 0 00 cece eee eee eens Installing the Linear Positioning Module Before YOU Begin naaa masa eeu eewdy Dha ihe ode ated Avoiding Backplane Power Supply Overload Planning Module Location a Electrostatic Discharge a Setting Analog Output Switches aa KayiNg oeoa tipareo npa Ban NG o a thee Inserting the Module 000 c eee eee eee eee Wiring Guidelines awa ka Kawan ka eee bees edeteadew has Using Shielded Cables 00 eee eee eee Using Twisted Wire Pairs a Connecting AC Power 22 0 ce eee ence eee Power Supplies 00 c cece eee eee ee Connecting the Transducer Interface Power SUPDIY seses va ota et Retna KA AGAR ta eed Transducer Interface 1 00 eee eee Connecting the Discrete Inputs 00 ee ee Power Supply a Auto Manual Input 00 00 ec eee eee eee Hardware Start Input 0 2 0 e cece eee eae Hardware Stop Input 0002 0 e eee eee eee Jog Forward Input 1 2 0 eee eee ee Jog Reverse Input 0 0 eee eee eee General Purpose Inputs 00 cece ee aes Connecting Multiple Modules 00 000 eee Table of Contents Connecting the Analog Outputs aaa Power Supply 2 00 c cece cece eee eee eae Analog OUD witcxccettadeosedt eekel
100. dule to PLC Data READS Bit 13 Feedback Fault The feedback fault bit turns on when the module detects a fault in the transducer interface circuitry In this event the module also activates OUTPUT 2 if configured as the loop fault output The following conditions will cause a feedback fault loss of transducer power internal loop back fault excessive change in velocity a loss of feedback position exceeds maximum transducer length Bit 14 Analog Fault The analog fault bit turns on when the module detects a fault in the analog circuitry In this event the module also activates OUTPUT 2 if configured as the loop fault output The following conditions will cause an analog fault loss of analog power analog power supply voltage out of tolerance analog circuitry fault Bit 15 Internal Fault The internal fault bit turns on if the module detects a fault in the circuitry powered by the backplane In this event the module also activates OUTPUT 2 if configured as the loop fault output If this fault occurs return the module to your Allen Bradley representative Position Error Diagnostic Words You can use these words to display diagnostic information current axis position or the following error You select the information to be displayed through bits in the command block You can also view all three parameters simultaneously by specifying diagnostics for words 4 5 and 8 9 position information for words
101. e 8 MS Setpoint position 99 39 LS Setpoint position 100 40 Local velocity 101 41 Local acceleration 102 42 Local deceleration 103 43 Move 9 MS Setpoint position 104 44 LS Setpoint position 105 45 Local velocity 106 46 Local acceleration 107 47 Local deceleration 108 48 Move 10 MS Setpoint position 109 49 LS Setpoint position 110 50 Local velocity 111 51 Local acceleration 112 52 Local deceleration 113 53 Move 11 MS Setpoint position 114 54 LS Setpoint position 115 55 Local velocity 116 56 Local acceleration 117 57 Local deceleration 118 58 Move 12 MS Setpoint position 119 59 LS Setpoint position 120 60 Local velocity 121 61 Local acceleration 122 62 Local deceleration 50106 G 5 Appendix G Hexadecimal Data Table Forms Project Name Pagg of Designer Address sof Date Axis No 2 Block Description Setpoint Data Table Address Position File Data Description N45 161 1 8 0 Setpoint block control word 162 2 Incremental absolute word 163 3 Move 1 MS Setpoint position 164 4 LS Setpoint position 165 5 Local velocity 166 6 Local acceleration 167 7 Local deceleration 168 8 Move 2 MS Setpoint position 169 9 LS Setpoint position 170 10 Local velocity 171 11 Local acceleration 172 12 Local deceleration 17 3 13 Move 3 MS Setpoint position 174 14
102. e axis approximately six inches using one of the following three techniques if you have previously tuned your axis use the command block at N45 131 to either jog the axis or perform a setpoint 13 move if you have not previously tuned your axis with axis power off disconnect the servo valve from the module and use the servo valve nulling screw to move the axis if you cannot easily access the valve null screw with axis power off disconnect the transducer gate leads from the wiring arm Restore power and then jog the axis at one inch per second using the jog bits This is called the open loop jog With axis power off reconnect the trandsucer gate leads restore power and continue 6 Turn the hydraulic pump off 7 Using your caliper measure the distance travelled by the workpiece and record this value as the actual distance 8 8 10 11 12 13 Chapter 8 Initializing and Tuning the Axes Record the new axis position value from the module This value is in the status block words 12 and 13 at N44 12 and N44 13 for axis 1 Subtract the initial axis position from the new axis position and record this as the module distance Divide the module distance by the actual distance and record this as transducer calibration correction factor Multiply the transducer calibration constant in the parameter block words 5 and 6 N45 5 and N45 6 by the transducer calibration correction factor calculated in steps 9
103. e connected to inputs of other modules provided that the current does not exceed 100mA 2 Belden 8761 or equivalent 50 ft max 50050 Chapter 5 Installing the Linear Positioning Module Power Supply To connect the discrete output power supply follow these steps 1 Connect the side of the discrete output power supply to the O P SUPPLY terminal 40 on the module 2 Connect the common of the discrete output power supply to ground at the VO chassis and to the returns of all output devices 3 Connect the discrete output power supply chassis to ground 4 Connect the shield to ground at the I O chassis end OUTPUT 1 If configured as an in position output this output goes low in auto mode when the axis begins to move towards a commanded setpoint or after a jog It goes high when the axis enters the in position band surrounding an endpoint You can use this output to drive another control loop to coordinate the axis movement of various control loops In this case you connect the OUTPUT 1 terminal to the discrete hardware start input of another control loop Otherwise you may connect this output to a light emitting diode or other indicator Important When you are connecting the module s discrete inputs and outputs to external devices keep in mind that the discrete inputs sink current and the discrete outputs source current OUTPUT 2 If configured as a loop fault output this output is normally h
104. e controller data table Position Format Appendix H Data Formats Example You want to program a global velocity of 1 50 inches second for axis 1 This value has an implied decimal between the digits 1 and 5 The decimal point is implied because you don t actually type it when you enter the value into the programmable controller data table Instead you enter 150 When the programmable controller writes this value into Word 23 of the module s parameter block the module assumes the decimal point and interprets the value correctly as 1 50 ips Notice that you must enter the two least significant digits to the right of the implied decimal point including zeros Important You must enter the correct number of digits to the right of the implied decimal place You may have to round your desired value or fill it to the right with zeros Check the format of each word to determine where the implied decimal point is The setpoint position positioning error and zero position offset all use a double word format to represent positive or negative values This format is illustrated in Figure H 1 Figure H 1 Position Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign t Most significant digits O Position value BCD or binary 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 fi ng 1 3 gt Least significant 3 d
105. e fly the new setpoint or motion segment will supersede the old one When the new endpoint can be achieved with the current axis motion the axis will accelerate or decelerate to the final velocity for this new move If the new endpoint is in the opposite direction of the current axis motion the axis will stop before reversing and proceeding on to the new endpoint The module applies the following criteria in using the old and new parameters when a software start command is issued with the axis in motion the new position velocity and acceleration parameters will always replace the old ones for the rest of the move if velocity smoothing is disabled the deceleration parameter can be increased but not decreased Thus if the new deceleration parameter is lower than the old one it is ignored until axis motion stops if velocity smoothing is enabled the new deceleration parameter is ignored until axis motion stops if the axis has to stop and change direction to achieve the new endpoint the new deceleration parameter will always be used for the portion of the move in the opposite direction for incremental setpoint moves the module calculates the new endpoint relative to the endpoint for the old move a for incremental motion segment moves the module calculates the new endpoint relative to the current axis position if a programming error is detected in the new setpoint or motion segment data the new move is aborted
106. e interface see Chapter 5 Important Throughout this manual we refer to servo valves but you can also use the analog outputs to control proportional valves All references to servo valves also apply to proportional valves Terminals 36 through 39 on the module s wiring arm provide connection points for discrete output signals Each axis has two discrete outputs Output 1 which can be configured to be either an in position or programmable output and Output 2 which can be configured to be either a loop fault or programmable output See Chapter 9 The default configuration is in position and loop fault The discrete outputs are current sources Figure 4 4 gives a simplified schematic of a discrete output circuit Figure 4 4 Simplified Schematic of a Discrete Output OUTPUT SUPPLY i 3 9 37 i po mg ourpur1 50042 Here are the characteristics of the discrete outputs Low no voltage applied to the output High output supply voltage applied to output Maximum Current 100 mA Voltage Drop 1 6 VDC maximum at 100 mA between the discrete output power supply terminal 40 and the discrete outputs 4 8 Power Supplies Chapter 4 Hardware Description Important If you want to connect a discrete output of one axis to the discrete input of another axis the minimum discrete output supply voltage is 11 6 VDC This accounts for the vol
107. e reversing and proceeding to the new setpoint the module ignores the setpoint motion segment until it recognizes a hardware or software start setpoints 1 to 12 are defined in the setpoint block If you specify setpoint 13 you must define it in the command block Chapter 7 Formatting Module Data WRITES Bits 7 to 15 Reserved Bits 7 to 15 are reserved for future use The programmable controller program must set them to zero Setpoint 13 Words words 3 to 7 and 10 to 14 The setpoint 13 words control position velocity acceleration and deceleration for setpoint 13 These words have the same format as those for the other setpoints in the setpoint block 7 39 Before You Begin Initializing and Tuning the Axes Before you load an application ladder logic program into the programmable controller you should follow the procedures in this chapter to initialize and tune the movement of each axis A simple ladder logic program QB SETUP provided on the accompanying disk is intended to simplify the initial integration process Note that all specific references to data tables in the following procedures refer to QB SETUP If you prefer you can write your own program for this process In any case initializing and tuning should be completed for each axis before bringing the module online The steps are as follows adjust the null on each servo valve load the ladder logic program and initialize the parameter block
108. e transducer that connect directly to the module s wiring arm without an external digital interface box The module may also be compatible with other linear displacement transducers Servo and Proportional Valves The module provides current ranges of up to 100 mA for direct interface to most servo valves most proportional valves and a 10 volt option for compatibility with other devices such as electric servo interfaces The module is compatible with valves supplied by the following manufacturers a Moog East Aurora NY servo proportional Parker Hannifin Corporation Elyria OH servo proportional Robert Bosch Corporation proportional Rexroth Corporation Lehigh Valley PA servo proportional ATOS proportional Atchley Canaga Park CA servo Pegasus servo a Vickers Inc Grand Blanc MI servo proportional The module may also be compatible with other valves Important Some proportional valves with LVDT loop controllers may limit the module s output and thus prevent the module from providing optimal control Chapter 1 Introducing the Linear Positioning Module System Overview Figure 1 2 shows one of the module s two control loops within a linear positioning system for closed loop axis control The module communicates with a programmable controller through the 1771 backplane The programmable logic controller sends commands and user programmed data from the data table to the module as directed by a block tran
109. edure used axis 1 but you can perform a similar procedure with axis 2 Motion Block Chapter Advanced Features The advanced features of the Linear Positioning Module enable you to create complex movement profiles synchronize multiple axes and perform cam emulation They are not required in order to use the module and should only be used once you fully understand how to initiate and control motion using setpoints You can implement complex movement profiles using the motion segments of the motion block Such profiles can be executed without the intervention of the programmable controller The axis moves from one segment to another using a user selectable trigger for each motion segment You define a movement profile by downloading one or more motion blocks from the programmable controller to the module using block transfer writes The user controlled sequence of up to 114 motion segments is then started by specifying the starting motion segment in the command block Each motion segment defines a setpoint and a trigger condition The setpoint defines the movement profile for a motion segment while the trigger defines the conditions to be met to initiate execution of the next motion segment The triggers include position velocity and discrete inputs Movements based on position triggers are called chained moves while movements based on velocity triggers are called blended moves A movement profile may contain blended moves chained mo
110. eface Preface This manual explains how to install and configure the Linear Positioning Module It includes sample application programs to illustrate how to program a PLC to work with the Linear Positioning Module This manual contains eleven chapters and nine appendices that address the following topics Chapter Title Describes 1 Introducing the Linear Positioning the functions and features of the Linear Positioning Module Module 2 Positioning Concepts concepts and principles of closed loop servo positioning 3 Positioning with the Linear using the Linear Positioning Module in a positioning Positioning Module system 4 Hardware Description module hardware module interfaces and other hardware items you need for a positioning system 5 Installing the Linear Positioning configuring the module s analog outputs and Module installing the module in your system 6 Interpreting Module to PLC Data monitoring module operation from a logic controller READS by reading and interpreting data that the module transfers to the logic controller s data tables 7 Formatting Module Data formaiting parameter move description and control WRITES data for block transfers to the Linear Positioning Module 8 Initializing and Tuning the Axes bringing the module online 9 Advanced Features using the motion block to perform blended moves using programmable input and output operations 10 Sample Application Progra
111. egral control the axis responds only to the size of the positioning error not its duration Integral control responds to both the size and duration of the positioning error Thus the integral term continues to adjust the velocity command until it achieves an exact correction When you increase the integral gain Ky you increase the rate at which the positioning loop responds to a following error However the capabilities of the system limit gain Ky Too large a gain causes instability Figure 2 6 Integral Control Desired Velocity Feed Forward gt Kf Integrator Integrator K fd Position Following Velocity Command Error Po yt Command Servo Valve gt gt Kp D A lt gt SC Actual Linear Position Displacement Transducer 50038 2 6 Derivative Control Rate Control Proportional and integral gains can cause instability in a positioning loop The cylinder can overshoot its programmed endpoints and oscillate or hunt around them You can increase the stability of the positioning loop by adding a derivative component See Figure 2 7 Derivative control operates on the rate of change of positioning error It helps to stabilize the system by opposing changes in positioning error However a derivative gain that is too large can cause instability Derivative control is also very susceptible t
112. ement to a previously commanded setpoint If you don t want to use this feature disable the hardware start via the command block Important Because of the module s built in switch debouncing the low to high transition must follow a minimum 16 ms low signal Analog Output Interface Chapter 4 Hardware Description Hardware Stop Input The module accepts the signal at the STOP terminal 17 18 as a low true hardware stop input A low signal at the hardware stop input disables the analog output and stops axis movement Unless the discrete inputs are disabled via the parameter block this input must be high for normal operation If the connection breaks axis movement stops Example If the loop fault output of one axis is connected to the hardware stop input of another axis the movement of both axes will stop if a fault occurs Jog Forward Input In manual mode the module accepts a high signal at the JOG FWD terminal 19 20 as a high true jog forward signal When the module receives this signal it moves the tool or workpiece forward until it reaches the software limit or until the input goes low Forward is the direction of positive movement relative to the zero position offset Chapter 7 explains how to define the zero position offset in the parameter block Jog Reverse Input In manual mode the module accepts a high signal at the JOG REV terminal 21 22 as a high true jog reverse signal When the module receives this signal
