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ControlLogix Motion Module Overview

1. actions State Action Typical Execution Time A per axis in us M otion Task Overhead 190 Servo Axis A 205 Virtual Axis A 175 Consumed Axis A 900 Servo On A 40 Trap M ove A 310 S Curve Move A 435 Trap og A 210 S Curve J og A 340 Gearing Actual A 290 Clutch A 105 Gearing Command A 125 Clutch A 110 Position Camming Actual linear A 495 Position Camming Actual cubic A 550 Position Camming Command linear A 295 Position Camming Command cubic A 380 Time Camming linear A 260 Time Camming cubic A 320 The task time of a consumed axis can be lowered to approximately 650 us by using a consumer coarse update period that is an integer multiple of the producer coarse update period The value of 90 us reported above is the worst case producer consumer update ratio 2 3 Using 2 4 would yield 650us Publication 1756 UM 006B EN P J uly 2001 A 6 Specifications and Performance Using the Sample Calculations Worksheet You can use this sample calculation worksheet to determine the coarse update period forthe group in your application 1 Complete the following table System Describe the type of system you are using Enter baseline task time M otion Task us Overhead of Servo Axes Servo Axis A of Virtual Axes Virtual Axis A of Consumed Axes Consumed Axis A 2 Foreach axis in your application use the following table to determine the acti
2. 1756 M 02AE Module Status Using the DRIVE Indicator riz Then the module status is Take this action DRIVE LED displays Ort The axis s not used e None if you are not e Theaxis is a using the axis or have position only axis type configured it as a position only axis Otherwise make sure you have configured the module associated an axis tag with the module and configured the axis as a servo axis Publication 1756 UM 006B EN P J uly 2001 1756 M 08SE SERCOS Communication Phase Status Using the CP Indicator If the DRIVE LED displays Troubleshooting 10 3 Then the module status Is Take this action Flashing The axis drive is in the norma None You can change the green light disabled state servo axis state by executing a motion instruction Steady The axis drive is in the normal None You can change the green light enabled state servo axis state by executing a motion instruction Flashing The axis drive output is in the e Check for faults that red light Shutdown state may have generated this state e Execute the shutdown reset motion instruction e Resume normal operation Solid red The axis drive is faulted e Check the drive status light e Clear the drive fault condition at the drive e Execute a fault reset motion instruction e Resume normal operation e Check the configuration for the Drive Fault e If configured to be normally open and
3. J1 20 READY 24VCOM COMMAND COMMAND ENABLE READY AOUT AOUT BOUT BOUT IOUT IOUT P N 9109 1369 003 Interface Cable Ultra 200 Series Digital Servo Drive This is a general wiring example only Other configurations are possible For more information refer to the Ultra 200 Series Drive Installation Manual publication number 1398 5 0 1398 CFLAExx Cable Diagram N 10 in FP Individually J acketed pairs 24V BRAKE Loop and Interconnect Diagrams B 7 RESET 1398 CFLAE al 5 0 in L The 1398 CFLAE Cable is available in 10 25 and 50 foot lengths Pinouts for 1398 CFLAExx Cable Wires Stripped Back 25 in Wires Terminated with Ferrules zw WHT ORG 22GA teh 49 WHT YEL 22GA Nn 56 DRAIN ie at Os AAA ee pem ed TAN286A 21 o DRA 24 32 WHT RED22GA z 5 WHTIBLK226A A 6 DRAIN rr A A TN uo WHTIGRN 22GA 5 5 2 WHTIBLU22GA A 23 i DRAIN iei A CENE S 26 m zz BROWN28GA z 24 RED 28GA Nn 20 i ORANGE 28GA ER 25 YELLOW 28GA Nt 13 DRAIN w Pia N z GREEN28GA J BLUE 28GA X VIOLET 28GA Am 9 GRAY 28GA Nn ii WHITE 28GA P 11 BLACK 28G Nn i DRAIN BRAKE BRAKE RESET 24VDC 24VCOM COMMAND COMMAND
4. Throughout this manual we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attention statements help you to e identify a hazard e avoid a hazard e recognize the consequences IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley is a trademark of Rockwell Automation European Communities EC If this product has the CE mark it is approved for installation within Directive Compliance e European Union and EEA regions It has been designed and tested to meet the following directives EMC Directive This product is tested to meet the Council Directive 89 336 EC Electromagnetic Compatibility EMC by applying the following standards in whole or in part documented in a technical construction file e EN 50081 2 EMC Generic Emission Standard Part 2 Industrial Environment e EN 50082 2 EMC Generic Immunity Standard Part 2 Industrial Environment This product is intended for use in an industrial environment Low Voltage Directive This product is tested to meet Council Directive 73 23 EEC Low Voltage by applying the safety requirements of EN 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests For specific information required by EN 61131 2 see the appropr
5. When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Maximum Velocity The steady state speed of the axis it is initially set to Tuning Speed by the tuning process This value is typically set to about 90 of the Publication 1756 UM 006B EN P J uly 2001 6 34 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 maximum speed rating of the motor This provides sufficient head room for the axis to operate at all times within the speed limitations of the motor Any change in value caused by manually changing the spin control is instantaneously sent to the controller Maximum Acceleration The maximum acceleration rate of the axis in Position Units second it is initially set to about 85 of the measured tuning acceleration rate by the tuning process If set manually this value should typically be set to about 8596 of the maximum acceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration limits of the drive and motor Any change in value caused by manually changing the spin control is instantaneously sent to the controller Maximum Deceleration The maximum deceleration rate of the axis in Position Units second itis initially s
6. A checked box indicates that this tag is available to remote controllers through controller to controller messaging If this box is checked the system displays the maximum number of consumers i e connections allowed for this tag The default number of consumers is 2 Base Tag If this tag is an alias this field displays the name of the underlying tag on which this alias was based The base tag actually defines the memory where the data element is stored Manual Tune Click on this button to open the Dynamics tab of the Manual Tune dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Publication 1756 UM 006B EN P J uly 2001 6 70 Naming amp Configuring Your M otion Axis Assigning Additional Motion Axes Developing a Motion Application Program Publication 1756 UM 006B EN P J uly 2001 You can assign additional axes by repeating the preceding sections To name and assign another axis refer to the Naming an Axis section You can assign up to 16 1756 M02AE modules to each Logix5550 controller Each module uses a maximum of two axes To write a motion application program you can insert motion instructions directly into the ladder diagram application program The motion instruction set consists of f
7. AuxFeedbackFault BOOL Set for an auxiliary feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A and A B and B or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear Publication 1756 UM 006B EN P J uly 2001 C 20 The Motion Control Structures Mnemonic Data Description Type AuxFeedbackN oiseFault BOOL Set for an auxiliary feedback source when the servo module has detected simultaneous transitions of the feedback A and B channels called feedback noise Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or MAS
8. B 8 Appendix C Appendix D Appendix E Appendix F xiii The 1394 CFLAExx Cable Wiring Diagram B 9 Pinouts for the T394 CPDAE sia fiu dE As B 9 Wiring Registration Sensors o B 10 24V Registration SensoT B 10 oV Registration Sensor i b ER B 10 Wiring the Home Limit Switch Input B 11 Wiring the OK ContactS o oooooo ooo B 11 The Motion Control Structures AXIS SIICHITOS 1 0294 atasca he a etn C 1 AXIS CONSUMED Structule o ooooooooo C 1 AXIS SERVO SCI 54 224 a Sa Shans C 5 AXIS SERVO DRIVE Structure C 12 AXIS VIRTUAL Structure 02 20 Raus E a EX E S C 21 Servo Configuration Update Status Bits attributes C 25 The MOTION GROUP Structure oooooo o C 26 The MOTION INSTRUCTION Structure C 27 TO COMES ERR aso eres meets STE ws C 29 Message status STATUS oooooooooo o C 30 Execution status SPATE unu a pais C 30 Profile Segment SEGMENT C 30 CAM SUCIA eo C 31 CAM PROFILE Structure 5 ioa rbd ed ed C 31 OUTPUT CAM Sucursales C 32 OUTPUT COMPENSATION Structure C 33 The Motion Attributes Motion Instance VariableS o ooooooooo o D 1 Instruction Timing Immediate Type Instructi0NS E 1 Message Type Instructions o oo E 2 Process Type InStubllOns iii ors PEE ore 54 E 3
9. Enter the maximum size in bytes of the data array that you are planning on sending and receiving Valid values are from 1 to 65536 the default size is 82 When the controller sends out the data if it detects an array that is larger than this buffer size a minor fault occurs and the extra data is truncated When the controller receives data if it detects data that is larger than the size of the buffer the extra characters are dropped Termination Character 1 and 2 Enter the characters that be used to define the end of a line Valid hex range values are from 0 to 255 The default value for Termination Publication 1756 UM 006B EN P J uly 2001 2 16 Getting Started Publication 1756 UM 006B EN P J uly 2001 Character 1 is 0D and the default value for Termination Character 2 is FE The ARL and ABL instructions use these characters to signal the end of a line If you do not wish to use these characters you can either avoid the use of these instructions or you can define Termination Character 1 as FE where FF tells the controller not to use any definable termination characters when using the ARL or ABL instructions If you want to use only one character to signal the end of a line use Termination Character 1 and define Termination Character 2 as FF Append Character 1 and 2 Enter the characters that are appended to the end of a line Valid hex range values are from 0 to 255 The default value for Append Character 1 is
10. Incremental AB quadrature with marker 4X quadrature 4 MHz counts per second maximum Optically isolated 5V differential 3 4V to 5 0V OV to 1 8V 531 Ohms differential Registration inputs Type 24V input voltage M aximum M inimum on M aximum off 5V input voltage M aximum M inimum on M aximum off Input impedance 24V input 5V input Response time position latched Optically isolated current sourcing input 24V dc nominal 26 4V 18 5V 3 5V 5V dc nominal 5 5V 3 7V 1 5V 1 2 kOhms 9 5 kOhms lus Publication 1756 UM 006B EN P J uly 2001 A 2 Specifications and Performance Publication 1756 UM 006B EN P J uly 2001 All other inputs Type Optically isolated current sinking input Input voltage 24V dc nominal M aximum 26 4V M inimum on 17 0V M aximum off 8 5V Input impedance 7 5 kOhms Servo output Type Analog voltage Isolation 200 kOhms Voltage range 10V Voltage resolution 16 bits Load 5 6 kOhms resistive minimum Maximum offset 25 mV Gain error 4 AIl other outputs Type Solid state isolated relay contacts Operating voltage 24V dc nominal M aximum 26 4V Operating current 75 mA RTB keying User defined Field wiring arm 36 position RTB 1756 TBCH or TBS6H RTB screw torque cage clamp 5lb in 0 5 Nm maximum Conductors Wire size Category 22 gauge 3 1 mm minimum to copper 3 64 inch 1 2 mm insulation maximum 123 Sc
11. Registration2Time DINT Registration 2 Time as CST time in microseconds InterpolationTime DINT Interpolation Time as CST time in microseconds InterpolatedActualPosition REAL Interpolated Actual Position in Position Units M asterOffset REAL Master Offset in M aster Position Units StrobeM asterOffset REAL Strobe M aster Offset in M aster Position Units StartM asterOffset REAL X Start Master Offset in M aster Position Units CommandPosition REAL Command Position in Position Units StrobeCommandPosition REAL Strobe Command Position in Position Units StartCommandPosition REAL Start Command Position in Position Units CommandVelocity REAL Command Velocity in Position Units Sec CommandAcceleration REAL Command Acceleration in Position Units Sec2 InterpolatedCommandPosition REAL Interpolated Command Position in Position Units Publication 1756 UM 006B EN P J uly 2001 C 14 The Motion Control Structures Mnemonic Data Description Type ServoM oduleFault DINT Bit Number Data Type Description ControlSyncFault 00 BOOL Control Sync Fault M oduleS yncFault 01 BOOL M odule Sync Fault TimerEventFault 02 BOOL Timer Event Fault M oduleHardw areFault 03 BOOL M odule Hardware Fault AttributeErrorCode INT ASA Error code returned by erred set attribute list service to the module AttributeErrorlD INT Attribute ID associated with non zero Attribute Erro
12. The M otion Control Structures C 31 The Cam data type consists of slave and master point pairs as well as an interpolation type Since there is no association with a specific axis position or time the point values are unit less The interpolation type can be specified for each segment as either linear or cubic The format of the cam array element is shown in the following table Mnemonic Data Type Description MASTER REAL The x value of the point SLAVE REAL The y value of the point Segment DINT The type of interpolation Type Value Description 0 linear 1 cubic The CAM PROFILE data type is an array of coefficients representing a calculated cam profile that can be used as input to a time cam or position cam instruction The only element available to the user is Status which is defined in the following table Mnemonic Data Type Description Status DINT The status parameter is used to indicate that the Cam Profile array element has been calculated If execution of a camming instruction is attempted using an uncalculated element in a Cam Profile the instruction produces an error Value 0 1 2 n Description Cam profile element has not been calculated Cam profile element is being calculated Cam profile element has been calculated Cam profile element has been calculated and is currently being used by n 2 M APC and MATC instructions Publication 1756 UM 006B EN P J uly 2001 C 32 The
13. 6 61 Dive tallo s aite a Whew oic i isa 6 63 Feedback Noise outs odas Ey 6 63 Publication 1756 UM 006B EN P uly 2001 Chapter 7 Publication 1756 UM 006B EN P J uly 2001 Feedback TOSS cxlo CC Re ee GL ACER 6 63 POSTOR EmO cnt edocti avec roe ada 6 64 Soft Overtravel 4 aus atis ed UP TREE MEAE 6 64 Fault Actions Tab AXIS SERVO DRIVE 6 64 Drive Thermal s aos opted ARE UE Ebr des 6 66 Motor TIM is A deae 6 67 Feedback N0iSe o o ooooooo ooo ooo 6 67 Feedback cos dare be esha etc ee v ac woo 6 67 POSTOR BHOF aiios ra 6 67 Hard Overtravel oni s Eod O E 6 67 Soft OVerttayeles a 5 ave cec he LAC Rees 6 67 Set Custom Stop Action Soa 3T SV NA ES 6 67 Tag Taboo t e tech P RA A 6 68 NAME o da as 6 68 Descnpt rl a eb e ARE RAUS 6 68 A Bett pe ar Sar wea 6 68 DODDG a orig acer ties at edo n aero A 6 69 E HERREN C Y EO 6 69 Produce this tag for up 00 45 ebur e Sc eet 6 69 Base dag cupide ebbe eR EUER PT TE 6 69 Manual TUNG sy 2 ex duc er d CRGO bct RE 6 69 Assigning Additional Motion Axes o o ooooo oo 6 70 Developing a Motion Application Program 6 70 Understanding a Programming Example 6 71 Configuring a 1394C SJ T05 10 22 D Digital Servo Drive 1394C SJT05 10 22 D Digital Servo Drive Overview 7 3 General Ta cs epa bu CR s 7 4 IVDO ase nes e ede 7 5 VENDO s iac eire Dat SRL o ee dr Jedi 7 5 Namen cadant A ort i63 7 5 DESCEND TON dd Ere
14. BOOL Set when the external servo drive has detected a fault and has communicated the existence of this fault to the servo module via the Drive Fault input This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear ControlSyncFault BOOL Set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the associated servo module The Logix controller is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished M oduleSyncFault BOOL Set when the motion module detects that several position update messages in a row from the ControlLogix processor module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the servo module The servo module is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress M issing more than four position upd
15. Fault Handling Handling Motion Faull a 4 5 e e Es F 1 ETS eh ces EI ERA RIE F 1 Minor Major Faults A F 1 Publication 1756 UM 006B EN P J uly 2001 xiv Publication 1756 UM 006B EN P J uly 2001 Using This Manual Who Should Use This Manual The Purpose of This Manual Preface This preface describes how to use this manual To use this manual you should be able to program and operate the Allen Bradley Logix5550 controller to efficiently use your motion control modules If you need more information about programming and operating the Logix5550 controller refer to the Logix5550 Controller User Manual publication number 1756 6 5 12 This manual describes how to configure and troubleshoot your Controllogix motion module The following table shows the contents of each section in this manual Section Contains Chapter 1 Information about the ControlLogix The ControlLogix M otion Control System motion control system Chapter 2 Explains how to create and edit your Controller Properties controller Chapter 3 How to add and configure your Adding and Configuring Your 1756 M 02AE M otion M odule 1756 M 02AE motion module using the RSLogix 5000 programming software Chapter 4 Adding and Configuring Your 1756 M 08SE M otion M odule How to add and configure your 1756 M 08SE motion module using the RSLogix 5000 programming software Chapter 5 How to create and edit you
16. J uly 2001 B 10 Loop and Interconnect Diagrams rom 1756 M02AE Belden 9501 From 1756 M02AE gt Belden 9501 Publication 1756 UM 006B EN P J uly 2001 Wiring Registration Sensors The registration inputs to the servo module can support 24V or 5V registration sensors These inputs should be wired to receive source current from the sensor Current sinking sensor configurations are not allowed because the registration input common IN COM is shared with the other 24V servo module inputs 24V Registration Sensor 24 VDC Field Power Supply 24 Volt Registration Sensor REG24V IN_COM 5V Registration Sensor 5 VDC Field Power Supply Supply Output Common 5 Volt Registration Sensor x REG5V IN_COM Supply Output Common From 1756 M02AE HOME o o gt Belden 9501 P IN COM Loop and Interconnect Diagrams B 11 Wiring the Home Limit Switch Input The home limit switch inputs to the servo module are designed for 24V nominal operation These inputs should be wired for current sourcing operation 24 VDC Field Power Supply Wiring the OK Contacts A set of isolated solid state OK relay contacts is provided for optional interface to an E stop string which controls power to the associated drives The OK contacts are rated to drive an external 24V pilot relay
17. Publication 1756 UM 006B EN P J uly 2001 Motion Instructions 9 3 Motion Calculate Cam M CCP Calculates a Cam Profile based on Immediate Profile an array of cam points Motion Axis Position Cam MAPC Performs electronic camming Immediate between any two axes designated in Process the specified Cam Profile M otion Axis Time Cam MATC Performs electronic camming as a Immediate function of time designated in the Process specified Cam Profile Motion Group Instructions For more information about motion state instructions refer to the Motion Move Instructions chapter of Logix5550 Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendix E Instruction Timing Motion group instructions initiate action on all axes in a group The motion group instructions are Instruction Abbreviation Description Type of Timing M otion Group Stop MGS Initiates a stop of motion on a group Process of axes M otion Group M GPS Initiates a stop of all motion on all M essage Programmed Stop the axes in a group using the Process method that you set for each axis M otion Group Shutdown MGSD Forces all the axes in a group into Message the shutdown operating state M otion Group Shutdown MGSR Transitions a group of axes from the Message Reset shutdown operating state to the axis ready operating state M otion Group Strobe M GSP
18. When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Naming Configuring Your M otion Axis 6 9 Axis Configuration Selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Assigned Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis button Opens the Motion Group Properties dialog box for the Assigned Motion Group where you can edit the properties of the Assigned Motion Group If no Motion Group is assigned to this axis this button is disabled New Group button Opens the
19. device This helps the Drive Compute Conversion constant used to convert drive units to feedback counts Depending on the feedback type you select this value may be either read only or editable Auxiliary Feedback Type For applications that use auxiliary feedback devices select the type of auxiliary feedback device type Note The Auxiliary Feedback section of this tab is enabled only if the Drive tab s Loop Configuration field is set to Aux Feedback Only Aux Position Servo or Aux Dual Command Servo Feedback Type Description SRS60 Stegmann Single Turn Absolute 1024 S C Rev Rotary SRM60 Stegmann Multi Turn Absolute 1024 S C Rev Rotary SCS60 Stegmann Single Turn Absolute 512 S C Rev Rotary SCM60 Stegmann Multi Turn Absolute 512 S C Rev Rotary SNS60 Stegmann High Res Incremental 1024 S C Rev Rotary MHG90 Stegmann Encoder Resolver 0 25 TR Resolver Analog Reference Differential Analog Sin Cos Generic S C Device w Z marker TTL Generic AQB Device w Z marker UVW Differential Hall Effect Unknown Stegmann Unrecognized Stegmann Endat Heidenhain Endat SSI Encoder RCM21S 4 Renco Smart Encoder 4 Pole Naming Configuring Your Motion Axis 6 21 Feedback Type Description RCM21S 6 Renco Smart Encoder 6 Pole RCM21S 8 Renco Smart Encoder 8 Pole LINCODER 5mm Cycle Linear Hiperface Magnetic Encoder Aux Interp Factor This field displays a fixed constant value
20. e BCC the processor sends and accepts messages that end with a BCC byte e CRC the processor sends and accepts messages with a 2 byte CRC Enable Duplicate Detection Check this box to enable duplicate message detection which causes the object to ignore all duplicate messages This option is disabled by default ACK Timeout Enter the time the object waits for an acknowledgment to a message transmission Valid values are from 0 to 65535 in 20 ms increments the default value is 50 ms DF1 Point to Point Parameters ENQ Transmit Limit Enter the number of inquiries you want the processor to send after an ACK Timeout Valid values are from 0 to 255 the default value is 3 NAK Receive Limit Enter the number of NAKs the processor can receive in response to a message before stopping the transmission Valid values are from 0 to 255 the default value is 3 Embedded Responses This parameter sets the flag that enables the embedded response functionality Your options are e Autodetect embedded responses are initiated only after one is received e Enabled embedded responses are enabled unconditionally Getting Started 2 13 DF1 Slave Parameters Transmit Retries Enter the number of attempted transmits without getting an acknowledgment before a message is deemed undeliverable Valid values are from 0 to 255 the default value is 3 Slave Poll Timeout Enter the amount of time that the master waits for an acknowledgm
21. 11 New Group button sor ra 6 11 Output Cam Execution Targets 6 11 Units Tapsa so O Er TR CS Wee e 6 12 Position Units 4 evo ge E Moda e ee HE 6 12 Average Velocity Timebase 6 12 Conversion Tabs et use EQ RYE ESSE ur 6 13 Positioning Mode coi s d codo Ra heh a ES 6 13 Conversion Constant vetas 6 14 AA R ee Ea Oe ES 6 14 Servo Tab AXIS SERVO dai 6 15 External Drive Configuration 6 15 Loop Configuration ti ta oa 6 16 Enable Drive Fault Input 6 16 Drive Fault Input cs ana ares ade ao 6 16 Real Time Axis Information 6 16 Drive Tab AXIS SERVO DRIVE 6 17 Amplifier Catalog Number 6 17 Loop Configuration 24 233 9 2 2 Ron Cep Ray 6 17 Drive Resolution 5 3 ke CEA CACHE ee C REX 6 18 Real Time Axis Information 6 18 Attribute 1 Atrribute 2 6 18 Set Custom Scaling buttoN 6 18 Motor Feedback Tab AXIS SERVO DRIVE 6 19 Motor Catalog Number 6 19 Motor Feedback Type oooo 6 20 Motor Interpolation Factor 6 20 Motor Creada AS 6 20 Auxiliary Feedback Type 6 20 Aux Interp Factor ss aa ta a XO 6 21 CAU ECC A e e RICE OR ACC 6 21 Auxy RAO cu c m rti dd Ser su o GU EU 6 21 Homing Tab SERVO AXIS and SERVO AXIS DRIVE 6 21 Mode La 63d P AO Paid
22. 16 DOIN OB irato desde e ir RACE edet 2 16 Echo Mode i a esos o de eda e e e EORR 2 16 Delete Mode Vistas 2 17 Major Fa lts Ta o 2 17 Number of Major Faults Since Last Cleared 2 18 A eC SERE ERO be ec 2 18 Cid ux S oV ber s Xs 2 18 Mi or Faults Tab creces c Gd ded et e Ell COCOA Pe n 2 18 Number of Minor Faults Since Last Cleared 2 18 Recent Palito esit eb Oy ceo AUN 2 19 Clear MNOS a 2 19 A A RO des ho qoe gh a So RN 2 19 Date Time Moa 2 19 Dalen dd tos E Pob T Aseo e SUO Sca 2 20 A It E EPRSPAU rd PS 2 20 O dg iE EDS ivit eet beo bass 2 20 Coordinated System Time master 2 20 SP O edes 2 20 Advanced Tab ooo ccc eet eee 2 21 Memory Used caia 2 21 Memory Unused p34 eich Ty VN ERA ERIS 2 21 Memory Total dsd EORR 2 21 Controller Fault Handler 2 22 Power Up Handle 2 22 System Overhead Time Slice 2 22 AAA oru eo dae aS oe Hh le bre ee 2 22 INGE cesis cosi og d poesi pisos Oech AANA 2 23 A qw tonta beeen UD ip NaS 2 23 Created eps Rad ba cet poo E qubd MR REP drin 2 23 oiire dos s Oe NEN TAM 2 23 Chapter3 Adding and Configuring Your 1756 M 02AE Motion M odule Adding the 1756 MO2AE Module o o 3 1 New Modules cuo ce Adee Rhee ese PDA 3 3 TV DC hae pk Vc eh wt ete eh BAe seek M NI 3 3 MAJO Revision s 42d in tibi et ee 3 3 Type ist Dox ernea AS 3 3 Description list b0X 3 3 MOV e EARN ER NP ROTE
23. 3 Adding to a program A motion module 6 71 Application program Developing 1 4 3 1 6 70 Example 6 71 Assigning Additional M otion Axes 6 70 Assigning in an application program Additional modules 3 19 Axis Properties Conversion Tab 6 13 Conversion Constant 6 14 Position Unwind 6 14 Positioning Mode 6 13 Drive Tab AXIS SERVO DRIVE 6 17 Amplifier Catalog Number 6 17 Attribute 1 Atrribute 2 6 18 Drive Resolution 6 18 Loop Configuration 6 17 Real Time Axis Information 6 18 Set Custom Scaling button 6 18 Dynamics Tab 6 32 M anual Tune 6 35 Maximum Acceleration 6 34 Maximum Deceleration 6 34 M aximum Velocity 6 33 Program Stop Action 6 35 Fault Actions Tab AXIS SERVO 6 61 Drive Fault 6 63 Feedback Loss 6 63 Feedback Noise 6 63 Position Error 6 64 Soft Overtravel 6 64 Fault Actions Tab AXIS_ SERVO_DRIVE 6 64 Drive Thermal 6 66 Feedback 6 67 Feedback Noise 6 67 Hard Overtravel 6 67 M otor Thermal 6 67 Position Error 6 67 Set Custom Stop Action 6 67 Soft Overtravel 6 67 Gains Tab AXIS SERVO Integral Position Gain 6 38 Integrator Hold 6 39 Manual Tune 6 40 Proportional Position Gain 6 37 Proportional Velocity Gain 6 39 Gains Tab AXIS SERVO DRIVE 6 35 6 40 Acceleration Feedforward 6 37 6 42 Integral Position Gain 6 43 Integral Velocity Gain 6 39 6 44 Integrator Hold 6 45 Manual Tune 6 45 Proportional Position Gain 6 42 Proportional Velocity Gain 6 39 6 43 Set Custom Gains 6 45
24. 3 3 A ae Pede SE Ox dora beds 3 4 Publication 1756 UM 006B EN P J uly 2001 A O A ote 3 4 Editing Your Motion Module Settings 3 6 General Tab c ieu sut WEG RON E RERUMS a 2a 3 8 TD c ey bl 3 8 Vendor sc oerte Sa OE wh SOC ESO DR deat 3 8 Name 2 o Vti ete pln Er S EP E de atate 3 8 Description uuu deu doi EE i Rd Saee SEC e 3 8 SIOE d paste vafer e ba teo a v bs ober e od wea 3 8 REVISION cv perd etuer S A SPEO ES E 3 9 Electronic Keying dados 3 9 Connection Lab tok ya Feo Ned RUE AC e es 3 9 Requested Packet Interval 3 10 Inhibit Module checkbox 3 10 Major Fault on Controller 5 a union 3 11 Module Baul ss tadas Aye a e eod SER 3 11 Associated Axes Tab 4 21 we orta OREGON ACD GS 3 12 Servo Update Period 3 13 Channel c soe Dac d EORR DEO ERES 3 13 Channel d outs doe aont Perd SOT Red OV C Sp Pe 3 13 New Axis button s ucc stb S eR da 3 13 Module Info Tab s vasi ita RC ed Sees 3 13 Identification 3 te adas 3 14 Major Minor Fault Status lt lt lt eee 3 15 Internal State StatuS o 3 15 Configured L3 ta pH RR S CR eg 3 15 Owned utr mE Eque VN PRESS iS 3 16 Module Identity ei E dE aii 3 16 A ruinis rwr O 3 16 Reset Module uoa qv oe AU ES tex XVI 3 16 Backplane Tab ies s os LCS ae RE KR E doe 3 17 ControlBus Status aye eom e CR 3 17 ControlBus Parameters oo dass er nn 3 17 Multicast CRC Error
25. BOOL Setif a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the pending cam profile This bit is also cleared if the time cam profile completes or is superseded by some other motion operation GearingLockStatus BOOL Set whenever the slave axis is locked to the master axis in a gearing relationship according to the specified gear ratio The clutch function of the gearing planner is used to ramp an axis up or down to speed in a gearing process M AG with Clutch selected This bit is cleared during the intervals where the axis is clutching PositionCamLockStatus BOOL Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the M APC instruction This bit is bitis cleared when the current position cam profile completes or is superseded by some other motion operation In uni directional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction M asterOffsetM oveStatus BOOL Setif a Master Offset M ove motion profile is currently in progress This bit is cleared when the M aster Offset M ove is
26. Configuring Your Motion Axis 6 55 The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Tune dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Hard Travel Limits Enables a periodic test that monitors the current state of the positive and negative overtravel limit switch inputs when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for hardware overtravel checking and if that axis passes beyond a positive or negative overtravel limit switch a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault is issued The response to this fault is specified by the Hard Overtravel setting in the Fault Actions tab of this dialog Soft Travel Limits Enables software overtr
27. Control System For more information about handling faults see Handling Controller Faults in the Logix Controller User Manual publication 1756 UM001 and Appendix F Fault Handling in this manual Publication 1756 UM 006B EN P J uly 2001 Introduction Chapter 2 Getting Started Before you can begin programming or configuring your controller you must create a project file in which to store it Create a Project 1 From the Type pull down menu choose the controller type that you wish to use for this project 2 Enter the name you wish to use for the controller The same name is used for the project file with the acd extension 3 Enter a description of the controller 4 Choose the appropriate chassis type in which the controller resides Note This field is disabled if you have chosen a FlexLogix controller type FlexLogix does not have a physical chassis and therefore you do not need to select a chassis type 5 Enterthe slot number for the controller In ControlLogix controllers occupy a numbered slot in the chassis and can be placed in any slot It is also possible to place multiple controllers in the same chassis For FlexLogix since there is no physical chassis this field is disabled and slot number 0 is displayed 6 Verify the appropriate revision information for your controller This field defaults to the latest revision for the given controller type 7 Enter the directory in which you want to stor
28. Counters This box displays the number of receiving errors that occurred in the following categories e Bad CRC errors that occurred on received frames messages e Bus time out when the receiver timed out e CRC error multicast receive errors Transmit Error Counters This box displays the number of transmitting errors that occurred in the following categories e Bad CRC errors that occurred on transmitted frames e Bus Time out when the transmitter bus timed out Refresh Click on the Refresh button to refresh the tab When you refresh the tab if you re using then digital analog or motion counters are cleared modules another module the tab is refreshed but the counters are not cleared Chapter 5 The Motion Group Creating A Motion Group Each acd program must have one motion group There can be only one You must create it before an axis can be assigned to the group and have it function within the acd program To create the motion group right click on Motion Group and select New Motion Group from the drop down menu Sl Controller hedt EA Contodes Tag Cantiolei Fall H arabe Por p Handa Tasks Sa Manlik B ManProgam E Ficas Tage Hanfi cats Unworedulad Programa H Shings 1 10 Configuration B ITEMS miae 2 Bj 5 1755 MIBSE mila 3 2 2056050 010 5E wra Publication 1756 UM 006B EN P J uly 2001 5 2 The Motion Group This calls the New Tag window Name OK Descript