113. emental Move 13 The incremental move 13 bit determines whether Setpoint 13 in the command block is an incremental or absolute setpoint move a Off absolute a On incremental See setpoint block incremental absolute word for an explanation of incremental and absolute moves Bit 4 Jog Rate Select The jog rate select bit determines the rate for jogs Off low jog rate 7 35 Chapter 7 Formatting Module Data WRITES 7 36 On high jog rate If this bit changes state during a jog operation the axis will accelerate or decelerate to the newly commanded rate at the global acceleration deceleration rate programmed in the parameter block Bits 5 and 6 Forward Jog and Reverse Jog Turning on bit 5 causes axis motion in the forward direction Similarly turning on bit 6 causes axis motion in the reverse direction In addition the jog bits are valid only if the loop is in manual mode They are ignored if it is in auto mode the axis motion continues until you turn the jog bit off or until the actuator approaches the software travel limit whichever occurs first if the axis approaches the software travel limit and the jog bit is still on axis motion will stop at the global deceleration rate the axis speed is either the low jog rate or the high jog rate as defined in the parameter block You select the rate by the jog rate select bit bit 4 the discrete jog inputs take priority over the corresp
114. ence of faults Figure 11 1 Fault Indicators LINEAR POSITIONING FAULT LOOP1 active LOOP2 ACTIVE 50009 When you power up the module all three indicators turn on for about one second Next the LOOP 1 ACTIVE and LOOP 2 ACTIVE indicators turn off while the module performs powerup diagnostics If these diagnostics discover a module fault the red FAULT indicator remains on and the module remains inactive After the successful completion of these diagnostics all indicators go off The module won t accept any loop parameters until after it detects power at each of the external interfaces This allows you to turn on the power supplies in any order without generating loop faults You can however still determine which interfaces aren t receiving power by reading loop 1 s analog feedback and discrete fault bits in status word 2 See Chapter 6 11 1 Chapter 11 Troubleshooting 11 2 Module Fault Indicator This red indicator is normally off It turns on if there is a module fault in one loop or both loops Faults may be caused by loss of analog power analog interface fault memory fault discrete input fault transducer interface fault excess following error excess PID error loss of feedback hardware stop input immediate stop command Loop Active Indicators Each of these green indicators is on when the corresponding loop is active The indicator blinks if a loop fa
115. er from an immediate stop condition either issue a reset command or turn the I O chassis power off and then back on The following rules govern the immediate stop command the module recognizes an immediate stop command in either auto or manual mode immediate stop commands have priority over slide stop setpoint or jog commands Bit 9 Reset Setting the reset bit reinitializes the loop to powerup state The module recognizes a reset command in either auto or manual mode Reset commands have priority over setpoint or jog commands If the axis is in motion when this command is issued the axis stops at the current deceleration rate After the axis stops the reset command is acknowledged through the status block ready bit The reset command is similar to powerup The module disables the axis until a new parameter block is received However unlike powerup the other axis isn t affected If the discrete outputs OUTPUT 1 and OUTPUT 2 are configured as programmable resetting the module with the reset bit will not change the programmed configuration of those outputs See Chapter 9 Bits 10 Integral Disable To disable integral control set bit 10 high When integral control is disabled the value of the integral term is maintained at the value it was prior to disabling and integral windup does not occur When integral control is re enabled set bit 10 low the integral term behaves as it did prior to being disabled Bit 1
116. esedses eed hs Connecting the Discrete Outputs Power Supply 000 cece cece cee eee annann OUTPUT tamban 04 KAKA G RIG aiiai Ea OUTPUT 2 pad aaaka pnan ana INAG DNA AYANG seas Interpreting Module to PLC Data READS PLC Communication Overview a Status Block 0000 c dk nriran eee eee Word Assignment Module Configuration Word word 1 0 05 Status Word 1 words 2 and 6 aa Status Word 2 words 3 and7 a Position Error Diagnostic Words aa Active Motion Segment Setpoint words 10 and 11 Measured Velocity words 20 and 21 Desired Velocity words 22 and 23 a Desired Acceleration words 24 and 25 Desired Deceleration words 26 and 27 Percent Analog Output words 28 and 29 Maximum Velocity words 30 31 and 32 33 Formatting Module Data WRITES Data Blocks Used in Write Operations Parameter Block Required 020eeee eae Setpoint Block Optional 02 00e eee Command Block Required 22 000e0eee Parameter Block 00 0 c cece eee ees Parameter Control Word word 1 00005 Analog Range words 2 and 31 00 0e eae Analog Calibration Constants words 3 4 and 32 33 Transducer Calibration Constant
117. ete input has an internal pull down resistor If the device that you have connected to an input provides a high signal the device must source current through the pull down resistor Figure 4 3 is a simplified schematic of a discrete input circuit Chapter 4 Hardware Description 4 6 Figure 4 3 Simplified Schematic of a Discrete Input 1771 QB MODULE 07 45V INPUT SUPPLY 10K NY DISCRETE INPUT e g JOG FWD z 3 3K 28 Q INPUT COMMON Auto Manual Input The module accepts the signal at the AUTO MAN terminal 13 14 as the auto manual input Use this input in conjunction with block transfers to set the operation mode for the axis A high input means auto mode and a low input means manual mode The auto manual input defaults to auto mode if the inputs are disabled via the parameter block Important To set the mode of the axis to auto you must set both the auto manual input and the auto manual bit in the command block high If either the bit or the input is low the mode is manual Hardware Start Input In the auto mode the module accepts a transition from low to high at the START terminal 15 16 as a high true hardware start input signal If the axis is in auto mode and if the hardware start has been enabled via the command block the module waits for a transition from low to high at the START terminal before it will start axis mov
118. extended status information by specifying a block transfer length of 33 If you specify a length of 0 or 64 the module returns the default 5 words for one axis and 9 for two 6 1 Chapter 6 Interpreting Module to PLC Data READS Word Assignment The assignment of the words within the status block is as follows Figure 6 1 Status Block Word Assignments WORD DESCRIPTION AXIS1 AXIS2 1 Module Configuration Word N 2 6 Status word 1 3 7 Status word 2 Default Status 4 8 MS Position Error Diagnostic word 5 9 LS Position Error Diagnostic word 10 11 Active motion segment setpoint N 12 14 MS Position 13 15 LS Position 16 18 MS Following Error 17 19 LS Following Error 20 21 Measured Velocity Extended Status 22 23 Desired Velocity 24 25 Desired Acceleration 26 27 Desired Deceleration 28 29 96 Analog Output 30 31 Maximum Positive Velocity 32 33 Maximum Negative Velocity Module Configuration Word word 1 Bits 0 to 8 are controlled by the parameter control word in the parameter block Module configuration information includes number of axes units of measurement number format binary position format single or double word and the state enabled or disabled of the start stop enhancement discrete input analog output and transducer interface bits Detailed descriptions of these are in Chapter 7 6 2 Chapter 6 Interpreting Module to PLC Data READS Figure 6
119. for these connections Don t break the cable for connection in a junction box but connect it directly from the digital interface box to the module To connect the transducer interface terminals 1 Configure the transducer for external interrogation 2 If you haven t already configured the transducer for the optimum number of circulations do so now Refer to Chapter 4 for a procedure to determine the optimum number of circulations for your system 3 Connect the module s GATE terminal 1 2 to the transducer s GATE terminal 4 Connect the module s GATE terminal 3 4 to the transducer s GATE terminal 5 Connect the module s INTERR terminal 5 6 to the transducer s INTERROGATE terminal 6 Connect the module s INTERR terminal 7 8 to the transducer s INTERROGATE terminal 7 Connect the cable shields to ground at the I O chassis end Connecting the Discrete Inputs The seven discrete inputs for each control loop make connections via eight wiring arm terminals one terminal is discrete input common The voltage and current requirements for the discrete inputs are Low 0 to 4 VDC High 10 to 30 VDC Input Current 8 mA 12 VDC 16 mA 24 VDC 5 12 Chapter 5 Installing the Linear Positioning Module Make sure that the voltage driving each input is at the appropriate level Figure 5 8 shows the discrete input connections
120. g Module Data WRITES Figure 7 36 Jog Rate Low and High Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Low jog rate BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max Must be lt the high jog rate 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 High jog rate BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max Must not be higher than the greater of either of the analog calibration constants 50077 Important The low jog rate must be lower than or equal to the high jog rate Both rates must be lower than the greatest of either maximum velocity as specified by the analog calibration constants Reserved words 29 30 and 58 59 Words 29 30 58 and 59 are reserved for future use You must set them to zero You use the setpoint block to define multiple setpoint moves If you only need one setpoint for an axis you can define it in the command block and not use the setpoint block at all You would normally define one setpoint block for each axis but if your application requires that both axes use the same setpoint moves i e both axes move in parallel you can specify both axes in the setpoint block control word and use a single setpoint block Each setpoint block uses two words of overhead plus five words for each setpoint Because the setpoint block can define from 1 to 12 setpoint moves for each axis a
121. gainst possible injury keep all personnel 4 Adjust the servo null adjustment screw until there is no detectable movement in the cylinder In some applications it is important that the axis should drift towards one end of the stroke if an electrical or servo fault occurs In these cases the valve should be nulled so that the axis drifts at one quarter inch per second 0 25 ips in the desired direction Make sure the blocking valve or safety plate is energized 5 Turn off the hydraulic pump ATTENTION Keep the axis near its center of travel Running the axis into its mechanical stops could damage equipment 6 Re connect the servo valve Initializing the Parameter If you load the ladder logic program QB_SETUP on the accompanying disk Block into the programmable controller to initialize the parameter block the default settings will be as shown in Table 8 A These settings should work for most applications Before you load the program check that the application dependent parameters noted in Table 8 A are correct for your system If they are not edit the data tables to correct the parameter values It is strongly recommended that you also use the axis tuning procedures that follow to ensure that the settings you have selected are correct for your application QB_SETUP assumes that the module is mounted in slot 0 of rack 0 If your module is mounted differently edit the ladder logic program to reflect this The ladder logic and d
122. gle word bit 7 1 formats values between 32 768 inches and 32 767 inches 327 68 mm and 327 67 mm may be displayed entirely in the second word The first word will be zero Active Motion Segment Setpoint words 10 and 11 Words 10 and 11 of the extended status block contain the active motion segment or setpoint number Figure 6 8 Active Motion Segment Setpoint 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 BOB DONA GG eo os i 4 o V Active motion segment setpoint binary format 0 slide stop 1 to 13 setpoint 14 to 127 motion segment 50094 6 13 Chapter 6 Interpreting Module to PLC Data READS 6 14 Measured Velocity words 20 and 21 Measured velocity is the instantaneous speed of the axis measured at the transducer This velocity is calculated using a moving average over the previous 20 50 or 100 milliseconds depending on the velocity commanded for the move For slow moves a 100 millisecond averaging interval is used to improve resolution For fast moves a 50 or 20 millisecond averaging interval is used to improve responsiveness Measured velocity is always positive regardless of the direction of travel Table 6 B Averaging Interval for Various Commanded Velocities Commanded Velocity Averaging Interval ips mmps 0 00 10 00 0 254 0 100 ms 10 01 20 00 254 1 508 0 50 ms gt 20 00 gt 508 0 20 ms Figure 6 9 Measured Velocity For
123. hapter explains how to monitor module operation from a programmable controller by reading and interpreting status block data that the module transfers to the programmable controller s data tables You must program the programmable controller to communicate with the Linear Positioning Module through block read and block write instructions The data blocks are status block parameter block setpoint block motion block command block The block read instruction transfers the status block data from the module to the programmable controller data table The block write instruction transfers the parameter block the setpoint block the motion block and the command block data from the programmable controller data table to the module This chapter tells you how to interpret the status block data Chapter 7 tells you how to format the parameter block the setpoint block and the command block data Chapter 9 explains the motion block The status block contains information on the status of each axis Until the module receives a parameter block the status block consists of five words i e the default assumption of one axis The size of subsequent status blocks depends on the configuration you program through the parameter block Number of Axes Status Block Length 1 5 words default 2 9 words default 1or2 up to 33 words depending on block transfer length requested You can set the block transfer read instruction to include
124. he axis to move beyond a software travel limit axis movement will decelerate and stop at the limit The software travel limits must be within the active range of the transducer The active range of your transducer is halved by each increase in the number of circulations of your digital interface box Chapter 7 Formatting Module Data WRITES 7 10 If you program both software travel limits to zero the module defaults to a negative software travel limit of 0 and a maximum positive software travel limit that is 180 0 inches or 4572 mm for one recirculation If you select binary format the software travel limits are represented as 2 s complement integers ATTENTION To guard against equipment damage we recommend that you set software travel limits to match your axis length Figure 7 8 Software Travel Limit Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign Positive software travel limit O BCD or binary 1 799 9 inches or 7999 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign Negative software travel limit 024 BCD or binary 799 9 inches or 7999 mm max 50061 Zero Position and Software Travel Limit Examples The zero position offset and software travel limits can be difficult to understand so the following examples have been provided Note that the examples show zero position and software travel limits relative to the moveme
125. iagnostics discover a module fault the red FAULT indicator stays on and the module remains inactive When the programmable controller is in run mode the indicators behave as follows a FAULT a red indicator that is normally off The indicator turns on if there is a module fault in one loop or both loops See Chapter 11 for more information on module faults LOOP 1 ACTIVE a green indicator that is on when loop 1 is active The indicator blinks if a fault occurs on loop 1 and turns off if loop 1 is inactive LOOP 2 ACTIVE a green indicator that is on when loop 2 is active The indicator blinks if a fault occurs on loop 2 and turns off if loop 2 is inactive 4 1 Chapter 4 Hardware Description Wiring Arm Terminals The module draws power for its internal circuitry and communicates with the programmable controller through the 1771 universal I O chassis You make all other connections through the wiring arm terminals Cable length can be up to 200 feet for these connections depending on the gauge used See Chapter 5 for wiring guidelines Figure 4 2 shows the wiring arm terminals for both control loops Figure 4 2 Wiring Arm Terminals Li LINEAR POSITIONING FAULT LOOP1 ACTIVE LOOP2 ACTIVE
126. igh It goes low when the module detects a fault in the control loop You can use the loop fault output to drive another module s hardware stop input You can connect the loop fault output terminal to the hardware stop input of another control loop or to a visual audible fault indicator Both OUTPUT 1 and OUTPUT 2 can be configured to be programmable outputs See Chapter 9 5 21 Chapter 5 Installing the Linear Positioning Module 5 22 Figure 5 13 Connecting a Discrete Output to a Discrete Input Wiring Arm Wiring Arm Terminals LOOP 2 eee LOOP 1 o AN 14 AUTO MAN No 36 OUTPUT 1 OUTPUT 1 37 16 START S 38 OUTPUT 2 G OUTPUT 39 18 STOP Sg 140 O P SUPPLY Ng 20 JOGFWD SR T g 22 JOG REV Vg 24 INPUT1 Og 26 INPUT2 Ny m 28 I P COMMON 8 15 to 24 VDC Supply Customer Supplied os Ground the shield at the I O chassis end LOOP 1 AUTO MAN 13 START 15 STOP 17 JOGFWD 19 JOGREV 21 INPUT 1 23 INPUT 2 25 I P SUPPLY 27 Important Ground the power supply common at one point only This will help eliminate ground loops which are very susceptible to electrical noise 50051 PLC Communication Overview Status Block Interpreting Module to PLC Data READS This c
127. igits 50081 H 3 Appendix H Data Formats A sign bit is placed in each word to allow negative binary numbers even with the first word zeroed Simply signing the first word in this case would not work in binary mode because a word with a value of zero and the sign bit on i e a negative zero is not equal to zero in the 16 bit 2 s complement system If the first word of a negative number is zero turn on the sign bit in the second word For negative numbers that use both words the use of the sign bit in the second word is optional see example Table H B gives several examples of how you would enter BCD and binary positions Table H B Binary and BCD Positions Binary Format BCD Format Position 1st Word 2nd Word 1st Word 2nd Word 60 000 in 60 0 0060 0000 1524 00 mm 152 400 0152 0400 0 999 in 0 999 0000 0999 9 99 mm 0 999 0000 0999 60 000 in 60 0 8060 0000 or 8000 1524 00 mm 152 400 or 400 8152 0400 or 8400 0 500 in 0 500 0000 or 8000 8500 Double Word Position Format The Linear Positioning Module supports the full range of values from 32 768 to 32 767 in the second word of the setpoint position positioning error and zero position offset parameters when using binary format This flexibility means that you can often enter the same parameter value in different ways You must still use two words in binary format if your numbers fall outside the 32 767 to 32 768 range Fo
128. ingle Word Format First Word Second Word First Word Second Word 6 000 inches 0 6000 32 768 inches 0 32768 327 67 mm 0 32767 10 00 mm 0 1000 Bit 8 Stop Start Enhancement When this bit is set it causes a positive rising edge hardware start input to be accepted during axis motion similar to the software start bit in the command block Also as long as the software slide stop bit in the command block is high the axis remains stationary since no setpoint or motion segment if a motion block is being used can be initiated While most new applications can set this bit existing applications may clear it to ensure backwards compatibility Analog Range words 2 and 31 The analog range parameter specifies the maximum analog output available for commanding motion It may be positive or negative Analog range is a percentage of the range selected through the analog output DIP switches See Chapter 5 For example if the analog range is specified as 100 the direct action analog output ranges from 10 V to 10 V 20 mA to 20 mA 50 mA to 50 mA or 100 mA to 100 mA depending on the setting of the analog output switches If the analog range is specified as 100 the reverse action output ranges from 10 V to 10 V 20 mA to 20 mA 50 mA to 50 mA or 100 mA to 100 mA Use this parameter to make sure that the module does not exceed the maximum rating of the external device 7 5 Chapter 7 Formatting Module Data WRITES 7
129. it reached PID error Excess following error 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 Analog fault E A AP a Setpoint Number binary format 0 13 15 a motion segment is active B Reserved Error valid 50053 Bits 0 to 3 Setpoint Number Bits O to 3 give the currently active setpoint 1 to 13 in binary format or indicate that a motion segment is active 15 binary This parameter defaults to zero on powerup or after a jog command It then remains zero until a setpoint or motion start is received and accepted The currently active setpoint is the target point of the latest initiated axis move If hardware started is enabled the module won t update the setpoint number to a commanded setpoint until after it receives a hardware start Bit 4 Reserved Bit 4 is reserved for future use Bit 5 Error Valid The error valid bit is on if the next two status block words i e words 4 and 5 for axis 1 and words 8 and 9 for axis 2 for this axis contain a valid following error value Chapter 6 Interpreting Module to PLC Data READS 6 8 Bit 6 Position Valid The position valid bit is on if the next two status block words i e words 4 and 5 for axis 1 and words 8 and 9 for axis 2 contain a valid axis position Bit 7 Diagnostic Valid This bit is on if the next two status block words 1 e words 4 and 5 for axis 1 and words 8 and 9 fo
130. ity predictions will vary slightly for moves at different velocities due to non linearities in the hydraulic system If it is critical that the module perform best at a particular velocity then that velocity should be used to determine the optimal analog calibration constants Otherwise it is best to use a moderately low velocity 10 of the maximum velocity to optimize the performance near the setpoint Data Blocks Used in Write Operations Parameter Block Formatting Module Data WRITES Data blocks that you set up in the PLC data table enable you to control the module from your PLC programs There are four types of data blocks used in write operations The three discussed in this chapter are parameter setpoint and command blocks The motion block is discussed in Chapter 9 Parameter Block Required The parameter block contains loop configuration information The module must receive and acknowledge the parameter block before it can receive setpoint motion and command blocks You will normally only send a parameter block to the module after reset or powerup If you do send one during module operation the module will not activate the new parameters until axis motion stops Setpoint Block Optional By sending a setpoint block you can specify up to 12 setpoints for each axis You can move to a selected setpoint by sending a command block Command Block Required By sending a command block you begin the movement of one axis o
131. k Setpoint Setpoint Block s Block Transfer Write Block s Motion Motion Block s Block s Command Command Block Block 50100 Block Transfer Sequencing To ensure correct block transfer sequence on powerup it is recommended that the programs make parameter block transfer conditional on the status block s ready bit being low make setpoint block transfer conditional on the status block s setpoints received bit for this control loop being low and on the ready bit being high if you re using setpoint blocks make the next motion block transfer conditional on the block transfer toggle bit changing from the state it was in prior to the transfer of the previous block make command block transfer conditional on the setpoints received bit and the ready bit both being high if you aren t using setpoint blocks make command block transfer conditional on just the ready bit being high 10 2 Chapter 10 Sample Application Programs PLC 5 Block Transfer You should program a PLC 5 processor s block transfer to use the bidirectional Instructions method to avoid problems when troubleshooting the module However block transfer writes only need to be enabled when a command block motion blocks setpoint blocks or a parameter block must be sent to the module Important Processor execution of block transfer instructions is asynchronous to the program scan The status of these bits could change at any point in the pr
132. lation to the zero position offset specified in the parameter block Incremental moves define a new endpoint in relation to the current axis position at the start of the current motion segment s execution The Command Block and the Motion Block The Status Block and the Motion Block Chapter 9 Advanced Features Desired Position Local Velocity Local Acceleration and Local Deceleration Words The format of the MS desired position LS desired position local velocity local acceleration and local deceleration words in the motion block see Figure 9 1 is the same as the format of the MS setpoint position LS setpoint position local velocity and local deceleration words in the setpoint block Trigger Velocity Position Words If you specify a position or velocity trigger in control word 2 you must specify a corresponding position or velocity in the trigger velocity position words If neither a velocity nor position trigger is specified in control word 2 the trigger velocity position words are ignored The data format for the position and velocity words is the same as the format for the MS setpoint position LS setpoint position and local velocity in the setpoint block Important The module interprets all velocities as magnitudes without positive or negative direction Therefore a velocity trigger condition will be satisfied when the current velocity magnitude axis moving in either direction crosses the specified t
133. ld use a single supply but you ll maintain maximum separation and keep noise to a minimum by using four separate power supplies In less critical applications you could power two or three circuits from the same supply 4 9 Chapter 4 Hardware Description 4 10 to power the supply to these terminals Transducer interface 5 VDC 9 10 Discrete inputs 24 VDC max 27 28 Servo valve interface 15 VDC 33 34 35 Discrete outputs 30 VDC max 40 All power connections must be made for the transducer servo valve and discrete outputs The power supply for discrete inputs may be left unconnected if the discrete input disable bit has been set in the parameter block Before You Begin Installing the Linear Positioning Module This chapter tells you how to install the module in the O chassis and how to configure the module s analog outputs by setting DIP switches Before you install the module make sure your power supply is adequate a plan your module s location in the I O chassis take steps to avoid electrostatic discharge Avoiding Backplane Power Supply Overload Make sure your power supply can handle the extra load before installing the module in your I O chassis Add the module s current requirement listed on the module s label to the currents required by other modules inserted in the I O chassis If the backplane power supply rating is less than the total current required you
134. leration y Axis Control Word 1 words 1 and 8 The structure of axis control word 1 is shown below Figure 7 44 Axis Control Word 1 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 ali op iioo Nga A A A A A A AAAA A Control word ID L Start Readout select 00 Position Hardware 01 Following Error start enable 10 Diagnostic Auto manual Integral Disable Incremental move 13 Reset Jog rate 1 high 0 low Immediate stop Jog forward Slide stop Jog reverse 7 33 Chapter 7 Formatting Module Data WRITES Bit 0 Start Bit 0 in the first axis control word is the start bit The transition of this bit from low to high 0 to 1 signals a software start command Upon receiving this command the module begins the setpoint or motion segment move specified in axis control word 2 In manual mode this transition causes the module to report a programming error in the status block and abort the move As long as the start bit remains high i e 1 you can also initiate software start commands and thus movement to a new position by sending a new setpoint or motion segment number sending a new position velocity acceleration or deceleration parameter for setpoint 13 when setpoint 13 is the selected setpoint If you issue software start commands while the axis is in motion often referred to as changing setpoints on th
135. les show the origin past the fully extended position Figure 7 13 Zero Position Past the End of the Transducer Head BM D 250 000 200 0 Pos Neg 100 0 Limit Limit Origin Negative 250 200 100 0 Direction d Tm i 250 000 100 0 Neg Pos 2000 imi imi Origin ai HO 9 Positive 250 200 100 0 Direction 50018 In Position Band words 11 and 40 The in position band is the area around an endpoint where the in position bit turns on An endpoint can be the result of a setpoint or motion segment move or a jog The axis is in position if the axis feed is complete i e desired velocity is zero the following error has closed to within the in position band Figure 7 14 In Position Band In Position band soo fo A l Position Endpoint 50062 7 13 Chapter 7 Formatting Module Data WRITES If you leave the in position band undefined at zero the module automatically defaults to twice the value of the position resolution For one circulation this would be 0 004 inches Figure 7 15 In Position Band Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 This value times two is the in position band BCD or binary 9 999 inch or 99 99 mm max 50006 PID Band words 12 and 41 If the axis is within the PID band and the desired velocity is zero the module ena
136. libration constant and the maximum negative velocity as the optimal negative analog calibration constant The module will use these values to adjust the PID and feedforward gains for directional differences in system performance The maximum velocity words can also be used to monitor the performance of the hydraulics If the maximum velocity changes dramatically the hydraulics may require servicing Figure 6 14 Maximum Velocity Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Maximum positive velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Maximum negative velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50028 While every effort has been made to ensure that the maximum velocity calculations are foolproof the following limitations do exist the module will ignore moves where a constant velocity is not achieved The maximum velocity calculations are only accurate when the axis stabilizes at a constant velocity 6 17 Chapter 6 Interpreting Module to PLC Data READS the accuracy is degraded if the axis is unstable or if the velocity is extremely low Velocities at or above 10 of the maximum velocity work best the maximum velocities calculated by the module will not be accurate if motion is impeded by physical obstructions the maximum veloc
137. lide stop Jog reverse Figure E 3 Axis Control Word 2 words 2 and 9 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 EAGER Holos lt aa ae 0 Setpoint 1 to 13 or Motion segment 14 to 127 binary format 50087 E 2 Appendix E Command Block Figure E 4 Setpoint 13 Position Words words 3 4 and 10 11 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 i N gn 1 Most significant digits Setpoint position BCD or binary 799 900 inches or 7999 00 mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 gt som ing 1 3 Least significant 3 digits 50081 Figure E 5 Setpoint 13 Local Velocity Words words 5 and 12 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50082 Appendix E Command Block Figure E 6 Setpoint 13 Local Acceleration Deceleration Words words 6 7 and 13 14 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local acceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local deceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 50083 E 4 Appe
138. ll need a larger power supply Here are the current ratings for the various Allen Bradley power supply modules This Power Supply Module Is Rated at 1771 P1 6 5A 1771 P2 6 5A 1771 P4 8A 1771 P5 8A 1771 P7 16A Planning Module Location The module requires one I O chassis slot You can install it in any slot in the I O chassis The module uses both the output image table byte and the input image table byte that corresponds to its location address 5 1 Chapter 5 Installing the Linear Positioning Module 5 2 Setting Analog Output Switches Electrostatic Discharge Under some conditions electrostatic discharge can degrade performance or damage the module Observe the following precautions to guard against electrostatic damage use a static free workstation if one is available touch a grounded object to discharge yourself before handling the module don t touch the backplane connector or connector pins when you set the analog output switches don t touch other circuit components inside the module keep the module in a static shielded bag when it s not in use You set the analog output DIP switches to define the range of output voltage or output current for the analog output of each control loop There are two switch assemblies for each control loop a single switch assembly that selects voltage or current output and a dual switch assembly that sets the current range The current ra
139. lly stamped on the side of the transducer However sometimes the stamp is not easily accessible or you may not be confident that it is accurate You can use the following procedure to determine the transducer calibration constants for the transducers You will need a six inch or longer caliper to measure axis position The length and accuracy of the caliper determines the accuracy of the transducer calibration constant Longer or more accurate instruments will produce better results 1 Use Table 8 B to determine your initial guess based on the number of circulations programmed into the digital interface box 8 7 Chapter 8 Initializing and Tuning the Axes Table 8 B Transducer Calibration Number of Transducer Calibration Constant Circulations Microsec Inch Microsec mm 1 9 0500 0 35600 2 18 1000 0 71200 3 27 1500 1 06800 4 36 2000 1 42400 5 45 2500 1 78000 54 3000 2 13600 T 63 3500 2 49200 8 72 4000 2 84800 2 Enter the transducer calibration constant from the table into the parameter block for the axis Send the new parameter block to the module 3 With the hydraulic pump off mark the position of the axis relative to a stationary structure You will need to measure the change in the axis position to within 0 001 inches 4 Record the initial axis position value from the module This value is in the status block words 12 and 13 at N44 12 and N44 13 for axis 1 5 Turn the hydraulic pump on and move th