29. Digital Servo Drive To configure a 1394C SJT05 D 1394C SJT10 D or 1394C SJT22 D drive module 1 In the Controller Organizer in the I O Configuration branch select a 1756 M08SE motion module 2 In the File menu select New Component then Module 3 In the Select Module Type dialog select the desired drive module 1394C SJT05 D 1394C SJT10 D or 1394C SJT22 D Publication 1756 UM 006B EN P J uly 2001 7 2 Configuring a 1394C 5J T05 10 22 D Digital Servo Drive 1354 EW SERICOS Iinbilace 450V diei THH kw SERICOS intelace AGIS dres Wire S000 0 544 SERCOS Inteface 2330 dive Lbra3000 ikw SERCOS Intetace 230 deve UhrazDO0 ww 5ERCOS Inbirlac 2300 dici Ulkra3000 Ew SERCOS Interface 2300 diva Ultra 3000 7 50 SERCOS Inte ace 230v dive ra3000 154 SEACOS Intersos 2300 drive Ukra3000 Jw AED SERCUS Interface BEDV dire Ulra 000 Ski 460A SERCOS Iniiai SEIN dere Ultra 000 1041 4A SERCOS Indec AE dive 4 Press the OK button to close the Select Module Type dialog The Module Properties wizard opens 5 Hil in the required parameters for each page then click the Next button 6 When you complete the last page click the Finish button A new drive module displays beneath the selected 1756 M08SE motion module Publication 1756 UM 006B EN P J uly 2001 1394C SJ T05 10 22 D Digital Servo Drive Overview Configuring a 1394C SJ T05 10 22 D Digital Servo Drive 7 3 The 1756 MO8SE 8 Axis SERCOS interface motion mod
30. E Sa myMotionGroup MyConsumed xis MyServoAxis myservodrive2 myservodrive3 MyServoDriveAxis X MyVirtualdxis C3 Ungrouped Axes C3 Trends 2 4 Data Types i User Defined 2 4 Strings STRING Cg Predefined Oa Module Defined 2 4 140 Configuration g 1 1756 L1 Producer Processor g 2 1756 MO8SE sercost S 1 2098 DSD 005 SE ultradrivel l 3 2098 DSD 150 SE ultradrive2 Publication 1756 UM 006B EN P J uly 2001 Editing the Ultra Drive Properties Configuring an Ultra 3000 Drive 8 7 The Module Properties for any of the Ultra3000 drives can be edited by highlighting the drive to be edited right click with the mouse and selecting Properties 1 1755 1 Producir Pascsis soi E 9 pPIT75EMDBSE rori El 1 2098 D5DJ4X 5 SE uliradmel 22058 050 150 5E uad Publication 1756 UM 006B EN P J uly 2001 8 8 Configuring an Ultra 3000 Drive Publication 1756 UM 006B EN P J uly 2001 General Tab The General Tab is where you edit the basic values for the Ultra drive Type Displays the type and description of the module being created read only Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant This is a required field and must be completed otherwise you receive an error message when you exit this tab An error message is also displayed if a duplicate name is detected o
31. Entry Electronic Select the electronic keying level keying To Select M atch the vendor catalog Compatible module number and major revision attributes of the physical module and the software configured module Disable the electronic keying Disable keying protection mode M atch the vendor catalog Exact match number major revision and minor revision attributes of the physical module and the Software configured module 7 Press the Next button to proceed to the next Create Wizard screen Module Properties Locat 1 1756 MOCKE 5 11 Bequettnd Packet Interval API mw 20 700 T rite Mole T Meis Faut Dn Condes Connection Fals Whi in Run Mode Mischa Finit tees Back Hated x rm Has 8 This screen is where you determine how faults are to be handled The choices are to inhibit module or to configure the module so that a loss of connection to this module causes a major fault Make your entries and press the Next button to Publication 1756 UM 006B EN P J uly 2001 3 6 Adding and Configuring Your 1756 M 02AE M otion M odule proceed to the next wizard screen Module Propetisz Locak 1 8 T3 amp M ZAE 5 1 9 This screen lets you associate an axis with the module Make the appropriate choices for you situation At this point the rest of the screens are informational only and it would be best to press the Finish button to create the module All of the above screens can be access
32. Fault Bits 2 19 Number of M inor Faults Since Last Cleared 2 18 Recent Faults 2 19 Serial Port Tab 2 8 Baud Rate 2 9 Continuous Carrier 2 10 Control Line 2 10 Data Bits 2 9 Mode 2 9 Parity 2 9 RTS Off Delay 2 10 RTS Send Delay 2 10 Stop Bits 2 9 System Protocol Tab 2 10 Active Station Tag 2 14 Common Parameters 2 11 ACK Timeout 2 12 Enable Duplicate Detection 2 12 Error Detection 2 12 Protocol 2 11 Station Address 2 11 DF1 Master Parameters 2 13 M aster Transmit 2 14 Polling Mode 2 13 Reply M essage Wait 2 13 Transmit Retries 2 13 DF1 Point to Point Parameters 2 12 Embedded Responses 2 12 ENQ Transmit Limit 2 12 NAK Receive Limit 2 12 DF1 Slave Parameters 2 13 EOT Suppression 2 13 Slave Poll Timeout 2 13 Transmit Retries 2 13 Normal Poll Group Size 2 14 Normal Poll Node Tag 2 14 Priority Poll Node Tag 2 14 User Protocol Tab 2 15 Append Character 1 and 2 2 16 Buffer Size 2 15 Delete M ode 2 17 Echo M ode 2 16 Protocol 2 15 Termination Character 1 and 2 2 15 XON OFF 2 16 Editing M otion Axis Properties 6 4 Editing the M otion Group Properties 5 4 Attribute Tab 5 5 Auto Tag Update 5 6 Base Tag 5 8 Coarse Update Period 5 5 Data Type 5 8 Description 5 7 General Fault Type 5 6 Name 5 7 Produce 5 8 Reset Max 5 6 Scan Times 5 6 Scope 5 8 Style 5 8 Tag Type 5 8 Axis Assignment Tab 5 4 Add 5 4 Assigned 5 4 Remove 5 5 Unassigned 5 4 Tag Tab 5 7 Editing the Ultra Drive Properties 8 7 Publication 1756 UM 006B EN P
33. M otion Control Structures C 13 Mnemonic Data Description Type AxisFault DINT Theaxis faults for your axis Bit Number Data Type Description PhysicalAxisFault 00 BOOL Physical Axis Fault M oduleFault 01 BOOL M odule Fault ConfigFault 02 BOOL Configuration Fault AxisEvent DINT The event status for your axis Bit Number Data Type Description WatchEvArmStatus 00 BOOL Watch Event Armed Status WatchEvStatus 01 BOOL Watch Event Status RegEvArmStatus 02 BOOL Registration Event 1 Armed Status RegEvStatus 03 BOOL Registration Event 1 Status RegEv2ArmStatus 04 BOOL Registration Event 2 Armed Status RegEv2Status 05 BOOL Registration Event 2 Status HomeEvArmStatus 06 BOOL Home Event Armed Status HomeEvStatus 07 BOOL Home Event Status ActualPosition REAL Actual Position in Position Units StrobeActualPosition REAL Strobe Actual Position in Position Units StartActualPosition REAL Start Actual Position in Position Units AverageVelocity REAL Average Velocity in Position Units Sec ActualVelocity REAL Actual Velocity in Position Units Sec ActualAcceleration REAL Actual Acceleration in Position Units Sec2 WatchPosition REAL Watch Position in Position Units RegistrationPosition REAL Registration 1 Position in Position Units Registration2Position REAL Registration 2 Position in Position Units Registration1Time DINT Registration 1 Time as CST time in microseconds
34. Max us Last us Cancel Apply When RSLogix 5000 software is online all of the attributes on this tab transition to a read only state When an attribute transitions to a read only state all pending attribute changes are reverted Coarse Update Period Selects the periodic rate at which the motion task executes to compute the servo commanded position velocity and accelerations to be sent Publication 1756 UM 006B EN P J uly 2001 5 6 The Motion Group to the 1756 M02AE or 1756 MO8SE modules when executing motion instructions TIP If the coarse update period is too small the controller may not have time to execute non motion related ladder logic As a general rule one gt millisecond per axis is needed by the motion task for the controller to have reasonable execution time As a result the configuration sets the lower limit on the coarse update period based on the number of axes in the group Auto Tag Update Determines whether axis parameter values will be automatically updated during operation Choose from e Enabled turns On automatic tag updating e Disabled turns Off automatic tag updating General Fault Type Selects the general fault type mechanism for the motion group The available selections are e Non Major Fault Any faults detected by the motion group will not cause the processor to fault The application programmer needs to handle the fault in the program e Major Fault Any faults d
35. Module Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred Publication 1756 UM 006B EN P J uly 2001 4 10 Configuring the 1756 M 08SE M odule The following are common categories for errors e Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made e Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully e Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault e Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the software and the module SERCOS Interface Tab The SERCOS interface Tab is where you set the specific Data Rate Cycle Time and Transmit Power for the named 1756 M08SE SERCOS interface module Module Peoperises Local 1756 W085E 1 1 General Connection SERCOS Inteface SERCOS Interlace Into Hodde iro Backptare Dala Fister F Mb Cpa Tina E E me Tenani Prever rh Use the SERCOS Interface Tab to set and display the e SERCOS baud rate e update rate for the SERCOS ring e fiber optic transmit power range for the SERCOS ring Publica
36. NVS update is not in progress Reboot Solid red light e potential nonrecoverable fault has occurred e Reboot the module e If the solid red persists replace the module 1756 M 08S E SERCOS Ring Status ifthe SERCOS Ring LED displays Then the ring status is Take this action Solid green light The ring drive and axes are configured and are actively communicating through to the nodes on the ring None Flashing red light The module has detected a setup or configuration fault with the ring Check your system setup and EE as follows Ensure drive and axes addresses are correct e Eliminate duplicate drive or axes addresses on ring e Remove excess axes from ring e Make sure application program has selected the proper Ring Cycle Period and Baud Rate Publication 1756 UM 006B EN P J uly 2001 Troubleshooting 10 5 If the Then the ring status is Take this action SERCOS Ring LED displays Solid red The module has detected a Check your system hardware and light hardware or installation fault installation as follows with the ring e Make sure all cables are properly installed e Make sure cable is of the correct type and length e Make sure application program has configured the module s ring transmit level to High when using specified cables e Make sure the drive s transmit levels are set appropriately e Inspect cables for de
37. New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Module Selects and displays the name of the motion module to which the axis is associated Displays none if the axis is not associated with any motion module Module Type This read only field displays the type of motion module if any with which the axis is associated An axis of the AXIS SERVO DRIVE data type can be associated only with 1756 MO8SE motion modules Displays none if the axis is not associated with any motion module Publication 1756 UM 006B EN P J uly 2001 6 10 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Node Displays the base node of the associated 1756 MO8SE motion module Disabled when the axis is not associated with any motion module Output Cam Execution Targets Determines how many Output Cam execution nodes instances are created for a specific axis Note that the Execution Target parameter for the MAOC MDOC instructions specify which of the configured execution nodes the instruction is affecting In addition the number specified in the Axis Properties dialog specifies the number of instances of Output Cam in which the value of zero means none and the value specified for Execution Target in the MAOC instruction references a specific instance in which a value of zero selects the first instance General Tab A
38. Runs the Output amp Feedback Test which checks and if necessary reconfigures both the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab of this dialog box Note Executing any test operation automatically saves all changes to axis properties Publication 1756 UM 006B EN P J uly 2001 6 30 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Tune Tab AXIS SERVO AXIS SERVO DRIVE Use this tab to configure and initiate the axis tuning sequence for an axis of the types AXIS SERVO or AXIS SERVO DRIVE e Asis Properties amin Dames Gare Oupa cite One O FamAcke Ta General Unite Comani Owe MotovFeedheck Honing Hookup Ture Dwie MY Fieve ATH foo Fei P DANGER This lung Tongue 100 0 ited reino isschiorr i Poike 0 Hegsbwe Damping Factor pamm Ture F Poailion Eur itegeion F W lociy Enu neprator F YskbsipFesdowad 7 Apsskision Fasdior ad Fr Gutput Fie Le oce E J Travel Limit Specifies a limit to the excursion of the axis during the tune test If the servo module determines that the axis will not be able to complete the tuning process before exceeding the tuning travel limit it will terminate the tuning profile and report that this limit was exceeded Speed Determines the maxi
39. S curve move 0 us 5 Trapezoidal jog 0 us 6 S curve jog 0 us 7 Actual gear 0 us 8 Command gear 125 us 9 Actual PCAM 0 us 10 Command PCAM 0 us 11 TCAM 0 us D Total Axis Action Value Add lines 2 through 125 us 11 Axes 4 Actions Specifications and Performance If you are using an action enter ts execution time from the Action Timing table A 9 If you are not using an action enter zero 0 2 Servo on 40 us 3 Trapezoidal move 0 us 4 S curve move 0 us 5 Trapezoidal jog 0 us 6 S curve jog 0 us 7 Actual gear 0 us 8 Command gear 0 us 9 Actual PCAM 0 us 10 Command PCAM 380 us 11 TCAM 0 us D n Axis Action Value Add lines 2 through 420 us 3 The calculated coarse rate for this application is Baseline task time line 2 980 us Total Axis Action Value for axis 1 line 12 350 us Total Axis Action Value for axis 2 line 12 380 us Total Axis Action Value for axis 3 line 12 125 us Total Axis Action Value for axis 4 line 12 420 us Total Axes Action Value add all of the above 2255 us TOTAL Total Axes Action Value 2 4510 us Recommended Coarse Update Period TOTAL 1000 5 ms rounded up to nearest ms Output Cam Timing For 1756 The impact on the coarse update period is primarily dependent on th Controller ree factors e total number of output cam array entries e total number of output compensation array entries
40. UM 006B EN P J uly 2001 6 14 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 e Linear provides a maximum total linear travel of 1 billion feedback counts With this mode the unwind feature is disabled and you can limit the linear travel distance traveled by the axis by specifying the positive and negative travel limits for the axis e Rotary enables the rotary unwind capability of the axis This feature provides infinite position range by unwinding the axis position whenever the axis moves through a complete unwind distance The number of encoder counts per unwind of the axis is specified by the Position Unwind parameter Conversion Constant Type the number of feedback counts per position unit This conversion or K constant allows axis position to be displayed and motion to be programmed in the position units set in the Units tab The conversion constant is used to convert axis position units into feedback counts and vice versa Note For axes of the type AXIS SERVO DRIVE the label will indicate the number of counts per motor revolution as set in the Drive Resolution field of the Drive tab Position Unwind This parameter is not editable for an axis of the data type AXIS CONSUMED Instead this value is set in and taken from a producing axis in a networked Logix processor For a Rotary axis this value represents the distance in feedback counts used to perform automatic elect
41. Unlatch delay programmed in seconds provides time compensation for the unlatch operation Mode DINT The Mode determines the behavior of the output bit The following four mode options are available A value of less than 0 or greater than 3 results in an Illegal Output Compensation error Value Description 0 Normal The output bit is set for the latch operation and is reset for the unlatch operation 1 Inverted The output bit is reset for the latch operation and is set for the unlatch operation 2 Pulsed The output bit is set for the latch operation and for the on duty state of the pulse and is reset for the unlatch operation and for the off duty state of the pulse 3 Inverted and Pulsed The output bit is reset for the latch operation and for the on duty state of the pulse and is set forthe unlatch operation and for the off duty state of the pulse CycleTime REAL Pulse time in seconds If mode is Pulsed or Inverted and Pulsed and CycleTime is less than or equal to 0 an Illegal Output Compensation error results DutyCycle REAL The percent of CycleTime in which the pulse is to be turned on on duty A value of 50 represents 50 on duty A value of less than 0 or greater than 100 returns an Illegal Output Compensation error Publication 1756 UM 006B EN P J uly 2001 C 34 The Motion Control Structures Publication 1756 UM 006B EN P J uly 2001 Motion Instance Variables Appendix D The Motion Attrib