140. lse output s 1 Incremental Multiple trigger conditions Trigger output 0 OR 00 No output 1 AND 01 Programmable OUTPUT 1 10 Programmable OUTPUT 2 INPUT 2 trigger HU 11 Both outputs 0 Inactive Velocity Position trigger 1 Active 00 Inactive 01 Velocity trigger active INPUT 1 trigger 10 Relative position trigger active 0 Inactive 11 Absolute position trigger active 1 Active 50090 Control Word 2 Bits 0 and 1 Output Control These two bits specify whether the output s specified in bits 2 and 3 should be unchanged latched on latched off or pulsed when this motion segment s trigger conditions are satisfied Control Word 2 Bits 2 and 3 Trigger Output These bits specify the programmable outputs OUTPUT 1 OUTPUT 2 both or neither that will be affected when this motion segment s trigger conditions are satisfied 9 9 Chapter 9 Advanced Features 9 10 Control Word 2 Bits 4 and 5 Velocity Position Trigger These bits indicate if one of the velocity relative position or absolute position triggers is active If the velocity trigger is active you must specify in the trigger velocity position word the absolute velocity at which the trigger condition will be satisfied If the relative position trigger is active the trigger position you specify in the trigger velocity position words is relative to the current axis position when the current motion segment bega
141. luid 50032 The servo valve controls the flow of hydraulic fluid into or out of the hydraulic cylinder Adding fluid to the left side of the cylinder extends the rod adding fluid to the right side retracts it 2 1 Chapter 2 Positioning Concepts 2 2 Closed Loop Positioning Closed loop positioning is a precise means of moving an object from one position to another In a typical application a positioning device activates a servo valve controlling the movement of fluid in a hydraulic system The movement of fluid translates into the linear motion of a hydraulic cylinder A transducer monitors this motion and feeds it back to the positioning device The positioning device in turn calculates a positioning correction and feeds it back to the servo valve Important Throughout this manual we refer to servo valves but you can also use the analog outputs to control proportional valves or an electric servo Linear Displacement Transducer A linear displacement transducer see Figure 2 2 is a device that senses the position of an external magnet to measure displacements Figure 2 2 Linear Displacement Transducer Transducer Magnet 9 Head Y X lt 5 Magnet mounted to the piston of actuator 50034 The transducer sends a signal through the transducer wave guide where a permanent magnet generates the return pulse You can use the time interval between the transducer s signal a
142. m 2 2 1 eee 10 11 Planning the Data Blocks for Application Program 2 10 12 Program Rungs for Application Program 2 10 16 Troubleshooting a kaa cen KG NG NEW 11 1 Fault Indicators 0 0 0 cc ccc eee eee 11 1 Module Fault Indicator 00 0000 cece e eee eee 11 2 Loop Active Indicators 00 c eee 11 2 Indicator Troubleshooting Guide 11 2 Troubleshooting Feedback Faults 0 000 11 3 Troubleshooting Flowchart cee eee eee eee 11 4 Flowchart Notes 0 0 0 0 ccc cece eee eee eee 11 7 Glossary of Terms 4 Abbreviations A 1 Status Block cs cskcesccica wanes e ween a neem ann B 1 Parameter Block 000cceeeeueneeuceauueaee C i Setpoint Block 5 5 esis edessentatteeeewsedenessen D 1 Command Block maaawa ANA rewenneeaw E i Motion Block 0a F1 Hexadecimal Data Table Forms 00s G1 vi Table of Contents Data Formats ne aa ADAN AG DARA BOD aaa a kaaa tea Wea Sna kal tana pi ha tes ce ace Stans 2 s Complement Binary aaa Bit Inversion Method a Subtraction Method a Implied Decimal 0 6 cece eee Position Format 0 0 0 ccc cece eee nes Double Word Position Format 0 000 aana eee Product Specifications 000eeeee ee eeeee pees a eles elles Ro kola me NI EC a IT gt paa I z Organization of the Manual Pr
143. manual input must both be high to enter auto mode In the auto mode you position the actuator by commanding desired setpoints using the command block You can define up to 12 setpoints through the setpoint block You can define the 13th setpoint within the command block specify acceleration deceleration and velocity for each setpoint move 3 4 Chapter 3 Positioning with the Linear Positioning Module turn on a hardware start enable bit using the command block which causes the module to delay movement to the commanded setpoint The delay ends and movement starts when you activate the hardware start input or send a software start command in the command block command a setpoint while the axis is moving towards another setpoint If the new Setpoint is in the opposite direction of travel the axis decelerates to zero speed at the current deceleration rate and then moves in the opposite direction If the new setpoint is in the same direction of travel the old setpoint is abandoned and the axis movement accelerates or decelerates to the specified velocity and continues toward the new setpoint Jogging In the manual mode you position the actuator by jogging i e directly commanding movement in one direction or the other You make these movement commands by turning on forward or reverse jog bits via the command block or activating forward or reverse hardware jog inputs typically via momentary action switches
144. mat 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Measured velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50005 Desired Velocity words 22 and 23 The module calculates the desired velocity once every two milliseconds based on the acceleration deceleration and velocity specified for the move The desired velocity is a theoretical number representing the speed that the module wishes to achieve and not necessarily the actual velocity of the axis The desired velocity is always positive regardless of the direction of travel Chapter 6 Interpreting Module to PLC Data READS Figure 6 10 Desired Velocity Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Desired velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50006 Desired Acceleration words 24 and 25 The module calculates the desired acceleration once every two milliseconds based on the velocity smoothing constant and maximum acceleration specified for the move The desired acceleration is a theoretical number representing the rate of velocity increase that the module wishes to achieve and not necessarily the actual rate of acceleration achieved Figure 6 11 Desired Acceleration Format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Desired acceleration BCD 999 9 ips s or 9999 mmps s max
145. ms two application programs one using basic concepts and the other using advanced features to control and monitor the module 11 Troubleshooting using the module s indicators and the status block to diagnose and remedy module faults and errors Appendix A Glossary common terms and abbreviations Appendix B Status Block status block word assignments Appendix C Parameter Block parameter block word assignments Appendix D Setpoint Block setpoint block word assignments P 1 Preface P 2 Audience Related Publications Related Software Chapter Title Describes Appendix E Command Block command block word assignments Appendix F Motion Block motion block word assignments Appendix G Hexadecimal Data Table Form hexadecimal data worksheets Appendix H Data Formats valid data formats Appendix Product Specifications 1771 QB product specifications Read this manual if you intend to install or use the Linear Positioning Module Cat No 1771 QB To use the module you must be able to program and operate an Allen Bradley PLC In particular you must be able to program block transfer instructions In this manual we assume that you know how to do this If you don t refer to the User Manual for the PLC you ll be programming Consult the Allen Bradley Industrial Computer Division Publication Index SD 499 if you would like more information about your modules or PLCs This index lists all available publicati
146. n execution If the absolute position trigger is active you must specify an absolute position in the trigger velocity position words Important Since it is unlikely that the exact velocity position of the axis will precisely equal the trigger velocity position specified the trigger condition is satisfied when the actual velocity position reaches or crosses the trigger velocity position Control Word 2 Bits 6 and 7 INPUT 1 and INPUT 2 Triggers These bits indicate if INPUT 1 and or INPUT 2 triggers are active If an input trigger is active it means that the associated discrete input must be satisfied based on trigger sensitivity to cause the execution of the next motion segment The trigger sensitivity is specified in the programmable T O control word bits 12 to 15 and can be high low level or positive negative edge Control Word 2 Bit 8 Multiple Trigger Conditions If more than one trigger condition is active this bit controls whether all the specified active trigger conditions AND or just one OR must be satisfied If you specify AND the active trigger conditions do not necessarily have to occur at the same time to trigger the next motion segment The active trigger conditions can occur in sequence Control Word 2 Bit 15 Desired Position This bit specifies that the movement profile s desired position given in this motion segment is incremental 1 or absolute 0 Important Absolute moves define a new endpoint in re
147. n factor parameter determines how much the proportional gain is reduced or increased at speeds above the gain break speed It is expressed as a ratio of the new desired gain over the proportional gain Chapter 7 Formatting Module Data WRITES Figure 7 27 Gain Factor Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 0 070 Gain factor BCD or binary 0 00 to 9 99 50070 The gain factor must be less than 10 0 If you set it to zero the proportional gain won t be reduced or increased at any axis speed Example To increase a proportional gain to 0 5 from 0 1 at speeds above the gain break speed gain factor desired gain proportional gain 0 5 0 1 5 00 Integral Gain words 20 and 49 The integral gain factor Ky is used by the integral component during final axis positioning i e when the desired velocity is zero and the axis is in the PID band Figure 7 28 Integral Gain Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Integral gain BCD or binary 0 9999 ips s mil or 0 9999 mmps s mil 1 mil 0 001 inch or 0 001 millimeter 50071 The module uses integral control to improve final positioning accuracy by making the system sensitive to the duration of positioning errors If a positioning error exists the integral term continues to alter the analog output until the axis overcomes inertia and reaches an
148. n zero it must not be within the PID band 50005 The maximum value of this word is 9 999 inches or 99 99 mm The maximum PID error must not be within the PID band unless the PID error checking is disabled To disable PID error checking specify zero ATTENTION To guard against equipment damage we recommend that you exercise extreme care when operating an axis with PID error checking disabled Integral Term Limit words 16 and 45 The integral term limit parameter determines the maximum value that the integral term of the PID algorithm can obtain You use this parameter for alarms and or limiting The integral term limit prevents the integral term from causing maximum analog output if there is an undetected analog or hydraulic fault e g if the hydraulic pump is off Figure 7 22 Integral Term Limit Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0505070 0 0 0 a eo a N Integral Term Limit BCD or binary 0 100 of analog output range 50067 Chapter 7 Formatting Module Data WRITES Proportional Gain words 17 and 46 The module uses the proportional gain factor Kp at axis speeds below the gain break speed Figure 7 23 Proportional Gain Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 Proportional gain BCD or binary 0 9999 ips mil or 0 9999 mmps mil max 1 mil 0 001 inch or 0 001 millimeter 50023 The pro
149. nal gain between 0 0300 and 0 1500 ips mil will give optimal performance Kp unstable lowest proportional gain at which continuous oscillations occur KP 0 7x Kp unstable Next determine the integral and derivative gains The following procedure will produce near optimal results for most systems Chapter 8 Initializing and Tuning the Axes 5 Set the integral gain equal to 70 of the proportional gain at which continuous oscillations occurred see step 3 Ky 0 7x Kp 6 Set the derivative gain equal to 70 of the proportional gain at which continuous oscillations occurred see step 3 This small derivative gain is recommended to improve axis stability Kp 0 7 x Kp 7 Check the axis stability under all load conditions In some instances you may have to adjust the proportional integral and derivative gains slightly or use the gain reduction factor to obtain the desired results Example Optimal PID Loop Gain Calculation If continuous oscillations occur with a proportional gain of 0 1000 ips mil and the integral and derivative gains set to zero the optimal gains are calculated as follows Kp unstable 0 1000 ips mil Kp 0 7 x 0 1000 0 0700 ips mil Ky 0 7 x 0 0700 0 0490 ips s mil Kp 0 7 x 0 0700 0 0490 unitless Update the Application Program As a final step you should copy the parameter block data determined above into the data tables for your application The tuning and integration proc
150. nd the return pulse to measure axis displacement Circulations Some linear displacement transducers provide circulations or recirculation to improve resolution See Figure 2 3 This technique stretches the pulse by a factor of two or more and results in finer resolution in the circuitry monitoring the pulse width Chapter 2 Positioning Concepts Figure 2 3 Circulations resolution 0 002 Gate received from transducer lt Duration gt 1 circulation resolution 0 001 Gate received from transducer 2 circulations lt Duration WH gt 50035 A Simple Positioning Loop To move a specified distance along an axis you can command the hydraulic device to move at a specific velocity for a specific length of time However this method can be imprecise To control the position of the hydraulic device accurately you need a loop to monitor actual position Figure 2 4 shows a simple positioning loop Figure 2 4 Positioning Loop Desired Velocity Jat Integrator Position Command Command s Kp gt DAS A Following Velocity Error Servo Valve Actual Position Axis Linear Displacement Transducer 50036 2 3 Chapter 2 Positioning Concepts In Figure 2 4 desired velocity is the desired speed of axis motion from one
151. ndix Motion Block Figure F1 Motion Block Word Assignments Motion block control word Motion segment control word 1 Motion segment control word 2 MS Desired position LS Desired position Local velocity Local acceleration Local deceleration Trigger velocity or MS trigger position LS Trigger position 1st motion segment Motion segment control word 1 Motion segment control word 2 Up to MS Desired position 56 words LS Desired position 2nd motion Local velocity segment Local acceleration Local deceleration Trigger velocity or MS trigger position LS Trigger position y Motion segment control word 1 A Motion segment control word 2 MS Desired position LS Desired position Local velocity Local acceleration Local deceleration Trigger velocity or MS trigger position LS Trigger position nth motion segment Y V Programmable I O Control Word H Optional Note A maximum of 6 motion segments can be specified in one motion block In total the module can hold up to 114 motion segments per axis 50084 F 1 Appendix F Motion Block Figure F 2 Motion Block Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Oo 1 0 00 o ojo jo sca 7 7 kaa Identifies this as A Number of motion a motion block segments specified Destination in this block 0 to 6 01
152. nge switch has no effect if you choose a voltage output You must limit the voltage range through the analog range word in the parameter block if you require a voltage range of less than 10 VDC See Chapter 7 If the analog output will be controlling a current controlled device such as a servo valve set the single switch for current and set the current range to match the device If your device requires a range that falls between those provided select the next higher range and reduce the range using the analog range word in the parameter block Important Although you can set the current range with the analog range word in the parameter block you 1l improve analog output resolution by first limiting the range with the current range DIP switch To set the switches 1 Lay the module on its side and locate the switches using Figure 5 1 All switches are accessible from the right edge of the module without removing the module cover Chapter 5 Installing the Linear Positioning Module Figure 5 1 Locating the Analog Configuration Switches dJ CURRENT RANGE al si LOOP 2 lt VOLTAGE CURRENT N _ KU CURRENT RANGE LOOP 1 o VOLTAGE CURRENT gt Kk 5 50043 2 Usea blunt pointed instrument such as a ballpoint pen to set the switches A ATTENTI
153. ns Transducer Supply LINEAR POSITIONING ig fen Transducer LOOP1 ACTIVE active Id SI I N AL Ky Discrete IS Input Supply O I gt Servo Valve O ab bib Ab aie an Analog O Supply a Q b Discrete Output Shielded cables are not Supply required for these discrete inputs and outputs However they can improve noise immunity I O Chassis Ground Bus 8 AWG wire to central ground bus CI Belden 8723 or equivalent 50 ft max Belden 8227 Belden 9207 Belden 1162A or equivalent 200 ft max Belden 8761 or equivalent 50 ft max 3 Belden 8761 or equivalent 200 ft max 4 Belden 8761 or equivalent 25 ft max Belden 9318 or equivalent 50 ft max 4 Belden 8723 or equivalent 50 ft max s0026 Chapter 5 Installing the Linear Positioning Module Using Twisted Wire Pairs It is recommended you use twisted wire pairs for a signal and its return path to reduce noise levels further Figure 5 5 shows a twisted pair and shielded twisted pair Figure 5 5 Shielded Twisted Pair Diagram Twisted Pair OL Shielded Twisted Pair p gt 50046 ATTENTION Failure to follow correct shielding procedures can cause unpredictable movement resulting in possible injury to personnel and damage to eq