42. Velocity Feedforward 6 37 6 41 Homing Tab AXIS VIRTUAL 6 25 Mode 6 25 Position 6 25 Sequence 6 26 Homing Tab SERVO AXIS and SERVO AXIS DRIVE Direction 6 24 Homing Configurations 6 25 Limit Switch 6 23 Mode 6 22 Offset 6 23 Position 6 22 Return Speed 6 24 Sequence 6 23 Speed 6 24 Hookup Tab AXIS SERVO 6 26 Feedback Polarity 6 27 Output Polarity 6 27 Test Feedback 6 28 Test Increment 6 26 Test Marker 6 27 Test Output Feedback 6 28 Hookup Tab Overview AXIS_ SERVO_DRIVE 6 28 Drive Polarity 6 28 Test Feedback 6 29 Test Increment 6 28 Test Marker 6 29 Test Output Feedback 6 29 Limits Tab AXIS SERVO 6 51 M anual Tune 6 54 M aximum Negative 6 53 M aximum Positive 6 53 Output Limit 6 54 Position Error Tolerance 6 53 Soft Travel Limits 6 52 Limits Tab AXIS SERVO DRIVE 6 54 Hard Travel Limits 6 55 M anual Tune 6 56 M aximum Negative 6 56 M aximum Positive 6 55 Position Error Tolerance 6 56 Position Lock Tolerance 6 56 Set Custom Limits 6 56 Soft Travel Limits 6 55 Motor Feedback Tab AXIS SERVO DRIVE 6 19 Aux Cydes 6 21 Aux Interp Factor 6 21 Aux Ratio 6 21 Auxiliary Feedback Type 6 20 M otor Catalog Number 6 19 M otor Cycles 6 20 M otor Feedback Type 6 20 M otor Interpolation Factor 6 20 Offset Tab AXIS SERVO 6 57 Friction Compensation 6 58 M anual Tune 6 59 Output Offset 6 59 Torque Offset 6 58 Velocity Offset 6 58 Offset Tab AXIS SERVO DRIVE 6 59 Friction Compensation 6 60 Manua
43. about the commanded position Velocity Offset Provides a dynamic velocity correction to the output of the position servo loop in position units per second Because the position servo loop output value is updated synchronously every Coarse Update Period the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming Torque Offset Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output Naming Configuring Your Motion Axis 6 61 Because velocity servo loop output is updated synchronously every Coarse Update Period the Torque Offset can be tied into custom outer control loop algorithms using Function Block programming Manual Tune Click on this button to open the Dynamics tab of the Manual Tune dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Fault Actions Tab AXIS SERVO Use this tab to specify the actions that will be taken in response to the following faults e Drive Fault e Feedback Noise Fault e Feedback Loss Fault e Position Error Fault e Soft Overtravel Fault for an axis of the type AXIS SERVO Publication 1756 UM 006B EN P J uly 2001 6 62 Naming Configuring
44. also be set manually Before doing this it must be stressed that the Output Scaling factor for the axis must be established for the drive system Once this is done the Pos I Gain can be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 2 025 0 001 Sec mSec Pos P Gain 2 Assuming a Pos P Gain value of 100 Sec 1 this results in a Pos I Gain value of 2 5 0 1 mSec 1 Sec 1 Naming Configuring Your Motion Axis 6 39 Proportional Velocity Gain Note This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab of this dialog box Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Servo Output or Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects The typical value for the Velocity Proportional Gain is 250 mSec 1 Integral Velocity Gain Note This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab of this dialog box At every servo update the current Velocity Error is accumulated in a variable called the Velocity Integral Error This value i
45. and or time This button is disabled when offline Make this controller the Coordinated System Time master Click on this checkbox to select this controller as the CST master This does not mean that this controller IS the master it means that you intend for this controller to be the master If another controller is already the CST master duplicate master detected appears in the status field If you are using a Servo card on this controller set the CST Master Status Indicates the state of the coordinated system time There are four status fields with a circular indicator to the left of each This indicator is blue if the corresponding status condition is true otherwise it is clear The status conditions are e s the master you checked the Make this controller the master box and this controller is the CST master e Synchronized with a master this controller is not the master its time is being synchronized by a master e Duplicate master detected you checked the Make this controller the master box but there is already a CST master e Timer hardware faulted there is a hardware fault Getting Started 2 21 All of the circular indicators are clear when you are offline Advanced Tab The Advanced tab allows you to view and edit advanced controller properties Memory Used The amount of memory used in the controller When offline this parameter is empty Memory Unused The amount of memory avail
46. be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however the value may need to be tweaked Publication 1756 UM 006B EN P J uly 2001 6 42 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforw ard Acceleration Feedforward Gain scales the current Command Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The
47. by the M AH instruction upon successful completion of the configured homing sequence and later cleared when the axis enters the shutdown state PositionCamStatus BOOL Setif a Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation TimeCamStatus BOOL Setif a Time Cam motion profile is currently in progress Cleared when the Time Cam is complete or is superseded by some other motion operation PositionCamPendingStatus BOOL Setif a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending execution selected This bitis cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is superseded by some other motion operation TimeCamPendingStatus BOOL Setif a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the pending cam profile This bit is also cleared if the time cam profile completes or is superseded by some other motion operation GearingLockStatus BOOL Set whenever the slave axis is locked to the master axis in a ge
48. complete or is superseded by some other motion operation ServoActStatus BOOL Set when the associated axis is under servo control Cleared when servo action is disabled Publication 1756 UM 006B EN P J uly 2001 Mnemonic DriveEnableStatus Data Type BOOL The Motion Control Structures C 17 Description Set when the Drive Enable output of the associated physical axis is currently enabled Cleared when physical servo axis Drive Enable output is currently disabled Shutdow nStatus BOOL Set when the associated axis is currently in the Shutdown state Cleared when the axis is transitioned from the Shutdown state to another state ConfigUpdatelnProcess BOOL The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service which is internal to the firmware or an SSV in the user program When such an update is initiated the ControlLogix processor sets this bit This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation PhysicalA xisFault BOOL Set when one or more fault conditions h
49. dod Mace ira te repre ctr ee Mamet Be E atre deseris 8 8 REVISION Sot eh ede dae ri DP Be Se 8 8 SIO ai A We APA OT 8 9 PIECTONICREVING yy ee on a obo eee ee 8 9 E A O 8 10 ConnecHon Tab 12 wa ede deve e pot dn tr s 8 10 Requested Packet Interval 8 11 Inhibit Module dd Rast atra RC UR EO etus 8 12 Major Fault on Controller stas ala 8 13 Module Bulb 2o at Ree DC e BD E ie eh 8 13 Associated Axes Tab Ultra3000 Drives 8 14 Nod acc Md aaepe e iR Deve e ce e od wei ge 8 14 BIBDSIST A ee wid ete Edd STU 8 14 NeW AXIS at ES dU CUR AUTRE AA 8 14 Power Tab Ultra Dives une cre 8 14 Bus Regulator ID ada tex OUT 8 14 Module IIO AA a eee 8 14 Identification 26 sedes ad Goh Bede e C Or ce Ur oes 8 15 Major Minor Fault Status 8 16 Internal State Status toy x EROR a ar IO 8 16 Configured i t ea mee o o boe d eu oe ee 8 16 OWBBU era doo CAPE Rw ORE RC RS 8 16 Module IAS aa AAA eee ee 8 17 Publication 1756 UM 006B EN P uly 2001 xii Chapter 9 Chapter 10 Appendix A Appendix B Publication 1756 UM 006B EN P J uly 2001 Bespt Module 2 o o CO E CR EE y 8 17 RM e deest arte ca v S ete RP ER 8 17 Motion Instructions Motion State Instructions vs 3 4 oom Dc oo vx 9 1 Motion Move Instructions oo oooo 9 2 Motion Group Instructions 9 9744 5 erac ete cr e ke Ew 9 3 Motion Event Instructions 4 6 3 6 44 eae AA 9 3 Understanding Motion Configurat
50. drin Uitra300 iow SERCIS Interact 230 dires Libs 26 w SERCOS I nieiace HN dies Kira OO Sew SACOS ineto 230 deve 13000 Elbow SERCOS interlaci 300 iren LIO AE SERCOS Intertace SEDA dee Diaki Sw LOAD SERCDS Inimiaca AEDV deren Una 3000 DOW SOMA SERCIS Inberisce LEN dire Lib tE OVAL SERCIS interlace AE chrom 5 In the Select Module Type dialog select the desired drive module The Ultra drives begin with the 2098 prefix 6 Press the OK button to close the Select Module Type dialog The Ultra Drive Create Wizard Module Properties dialog opens 7 You must fill in a name for the drive this is a required field Fill in the responses for the other parameters as needed then click Publication 1756 UM 006B EN P J uly 2001 8 4 Configuring an Ultra 3000 Drive the Next gt button to advance to the next wizard screen 8 Fill in the required information and click on the Next button to advance to the next screen Publication 1756 UM 006B EN P J uly 2001 Configuring an Ultra 3000 Drive 8 5 9 Fill in the node information for the drive and press Next 10 Enter the Bus regulator information and press Next to continue 11 When you complete the last page click the Finish button A new drive module displays beneath the selected 1756 M08SE Publication 1756 UM 006B EN P J uly 2001 8 6 Configuring an Ultra 3000 Drive motion module 9 Unscheduled Programs 2 3 Motion Groups
51. e Product Type e Catalog Number e Major Revision e Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot Connection Tab The Connection Tab is used to define controller to module behavior This is where you select a requested packet interval choose to inhibit the module configure the controller so loss of the connection to this module causes a major fault and view module faults Publication 1756 UM 006B EN P J uly 2001 4 8 Configuring the 1756 M 08SE M odule imu MU CL rA Genel Connection SERCDS Inteface SEREDS Intedtace Into Module inis Backplene Requested Packet intera RAE me 20 7500 mel inhii Modus F Mica Fault On Conisclles Connection Fas While in Run Mode Medida Fl The data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module and the controller Requested Packet Interval This does not apply to motion module Inhibit Module checkbox Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module WARNING Inhibiting the module causes the connection to the module to be broken and may result in loss of data Publication 1756 UM 006B EN P J uly 2001 Configuring the
52. e Revision e Serial Number Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module M ajor M inor Fault Status Statuses are EEPROM fault Backplane fault None Publication 1756 UM 006B EN P J uly 2001 7 14 Configuring a 1394C SJ T05 10 22 D Digital Servo Drive Publication 1756 UM 006B EN P J uly 2001 Internal State Status Displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configuration bad e Major Fault please refer to Major Minor Fault Status above e Run mode e Program mode 16000 unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured Displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once a module has been configured it stays configured until the module is reset or power is cycled even if the owner drops connection to the module This information does not apply to adapters Owned Displays a yes or no value indicating whether an owner controller is currently connected to the module This information does not apply to adapters Configuring a 1394C S T05 10 22 D Digital Servo Drive 7 15 M odule Identity D
53. e number of outputs compensation array entries with non zero latch unlatch time delay values Publication 1756 UM 006B EN P J uly 2001 A 10 Specifications and Performance Publication 1756 UM 006B EN P J uly 2001 The following formulas ballpark additional coarse update time required for each unique Output Cam execution target being used In the following formulas e A number of Output Cam array elements e B 2 number of Output Compensation array elements e C number of Output Compensation array elements with Latch Unlatch non zero delay values All values are expressed in micro seconds For the 1756 L50 Controller 1200 A 130 B 140 C 90 For the 1756 L53 Controller 1000 A 100 B 110 C 60 Understanding Block Diagrams Appendix B Loop and Interconnect Diagrams This appendix shows the loop interconnect diagrams for common motion configurations The control block diagrams in this section use the following terms for motion attributes Diagram term Motion attribute name as used in the GSV and SSV instructions Acc FF Gain AccelerationFeedforwardGain Vel FF Gain VelocityFeedforwardGain Pos P Gain PositionProportionalGain Pos Gain PositionIntegralGain Vel P Gain VelocityProportionalGain Vel Gain VelocitylntegralGain Output Filter BW OutputFilterBandw idth Output Scaling OutputScaling Friction Comp FrictionCompensa
54. error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 15096 to 20096 of the position error while the axis is running at its maximum speed Position Lock Tolerance Specifies the maximum position error the servo module will accept in order to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units as shown here Set Custom Limits Click this button to open the Custom Limit Attributes dialog Manual Tune Click on this button to open the Dynamics tab of the Manual Tune dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Naming Configuring Your Motion Axis 6 57 Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Offset Tab AXIS SERVO Use this tab to make offline adjustments to the following Servo Output values e Friction Compensatio
55. exceed 128 characters If you enter more than 128 characters the system notifies you and it ignores the extra characters Publication 1756 UM 006B EN P J uly 2001 5 8 The Motion Group Publication 1756 UM 006B EN P J uly 2001 Tag Type read only Displays the type of tag e Base a normal tag e Alias a tag that references another tag with the same definition Data Type read only The axis data type MOTION GROUP Scope Displays the scope of the current tag The scope is either controller scope or program scope based on one of the existing programs in the controller Style Not applicable to motion group tags Produce this tag for up to A checked box indicates that this tag is available to remote controllers through controller to controller messaging If this box is checked the system displays the maximum number of consumers Le connections allowed for this tag The default number of consumers is 2 Base Tag If this tag is an alias this field displays the name of the motion group tag on which this alias was based The base tag actually defines the memory where the data element is stored Naming an Axis Chapter 6 Naming Configuring Your Motion Axis This chapter describes how to name configure and edit your axis properties Naming an axis adds it to your application To name an axis Go to the File pull down menu select New Component and then select Tag Hkc eol hele Publicatio
56. for example Allen Bradley 700 HA32Z24 whose contacts can be incorporated into the E Stop string as shown below Publication 1756 UM 006B EN P J uly 2001 B 12 Loop and Interconnect Diagrams 24 VDC Field Power Supply OK Pilot Relay HK H From 1756 M02AE gt Belden 9501 P4 ok OK Pilot CES Relay cun CRI ___ VACIDC Contacts Stop CRI or 120VAC A xs mC typical E ml ean Publication 1756 UM 006B EN P J uly 2001 AXIS Structures Mnemonic M otionStatus Data Type DINT Appendix C The Motion Control Structures This appendix shows the structures for the AXIS MOTION GROUP MOTION INSTRUCTION CAM and CAM PROFILE data tags There are four axis related data types that each have their own structure The four types are Axis Consumed Axis Servo Axis Servo Drive and Axis Virtual The following sections describe the structures for each of these axis data types AXIS CONSUMED Structure A Consumed Axis is a conduit for axis motion data produced by a motion axis on another Logix processor The Axis Consumed structure has the following status attributes Description The motion status bits for your axis Bit Number Data Type Description AccelStatus 00 BOOL Acceleration Status DecelStatus 01 BOOL Deceleration Status M oveStatus 02 BOOL M ove Status J ogStatus 03 BOOL J og Status GearingStatus 04 BOOL Gearing Status HomingStatus 05 BOOL Homing Status
57. for the selected feedback type This value is used to compute the resolution of the feedback device Aux Cycles The number of cycles per revolution of the auxiliary feedback device This helps the Drive Compute Conversion constant used to convert drive units to feedback counts Depending on the feedback type selected this value may either be read only or editable Aux Ratio Represents the quantitative relationship between the auxiliary feedback device and the motor Homing Tab SERVO_AXIS and SERVO_AXIS_DRIVE Use this tab to configure the attributes related to homing an axis of the type AXIS SERVO or AXIS SERVO DRIVE When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Publication 1756 UM 006B EN P J uly 2001 6 22 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 ais Prapesties perro Dum Limia Disa Faull Achar Tag Genel Unis Comeesion Seno Homing Hookup Ture Deer Gsm Mod mra Eci pino Hess Dji oo Revs jagen Srch Haker Lim Swdch Mona Open C Died cis Home Sequence Giap Dmi Faad Ercuectonal Sajid uo Rare Biim Spend UU Rivet Mode Select the homing mode e Active In this mode the desired homing sequence is selected by specifying whether a home limit switch and or the encoder marker is used for