154. nt In BCD format none of the four bit groupings may contain a value greater than 1001 binary To complement a number means to change it to a negative number 2 s complement binary is a method used to represent signed integers in binary notation This method is used with PLC 3 and PLC 5 processors H 1 Appendix H Data Formats H 2 Implied Decimal Following are two methods to get the negative of a number using the 2 s complement method Bit Inversion Method To get the 2 s complement of a number using the bit inversion method you must invert each bit from right to left after the first 1 Example To represent 1524 decimal in 16 bit 2 s complement format we start with the binary equivalent of the positive of the number 1524 decimal 0000 0101 1111 0100 Binary Next we invert all the bits of the number from right to left starting with the bit after the first 1 that we encounter 1524 decimal 1111 1010 0000 1100 Subtraction Method To get the 16 bit 2 s complement of a number using the subtraction method you must subtract the number from 2 9 Thus to represent 1524 decimal 1 0000 0000 0000 0000 0000 0101 1111 0100 1111 1010 0000 1100 Many of the words in the module s data blocks use implied decimal points This means that although the value you want to enter into a word may have a fractional component you only enter the digits not the decimal point when you type it into the programmabl
155. nt of the magnet along the transducer The actual movement of a workpiece depends on how the transducer is mounted in a given system Zero position Positive Limit Negative Limit Zero position Positive Limit Negative Limit 0 000 0 0 0 0 15 000 15 0 10 0 Chapter 7 Formatting Module Data WRITES Example Default Configuration If the zero position and software travel limits are 0 all measurements are relative to the transducer head and the positive direction is towards the end of the transducer If you program both software travel limits to 0 the module defaults to the maximum and minimum that it can measure In this example the negative limit is at the origin and the positive limit is at the maximum distance that the module can measure 180 inches for one circulation Figure 7 9 Default Configuration Neg Pos Limit Limit Positive 0 4180 Direction Origin 50012 Example Extending in the Positive Direction In this example the transducer head is 15 inches from the origin Notice that all measurements are relative to the origin The value of the zero position offset determines the distance between the origin and the transducer head The sign of the zero position offset indicates that the transducer head is in the negative direction Figure 7 10 Extending in the Positive Direction Neg Pos imi Origin imi Limit g Limit Positive 15
156. o Ltd Magnetostrictive Displacement Transducer Model GYRG Power requirements 15 VDC 10 48 mA e Manufacturer Lucas Schaevitz Magnerule Plus Model MRU XXX 700 Power requirements 15 VDC 4 VDC 80 mA Discrete Inputs Logic 0 0 to 4 VDC Logic 1 10 to 30 VDC Input Current 8 mA 12 VDC 16 mA 24 VDC Discrete Outputs Single ended source Logic 0 No voltage supplied to output OFF state Logic 1 User supplied voltage applied to output ON state Current Maximum source drive 100 mA ON state Maximum source leakage 1 0 mA OFF state Backplane Power Requirements 1 6 A maximum 1 1 A typical 5 VDC Transducer Interface External Power Requirements 5 VDC 5 300 mA maximum Analog Interface External Power Requirements e 15 VDC 5 540 mA maximum 15 VDC 5 360 mA maximum Discrete Input External Power Requirements 15 VDC minimum 24 VDC maximum 50 mA maximum Discrete Output External Power Requirements 30 VDC maximum 400 mA maximum Max voltage drop from supply to output 1 6 VDC 100 mA 11 6 VDC min is required for compatibility with discrete inputs Thermal Dissipation 12 0 watts typical 89 BTU hour 18 0 watts maximum 120 BTU hour Keying Between 16 and 18 30 and 32 Wiring Arm 40 terminal 1771 WN 14 gauge stranded wire max 3 64ths inch insulation max Category 2 Electrical Isolation 1500V rms transient isolation i
157. o electrical noise Chapter 2 Positioning Concepts Figure 2 7 Derivative Control Feed gt Kr Forward Integrator a Ky gt S dt Desired Position Following Velocity Velocity Command Error Pa PG Command Servo Valve gt S dt gt Kp a DR gt paha ok as Derivative Cr Integrator Axis Actual L d Linear Position Displacement Transducer 50039 Deadband Most systems have friction and play in their mechanical linkages These characteristics can cause a cylinder to oscillate around a programmed endpoint especially if you use an integral term You can use a deadband to reduce these oscillations A deadband is an area surrounding the programmed endpoint where the error is ignored Outside the deadband error is reduced by one half the width of the deadband If you apply a deadband to an integral term the integral output remains constant while the axis is within the deadband This reduces oscillations around the endpoint However if the deadband is too large it can also reduce the positioning accuracy of the system PID Band Integral and derivative control can cause undesirable results when the axis moves from one position to another The integral term can cause the axis to overshoot the programmed endpoint The derivative term opposes changes in error and the
158. o make you aware of safety considerations circumstances that can lead to personal injury or death property damage or economic loss A ATTENTION Identifies information about practices or Attentions help you a identify a hazard avoid the hazard a recognize the consequences Important Identifies information that is especially important for successful application and understanding of the product PLC is a registered trademark of Allen Bradley Company Inc Table of Contents PIECE ian ABRA KAANAK KAANAK a RNGA KA P 1 Organization of the Manual 00 eee eee ee eee P4 AUGIONCE AA P 2 Related Publications a P 2 Related Software 0 0 ccc eee cee eee eens P 2 Frequently Used Terms eee e ee eee eee P 3 Introducing the Linear Positioning Module 1 1 What is the Linear Positioning Module 1 1 Product Compatibility o a anaana 1 2 Transducers nikai iaia Eaa 1 2 Servo and Proportional Valves a 1 3 System Overview 000 c cece eee eee eee 14 Positioning Concepts 22 ceeeeeeeeeeees 2 1 AXIS IMOUON 2 oo Pete ce eg AE 2 1 Closed Loop Positioning 4 60 esesseseaeeseweeeces 2 2 Linear Displacement Transducer aa 2 2 A Simple Positioning Loop a 2 3 Proportional Gain 2 4 Feedforwarding drer d arigos ren EARE 2 5 Integral Control Reset Control 0000
159. odule will then use the global parameter Figure 7 42 Local Acceleration Deceleration Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local acceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Local deceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 50083 Command Block You use the command block to control the module It contains the words and bits necessary to initiate axis movement Optionally you can command movement to a 13th setpoint in auto mode only The command block contains two control words and five words defining setpoint 13 for each axis If you are controlling one axis the command block will be seven words long if you are controlling two axes the command block will be 14 words long 7 32 Chapter 7 Formatting Module Data WRITES Figure 7 43 Command Block Word Assignments WORD 1 Axis control word 1 A 2 Axis control word 2 3 MS Setpoint 13 position 4 LS Setpoint 13 position Axis 1 5 Setpoint 13 velocity 6 Setpoint 13 acceleration 7 Setpoint 13 deceleration y 8 Axis control word 1 A 9 Axis control word 2 10 MS Setpoint 13 position 11 LS Setpoint 13 position Axis 2 12 Setpoint 13 velocity 13 Setpoint 13 acceleration 14 Setpoint 13 dece
160. ogram scan If the data must be synchronized to the program scan transfer the block transfer read instruction to a storage location via a file to file move The program can then examine data in the storage location Figure 10 2 Block Transfer Instructions for PLC 5 Controllers BTR BTW ENABLE ENABLE N7 0 N7 5 BTR NI II BLOCK TRNSFR READ EN 15 15 Rack 00 Group Module DN Control Block Data file ER Length BTR BTW Continuous ENABLE ENABLE N7 0 N7 5 BIW II I BLOCKTRNSFRWRITE En 15 15 Rack 00 Group 0 Module 0 DN Control Block N7 5 Data file N45 131 ER Length 0 Continuous N 50112 Application Program 1 With this simple application program the module controls the motion of a single axis Figure 10 3 shows the axis movement profile Four setpoints in the setpoint block control axis motion for this loop The first three setpoints specify local velocity and acceleration deceleration while the fourth setpoint uses the global velocity and acceleration deceleration defined in the parameter block Setting the fourth setpoint s local acceleration and deceleration words to zero forces it to use global parameters The first three setpoints cause axis movement in one direction while the fourth returns the axis to the original position 10 3 Chapter 10 Sample Application Programs Important Note that the program doesn t issue the start command for each move until after the module reports in positi
161. ogrammable output specifications When the trigger conditions are satisfied the motion segment identified by the next motion segment ID is executed and the programmable outputs are updated based on the trigger output and output control bits Control Word 1 Bits 0 to 6 Next Motion Segment ID These bits identify the next motion segment to be executed when this motion segment s trigger conditions are satisfied In order for the next motion segment to be successfully executed you must ensure that the motion segment referenced by the next motion segment ID is defined If the next motion segment ID is set to O it causes a slide stop when the trigger conditions are satisfied Control Word 1 Bits 8 to 14 Motion Segment ID These bits contain a unique identification number between 14 and 127 selected by the user in binary format for the current motion segment This allows it to be referenced by another motion segment Chapter 9 Advanced Features Figure 9 5 Motion Segment Control Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Bi a ENL N V Motion segment ID Next motion segment ID 14 to 127 binary format 14 to 127 slide stop 0 binary format 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 DD 0 d0 7 0 a a A A A A A A Segment desired Han Output control Lage 00 Leave output s unchanged 01 Latch output s on 10 Latch output s off 11 Pu
162. ol word 1 next motion segment 15 3 3 0 0 34 F Motion segment control word 2 absolute position trigger 4 4 0 01105 MS Desired position 5 000 inches 5 5 0 0 0 0 LS Desired position 6 6 0 5 0 0 Local velocity 5 00 ips 7 7 0 0 4 0 Local acceleration 4 0 ips s 8 8 0 0 1 0 Local deceleration 1 0 ips s 9 9 0 0 0 3 Trigger velocity or MS trigger position 3 000 inches 10 10 0 0 0 0 LS Trigger position 11 11 OJ F 1 O 15 Motion segment control word 1 next motion segment 16 12 12 0 0 1 0 Motion segment control word 2 velocity trigger 13 13 0 0 1 0 MS Desired position 10 000 inches 14 14 OOJ O O LS Desired position 15 15 0 3 0 0 Local velocity 3 00 ips 16 16 O0 O0 1 0 Local acceleration 1 0 ips s 17 17 0 0 1 0 Local deceleration 1 0 ips s 18 18 O0 1 0 0 Trigger velocity or MS trigger position 1 00 ips 19 19 olo 0 0 LS Trigger position 20 20 1 0 1 1 16 Motion segment control word 1 next motion segment 17 21 21 Ol alo Motion segment control word 2 input 1 trigger D2 22 00 114 MS Desired position 14 000 inches 23 23 0 onoo LS Desired position 24 24 0 2 10 0 Local velocity 2 00 ips 25 25 0 0 2 0 Local acceleration 2 0 ips s 26 26 olo 1 0 Local deceleration 1 0 ips s 27 27 0 0 0 0 Trigger velocity or MS trigger position 28 28 o 0o 0 o LS Trigger position 10 13 Chapter 10 Sample Application Programs
163. on through the status block from the previous move due to the specified deceleration rate of move 3 the axis will not achieve the final rate of 5 in s Figure 10 3 Movement Profile for Application Program 1 VELOCITY nis MOVE1 MOVE2 MOVE 3 10 FINAL RATE 10 ACC 50 in s 5 FINAL RATE 5 DEC 50 in s DEC DEC a 0 40in s Sina 2 2 4 6 8 POSITION in sb 10 DEC 100 in ACC 100 in s 15 20 Final Rate a 20 MOVE 4 10 4 Chapter 10 Sample Application Programs Planning the Data Blocks for Application Program 1 For this example we assume a PLC 5 15 controller and assign the data blocks shown in Table 10 A The files used are shown in Table 10 B Table 10 A Data Blocks for Application Program 1 Block Starting Address Status N44 1 Parameter N45 1 Setpoint N45 61 Command N45 131 Table 10 B Files for Application Program 1 Size File Elements Usage R6 1 sequencer control N7 10 block transfer control D9 5 sequencer data N44 34 status block N45 145 parameter setpoint command blocks Figure 10 4 to Figure 10 7 show the hexadecimal values for the parameter setpoint and command blocks and necessary sequencer data for this example 10 5 Chapter 10 Sample Application Programs
164. on Program 2 Axis 1 Page of Designer Address of Date Axis No 1 Block Description Motion Block 3 Data Table Address Position File Data Description N80 51 1 2 1 1 O Motion block control word programmable I O word appended 52 2 O 6 3 3 Programmable I O control word outputs 1 and 2 programmable 10 14 Chapter 10 Sample Application Programs Figure 10 13 Data Table Contents for Application Program 2 Command Block Project Name Application Progam 2 Axis 1 Page of Designer Address of Date Axis No 1 Block Description Command Data Table Address Position File Data Description N45 131 1 E O O 5 Axis control word 1 diagnostic auto start 132 2 O O 1 O Axis control word 2 motion segment 16 133 3 O O O O MS Setpoint 13 position 134 4 O O O O LS Setpoint 13 position 135 5 O O O O Setpoint 13 velocity 136 6 O O O O Setpoint 13 acceleration 137 7 O O O O Setpoint 13 deceleration Figure 10 14 Data Table Contents for Application Program 2 Sequencer Data Project Name Application Program 2 Axis 1 Page of Designer Address of Date Axis No 1 Block Description Sequencer Data Data Table Address Position File Data Description D9 0 1 0101 1010 Axis 1 1 2 0 0 51 0 Motion blocks to be loaded 2 3 0 0 51
165. on segment setpoint binary format 0 slide stop 1 to 13 setpoint 14 to 127 motion segment 50094 Figure B 9 Measured Velocity words 20 and 21 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Measured velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50005 Figure B 10 Desired Velocity words 22 and 23 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Desired velocity BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50006 B 5 Appendix B Status Block Figure B 11 Desired Acceleration words 24 and 25 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Desired acceleration BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 50007 Figure B 12 Desired Deceleration words 26 and 27 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Desired deceleration BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 50087 Figure B 13 Percent Analog Output words 28 and 29 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Sign Percent analog output O BCD or binary format 0 00 to 100 0 50058 B 6 Appendix B Status Block Figure B 14 Maximum Velocity words 30 31 and 32 33 15 14 13 12 11 10 0
166. onding jog bits You may switch jog directions while the axis is jogging If while the axis is jogging in the forward direction you turn forward jog off and reverse jog on the axis decelerates to zero and then jogs in the reverse direction Bit 7 Slide Stop Setting the slide stop bit causes the axis to decelerate to a stop at the programmed deceleration rate local or global for the current axis motion After completion of a slide stop the done bit in the status block turns on The in position bit also turns on when the axis enters the in position band defined in parameter block You can then initiate motion using jog commands or by commanding setpoints or motion segments The following rules apply a the module recognizes slide stop commands in either auto or manual mode slide stop commands have higher priority than setpoint or jog commands slide stop commands do not result in a loop fault If the stop start enhancement bit in the parameter block control word is set then the axis will remain stationary while the slide stop bit is set However if the stop start enhancement bit is cleared the module will attempt to respond to new setpoint commands even though the slide stop bit is set Chapter 7 Formatting Module Data WRITES Bit 8 Immediate Stop Setting the immediate stop bit causes the module to immediately set the analog output to zero and turn on OUTPUT 2 if it is configured as the loop fault output To recov
167. ons for Allen Bradley programmable controller products The Hydraulics Configuration and Operation Option Cat No 6190 HCO operates within the Control View Core Cat No 6190 CVC environment to provide full configuration and realtime monitoring for the Linear Positioning Module Both software packages are available from Allen Bradley Company Inc 1201 South Second Street Milwaukee WI 53204 414 382 2000 Servo Analyzer is a software package that aids in tuning the axes by letting you display an axis profile as you tune it The resulting graphics may be plotted printed or saved to a file The software is available from Computer Software Design P O Box 962 Roseburg OR 97470 503 673 8583 Frequently Used Terms Preface Appendix A contains a complete glossary of terms and abbreviations used in this manual To make this manual easier for you to read and understand product names are avoided where possible The Linear Positioning Module is also referred to as the module P 3 What is the Linear Positioning Module Introducing the Linear Positioning Module The Linear Positioning Module Cat No 1771 QB is a dual loop position controller occupying a single slot in the Allen Bradley 1771 Universal I O chassis It can control servo or proportional hydraulic valves or some electric servos Position is measured with a linear displacement transducer You use the module to control and monitor the linear
168. ontroller memory that contains TO values and files The data table is where you monitor manipulate and change data to control your system Deceleration The rate at which the speed of axis motion decreases Derivative Control The component that causes an output signal to change as a function of the rate of change of the error signal Derivative control helps to stabilize the axis movement by opposing changes in positioning error Digital Representation of data in discrete numerical form Digital to Analog Conversion Production of an analog signal whose instantaneous current or voltage is proportional to the value of the digital input DIP Dual in line package Fault Any malfunction that interferes with normal operation Feedback The signal or data transmitted to the programmable logic controller from a controlled machine to show the machine s response to the command signal Feedback Device An element of a control system e g a transducer that converts linear motion to an electrical signal for comparison with the command signal A 2 Appendix A Glossary of Terms amp Abbreviations Feedback Resolution The smallest increment of dimension that the feedback device can distinguish and reproduce as an electrical output Feedback Signal The measurement signal indicating the value of a directly controlled variable which is compared to a commanded value to obtain the corrective error signal Feedforward Control