58. given when the module identity you provide is a match with the actual module Configured Displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once a module has been configured it stays configured until the module is reset or power is cycled even if the owner drops connection to the module This information applies to I O modules only and does not apply to adapters scanners bridges or other communications modules Owned Displays a yes or no value indicating whether an owner controller is currently connected to the module This information applies to I O Configuring an Ultra 3000 Drive 8 17 modules only and does not apply to adapters scanners bridges or other communications modules Module Identity Displays If the physical module Match agrees with what is specified on the General Tab order for the M atch condition to exist all of the following must agree e Vendor e Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch does not agree with what is specified on the General Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Note The Generic modules such as the 1756 MODULE always show a Mismatch because the configured Generic Key does not match any target device Reset M odule Click
59. homing 3 switch marker homing default HomeSpeed REAL GSV The homing speed of your axis SSV INSTANCE DINT GSV The instance number of the axis M apTablelnstance DINT GSV The I O map instance of the servo module This attribute can only be set if you did not assign the axis to a group or if you assigned it to a group in the group inhibit mode M aximumAcceleration REAL GSV The maximum acceleration of your axis 55V The controller automatically sets the maximum acceleration value to approximately 8596 of the tuning acceleration determined by the Motion Apply Axis Tune MAAT instruction M aximumDeceleration REAL GSV The maximum deceleration of your axis 55V The controller automatically sets the maximum deceleration value to approximately 8596 of the tuning deceleration determined by the Motion Apply Axis Tune MAAT instruction M aximumNegativeTravel REAL GSV The maximum negative travel limit 55V This value is always less than the MaximumPositiveTravel value M aximumPositiveTravel REAL GSV The maximum positive travel limit 55V This value is always greater than the MaximumNegativeTravel value M aximumS peed REAL GSV The maximum speed of your axis 55V The controller automatically sets the maximum speed value to the tuning speed determined by the Motion Apply Axis Tune MAAT instruction M oduleChannel SINT GSV The module channel of your servo module This attribute can only be set if you did not assign the axis to a group or if you assigne
60. in a Pos I Gain value of 2 5 0 1 mSec 1 Sec 1 Proportional Velocity Gain Note This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab of this dialog box Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater Publication 1756 UM 006B EN P J uly 2001 6 44 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects If you know the desired unity gain bandwidth of the velocity servo in Hertz you can use the following formula to calculate the corresponding P gain Vel P Gain Bandwidth Hertz 6 28 The typical value for the Velocity Proportional Gain is 250 mSec 1 Integral Velocity Gain Note This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab of this dialog box At every servo update the current Velocity Error is accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Torque Command that attempts to correct for the
61. in the General tab of this dialog The available actions for this fault are Shutdown and Disable Drive Feedback Noise Specifies the fault action to be taken when excessive feedback noise is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Feedback Loss Specifies the fault action to be taken when feedback loss condition is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Publication 1756 UM 006B EN P J uly 2001 6 64 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Position Error Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Soft Overtravel Specifies the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured in the Limits tab of this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Fault Actions Tab AXIS SERVO DRIVE Use this tab to specify the actions that will be taken in response to the following faults e Drive Thermal Fault e Motor Thermal Fault e Feedback No
62. input 1 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs ora M DR M otion Disarm Registration instruction is executed for registration input 1 RegEvStatus BOOL Set when a registration event has occurred on registration input 1 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEv2ArmStatus BOOL Set when a registration checking has been armed for registration input 2 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs ora M DR M otion Disarm Registration instruction is executed for registration input 2 RegEv2Status BOOL Set when a registration event has occurred on registration input 2 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 2 Publication 1756 UM 006B EN P J uly 2001 C 10 The Motion Control Structures Mnemonic Data Description Type HomeEvArmStatus BOOL Set when a home event has been armed through execution of the M AH Motion Axis Home instruction Cleared when a home event occurs HomeEvStatus BOOL Setwhen a home event has occurred Cleared when another M AH M otion Axis Home instruction is executed ProcessStatu
63. is disabled New Group button Opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Output Cam Execution Targets Determines how many Output Cam execution nodes instances are created for a specific axis Note that the Execution Target parameter for the MAOC MDOC instructions specify which of the configured execution nodes the instruction is affecting In addition the number specified in the Axis Properties dialog specifies the number of instances of Output Cam in which the value of zero means none and the value specified for Execution Target in the MAOC instruction references a specific instance in which a value of zero selects the first instance Press Apply then select the Units tab to access the Axis Properties Units dialog Baz Piopertves az ol Dynamos Ges Oups tme Ome Faics Te Generd Us Comer Gre MooFeodack Honra Hookup Ture Position Linitz pe einge veloci Timebace ps 7 o cms fte Publication 1756 UM 006B EN P J uly 2001 6 12 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Units Tab The Units Tab is the same for all axis data types Use this tab to determine the units to define your motion axis When RSLogix 5000 software is online and the controller transitions to hard run or the servo loop is on i e active then all the at
64. is set in this field However when the controller recalculates certain attributes in response to a Motor Catalog Number change on the Motor Feedback tab the controller uses the default Damping Factor value of 0 8 and not a different value set in this field Tune Select the gains to be determined by the tuning test e Position Error Integrator e Velocity Feedforward e Output Filter e Velocity Error Integrator e Acceleration Feedforward Publication 1756 UM 006B EN P J uly 2001 6 32 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Start Tuning Click on this button to begin the tuning test If the tuning process completes successfully the following attributes will be set On this tab These attributes are set Gains tab Velocity Feedforward Gain if checked under Tune above Acceleration Feedforward Gain if checked under Tune above Position Proportional Gain Position Integral Gain if checked under Tune above Velocity Proportional Gain Velocity Integral Gain if checked under Tune above Dynamics tab M aximum Velocity M aximum Acceleration M aximum Deceleration Output tab Torque Scaling Velocity Scaling AXIS SERVO only Low Pass Output Filter see Note below Limits Position Error Tolerance The Tune Bandwidth dialog opens for Servo drives where you can tweak bandwidth values Note During tuning if the controller detects a high degree of tuning
65. is wired to connect to torque command reference input pins An external 5V power supply is required to power the encoder driver circuit of the 1394 servo drive Because this connection is shared by all four axis encoder driver circuits only one connection is needed to the 5V field supply The xx in the cable number is the length of the cable Options are 5 10 25 and 50 feet Loop and Interconnect Diagrams B 9 The 1394 CFLAExx Cable Wiring Diagram ENABLEJDR VE FAULT AXIS 0 Individually J acketed P airs 1 1 3 0 in ES a AXIS 0 1394 CFLAE gt 3 s oo 12 1756 M02AE j E PWR AXIS 0 MO2AE OK aL nt The 1394 CFLAE cable is available in 1 3 8 and 15 meter lengths Pinouts for the 1394 CFLAE HV 5VCOM CHANNEL A HIGH CHANNEL A LOW CHANNEL B HIGH CHANNEL B LOW CHANNEL Z HIGH CHANNEL Z LOW VREF TREF VREF TREF DROK 0 24V EN COM 24V AX_ ENABLE TO SYSTEM FAULT STRING co Ne ee REG As BLACK 22GA y sas ORANGE 22GA X WHT ORG 22GA yt YELLOW22GA WHTYELZGA Xi GREEN 22GA PX WHT GRN 22GA BLUE22GA 4 WHT BLU 22GA yesos VIOLET 22GA cm ne WHTNIO 22GA yt GRAY 226A NE yx WHT GRY 226A X fag RED226A a X BLACK 22GA yt Publication 1756 UM 006B EN P
66. minimize the integrator wind up during motion e Disabled all active position or velocity integrators are always enabled Manual Tune Click on this button to access the Gains tab of the Manual Tune dialog for online editing Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Gains Tab AXIS SERVO DRIVE Use this tab to perform the following offline functions e Adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog e Manually configure gains for the velocity and position loops for an axis of the type AXIS SERVO DRIVE e ais Propalinz asis Genes Units Conversion Drive Hotufesdosck Homing Hookup Tune Dpnamics Gum napa ws Oie Fatada Tag MekcipFeedowed E x Haruai Tune Acceleration Essdtonmerd T x Gal Cusen Gana Position iain Emportiorad Ha posed 1 Integral E Ds es iine Pigcortional ja 73 i Intag EJ Tina Publication 1756 UM 006B EN P J uly 2001 Naming Configuring Your Motion Axis 6 41 The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop The specific design of this nested loop depends upon the Loop Configuration selected in the Drive tab
67. motion module is required to recover from a module fault condition A M oduleFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box ConfigFault BOOL Set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module A ConfigFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box WatchEvArmStatus BOOL Set when a watch event has been armed through execution of the M AW M otion Arm W atch instruction Cleared when either a watch event occurs or a M DW M otion Disarm Watch instruction is executed WatchEvStatus BOOL Set when a watch event has occurred Cleared when either another M AW M otion Arm Watch instruction or a M DW Motion Disarm Watch instruction is executed RegEvArmStatus BOOL Set when a registration checking has been armed for registration input 1 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEvStatus BOOL Set when a registration event has occurred on re
68. of this dialog box Fora discussion including a diagram of a loop configuration click on the following loop configuration types e Motor Position Servo Loop e Auxiliary Position Servo Loop e Dual Position Servo Loop e Motor Dual Command Servo Loop e Auxiliary Dual Command Servo Loop e Velocity Servo Loop e Torque Servo Loop The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Tune dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode orif a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Velocity Feedforw ard Velocity Feedforward Gain scales the current command velocity derivative of command position by the Velocity Feedforward Gain and adds it as an offset to the Velocity Command Hence the Velocity Feedforward Gain allows the following error of the servo system to
69. optimal value for Acceleration Feedforward is 10096 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Note Acceleration Feedforward Gain is not applicable for applications employing velocity loop servo drives Such systems would require the acceleration feedforward functionality to be located in the drive itself This value is also not applicable for Ultra3000 drives Proportional Position Gain Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability Note To set the gain manually you must first set the Torque scaling in the Output tab of this dialog If you know the desired loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil Naming Configuring Your Motion Axis 6 43 If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 The typical v
70. s node Note This field is read only while you are online Ellipsis Click on this button to access the Axis Properties dialog for the associated axis New Axis Click on this button to access the New Tag dialog with the scope data type and produced settings appropriate for a produced axis tag Power Tab Ultra Drive Use this tab to select a bus regulator for your Ultra 3000 drive module Note This parameter does not apply to the Ultra3000 SERCOS drives The only available selection in the Bus Regulator ID pull down menu is none Bus Regulator ID Select the catalog number that describes bus regulator device used by the Ultra 3000 drive module Depending upon the Drive Module you have selected one or more of the following are available Note This parameter does not apply to the Ultra3000 SERCOS drives The only available selection in the pull down menu is none Module Info The Module Info Tab displays module and status information about the module It also allows you to reset a module to its power up state Configuring an Ultra 3000 Drive 8 15 The information on this tab is not displayed if you are either offline or currently creating a module TIP You can use this tab to determine the identity of the module The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available e Refresh to display n
71. servo output limit may be used as a software current or torque limit if you are using a servo drive in torque loop mode The percentage of the drive s maximum current that the servo controller will ever command is equal to the specified servo output limit For example if the drive is capable of 30 Amps of current for a 10Volt input setting the servo output limit to 5V limits the maximum drive curent to 15 Amps The servo output limit may also be used if the drive cannot accept the full 10 Volt range of the servo output In this case the servo output limit value effectively limits the maximum command sent to the amplifier For example if the drive can only accept command signals up to 7 5 Volts set the servo output limit value to 7 5 volts Manual Tune Click on this button to open the Dynamics tab of the Manual Tune dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Limits Tab AXIS SERVO DRIVE Use this tab to make the following offline configurations e enable and set maximum positive and negative software travel limits and e configure both Position Error Tolerance and Position Lock Tolerance for an axis of the type AXIS SERVO DRIVE configured as a Servo drive in the General tab of this dialog Naming
72. tabs and parameters e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Assigned Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis button Opens the Motion Group Properties dialog box for the Assigned Motion Group where you can edit the properties of the Assigned Motion Group If no Motion Group is assigned to this axis this button is disabled New Group button Opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Module Selects and displays the name of the motion module to which the axis is associated Displays none if the axis is not associated with any motion module Module Type This read only field displays the type of motion module if any with which the axis is associated An axis of the AXIS SERVO data type can be associated only with 1756 M02AE motion modules Displays none if the axis is not associated with any motion module Publication 1756 UM 006B EN P J uly 2001 6 8 Naming amp Configuring You
73. tag or consumed tag Name Enter the name of the tag you want to create Description Enter a description of the tag Tag Type Check the type of tag you are creating e Base refers to a normal tag selected by default e Alias refers to a tag which references another tag with the same definition Special parameters appear on the New Tag dialog that allow you to identify to which base tag the alias refers e Produced refers to a tag that has been made available to other controllers If this type is chosen then you can set the maximum number of consumers allowed for this tag e Consumed only available when the controller is offline refers to a tag that is produced by another controller whose data you want to use in this controller Special parameters appear on the New Tag dialog that allow you to identify from where the consumed tag is to come Data Type In the Data Type field you can either enter the type of tag you want to create directly or click on the ellipsis button to go to the Select Data Type dialog From this dialog you can select the appropriate axis data type AXIS CONSUMED AXIS SERVO AXIS SERVO DRIVE or AXIS VIRTUAL Publication 1756 UM 006B EN P J uly 2001 6 4 Naming amp Configuring Your M otion Axis Editing Motion Axis Properties Publication 1756 UM 006B EN P J uly 2001 Make entries in the following fields Field Entry Name Type a name for the servo axis The name can have a m
74. test OutputFilterBandw idth REAL GSV The bandwidth of the servo low pass digital output filter SSV OutputLimit REAL GSV The value of the maximum servo output voltage of your axis SSV OutputOffset REAL GSV The value used to offset the effects of the cumulative offsets of SSV the servo module DAC output and the servo drive input OutputScaling REAL GSV The value used to convert the output of the servo loop into the SSV equivalent voltage to the drive For a velocity servo drive the output scaling is ee Speedat10Volts x ConversionConstant For a torque servo drive the output scaling is o NOUNS 2 a Accelerationat10Volts x ConversionCons tant PositionError REAL GSV The difference between the actual and command position of an axis You can use this value to drive the motor to where the actual position equals the command position PositionErrorFaultAction SINT GSV The operation performed when a position error fault occurs SSV Value Meaning 0 shutdown the axis 1 disable the drive 2 stop the commanded motion 3 change the status bit only Publication 1756 UM 006B EN P J uly 2001 The Motion Attributes D 5 Variable Data Type Access Description PositionErrorTolerance REAL GSV The amount of position error that the servo tolerates before SSV issuing a position error fault PositionIntegralGain REAL GSV The value used to achieve accurate axis positioning despite SSV disturbances
75. the 1756 M 08SE For more information on the documentation refer to the Allen Bradley Publication Index publication number SD499 Rockwell Automation offers support services worldwide with over 75 sales support offices 512 authorized distributors and 260 authorized systems integrators located throughout the United States In addition Rockwell Automation representatives are located in every major country in the world Local Product Support Contact your local Rockwell Automation representative for e sales and order support e product technical training e warranty support e support service agreements Technical Product Assistance If you need to contact Rockwell Automation for technical assistance please review the information in this manual If the problem persists call your local Rockwell Automation representative Publication 1756 UM 006B EN P J uly 2001 Preface P 4 The Rockwell Automation Technical Support number is 1 603 443 5419 On the Web For information about Allen Bradley visit the following World Wide Web site http www ab com Publication 1756 UM 006B EN P J uly 2001 Chapter 1 The ControlLogix Motion Control System This chapter describes the ControlLogix motion control system ControlLogix Motion The ControlLogix controller 1756 M02AE servo module 1756 M08SE Control SERCOS interface module and RSLogix5000 programming software provide integrated motion control support e Th
76. the following table The coarse update period can have a significant bearing on the quality of motion control for a given application If an application requires commanded acceleration or deceleration times that are comparable to the coarse update period significant velocity and position overshoot can occur as the axis attempts to follow the command profile The amount of velocity overshoot can be calculated as the product of the acceleration or deceleration rate and the coarse update period As a general rule of thumb the acceleration and deceleration times for a motion application should be at least 10 times the coarse update period to avoid significant velocity or position overshoot For example an application that requires an axis to accelerate and decelerate to full speed in 100 milliseconds is best handled by choosing a coarse update period of 10 milliseconds or shorter Be sure to check what the minimum coarse update period is for the associated controller before selecting the coarse update period The minimum coarse update period can be determined based on the number of axes and the worst case motion activity according to the execution time tables provided Understanding Action Timing Every action performed by an axis requires an amount of motion task time For example to perform a trapezoidal move requires 310 us Specifications and Performance A 5 The following table shows execution times for common motion
77. the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear Publication 1756 UM 006B EN P J uly 2001 Mnemonic FeedbackNoiseFault Data Type BOOL The M otion Control Structures C 11 Description Set for a specific feedback source when the servo module has detected simultaneous transitions of the feedback A and B channels called feedback noise Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear AuxFeedbackFault BOOL Set for an auxiliary feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A and A B and B or Z and
78. there is no voltage this is the normal condition e If configured to be normally closed and there is 24V applied this is the normal condition If the CP LED displays Then the module status is Off The module is not operating Solid red light e n Phase 0 looking for a closed ring Flashing red light e In Phase 1 looking for active nodes Alternating Red Green light e In Phase 2 configuring nodes for communication Flashing green light e In Phase 3 configuring device specific parameters Solid green light e In Phase 4 configured and active Publication 1756 UM 006B EN P J uly 2001 10 4 Troubleshooting 1756 M 08S E M odule Status Using the OK Indicator ifthe OK LED displays Then the module status is Take this action Off The module is not operating e Apply chassis power e Verify the module is completely inserted into the chassis and backplane Flashing green light The module has passed internal diagnostics but has not established active communications e None if you have not configured the module Solid green light e Data is being exchanged e The module is in the normal operating state None The module is ready for action Flashing red light e A major recoverable failure has occurred e AnNVS update is in progress If an NVS update is in progress complete the NVS update j an
79. this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Set Custom Stop Action Opens the Custom Stop Action Attributes dialog Publication 1756 UM 006B EN P J uly 2001 6 68 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Tag Tab Use this tab to modify the name and description of the axis When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you save your changes all pending changes revert to their previously saved state Name Displays the name of the current tag You can rename this tag if you wish Description Displays the description of the current tag if any is available You can edit this description if you wish Tag Type Indicates the type of the current tag This type may be e Base e Alias e Consumed Displays the data type associated with the current tag Naming Configuring Your Motion Axis 6 69 Scope Displays the scope of the current tag The scope is either controller scope or program scope based on one of the existing programs in the controller Style Displays the default style in which to display the value of the tag Note that style is only applicable to an atomic tag a structure tag does not have a display style Produce this tag for up to
80. valid Base Node values are 10 20 30 40 50 60 70 80 or 90 Revision Select the minor revision number of your module The revision is divided into the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog The major revision is used to indicate the revision of the interface to the module The minor revision is used to indicate the firmware revision Publication 1756 UM 006B EN P J uly 2001 7 6 Configuring a 1394C SJ T05 10 22 D Digital Servo Drive Publication 1756 UM 006B EN P J uly 2001 Electronic Keying Select one of these keying options for your module during initial module configuration e Exact Match all of the parameters described below must match or the inserted module will reject the connection e Compatible Module the Module Types Catalog Number and Major Revision must match the Minor Revision of the physical module must be equal to or greater than the one specified in the software or the inserted module will reject the connection e Disable Keying Logix5550 will not employ keying at all WARNING Changing the RPI and Electronic Keying selections may cause the connection to the module to be broken and may result in a loss of data Be extremely cautious when using this option if used incorrectly this option can lead to personal injury or death property damage or economic loss When you insert a module into a slot
81. 0 BOOL Position Cam Pending Status TimeCamPendingStatus 11 BOOL Time Cam Pending Status GearingLockStatus 12 BOOL Gearing Lock Status PositionCamLockStatus 13 BOOL Position Cam Lock Status TimeCamLockStatus 14 BOOL Time Cam Lock Status M asterOffsetM oveStatus 15 BOOL Master Offset M ove Status AxisStatus DINT The status bits for your axis Bit Number Data Type Description ServoActStatus 00 BOOL Servo Action Status DriveEnableStatus 01 BOOL Drive Enable Status Shutdow nStatus 02 BOOL Axis Shutdown Status ConfigUpdatelnProcess 03 BOOL Configuration Update in Process AxisFault DINT The axis faults for your axis Bit Number Data Type Description PhysicalAxisFault 00 BOOL Physical Axis Fault M oduleFault 01 BOOL M odule Fault ConfigFault 02 BOOL Configuration Fault Publication 1756 UM 006B EN P J uly 2001 C 22 The Motion Control Structures Mnemonic Data Description Type AxisEvent DINT The event status for your axis Bit Number Data Type Description WatchEvArmStatus 00 BOOL Watch Event Armed Status WatchEvStatus 01 BOOL Watch Event Status RegEvArmStatus 02 BOOL Registration Event 1 Armed Status RegEvStatus 03 BOOL Registration Event 1 Status RegEv2ArmStatus 04 BOOL Registration Event 2 Armed Status RegEv2Status 05 BOOL Registration Event 2 Status HomeEvArmStatus 06 BOOL Home Event Armed Status HomeEvstatus 07 BOOL Home Event Status ActualPos
82. 000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Limits Tab AXIS SERVO Use this tab to make the following offline configurations e enable and set maximum positive and negative software travel limits and e configure both Position Error Tolerance and Position Lock Tolerance and e set the servo drive s Output Limit for an axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog Publication 1756 UM 006B EN P J uly 2001 6 52 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 W Agia Properties mozaeaxis Genel Unt Comenene Seto Homing Hookup Tuve Deme Gans utp Lii Disi Fuk Acton Tag Bo Tui Limiz Marea Tina Position Error Tolerance a D Bes Pesar och Tolerance 00 Fave Output Liri 10 0 N The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Tune dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback
83. 001 The AXIS VIRTUAL General Tab is shown below LED lo MEN Ap gd Motion Geo pep EE emcees Quipul Came Esacuton Tage 0 or cm 5 UL General Tab SERVO AXIS Use this tab to do the following for an axis of the data type AXIS SERVO e Configure the axis for Servo operation or for position Feedback Only e Assign the axis or terminate the assignment of an axis to a Motion Group e Associate the axis with a 1756 M02AE motion module e Select the channel 0 or 1 on the 1756 M02AE motion module to which the axis is connected Note RSLogix 5000 supports only one Motion Group tag per controller When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Naming Configuring Your M otion Axis 6 7 Axis Configuration Selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties
84. 006B EN P J uly 2001 4 16 Configuring the 1756 M 08SE Module reset or power is cycled even if the owner drops connection to the module Ow ned This field displays a yes or no value indicating whether an owner controller is currently connected to the module Module Identity Displays If the module in the physical slot M atch agrees with what is specified on the GeneralTab In order for the M atch condition to exist all of the following must agree e Vendor e Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch does not agree with what is specified on the General Tab Publication 1756 UM 006B EN P J uly 2001 This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Refresh Click on this button to refresh the tab with new data from the module Reset M odule Click on this button to return a module to its power up state by emulating the cycling of power Resetting a module causes all connections to or through the module to be closed and this may result in loss of control IMPORTANT The following modules return an error if a reset is attempted 1756 L1 ControlLogix5550 Programmable Controller 1336T AC Vector Drive 1395 Digital DC Drive A controller cannot be reset Configuring the 1756 M 08SE Module 4 17 Backplane Tab The Backplane tab on the Module Propert
85. 06B EN P J uly 2001 Inhibit M odule checkbox Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken IMPORTANT Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module WARNING Inhibiting the module causes the connection to the module to be broken and may result in loss of data When you check this box and go online the icon representing this module in the controller organizer displays the Attention Icon If you are Check this checkbox to offline put a place holder fora module you are configuring online stop communication to a module If you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs will go to the last configured Program mode state If you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information will change to indicate that the module is Inhibited and not Faulted If you uninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a L
86. 0D and the default value for Append Character 2 is 0A The AWA instruction appends the specified characters to the end of the messages it sends out If you do not wish to use these characters you can either avoid the use of the AWA instruction or you can define Append Character 1 as FE where FF tells the controller not to append characters when using the AWA instruction If you want to append only one character define Termination Character 1 as the desired character and define Termination Character 2 as OxFE XON OFF Check this option to regulate the flow of incoming data For example when this option is checked and the receive buffer gets to be 8096 full an XOFF 0x13 character is transmitted to tell the sending device to stop sending When the buffer has been processed so that it is less than 8096 full the XON 0x11 character is sent to tell the device to resume sending This option is disabled when the Control Line option is configured for Half Duplex Echo Mode Check this option to cause any data received in the ASCII port to be sent right back out to the device that sent it For example you could use this option with a dumb terminal that is unable to display what it sends but can display what is echoed to it Getting Started 2 17 This option is disabled when the Control Line option is configured for Half Duplex Delete Mode The character received just before the delete character sequence 0x7F is remov
87. 1756 M 08SEM odule 4 9 When you check this box and go online the icon representing this module in the controller organizer displays the Attention Icon If you are Check this checkbox to offline put a place holder for a module you are configuring online stop communication to a module If you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs go to the last configured Program mode state If you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted If you uninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module If you uninhibit a module while online and a fault condition occurs a connection is not made to the module Major Faulton Controller if Connection Fails checkbox Check this box to configure the controller so that failure of the connection to this module causes a major fault on the controller if the connection for the module fails