169. orkpiece to move along the axis Wiring Arm Terminal Terminals used to connect to external power supplies discrete inputs and outputs and interfaces Word A sequence of bits treated as a unit Word Length The number of bits in a word The PLC word length is 16 bits Write The process of loading information into memory as in a block transfer of data from the processor data table to an I O module Write Operation Sending a parameter block setpoint block motion block or command block from the programmable controller to the module A 5 Appendix Status Block Figure B 1 Status Block Word Assignments WORD DESCRIPTION AXIS1 AXIS2 1 Module Configuration Word N 2 6 Status word 1 3 7 Status word 2 Default Status 4 8 MS Position Error Diagnostic word 5 9 LS Position Error Diagnostic word 10 11 Active motion segment setpoint 12 14 MS Position 13 15 LS Position 16 18 MS Following Error 17 19 LS Following Error 20 21 Measured Velocity Extended Status 22 23 Desired Velocity 24 25 Desired Acceleration 26 27 Desired Deceleration 28 29 96 Analog Output 30 31 Maximum Positive Velocity 32 33 Maximum Negative Velocity B 2 Appendix B Status Block Figure B 2 Module Configuration Word word 1 0 Fi 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 8 O 0 UCO O A A A A
170. ortant Incremental motion segments and relative position triggers are based on the current axis position at the beginning of the motion segment s execution Because of this if you link a series of incremental motion segments together you will likely see a small build up of error It is recommended that an absolute position move be done occasionally to remove this error build up Also because incremental setpoint position is based on the previous setpoint s endpoint but incremental motion segment position is based on the current axis position at the beginning of the motion segment s execution it is recommended that you not use a combination of incremental setpoints and motion segments together 9 13 Programming Objectives Sample Application Programs This chapter gives a general explanation of how to program programmable logic controllers and provides the code for and descriptions of the two sample application programs contained on the disk that accompanies the Linear Positioning Module Application Program 1 shows how to implement axis movement for a single axis using a setpoint block containing four setpoints Application Program 2 shows how to implement axis movement for a single axis using the motion block discussed in Chapter 9 The application programs on the accompanying disk have been developed for both the 6200 and ICOM software packages The first application program is called QB1 and the second is QB2 Another application p
171. oting Flowchart Continued YES Check diagnostic gt word s to determine the cause of the programming error Programming Error Faults indicated by 2nd status word s Take appropriate corrective action 1 Check PLC program to ensure that a parameter block was sent 2 Check parameter block values Perform a manual jog 5 1 Check for active stop or reset commands 2 Re check for errors in NO status block 3 Ensure that axis integration has been erf d tly performed correctly YES 11 6 Chapter 11 Troubleshooting Figure 11 2 Troubleshooting Flowchart Continued 7 Establish auto mode Execute a move to each setpoint 1 Check for active stop or reset commands 2 Re check for errors in status block Moves executed correctly gt 3 Check setpoint s position velocity acceleration and deceleration YES 4 Ensure that axis initialization and tuning has been performed E N D correctly Flowchart Notes 1 Refer to the Table 11 A 2 Guard against damage to equipment by powering down the system before removing or installing any module 3 The module address programmed in the block transfer instruction must be the address of the Linear Positioning Module The rack number in the module
172. ou can command movement to selected setpoints in auto mode You do this by specifying the setpoint number 1 to 12 in the command block Moves to any setpoint are only possible in auto mode If you select manual mode only jog moves are possible The setpoint position is in metric or inches depending on the option which you selected in the parameter block The maximum range for programmable setpoint position is 799 900 to 799 900 inches 7999 00 to 7999 00 millimeters Chapter 7 Formatting Module Data WRITES Setpoint Block Control Word word 1 The setpoint block control word identifies the block as a setpoint block specifies the axis or axes for which the setpoints are intended and indicates the number of setpoints defined in the block Figure 7 38 Setpoint Block Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 AA AA o Mm a 7 DEE Identifies this as A Number of setpoints a setpoint block 1 to 12 binary Destination format 0 1 Axisi 1 0 Axis2 1 1 Both Axes Bit 8 Axis 1 If this bit is set the module applies setpoint moves defined in this block to axis 1 Bit 9 Axis 2 If this bit is set the module applies setpoint moves defined in this block to axis 2 Important If bits 8 and 9 are both set a single block transfer will update both axes You should only set both bits if your application requires that both axes use the same setpoint moves i e that
173. portional gain is defined as the ratio of the axis speed divided by the positioning error or following error proportional gain axis speed positioning error Proportional gain effects axis response to positioning commands Figure 7 24 shows how different gain values affect system responsiveness Figure 7 24 Following Error vs Speed for Various Gains Analog Output Axis Speed 7 U ESF ee High Gain Low Gain Following Error High Gain Low Gain Low Following Error High Following Error 50068 Chapter 7 Formatting Module Data WRITES If gain is relatively high following error will be relatively small because the system will be more sensitive to changes in following error If gain is low following error becomes relatively larger because the system is not as responsive to changes in following error Choose a gain value to match the capabilities of your equipment and provide an adequate system response The proportional gain that you choose must provide a stable system and maintain desired positioning accuracy If the gain is too high the axis may overshoot programmed endpoints and oscillate around them If the gain is too low the axis may stop before it is within the desired in position or PID bands Gain Break Speed words 18 and 47 At speeds equal to and above the gain break speed the proportional gain is increased or reduced by the gain factor parameter words 19 and 48 Belo
174. position of a tool or workpiece along one or two axes Figure 1 1 Linear Positioning Module CAT NO 1771 LINEAR Po ITHONING lAn MODULE erg MADE IN CANADA PART NO BACKPLANE REQUIREMENTS Aat5VDC AMINA 50110 Chapter 1 Introducing the Linear Positioning Module Product Compatibility PLCs You can use the module with any Allen Bradley PLC that uses block transfer programming in local 1771 I O systems including PLC 2 family a PLC 3 family PLC 5 family PLC 5 10 Cat No 1785 LT4 PLC 5 11 Cat No 1785 LT11 PLC 5 12 Cat No 1785 LT3 PLC 5 15 Cat No 1785 LT PLC 5 20 Cat No 1785 L20 PLC 5 25 Cat No 1785 LT2 PLC 5 30 Cat No 1785 L30 PLC 5 40 Cat No 1785 L40 PLC 5 60 Cat No 1785 L60 Transducers The Linear Positioning QB Module is compatible with linear displacement transducers manufactured by MTS Systems Corporation Sensors Divisions Box 13218 Research Triangle Park North Carolina 27709 919 677 0100 Balluff Inc P O Box 937 8125 Holton Drive Florence KY 41042 606 727 2200 Chapter 1 Introducing the Linear Positioning Module Santest Co Ltd c o Ellis Power Systems 123 Drisler Avenue White Plains NY 10607 914 592 5577 Lucas Schaevitz Inc 7905 N Route 130 Pennsauken NJ 08110 1489 609 662 8000 All four manufacturers provide versions of th
175. r 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Global deceleration rate BCD 999 9 ips s or 9999 mmps s max Binary 3276 7 ips s or 32767 mmps s max 30076 Figure C 22 Velocity Smoothing Jerk Constant Word words 26 and 55 15 14 13 12 11 10 09 08 07 06 05 04 03 02 0i 00 Velocity smoothing constant BCD 99 99 ips s ms or 999 9 mmps s ms max Binary 327 67 ips s ms or 3276 7 mmps s ms max 50075 C 9 Appendix C Parameter Block Figure C 23 Jog Rate Low and High Words words 27 28 and 56 57 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Low jog rate BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max Must be lt the high jog rate 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 High jog rate BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max Must not be higher than the greater of either of the analog calibration constants 50077 C 10 Parameter Analog Range Analog Calibration Constant Analog Calibration Constant Transducer Calibration Constant Zero Position Offset Software Travel Limit Software Travel Limit In Position Band PID Band Deadband Excess Following Error Maximum PID Error Integral Term Limit Proportional Gain Gain Break Speed Gain Factor Integral
176. r axis 2 for this axis contain diagnostic information Bit 8 Integral Limit Reached The integral limit reached bit turns on if the integral term of the PID algorithm reaches the maximum specified in the parameter block See Chapter 7 It turns off when the integral term returns to within the permitted limits Reaching the integral limit doesn t result in a loop fault Bit 9 Excess Following Error If the following error equals or exceeds the maximum following error programmed into the parameter block the module turns this bit on and activates OUTPUT 2 if configured as the loop fault output Bit 10 PID Error If the positioning error equals or exceeds the maximum PID error programmed into the parameter block if the PID bit is on the module turns this bit on and activates OUTPUT 2 if configured as the loop fault output Bit 11 Immediate Stop The stop bit turns on when the module recognizes a hardware stop input or immediate stop command The module also activates OUTPUT 2 if configured as the loop fault output when it performs an immediate stop Bit 12 Discrete Input Fault The discrete input fault bit turns on when the module detects a fault in the discrete input circuitry In this event the module also activates OUTPUT 2 if configured as the loop fault output The following conditions will cause a discrete input fault loss of discrete input power discrete input circuitry fault Chapter 6 Interpreting Mo
177. r both axes simultaneously This requires a jog command in manual mode or either a setpoint or motion segment move command in auto mode The parameter block contains parameters to configure the two axes controlled by the module Figure 7 1 shows parameter block word assignments 7 1 Chapter 7 Formatting Module Data WRITES Figure 7 1 Parameter Block Word Assignments WORD 1 Parameter control word A 2 Analog range 3 Analog calibration constant 4 Analog calibration constant 5 MS Transducer calibration constant 6 LS Transducer calibration constant 7 MS Zero position offset 8 LS Zero position offset 9 Software travel limit 10 Software travel limit 11 In position band 12 PID band 13 Deadband 14 Excess following error 15 Maximum PID error Hana 16 Integral term limit 17 Proportional gain 18 Gain break speed 19 Gain factor 20 Integral gain 21 Derivative gain 22 Feedforward gain 23 Global velocity 24 Global acceleration 25 Global deceleration 26 Velocity smoothing constant 27 Low jog rate 28 High jog rate 29 Reserved 30 Reserved y A Words 31 to 59 specify same parameters as Parameters words 2 to 30 but for axis 2 Values may differ for axis 2 V 7 2 Chapter 7 Formatting Module Data WRITES Parameter Control Word word 1 The parameter cont
178. r example to enter a setpoint of 31 999 you could either enter the value 31 in the first word and 999 in the second or a leave the first word zeroed and enter the value 31 999 in the second word Both methods result in a setpoint value of 31 999 H 4 Appendix Product Specifications Location 1771 Universal I O chassis One slot Sampling Period 2 milliseconds for both loops i e both axis positions are read simultaneously every 2 milliseconds Highest Velocity 327 67 inches per second 3276 7 millimeters per second Switchable Analog Output Range e 10 VDC to 10 VDC up to 10 mA 20 mA to 20 mA up to 600 ohms 50 mA to 50 mA up to 240 ohms 100 mA to 100 mA up to 120 ohms Analog Output Resolution 12 bit resolution Transducer Interface 180 inches 4572 millimeters maximum stroke length Resolution 0 002 inches one circulation RS422 Drivers Receivers External interrogation 3 microseconds pulse width Single gate pulse 1 680 milliseconds max 117 MHz internal counters Transducer Compatibility Manufacturer MTS Systems Corporation Temposonics II with digital personality module Power requirements 15 VDC 150 mA 15 VDC 100 mA Temposonics Transducer with digital interface box Power requirements 15 VDC 5 VDC 5 Manufacturer Balluff Inc BTL Linear Displacement Transducer Power requirements 24 VDC 10 150 mA Manufacturer Santest C
179. r for a given velocity equals the velocity divided by the proportional gain When the following error reaches the maximum value permitted as specified by the excess following error parameter the module initiates an immediate stop loop fault To disable excess following error checking specify an excess following error of zero Figure 7 20 Excess Following Error Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Excess following error BCD or binary 9 999 inch or 99 99 mm max 50022 Example If axis movement is 5 ips and proportional gain Kp at that speed is 0 05 ips mil where 1 mil 001 inch then Expected Following Error 5 0 05 100 mil If you specify an excess following error of 50 mil then an immediate stop will occur if the following error reaches 150 mil the expected following error plus 50 mil Maximum PID Error words 15 and 44 The maximum PID error is the maximum position error when the integral and derivative components are enabled for final axis positioning i e when the desired velocity is zero and the axis is within the PID band When the maximum PID error is exceeded the module initiates an immediate stop loop fault Chapter 7 Formatting Module Data WRITES Figure 7 21 Maximum PID Error Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Maximum PID error BCD or binary 9 999 inch or 99 99 mm max If no
180. r that while the axis is in motion the deceleration cannot be decreased until after the done bit goes high and deceleration can only be increased if velocity smoothing is disabled The same criteria apply as for issuing software start commands with the axis in motion See the section Command Block in Chapter 7 9 3 Chapter 9 Advanced Features Motion Block Control Word The motion block control word identifies the block as a motion block specifies the number of motion segments defined in the block and indicates whether or not it contains a programmable I O control word See Figure 9 3 Nineteen motion blocks must be downloaded to the module to configure all 114 motion segments Figure 9 3 Motion Block Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 EAT Oe 2 oo 82 jas 2 3 gy ra Identifies this as A Number of motion a motion block segments specified Destination in this block 0 to 6 01 Axis 1 10 Axis 2 Programmable 11 Both Axes I O control word 0 No 1 Yes Bit 4 Programmable I O Word If you want to configure the programmable I O set this bit to 1 to indicate to the module that a programmable I O control word is appended to the end of the motion block If you do not specify I O control information a default configuration is used Bit 8 Axis 1 Set this bit to 1 if the motion block applies to axis 1 Bit 9 Axis 2 Set this bit to 1 if the motion blo
181. reby changes in position 2 7 Chapter 2 Positioning Concepts You can control the integral and derivative components by defining a PID proportional integral and derivative band The PID band is a region surrounding the programmed endpoint where the system enables integral or derivative terms As a result the integral and derivative components affect only the final positioning of the axis 2 8 How the Module Fits in a Positioning System Positioning with the Linear Positioning Module This chapter explains how the Linear Positioning Module interacts with a programmable controller to control axis movement within a linear positioning system Figure 3 1 shows how the module functions in a typical positioning system Note that the positioning loop closes in the module and functions independently of the programmable controller s I O scan rate The fast loop update time of 2 ms is possible because the module has a built in microprocessor Figure 3 1 The Module in a Positioning System 1771 QB MODULE Feed K Forward Ng Integrator gt K Sat Desired Position Following Velocity Velocity Command Error y3 R Command Servo Valve gt S dt gt gt Kp JI aap gt D A i nawe o Integrator Derivative NG 4 pl K d Linear Actual D gt dt Displacement i Position Transducer ft he IL a 50040
182. rectional differences in system performance Follow these steps to adjust the analog calibration constants 1 Start the hydraulic pump and check the system pressure Apply power to the I O chassis and the axis ATTENTION To guard against possible injury Keep all personnel clear of the axis Have a competent person standing by to disconnect axis power and stop the flow of hydraulic fluid if necessary 2 Ifyou have previously tuned the axis you can leave the PID and feedforward gains unchanged Otherwise initialize the loop parameters as follows Proportional gain Kp 0 0100 ips mil Integral gain K 0 0100 ips s mil Derivative gain Kp 0 Feedforward gain Kp 0 Gain break speed 0 ips Gain factor z0 Integral term limit 10 PID band 0 500 Deadband 0 Maximum PID error 1 000 in Excess following error 1 000 in 3 Initialize both analog calibration constants to the maximum velocity possible for the servo cylinder selection For hydraulic systems with cylinders with circular cross sections the maximum velocity can be approximated using the following formula Velocity 4 9 Q B inches per second where Q flow rate in gallons per minute B bore of cylinder in inches Chapter 8 Initializing and Tuning the Axes Example Maximum Velocity Calculation If you have a cylinder with a 2 inch bore inside diameter and a servo valve rated for 10 gallons per minute the maximum velocity is approximated a
183. rigger velocity magnitude Bits 0 to 6 of axis control word 2 in the command block are used to identify the next setpoint or motion block you want to command To initiate a motion block movement you command one of its motion segments by placing the motion segment ID in bits O to 6 A motion segment ID number can be from 14 to 127 in binary format See Figure 7 45 Status word 2 will indicate when motion segments are active see Figure 6 4 while the extended status words 10 and 11 will contain the ID number of the active motion segment see Figure 6 8 Any programming errors in the motion blocks or any operational errors that occur while using motion segments will be reported in words 4 5 and 8 9 of the status block see Figure 6 5 and Table 6 A if those words are configured by the command block to return diagnostics 9 11 Chapter 9 Advanced Features Using the Motion Block 9 12 As mentioned previously because initiating a single motion segment from the command block can trigger a sequence of motions you must exercise caution when using the motion block For safety reasons a watchdog monitors the state of the programmable controller If it faults or enters programming mode while a motion segment is executing the watchdog in the module initiates a slide stop The programmable outputs in the motion block will be set to either their last state or to reset state depending on how bit 8 programmable outputs reset fault state
184. rogram QB2 515A should be used if you are running a Series A PLC 5 15 The main objectives of a programmable controller program for the Linear Positioning Module are to regularly transfer the status block from the Linear Positioning Module to the programmable logic controller s data tables You achieve this through a block read instruction to transfer the parameter block the command block the setpoint block optional and the motion block optional from the programmable controller s data table to the Linear Positioning Module The program must manipulate the source address of the block transfer write instruction to determine which block to send next After powerup or axis reset the program must send data blocks to the module in the following order 1 Parameter block 2 Setpoint block s if you only command setpoint 13 or a motion segment in the command block you won t need to send a setpoint block 3 Motion block s if required 4 Command block The program will then continue sending command blocks during normal operation The module does not request the blocks in the required order the program must maintain this order Chapter 10 Sample Application Programs Figure 10 1 Overview of Block Transfers PLC 1771 QB Data Table Module Status Block Transfer Read Status Block Block Parameter Parameter Block Bloc
185. rol word identifies the block as a parameter block and provides configuration information common to both loops You can also disable the transducer interface analog outputs and discrete inputs by setting the appropriate bits If all three sections are disabled you can test the programmable controller program without connecting the wiring arm to the module Unused sections do not have to be powered Figure 7 2 Parameter Block Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 O1 00 0 1 0 0 0 0 0 TE ii Ak SA A A AAAA Identifies this as a Axes used Parameter Block 01 Axis 1 Stop Start Enhancement a a ai 0 Disabled 1 Enabled Units i pm 0 Inch Binary Position Format 1 Metric 0 Double Word 1 Single Word Format Transducer Interface a aa 0 Enabled 1 Disabled Discrete Inputs 0 Enabled Analog Outputs 1 Disabled 0 Enabled 1 Disabled 50001 Bits 0 and 1 Axes Used Bits O and 1 determine which axes are controlled by the module You can use either one separately or both The module performs error processing independently for each axis If it detects a format error for one axis it discards all new parameters for that axis Bit 2 Inch metric Bit 2 selects between metric and imperial units 7 3 Chapter 7 Formatting Module Data WRITES 7 4 Bit 3 Binary BCD Bit 3 determines the format of
186. rror occurred Table 6 A shows the error codes 6 10 Chapter 6 Interpreting Module to PLC Data READS Table 6 A Error Codes Code Definition 00 No errors detected 01 Invalid block identifier 02 Non BCD number entered 03 Invalid bit setting unused bits must be set to zero 04 Data is out of range 05 Invalid number of axes programmed 06 Setpoint is not defined 07 Setpoint commanded while in manual mode 08 Position exceeds a software travel limit 09 Attempted to switch to auto mode with axis in motion 10 Attempted to switch to manual mode with axis in motion 11 Velocity exceeds maximum 12 High jog rate gt maximum velocity 13 Low jog rate gt high jog rate 14 Maximum PID error must be outside the PID band 15 Incorrect block length 16 First block after powerup must be a parameter block 17 Negative travel limit gt positive travel limit 18 Jog commanded while in auto mode 19 Forward and reverse jogs commanded simultaneously 20 Block transfer write attempted before module confirmed all power on wiring arm 21 Specified velocity exceeds maximum velocity for direction of motion 22 Motion segment ID not defined 23 Motion segment commanded while in manual mode 24 A motion segment is attempting to use an output which is not configured as a programmable output 25 Motion segment ID previously defined in same motion block Position Information words 4 5
187. s follows Velocity 4 9 x 10 2 12 25 ips 4 Use bits 5 and 6 of axis control word 1 N45 131 to jog the axis back and forth between the software travel limits until the maximum velocity stabilizes in the status block Important The maximum velocity predictions will vary slightly for moves at different velocities due to non linearities in the hydraulic system If it is critical that the module perform best at a particular velocity that velocity should be used to determine the optional analog calibration constants Otherwise it is recommended that you use a moderately low velocity 10 of the maximum velocity for this purpose Adjust this velocity in N45 27 5 The maximum positive velocity words N44 30 in the status block is the positive analog calibration constant The maximum negative velocity words N44 32 in the status block is the negative analog constant Enter these values into the parameter block words N45 3 and N45 4 Important If the maximum velocity returned by the module is dramatically different than your initial guess check the analog output switches and the analog range word Feedforward Gain The feedforward gain can dramatically reduce the following error during a move The effectiveness of the feedforward gain is dependent on the accuracy of the analog calibration constants the linearity of the servo valve and system responsiveness You can usually achieve acceptable results by selecting a conserva
188. s achieved by optoelectronic coupling between I O circuits and control logic Environmental Conditions Operating temperature 0 C to 60 C 32 F to 140 F Storage temperature 40 C to 85 C 40 F to 1850F Relative humidity 5 to 95 non condensing A Absolute Positioning 7 29 Acceleration _7 34 Global 7 24 Local 7 32 With Velocity Smoothing 7 24 Analog Calibration Constants 7 6 Analog Fault Bit 6 9 Analog Outputs 4 7 Interface Terminals 4 3 Analog Range 7 5 Auto Mode 3 4 7 35 Auto Mode Bit 6 5 Auto Manual Bit 6 5 7 35 Auto Manual Input 4 6 Axis Control Words 7 32 Axis Motion Concepts 7 19 Axis Polarity 7 9 Binary BCD Bit 7 4 Blended Moves 9 1 Block Transfer Instructions 6 1 C Circulations 2 2 Command Block 3 2 9 11 Control Word ID Bits 7 38 D Data Block 7 1 Command 7 1 Motion 9 1 Parameter 7 1 Setpoint 7 1 Data Blocks 6 1 Deadband 2 7 7 15 Deceleration 7 34 Global 7 24 Local 7 32 Derivative Control 2 6 Derivative Gain 2 6 7 22 Index Desired Velocity 2 4 Diagnostic Valid Bit 6 8 Diagnostic Words 6 9 Error Codes 6 10 Discrete Inputs Disabling 6 5 Enabling 6 5 Fault 6 8 Power Supply 5 14 Priority Over Jog Bits 7 36 Terminals 4 2 Voltage and Current Requirements 5 12 Discrete Outputs 5 13 Characteristics 4 8 Done Bit 6 4 E Electrostatic Discharge Avoiding 5
189. setpoint block can be from 7 to 62 words long Each setpoint move defines the target axis position velocity acceleration and deceleration Figure 7 37 shows setpoint block word assignments 7 27 Chapter 7 Formatting Module Data WRITES Figure 7 37 Setpoint Block Word Assignments Setpoint block control word Incremental absolute word MS Setpoint position LS Setpoint position Local velocity Move 1 Local acceleration Local deceleration gt q Upto MS Setpoint position 62 LS Setpoint position words Local velocity Move 2 Local acceleration Local deceleration y MS Setpoint position LS Setpoint position Local velocity Local acceleration Local deceleration Move N 50078 The module internally maintains information on each of the 12 setpoints controlled by the setpoint block On powerup or after a reset command each of these internal setpoints is disabled The programmable controller must redefine one or all of these setpoints through the setpoint block Therefore the size of the setpoint block depends on the number of setpoints to be modified The first word in the setpoint block is the setpoint block control word This control word identifies the block as a setpoint block specifies that it applies to axis 1 or 2 and gives the number of setpoint moves contained in the block up to 12 Once the setpoint block is successfully processed by the module y
190. sfer write instruction Figure 1 2 System Overview PLC Processor Transducer e Status Block a aaa nterface e Parameter Block Linear e Setpoint Block Positioning Analog Output Servo Valve e Motion Block Module o Linear Displacement e Command Block Mi Ki Discrete Inputs o Transducer me Jog Forward Piston Type m e Jog Reverse Cylinder m e Hardware Start e Auto Manual e Hardware Stop me Input 1 e Input 2 NOTE All inputs and outputs are duplicated for the second axis Discrete Outputs e gt e Output 1 iw e Output 2 50033 Using PLC programming you can send configuration and control parameters to the module via parameter setpoint motion and command blocks With this data the module determines axis parameters calculates velocity curves and commands axis end positions See Chapters 7 and 9 read status blocks to monitor axis position and status indicators in your process control system See Chapter 6 The module s analog outputs one for each control loop connect to servo or proportional valves via wiring arm terminals The module controls speed and position by adjusting the voltage or current levels of the analog outputs 500 times each second 1 4 Chapter 1 Introducing the Linear Positioning Module The module also connects to linear displacement transducers one for each of the two axes
191. ss of analog power analog interface fault memory fault discrete input fault transducer interface fault excess following error excess PID error loss of feedback hardware stop input or an immediate stop command Bit 9 OUTPUT 1 You set this bit to 1 to indicate that OUTPUT 1 is programmable If you clear this bit OUTPUT 1 defaults to an in position output Bit 10 OUTPUT 2 You set this bit to 1 to indicate that OUTPUT 2 is programmable If you clear this bit OUTPUT 2 defaults to a loop fault output Bits 12 13 INPUT 1 Trigger With these bits you can set the level edge trigger sensitivity for INPUT 1 to high level low level positive edge or negative edge Bits 14 15 INPUT 2 Trigger With these bits you can set the level edge trigger sensitivity for INPUT 2 to high level low level positive edge or negative edge 9 7 Chapter 9 Advanced Features Motion Segments 9 8 Default I O Configuration If you do not download the programmable I O control word the module defaults both axes to INPUT 1 positive edge trigger INPUT 2 high level trigger OUTPUT 1 in position output OUTPUT 2 loop fault output A motion segment consists of a setpoint trigger conditions and programmable output options See Figure 9 2 Motion Segment Control Words The motion segment control words see Figure 9 5 contain the current motion segment ID number trigger conditions the next motion segment ID number and pr
192. stem Binary Coded Decimal A numbering system used to express individual decimal digits 0 through 9 in four bit binary notation Bit A binary digit The smallest unit of information represented by or 0 A bit is the smallest division of a PLC word Block A set of words handled as a unit Block Transfer A programming technique used to transfer up to 64 data words between an I O module and the programmable controller A 1 Appendix A Glossary of Terms amp Abbreviations Circulations A digital process that involves re triggering an interrogation pulse a fixed number of times by the return pulse to provide more counting time for digital counter circuitry thus improving resolution from a linear displacement transducer system The on time of the digital interface electronics pulse duration output is multiplied by a specified factor Circulation and recirculation are sometimes used interchangeably Clear To erase the contents of a storage device and replace them with zeros Closed Loop A signal path that compares its output with desired values to regulate system behavior Control Loop A closed loop that controls the movement of a tool or workpiece along an axis The module has two control loops Current Sink A signal sending device that shunts current to ground Current Source A signal sending device that generates positive current D A Digital to analog convertor Data Table The part of programmable logic c
193. tage drop of 1 6 VDC shown above and provides the minimum voltage required to drive a module discrete input 10 VDC a few seconds However a continuous short circuit will damage the A ATTENTION The discrete outputs can withstand a short circuit for module s discrete output transistor OUTPUT 1 When OUTPUT 1 terminals 36 37 is configured as an in position output it turns off when axis movement toward a commanded endpoint begins and turns on when the axis enters the in position band defined in the parameter block You can connect an in position output to a hardware start input to provide a simple form of axis coordination When this output is configured as a programmable output its state is determined by the configuration information provided in the motion blocks See Chapter 9 OUTPUT 2 When OUTPUT 2 terminal 38 39 is configured as a loop fault output it is high under normal axis operation When the module detects a fault in the axis the loop fault output goes low You can connect the loop fault output to the hardware stop input of other control loops so all axis movement will stop if a fault occurs The loop fault output then provides the low signal required by the hardware stop input of the other axis As with OUTPUT 1 OUTPUT 2 can be configured as a programmable output and its state determined by information in the motion blocks You must provide external DC power for the input and output circuits You cou
194. ter 10 for a detailed explanation of the ladder logic for this example Sample Application Program 2 Figure 9 2 Profile Using Motion Segments Position trigger E 3 VELOCITY in s Discrete INPUT 1 AND Position trigger 0 Motion Segment 16 desired position 14 local velocity 2 in s acceleration 2 ips s deceleration 1 ips s INPUT 1 trigger active next motion segment 17 Velocity Discrete Discrete trigger INPUT 1 INPUT 2 1 in s trigger trigger 6 8 10 19 14 16 18 20 Position in 18 Motion Segment 14 desired position 5 local velocity 5 in s acceleration 4 ips s deceleration 1 ips s position trigger active 3 next motion segment 15 Motion Segment 17 desired position 20 local velocity 3 in s acceleration 3 ips s deceleration 1 ips s INPUT 2 trigger active next motion segment 18 Motion Segment 15 desired position 10 local velocity 3 in s acceleration 1 ips s deceleration 1 ips s velocity trigger active 1 in s next motion segment 16 Motion Segment 18 desired position 0 local velocity 5 in s acceleration 5 ips s deceleration 1 ips s INPUT 1 AND position 0 triggers active next motion segment 14 50096 Important When linking multiple motion segments together as shown in Figure 9 2 it is important to remembe
195. the data contained in block transfer reads and writes BCD format provides compatibility with older programmable controllers Binary format provides compatibility with the PLC 5 which uses integer 16 bit 2 s complement data Bit 4 Discrete Inputs Setting this bit to 1 disables the discrete inputs The state of the inputs can still be monitored by the status block but the function of each input is disabled Discrete faults are reported in the status block but OUTPUT 2 if configured as the loop fault output is not activated when a discrete input fault occurs The discrete input section does not have to be powered when the inputs are disabled If disabled the function of each input is as follows Discrete Input Function stop input disabled auto manual input auto jog inputs disabled start input disabled Bit 5 Analog Outputs Setting this bit to 1 disables the analog outputs by opening internal relays Analog faults are still reported in the status block but OUTPUT 2 if configured as the loop fault output is not activated when an analog fault occurs The analog section does not need to be powered when the analog outputs are disabled The percent analog output is displayed in the status block even if the analog outputs are disabled This allows you to test the programmable controller program Bit 6 Transducer Interface Setting this bit to 1 disables the transducer interface The interrogate pulse is s