88. 2 10 RES OL Delay on x 353 rd ad ome ae a 2 10 System Protocol TADA Ea 2 10 Common Parameters ceo ee EY e oR 2 11 Protocol A te ud ogee eels ty isd ol eee d et as 2 11 SUO RATES gee ats A eor sete e in Un tte e s 2 11 Error Detection o ooooooo o 2 12 Enable Duplicate Detection 2 12 ACK Timeout at a As 2 12 DF1 Point to Point Parameters 2 12 ENQ Transmit Embed here ee net 2 12 NAK Receive limit vss wa Sadho SEAS SOR eS 2 12 Embedded Responses ooooooo oo 2 12 DF1 Slave Parameters oooooo oo 2 13 Transmit AA b o eos wee aco ae AS 2 13 Slave Poll Timeout a AC 2 13 EOT Suppression nean bac uaaa 2 13 DF1 Master Parameters 2 13 Transmit Retries v 53 9 pr dol CA Ped 2 13 Reply Message Wait 0 eee eee eee 2 13 Polling Mode i oie Sand win Roe ROC Rat 2 13 Master Transmit sis acabada Ee e x 2 14 Normal Poll Node Tag uy yv EA Sin 2 14 Normal Poll Group Size 2 14 Priority Poll Node Tag ion Ce So cete 2 14 Active Station Tag a5 v da aet ted ne REO NS 2 14 DH485 ParameterS o o cece ee 2 14 Max Station Address cece 2 14 Token Hold Pac ka ix 2 15 User Pro Tab 2 ete oo NES 2 15 Protocol dedo uet opea DEO T Wa Wd 2 15 Buffer Sizes iex 3 VERA E DOE IER MEN E 2 15 Termination Character 1 and 2 2 15 Append Character 1 and 2 2
89. 24VDC READY ENABLE READY 24VCOM AOUT AOUT BOUT BOUT IOUT IOUT Publication 1756 UM 006B EN P J uly 2001 B 8 Loop and Interconnect Diagrams Wiring to a 1394 Servo Drive in Torque Mode only Servo Module RTB 4QUTO 0UT 1 RED Houi BIK OUT 0 OOF H ENABLE 1 WHT ENABLE 0 f E ENABLE 1 BLK ENABLEO RDRVELT 1 RED DRYFLTO CHASSIS BLK CHASSIS O hitom t IN_COM OMET HOMEO TO OD H HREG24V 1 REG24V0 O IREGSU REGSVO O og 1756 MO2AEH 1394CCAExx 0K 1 6 O EA ec El CHASSIS CHASSIS O D H F CHA1 J WHT CHA 0 B R CHA1 BLK CHAD OOF El CHB 1 RED CHB 0 f H CHB 1 BLK cHB0 f o oi E CHZ1 GRN 36H29 Echa C BLK CHz0 eel RED_OK ox lt TBLKT OK 9 eit 5V DC 45V DC RED Field Power 5COM BLK Supply 1394 Servo Drive 24V DC 24V DE M2 av pc Field Power 24V COM w1 Suppl 24V COM ppy 182 151 24V ENABLE COM WHT_ ENABLE 1 BLK ENABLE 1 1827 NAJDR OK 1 RED DRVFLTI 782 19 AL ENABLE BLK IN COM TB2 18 DROK L EJ 4 1394CCAExx Axis 1 ES AQB1 C L 34 Publication 1756 UM 006B EN P J uly 2001 The wiring diagram illustrates Axis 1 wiring only Other configurations are possible The 1394CCAExx cable
90. 27 Feedback Polarity The polarity of the encoder feedback this field is automatically set by executing either the Feedback Test or the Output amp Feedback Test e Positive Negative Note When properly configured this setting insures that axis Actual Position value increases when the axis is moved in the user defined positive direction This bit can be configured automatically using the MRHD and MAHD motion instructions WARNING Modifying automatically input polarity values by running the Feedback or Output amp Feedback Tests can cause a runaway condition Output Polarity The polarity of the servo output to the drive this field is automatically set by executing the Output amp Feedback Test e Positive Negative Note When properly configured this setting and the Feedback Polarity setting insure that when the axis servo loop is closed it is closed as a negative feedback system and not an unstable positive feedback system This bit can be configured automatically using the MRHD and MAHD motion instructions Test Marker Runs the Marker test which ensures that the encoder A B and Z channels are connected correctly and phased properly for marker detection When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the markeris not detected check the encoder wiring and try again Publication 1756 UM 006B EN P J uly 2001 6 28 Naming Confi
91. 3 Illegal Dynamic Change An instruction attempted an illegal change of dynamics 24 Illegal AC M ode Op The controller attempted to execute an M DO M SO M AH MAJ MAM MCD MAPC M ATC MAG M RAT or M RHD instruction when the controller was in the test mode 25 Illegal Instruction You attempted to execute an instruction that is not correct 26 Illegal Cam Length The cam array is of an illegal length 2 Illegal Cam Profile Length The cam profile array is of an illegal length 28 Illegal Cam Type You have an illegal segment type in the cam element 29 Illegal Cam Order You have an illegal order of cam elements 30 Cam Profile Being Calculated You tried to execute a cam profile while it is being calculated 31 Cam Profile Being Used The cam profile array you tried to execute is in use Publication 1756 UM 006B EN P J uly 2001 C 30 The Motion Control Structures Error Code Error Message Description 32 Cam Profile Not Calculate The cam profile array you tried to execute has not been calculated 33 Position Cam Not Enabled It attempted to execute an MAH instruction without a position cam in process 34 Registration in Progress A MAH instruction is trying to start while a registration is already running 35 Illegal Execution Target Either the Logix controller or the Output Cam module does not Support the specified Output Cam axis input or output 36 Illegal Output Cam Either the size of the
92. 58 Control st Budge Fledundant Hads 1756 DH Badge PiN Scanner 1755 543000 Dive Intertace 175 S amp 100 Deiri Hbi acis 1756 54500 Dres inter ene 1756 383000 Deree Interface 3 Click on the Clear All button to clear the dialog window then click on Motion to list the available Motion Controllers Publication 1756 UM 006B EN P J uly 2001 Adding and ConfiguringYour 1756 M 02AE Motion Module 3 3 New Module Use this dialog to select and create a new module Highlight the 1756 MO2AE The context sensitive menu appears from which you can select a New Module Type The Type field displays the catalog number of the module highlighted in the Type list box You can either type in a module catalog number in this field to quickly select find the module you want to create or you can scroll through the list of modules in the Type list box Major Revision Select the major revision number of the physical module that you think want to reside in the chassis The major revision is used to indicate the revision of the interface to the module Type list box This box lists the installed module catalog numbers based on the selected check boxes Description list box This portion of the list box contains descriptions of the modules Show Displays check boxes which support filtering on particular types of modules Check this box If you wantto Digital display digital modules supported by the software Analog display ana
93. 6 22 POSO S drm Beamer Ea dicta PETRO TERR a cec 6 22 Offset qiie 38 8 Salih DEN Band widen C Ro E dog Bie ci 6 23 Sequence Tuba waa xeu bs edt de Cobra etie Eds ek 6 23 IME SWIC vs dioe iir ES ARGIS 6 23 DITECUO 2 uou ew e ed Rd a eu een Deci et e 6 24 A O he oR we More aI 6 24 Rei A odia ERE vd k XS he Es 6 24 Homing Configurations lisse 6 25 Homing Tab AXIS VIRTUAL rr 9s 6 25 O Lacer LA e xm eoa o DR en An qo 6 25 Publication 1756 UM 006B EN P J uly 2001 viii Publication 1756 UM 006B EN P J uly 2001 POSO Ceu tee i e seco o ee a 6 25 SO UTC outer I Y wap tae Gee Y E d 6 26 Hookup Tab AXIS SERVO o ooo ooooooo o 6 26 Test Increment iia Bat ea ee eee te esed 6 26 Feedback Polarity ca 6 27 O tp t Polarity tras S ance Rte ts ee 6 27 Test MATES cda dues ia da o cR ERO 6 27 Test FOCI DAC Ee ud eoracexa iaceo be la pa CE wa 6 28 Test Output amp Feedback 6 28 Hookup Tab Overview AXIS SERVO DRIVE 6 28 TES INCrement da RP c 6 28 Dive POLI EA 6 28 Test MAL ua Ad Pale ERK ASR REE eR 6 29 Test Reed bales macia dci Red Gahan ui 6 29 Test Output amp Feedback 6 29 Tune Tab AXIS SERVO AXIS SERVO DRIVE 6 30 Travel Mitsi ete p Sane audaci IA 6 30 A REO SORE CES 6 30 TONE cac oae qupd o Pv th Be eut SO I e 6 30 DuUsCIOlbeuerc ret oe Seren ea TRE E E VSNAES 6 31 Damping Factor cda Sp re ROS Phe EE SES 6 31 TUIS orsus und O arte V todo 6 31 xir U
94. 7 5 Vendor 7 5 M odule Info tab 7 12 16 xxxx unknown 7 14 Configured 7 14 Internal State Status 7 14 M ajor M inor Fault Status 7 13 Module Identity 7 15 Owned 7 14 Product Name 7 13 Refresh 7 15 Reset Module 7 15 Power Tab 7 11 Bus Regulator ID 7 11 1394 CFLAExx Cable Index Pinouts B 9 Wiring Diagram B 9 1394C S T05 10 22 D Digital Servo Drive Overview 7 3 1398 CFLAExx Cable Diagram B 7 Pinouts B 7 1756 M 02AE M odule Properties Associated Axes Tab 3 12 Channel 0 3 13 Channel 1 3 13 New Axis button 3 13 Servo Update Period 3 13 Backplane Tab 3 17 ControlBus Parameters 3 17 ControlBus Status 3 17 M ulticast CRC Error Threshold 3 18 Receive Error Counters 3 18 Refresh 3 18 Set Limit Button 3 18 Transmit Error Counters 3 18 Transmit Retry Limit 3 18 Connection Tab 3 9 Inhibit M odule checkbox 3 10 M ajor Fault on Controller if Connection Fails check box 3 11 M odule Fault 3 11 Requested Packet Interval 3 10 General Tab 3 8 Description 3 8 Electronic Keying 3 9 Name 3 8 Revision 3 9 Slot 3 8 Type 3 8 Vendor 3 8 M odule Info Tab 3 13 Configured 3 15 Internal State Status 3 15 M ajor M inor Fault Status 3 15 M odule Identity 3 16 Owned 3 16 Refresh 3 16 Reset M odule 3 16 1756 M 02AE servo module 1 1 Adding to a program 3 1 6 1 Additional modules and axes 3 19 Block diagrams Torque servo drive B 2 Velocity servo drive B 3 Publication 1756 UM 006B EN P J uly 2001 Coarse update rate calculations A 4 Con
95. B mi Allen Bradley ControlLogix Motion Module Cat No 1756 M 02AE M 08SE Setup and Configuration Manual fa i Gs BE Automatio Importa ntUser Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Rockwell Automation is prohibited
96. BOOL Positive Overtravel Input Status NegOvertravellnputStatus 10 BOOL Negative Overtravel Input Status EnablelnputStatus 11 BOOL Enable Input Status AccelLimitStatus 12 BOOL Accel Limit Status no tag 13 15 BOOL Reserved VelocityLockStatus 16 BOOL Velocity Lock Status VelocityStandstillStatus 17 BOOL Velocity Standstill Status VelocityThresholdStatus 18 BOOL Velocity Threshold Status TorqueThresholdStatus 19 BOOL Torque Threshold Status TorqueLimitStatus 20 BOOL Torque Limit Status VelocityLimitStatus 21 BOOL Velocity Limit Status PosLockStatus 22 BOOL Position Lock Status no tag 23 BOOL Reserved no tag 24 BOOL Reserved no tag 25 BOOL Reserved no tag 26 BOOL Reserved DriveFault DINT The servo fault bits for your servo loop Bit Number Data Type Description PosSoftOtravelFault 00 BOOL Positive Software Overtravel Fault NegSoftOtravelFault 01 BOOL Negative Software Overtravel Fault PosHardOvertravelFault 02 BOOL Positive Hardware Overtravel Fault NegHardOvertravelFault 03 BOOL Negative Hardware Overtravel Fault M otFeedbackFault 04 BOOL Feedback Fault M otFeedbackN oiseFault 05 BOOL Feedback Noise Fault AuxFeedbackFault 06 BOOL Auxiliary Feedback Fault AuxFeedbackN oiseFault 07 BOOL Auxiliary Feedback Noise Fault no tag 08 12 BOOL Reserved GroundShortFault 13 BOOL Ground Short Fault DriveHardFault 14 BOOL Drive Hard Fault OverSpeedFault 15 BOOL Overspeed Fault M otorOverloadFault 16 BOOL Overload Fault DriveOve
97. C a 2 1 Accessing the New Controller dialog 2 2 New Controller Dialog 2 2 MOE a IURE STRE OE RA NUES 2 3 TN DG 2t Ease E O 2 3 Redundancy Enabled Lees 2 4 Namen ood deor eet So obti d dba dis 2 4 DeSCHDUOE sre oes beak ate ate ECC tad d o 2 4 Chassis TVDEO i sse ie aye 2 4 Slot NUDES o uda ere ted uoc be wi PD Ed AT 2 4 DOVISIOB used to Sed ivre dedii euet 2 5 Create Iu ld cenis al ii 2 Ba 2 5 DIO WSO y eui hio es Ae eS GRRE ARS 2 5 Editing Controller Properties ss 3 vs ER OU Kes 2 5 General Tab ces exe So ORE ENDO ERI S 2 6 VENAIT od ada elus ctun n d ba E EEA 2 6 Publication 1756 UM 006B EN P J uly 2001 Publication 1756 UM 006B EN P J uly 2001 TV os s opto De ote ea olde o p row S eic d 2 6 NAO A sey ast Ca sd CO etae ae Y Ada TRI a D EL SO 2 6 DescnpliOB sx nre x UN adr d ex xor MES EA 2 7 Chassis TVp8o s descen e dd 2 7 SOU tex boot e iaa 2 7 REVISION ir d dl acte ke ers ete ten t d e dia utn 2 7 Change Type ay oui xe dec aL CR CR EO ae AE EROR 2 7 Change Controller Type Dialog Box Overview 2 7 Select a processor to change to 2 8 Serial POM Ta our sua rc ohn ede ies Rd dob E 2 8 MO cus caco 2 9 A A A Ld Y X es 2 0 Data B HS os estu A var cR e e ACE 2 9 POE eu iode NAP ce e bM o opere cie Leg 2 9 SIG DC BH OS codec tet erae sec acd Sed 2 0 Control Be cea Ro eet GERE E NS 2 10 Continuous Carrier 45 iode eer ee 2 10 RTS send Delay sag are ER
98. Data Type Description AccelStatus 00 BOOL Acceleration Status DecelStatus 01 BOOL Deceleration Status M oveStatus 02 BOOL M ove Status J ogStatus 03 BOOL J og Status GearingStatus 04 BOOL Gearing Status HomingStatus 05 BOOL Homing Status StoppingStatus 06 BOOL Stopping Status AxisHomedStatus 07 BOOL Homed Status PositionCamStatus 08 BOOL Position Cam Status TimeCamStatus 09 BOOL Time Cam Status PositionCamPendingStatus 10 BOOL Position Cam Pending Status TimeCamPendingStatus 11 BOOL Time Cam Pending Status GearingLockStatus 12 BOOL Gearing Lock Status PositionCamLockStatus 13 BOOL Position Cam Lock Status TimeCamLockStatus 14 BOOL Time Cam Lock Status M asterOffsetM oveStatus 15 BOOL Master Offset M ove Status Publication 1756 UM 006B EN P J uly 2001 C 6 The Motion Control Structures Mnemonic Data Description Type AxisStatus DINT The status bits for your axis Bit Number Data Type Description ServoActStatus 00 BOOL Servo Action Status DriveEnableStatus 01 BOOL Drive Enable Status Shutdow nStatus 02 BOOL Axis Shutdown Status ConfigUpdatelnProcess 03 BOOL Configuration Update in Process AxisFault DINT The axis faults for your axis Bit Number Data Type Description PhysicalAxisFault 00 BOOL Physical Axis Fault M oduleFault 01 BOOL M odule Fault ConfigFault 02 BOOL Configuration Fault AxisEvent DINT The event status for your axis Bit Number Da
99. Disable Keying Logix5550 does not employ keying at all WARNING Changing the RPI and Electronic Keying selections may cause the connection to the module to be broken and may result in a loss of data Be extremely cautious when using this option if used incorrectly this option can lead to personal injury or death property damage or economic loss When you insert a module into a slot in a ControlLogix chassis RSLogix 5000 compares the following information for the inserted module to that of the configured slot e Vendor e Product Type e Catalog Number e Major Revision Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot Publication 1756 UM 006B EN P J uly 2001 8 10 Configuring an Ultra 3000 Drive Status Displays the status the controller has about the module This status Indicates Standby A transient state that occurs when shutting down Faulted The controller is unable to communicate with the module When the status is Faulted the Connection tab displays the fault Validating A transient state that occurs before connecting to the module Connecting A state that occurs while the connection s are being established to the module Running The module is communicating and everything is working as expected Shutting Down The connections are closing Inhibited The connection to the module is inhibited Waiting The connection to this module has not
100. EN P J uly 2001 E 4 Instruction Timing Process type instructions work as follows 1 When the rung that contains the motion instruction becomes true the controller e Sets the enable EN bit e Clears the done DN bit e Clears the error ER bit e Clears the process complete PC bit 2 The controller initiates the motion process 3 If Then the controller The controller does not detect e Sets the DN bit an error when the instruction e Sets the in process IP bit executes The controller detects an error e Sets the ER bit when the instruction executes e Stores an error code in the control structure e Does not change the IP and PC bits The controller detects another Clears the IP bit for that instance instance of the motion instruction The motion process reachesthe Sets the DN bit point w here the instruction can For some process type instructions be executed again like MAM this will occur on the first scan For others like M AH the DN bit will not be set until the entire homing process is complete One of the following occurs e Sets the DN bit during the motion process e Sets the PC bit e The motion process e Clears the IP bit completes e Another instance of the instruction executes e Another instruction stops the motion process e A motion fault stops the motion process 4 Once the initiation of the motion process completes the program scan can conti