196. the loop gains proportional integral derivative and feedforward Chapter 7 Formatting Module Data WRITES Figure 7 4 Analog Calibration Constant Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Analog calibration constant for positive motion BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Analog calibration constant for negative motion BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max Note ips inches per second mmps millimeters per second 50027 For servo valves the analog calibration constants can be roughly calculated from the diameter of the cylinder and the maximum flow rate of the valve You will fine tune these parameters when you perform the tuning procedure given in Chapter 8 Transducer Calibration Constant words 5 6 and 34 35 The module uses the transducer calibration constant to convert the transducer generated pulse width into an axis position reading Calculate the transducer calibration constant by multiplying the figure stamped on the side of the transducer head by the number of circulations that you are using This figure varies slightly from one transducer to another It is typically 9 0500 microseconds per inch or 0 35600 microseconds per millimeter Example If your transducer is stamped with 9 0500 microseconds per inch and you
197. till sent and feedback faults are reported but the transducer reading is ignored The transducer section does not need to be powered when the transducer interface is disabled When the transducer interface is disabled the module will simulate transducer feedback to help you test the programmable controller program The position changes at the programmed acceleration velocity and deceleration when a setpoint motion segment or jog command is issued The following error will remain Zero Chapter 7 Formatting Module Data WRITES Bit 7 Binary Position Format When bit 7 is set to 1 and binary format is specified in the parameter control word bit 3 0 the module can display position and error values between 32 768 and 32 767 inches 327 68 and 327 67 mm in the second word of the position or following error in the status block This feature allows applications with a stroke of less than 32 inches to monitor position and error with a single integer If the position or error exceeds the maximum the module automatically reverts to double word format Setting this bit to 0 or selecting BCD format in the parameter control word bit bit 3 1 configures the module to display position and error in double word format The first word displays inches or centimeters and the second word displays fractions of an inch or centimeter See Table 7 A Table 7 A Single and Double Word Format Representations Position Error Double Word Format S
198. tive feedforward gain of 30 For more precise velocity control adjust the feedforward gain as follows 1 Start the hydraulic pump and check the pressure 8 11 Chapter 8 Initializing and Tuning the Axes 8 12 2 Initialize the loop gains as follows Proportional gain Kp 0 0050 ips mil Integral gain ky 0 Derivative gain Kp 0 Feedforward gain Kp 20 0 3 Initiate a move using setpoint or jog commands Increase the feedforward gain until the axis begins to overshoot i e to exceed the desired end position 4 Decrease the feedforward gain by 10 This reduced value will result in a more stable performance of the axis PID Loop Gains The next step in tuning the system is to find the appropriate PID gains The following procedure requires that you increase the proportional gain until the axis oscillates Do not use this procedure if your equipment cannot tolerate oscillation First determine the proportional gain 1 Initialize the loop parameters to the following defaults Kp 0 0200 ips ml Ki 0 Kp 0 The gain break speed and gain factor should be zero 2 Initiate a jog or setpoint move with the highest acceleration and deceleration that you plan to use 3 Increase the proportional gain using increments of 0 0100 and repeat step 2 until continuous oscillations result 4 Decrease the proportional gain by 30 This will result in stable performance of the axis In most cases a proportio
199. torage of data from an intelligent I O module to the PLC data table Repeatability The ability to return to the same linear measurement along the same axis A 4 Appendix A Glossary of Terms amp Abbreviations Reverse Motion Axis movement in a negative direction along a coordinate axis rms Root mean square Servo Valve A hydraulic valve assembly capable of controlling the linear movement of a tool or workpiece Setpoint A pre defined position on the axis Shield A conductive barrier that reduces the effect of electric and or magnetic fields Sign The symbol or bit that distinguishes positive from negative numbers Signal The event or electrical quantity that conveys information from one point to another Significant Data A digit that contributes to the precision of a value The number of significant digits begins with the one contributing the most value called the most significant digit and ends with the digit contributing the least value called the least significant digit Summing Point A point where signals are added algebraically Transducer A device which receives energy in one form and supplies energy in another in a positioning system transducers usually measure linear displacement Trigger Conditions The conditions which when satisfied cause a subsequent motion segment to occur True As related to PLC instructions an enabled logic state Velocity The target speed for the tool or w
200. tored in reference word B3 1 and guarantees that the data transition instruction DTR on rung 2 3 will be true causing the first motion block to be loaded Rung 2 3 If the ready bit is high and the sequencer s done bit is low the module has received a parameter block but has not yet loaded all the motion blocks the data transition instruction DTR compares the block transfer toggle bit in the status block with the state of the toggle bit from the previous scan If they differ the next motion block s address is sequenced into the BTW s control block causing the programmable controller to send the next motion block when rung 2 5 is executed Chapter 10 Sample Application Programs Figure 10 15 Program Rungs for Application Program 2 Rung 2 0 BTR ENABLE N7 0 Ik 15 READY N44 2 KIT ENABLE B3 ONS AXIS 1 MOTION BLOCKS LOADED R6 2 JI DN BTR BLOCK TRNSFR READ EN Rack Group Module DN Control Block Data file ER Length Continuous FILE ELEMENT NOT NOT Source N44 2 0 Dest B3 1 0000000010000000 R6 1 RES R6 2 RES FILE DTR Sao DATA TRANSITION SEQUENCER OUTPUT EN Source N44 2 File D9 0 0 Mask FFFF ADN Mask 0080 Dest N7 8 Control R6 1 Reference B3 1 Length 4 0000000010000000 Position 4 ELEMENT Sao SEQUENCER OUTPUT File D9 10 Mask FFFF EN DN Dest N
201. turn the module for repair if Loop 2 the FAULT LED remains lit when you restore power O Fault Loop 1 Inactive Module hasn t received or accepted Loop 1 A Send Loop 1 parameters Loop 1 Loop 2 Active parameter block B Check status block for Loop 1 parameter Loop block errors Legend on O oFF Blinking O ONor OFF Troubleshooting Feedback Faults between the module and the transducer 1 2 Turn off axis power If you are experiencing feedback faults perform the following loopback test to determine whether the problem is in the module the transducer or the cabling Disconnect the transducer from the GATE 1 2 INTERR 5 6 GATE 3 4 and INTERR 7 8 terminals on the module s wiring arm Connect the GATE terminal 1 2 to the INTERR terminal 5 6 11 3 Chapter 11 Troubleshooting Troubleshooting Flowchart 11 4 4 Connect the GATE terminal 3 4 to the INTERR terminal 7 8 5 Power up the axis and check the status block for feedback faults If you still experience feedback faults make sure that your transducer power supply is providing 5 VDC 5 through terminals 9 and 10 on the module s wiring arm If there aren t any feedback faults then the problems originated in the transducer or the cabling Check the cable by performing the loopback test again with the gate and interrogate lines connected at the far end of the cable instead of at the module The flowchart in Figure
202. two or more modules to a single control line you must pull the signal to ground with either a double throw switch or a pull down resistor Figure 5 9 Using a Double Throw Switch to Control Multiple QB s 10 to 30 VDC Module A jaar Wiring Arm e a ta AUTO MAN 9 16 START 18 STOP 20 JOG FWD 22 JOG REV 24 INPUT 1 26 INPUT 2 g po I P COMMON Module B Wiring Arm LOOP2 14 AUTO MAN 16 START 18 STOP 20 JOG FWD 22 JOG REV 24 INPUT 1 26 INPUT 2 I P COMMON Chapter 5 Installing the Linear Positioning Module Pull down resistors or double throw switches are only required if you wish to connect two or more QB s They are not required to control multiple discrete inputs on a single module Figure 5 10 Using Pull Down Resistors to Control Multiple QB s Module A Wiring Arm Jog Reverse Kerli 10 to 30 VDC 14 AUTO MAN aaa M 16 START Jog Forward 18 STOP ens o 20 JOG FWD Pull Down L e 22 JOG REV Resistors S 24 INPUT 1 1000 Q 2W i 26 INPUT 2 EN I P COMMON Module B Wiring Arm LOOP2 14 AUTO MAN 16 START 18 STOP 20 JOG FWD Pull Down a z 22 JOG REV Resistors z 24 INPUT1 1000 Q 2W 26 INPUT 2 t 98 I
203. uipment Connecting AC Power Figure 5 6 shows AC power and ground connections Incoming AC connects to the primary of an isolation transformer The secondary of the isolation transformer connects to the power supply for the discrete inputs the power supply for the discrete outputs the power supply for the I O chassis the power supply for the analog outputs a the power supply for the transducer circuits 5 8 Chapter 5 Installing the Linear Positioning Module Figure 5 6 AC Power and Ground Connections Disconnect o Ng L3 La gt Ng L2 n o Wag a amp Fuses aag Hh _Hg H gh IS Isolation Step Down BA Transformer Fuse 190vac Xi X Central wel e Ground Bus n 178 Hi Li N uy N uy N uy N uy N Power Power Power Power Power Supply for G e Supply for G Supply for G e Supply for G e Supply for G e Discrete Discrete I O Chassis Analog Transducer Inputs Outputs Backplane Outputs Circuits e 1 0 Chassis Ground Bus 50047 In the grounded AC system shown above the low side of the isolation transformer is connected to the central ground bus Figure 5 6 also shows connections from the central ground bus to each power supply and to the I
204. ult occurs and turns off if the loop is inactive Loop faults may be caused by loop failure or improper loop configuration Indicator Troubleshooting Guide Refer to Table 11 A when using the indicators to diagnose module problems Chapter 11 Troubleshooting Table 11 A Troubleshooting Indicators Indication Description Probable Cause Recommended Action O Fault Normal Condition Module is fully functional Loop 1 O Loop 2 O Fault Power Up State A Powerup complete awaiting initial A Send parameter block monitor status Loop 1 parameter block block for parameter block errors Loop 2 B Module not receiving DC power from B Check all power supplies make sure the chassis backplane or wiring arm the module is properly seated in the I O terminals chassis monitor status block for analog feedback or discrete faults Fault Loop 1 Fault A Analog Interface Fault A Check status block to determine cause Loop 1 B Discrete Input Fault of fault O Loop 2 C Transducer Interface Fault Fault Loop 2 Fault D Excess Following Error B Correct fault and issue a reset command O Loop 1 E Excess PID Error to the faulted axes or cycle the I O Loop 2 F Loss of Feedback chassis power OFF then ON Fault Both Loops Faulted G Hardware Stop Input Loop 1 H Immediate Stop Command Loop 2 Fault Module Fault Internal Circuitry Fault Cycle power to the I O chassis containing Loop 1 the module Re
205. um allowable length depends upon the devices being connected Here are some general rules to follow when you connect the terminals don t use wire with too large a gauge The maximum practical wire gauge is 14 AWG keep low level conductors separate from high level conductors Follow the practices outlined in Publication 1770 980 P2LC Grounding and Wiring Guidelines keep your power supply cables as short as possible less than 50 feet is preferable Using Shielded Cables For many connections you are instructed to use shielded cables Using shielded cables and properly connecting their shields to ground protects against electromagnetic noise interfering with the signals transmitted through the cables Connect each shield to ground at one and only one end At the other end cut the shield foil and drain wire short and cover them with tape This will protect them against accidentally touching ground Keep the length of leads extending beyond the shield as short as possible Figure 5 4 shows shielded cable connections for one control loop Mount a ground bus directly below the I O chassis to provide a connection point for the cable shield drain wires and the common connections for the input and output circuits Connect the I O chassis ground bus through 8 AWG wire to the central ground bus to provide a continuous path to ground Chapter 5 Installing the Linear Positioning Module Figure 5 4 Shielded Cable Grounding Connectio
206. ve programmed your digital interface box for four circulations your transducer calibration constant would be 4 x 9 0500 36 2000 See Chapter 4 to determine the optimum number of circulations for your system and Chapter 8 for a procedure for verifying the transducer calibration constant Chapter 7 Formatting Module Data WRITES 7 8 Figure 7 5 Transducer Calibration Constant Words 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 02020 O02 0 Gn U o i E A Most significant digits L Transducer calibration constant BCD or binary 99 9999 microsec inch or 9 99999 microsec mm max 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Least significant 4 digits 50028 Zero Position Offset words 7 8 and 36 37 The zero position offset words define the origin of the coordinate system Zero position can be located within or outside the transducer s active range This allows positions to be measured relative to locations outside the range of axis motion The software travel limits and setpoint positions must reside within the transducer s active range Important The active range of the transducer is halved by each increase in the number of circulations of the digital interface box Figure 7 6 Zero Position Offset Transducer Head Transducer Rod LI t JI 36 D l Zero position offset Zero position
207. ves and moves based on discrete input triggers A motion block can contain a maximum of six motion segments It begins with a motion block control word and may end with an optional programmable I O control word See Figure 9 1 The programmable I O word lets you configure programmable input and output options because the programmable controller cannot necessarily predict the final axis position since motion segments may be triggered without its knowledge You should understand thoroughly the consequences of all the motion profiles which may occur after a motion block is initiated and design the ladder logic to account for them A ATTENTION You must use the motion block with caution 9 1 Chapter 9 Advanced Features Important All segments in a motion block and the programmable I O word become valid as soon as they are downloaded to the module The one exception is a downloaded segment corresponding to the currently active motion segment In that case the active segment must complete its profile or meet its trigger conditions before the new segment becomes valid You must ensure that the programmable controller uses the block transfer write toggle bit in the status block to accurately load the motion blocks because the module returns no status bits to indicate the current programmable I O configuration or the currently loaded motion segments Figure 9 1 Motion Block Word Assignments Motion block control word
208. w the gain break speed the proportional gain is unchanged Figure 7 25 Gain Break Speed Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 N Gain break speed BCD 99 99 ips or 999 9 mmps max Binary 327 67 ips or 3276 7 mmps max 50011 The gain break plot in Figure 7 26 illustrates the concept of gain break 7 19 Chapter 7 Formatting Module Data WRITES Figure 7 26 Gain Break Plot Commanded Axis speed Immediate Stop Maximum Velocity 55555555555 55 N Gain Break speed 71 Desired Proportional Gain ba Gain Gain X Factor slope IPS mil Proportional Gain t Point Max Following Error Error Gain Break Following Excess Error Determined by Excess Following Error Parameter 50069 Typically at axis speeds below the gain break velocity you would use a relatively high gain to allow precise axis positioning By reducing the gain at axis speeds above the gain break speed we can achieve better stability in some applications The gain break speed must not exceed the maximum velocities specified in the analog calibration constants If you don t want a gain break speed set the gain break speed and gain factor parameters to zero If you set a non zero gain factor and a zero gain break speed the reduced or increased gain applies to all axis speeds Gain Factor words 19 and 48 The gai
209. y Smoothing Constant 7 24 Velocity Desired 2 4 Velocity Position Trigger 9 10 W Write Operations 3 2 Z Zero Position Offset 7 8 ALLEN BRADLEY Allen Bradley has been helping its customers improve productivity and quality for 90 years A ROCKWELL INTERNATIONAL COMPANY A B designs manufactures and supports a broad range of control and automation products worldwide They include logic processors power and motion control devices man machine interfaces and sensors Allen Bradley is a subsidiary of Rockwell International one of the world s leading technology companies CELLA i SA With major offices Worldwide memm Aam Algeria e Argentina e Australia e Austria e Bahrain e Belgium e Brazil e Bulgaria e Canada e Chile e China PRC e Colombia e Costa Rica e Croatia e Cyprus e Czech Republic e Denmark e Ecuador e Egypt e El Salvador e Finland e France e Germany e Greece e Guatemala e Honduras e Hong Kong e Hungary e Iceland e India e Indonesia e Israel e Italy e Jamaica e Japan e Jordan e Korea e Kuwait e Lebanon e Malaysia e Mexico e New Zealand e Norway e Oman e Pakistan e Peru e Philippines e Poland e Portugal e Puerto Rico e Qatar e Romania e Russia CIS e Saudi Arabia e Singapore e Slovakia e Slovenia e South Africa Republic e Spain e Switzerland e Taiwan e Thailand e The Netherlands e Turkey e United Arab Emirates e United Kingdom e United States e Uruguay e Venezuela e Yugoslavia World Headquarters

1771-6.5.44, Linear Positioning Module User Manual

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