101. Filter A Watch Position Coarse didt Servo Actual i Encoder Motor Position Polarity Relative 9 Watch Event Watch iti 16 bit Event e e accumulator e Encoder it Handler Counter Homing Wa Event arker bet fe um Handler Registration Event and Redkt Position egist j Registration Event e Regist lt Input Handler Home o Input Publication 1756 UM 006B EN P J uly 2001 Loop and Interconnect Diagrams B 3 Using a 1756 M02AE Module With a Velocity Servo Drive Command 3 Acceleration Acc gt didt gt FF Gain Out LM put Offset Output amp po Va Filter Friction Servo gt didt gt FF BW Comp Polarity Coarse Gain Command RA C dis d Position Velocity Relative omman Accumulator Position Error Command Low Velocity and Fine hd gt gt m gt Pass gt ouput gt ps gt ed gt Servo Interpolator Filter g Drive Servo Outpul Velocity Level Error Pos Feedback Accumulator a Gain Position Integrator i Error Fine Actual Position Low Optical Filter Encoder Watch Position Coarse diat Servo Actual Encoder Motor Position Polarity Relative Watch Event Watch iti 16 bit Position Marker Event
102. Handling Motion Faults Type Errors M inor M ajor Errors Minor M ajor Faults Several faults can occur that are not caused by motion instructions For example a loss of encoder feedback or actual position exceeding an overtravel limit will cause faults The motion faults are considered Type 11 faults with error codes from 1 to 32 For more information about motion error codes refer to Handling Controller Faults in the Logix5550 Controller User Manual TIP You can configure a fault as either minor non major or major by using the Axis Wizard Group window Publication 1756 UM 006B EN P J uly 2001 F 2 Fault Handling For more information about handling faults see Handling Controller Faults in the Logix5550 Controller User Manual publication 1756 6 5 12 Publication 1756 UM 006B EN P J uly 2001 Symbols ERR C 29 SEGMENT C 30 STATE C 30 STATUS C 30 Numerics 1394C Drive module Associated Axes Tab 7 10 New Axis button 7 11 Node X0 7 10 Node X1 7 10 Node X2 7 10 Node X3 7 11 Connection Tab 7 7 Inhibit M odule checkbox 7 8 M ajor Fault on Controller if Connection Fails check box 7 9 M odule Fault 7 9 Connection Request Error 7 9 Electronic Keying M ismatch 7 9 M odule Configuration Invalid 7 9 Service Request Error 7 9 Requested packet Interval 7 7 General Tab 7 4 Base Node 7 5 Description 7 5 Electronic Keying 7 6 Compatible M odule 7 6 Disable Keying 7 6 Exact M atch 7 6 Name 7 5 Revision 7 5 Type
103. L Set when the current state of the dedicated Negative Overtravel input is active Clear when the Negative Overtravel input is inactive EnablelnputStatus BOOL Set when the current state of the dedicated Enable Input is active Clear when the Enable Input is inactive AccelLimitStatus BOOL Set when the magnitude of the commanded acceleration to the velocity servo loop input is greater than the configured Velocity Limit VelocityLockStatus BOOL Set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Window of the current velocity command VelocityStandstill Status BOOL Set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Standstill Window of zero speed VelocityThresholdStatus BOOL Set when the magnitude of the physical axis Velocity Feedbackis less than the configured Velocity Threshold TorqueThresholdStatus BOOL Set when the magnitude of the physical axis Torque Feedback is less than the configured Torque Threshold TorqueLimitStatus BOOL Set when the magnitude of the axis torque command is greater than the configured Torque Limit Publication 1756 UM 006B EN P J uly 2001 Mnemonic VelocityLimitStatus Data Type BOOL The M otion Control Structures C 19 Description Set when the magnitude of the commanded velocity to the velocity servo loop input is greater than the con
104. L Thestatus of an update to the SoftOvertravelFaultAction attribute VelFfGainStatus BOOL The status of an update to the VelocityFeedforwardGain attribute VellGainStatus BOOL The status of an update to the VelocitylntegralGain attribute VelPGainStatus BOOL Thestatus of an update to the VelocityProportionalGain attribute The MOTION_GROUP Structure The MOTION_GROUP structure contains status and configuration information for your motion group There is one MOTION GROUP structure per controller You can directly access this information in your motion control program For example if you want to use the DriveFault attribute for MOTION GROUB you would use MOTION GROUP DriveFault to gain access to the attribute The bits in the MOTION GROUP structure are set when any axis in the group experiences the conditions required to set the bit For example if one axis in a group of ten axes developed the conditions to set the POtrvlFault bit the controller would set the POtrvlFault bit in the MOTION GROUP structure Mnemonic Data Type Description GroupStatus DINT The status bits for the group Bit Number Data Type Description InhibStatus 00 BOOL inhibit status GroupSynced 01 BOOL synchronization status M otionFault DINT The motion fault bits for the group Bit Number Data Type Description ACAsyncConnFault 00 BOOL asynchronous connection fault ACSyncConnFault 01 BOOL synchronous connection fault controller dec
105. Latches the current command and Immediate Position actual positions of all the axes in a group Motion Event Instructions For more information about motion state instructions refer to the Motion Group Instructions chapter of Logix5550 Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendix E Instruction Timing Motion event instructions control the arming and disarming of special event checking functions such as registration and watch position Publication 1756 UM 006B EN P J uly 2001 9 4 Motion Instructions The motion event instructions are Instruction Abbreviation Description Type of Timing M otion Arm Watch MAW Arms watch position event checking Message Position for an axis Process M otion Disarm W atch MDW Disarms watch position event Message Position checking for an axis M otion Arm Registration MAR Arms servo module registration M essage event checking for an axis Process M otion Disarm MDR Disarms servo module registration M essage Registration event checking for an axis Motion Arm Output Cam MAOC Arms an Output Cam for a particular Immediate Axis and Output as determined by Process the operands for the instruction Motion Disarm Output M DOC Disarms either one or all Output Immediate Cam Cams connected to a specified axis Process depending on the selection in the Disarm Type operan
106. M oduleFault BOOL Set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition A M oduleFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box ConfigFault BOOL Set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module A ConfigFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box WatchEvArmStatus BOOL Set when a watch event has been armed through execution of the M AW M otion Arm W atch instruction Cleared when either a watch event occurs or a M DW M otion Disarm W atch instruction is executed WatchEvStatus BOOL Set when a watch event has occurred Cleared when either another M AW M otion Arm W atch instruction or a M DW M otion Disarm Watch instruction is executed RegEvArmStatus BOOL Set when a registration checking has been armed for registration
107. MOTION INSTRUCTION C 27 ControlLogix motion control 1 1 Components 1 2 Features 1 2 Course update rate calculations A 4 Action timing A 4 Calculation worksheet A 6 Sample calculation A 7 Creating A M otion Group 5 1 D Diagrams Block B 1 Wiring B 4 DRIVE LED indicator 10 2 Editing 1756 M 08SE M odule Properties 4 5 Editing Axis Properties General Tab AXIS SERVO DRIVE 6 8 Assigned M otion Group 6 9 Axis Configuration 6 9 Ellipsis button 6 9 Module 6 9 M odule Type 6 9 New Group button 6 9 Node 6 10 Output Cam Execution Targets 6 10 General Tab SERVO_AXIS 6 6 Assigned M otion Group 6 7 Axis Configuration 6 7 Channel 6 8 Ellipsis button 6 7 Module 6 7 M odule Type 6 7 New Group button 6 7 Output Cam Execution Targets 6 8 Units Tab 6 12 Average Velocity Timebase 6 12 Position Units 6 12 Editing Controller Properties 2 5 Advanced Tab 2 21 Controller Fault Handler 2 22 M emory Total 2 21 Memory Unused 2 21 Memory Used 2 21 Power Up Handler 2 22 System Overhead Time Slice 2 22 Date Time Tab 2 19 Coordinated System Time master 2 20 Date 2 20 Set 2 20 Status 2 20 Time 2 20 File Tab 2 22 Created 2 23 Edited 2 23 Name 2 23 Path 2 23 General Tab 2 6 Change Type 2 7 Chassis Type 2 7 Description 2 7 Name 2 6 Revision 2 7 Slot 2 7 Type 2 6 Vendor 2 6 M ajor Faults Tab 2 17 Clear M ajors 2 18 Number of M ajor Faults Since Last Cleared 2 18 Recent Faults 2 18 M inor Faults Tab 2 18 Clear M inors 2 19
108. Motion Control Structures OUTPUT CAM Structure The OUTPUT_CAM data type is an array that defines the specifics for each Output Cam element The OUTPUT_CAM contains the following members Mnemonic Data Type Description OutputBit DINT You must select an output bit within the range of 0 to 31 A selection of less than 0 or greaterthan 31 results in an Illegal Output Cam error and the cam element is not considered LatchType DINT The Latch Type determines how the corresponding output bit is set A value of less than 0 or greater than 3 results in an Illegal Output Cam error and a latch type of Inactive is used Value Description 0 z Inactive The output bit is not changed 1 Position The output bit is set when the axis enters the compensated cam range 2 Enable The output bit is set when the enable bit becomes active 3 z Position and Enable The output bitis set when the axis enters the compensated cam range and the enable bit becomes active UnlatchType DINT The Unlatch Type determines how the output bit is reset Selecting a value less than 0 or greater than 5 results in an Illegal Output Cam error and an unlatch type of Inactive is used Value Description 0 z Inactive The output bit is not changed 1 Position The output bit is reset when the axis leaves the compensated cam range 2 Duration The output bit is reset when the duration expires 3 Enable The output bit is reset when the enable bit b
109. Note that this option is disabled if you have chosen a controller that does not support redundancy Note Redundancy is not supported in this release of RSLogix 5000 Name Enter the name you wish to use for the new controller This name is also used for the project file with a acd extension Description Enter a description of the controller Chassis Type Select the appropriate chassis type from the pull down menu shown here by catalog number The software uses this information to determine the number of slots in the chassis Depending on the controller type you chose the available options in this menu vary For this platform Choose from these chassis types ControlLogix 1756 A4 4 slot ControlLogix chassis 1756 A7 7 slot ControlLogix chassis 1756 A10 10 slot ControlLogix chassis 1756 A13 13 slot ControlLogix chassis 1756 A17 17 slot ControlLogix chassis CompactLogix Not applicable SoftLogix 1789 17 17 slot SoftLogix virtual chassis FlexLogix Not applicable DriveLogix Not applicable Slot Number Choose the slot number where the controller resides on the backplane For ControlLogix controllers the default value is 0 If the slot number exceeds the chassis size an error message appears prompting you to enter a number within the valid range For SoftLogix controllers the default value is 1 Editing Controller Properties Getting Started 2 5 For CompactLogix FlexLogix and DriveLogix controllers the value
110. OOL Set when the Drive Enable output of the associated physical axis is currently enabled Cleared when physical servo axis Drive Enable output is currently disabled Shutdow nStatus BOOL Set when the associated axis is currently in the Shutdown state Cleared when the axis is transitioned from the Shutdown state to another state ConfigUpdatelnProcess BOOL The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service which is internal to the firmware or an SSV in the user program W hen such an update is initiated the ControlLogix processor sets this bit This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation PhysicalAxisFault BOOL Set when one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis A PhysicalAxisFault can be set as either a M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box
111. On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Soft Travel Limits Enables software overtravel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog Software overtravel limits are disabled during the tuning process Naming Configuring Your Motion Axis 6 53 Maximum Positive Type the maximum positive position to be used for software overtravel checking in position units Note The Maximum Positive limit must always be greater than the Maximum Negative limit Maximum Negative Type the maximum negative position to be used for software overtravel checking in position units Note The Maximum Negative limit must always be less than the Maximum Positive limit Position ErrorTolerance Specifies how much position error the servo will tolerate before issuing a position error fault This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 po
112. Output Cam array is not supported or the value of one of its members is out of range 37 Illegal Output Compensation Either the size of the Output Compensation array is not supported or the value of one of its members is out of range 38 Illegal Axis Data Type The axis data type is illegal It is incorrect for the operation 39 Process Conflict You have a conflict in your process Test and Tune cannot be run at the same time 40 Drive Locally Disabled You are trying to run a M SO or M AH instruction when the drive is locally disabled 41 Illegal Homing Config The Homing configuration is illegal You have an absolute homing instruction when the Homing sequence is not immediate Message status STATUS Message Description Status WO ThemesagewassucestU 0x1 The module is processing another message 0x2 The module is waiting for a response to a previous message 0x3 The response to a message failed 0x4 The module is not ready for messaging Execution status STATE The execution status is always set to 0 when the controller sets the EN bit for a motion instruction Other execution states depend on the motion instruction Profile Segment SEGM ENT A segment is the distance from one point up to but not including the next point A SEGMENT instruction gives the relative position by segment number as the Cam is executing Publication 1756 UM 006B EN P J uly 2001 CAM Structure CAM PROFILE Structure
113. Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation TimeCamStatus BOOL Set if a Time Cam motion profile is currently in progress Cleared when the Time Cam is complete or is superseded by some other motion operation PositionCamPendingStatus BOOL Set if a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending execution selected This bit is cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is superseded by some other motion operation TimeCamPendingStatus BOOL Set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the pending cam profile This bit is also cleared if the time cam profile completes or is superseded by some other motion operation GearingLockStatus BOOL Set whenever the slave axis is locked to the master axis ina gearing relationship according to the specified gear ratio The clutch function of the gearing planner is used to ramp an axis up o
114. Position Units Sec Publication 1756 UM 006B EN P J uly 2001 The Motion Control Structures C 3 Mnemonic Data Description Type CommandAcceleration REAL Command Acceleration in Position Units Sec2 InterpolatedCommandPosition REAL Interpolated Command Position in Position Units AccelStatus BOOL Setif the axis is currently being commanded to accelerate DecelStatus BOOL Setif the axis is currently being commanded to decelerate M oveStatus BOOL Setif aM ove motion profile is currently in progress Cleared when the M ove is complete or is superseded by some other motion operation J ogStatus BOOL Set if a og motion profile is currently in progress Cleared when the J og is complete or is superseded by some other motion operation GearingStatus BOOL Setif the axis is a slave that is currently Gearing to another axis Cleared when the gearing operation is stopped or is superseded by some other motion operation HomingStatus BOOL Setif a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation StoppingStatus BOOL Setif there is a stopping process currently in progress Cleared when the stopping process is complete Note The stopping process is used to stop an axis initiated by an MAS MGS Stop M otion fault action or mode change AxisHomedStatus BOOL Cleared at power up or reconnection Set
115. R Motion Axis Shutdown Reset instruction to clear GroundShortFault Set for an auxiliary feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A 4 and A B and B or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear DriveHardFault BOOL Set when the drive detects a serious hardware fault OverspeedFault BOOL Set when the speed of the axis as determined from the feedback has exceeded the overspeed limit which is typically set to 150 of configured velocity limit for the motor OverloadFault BOOL Setwhen the load limit of the motor drive has been exceeded and persists This attribute is often tied into the IT limit of the drive DriveOvertempFault BOOL Set when the drive s temperature exceeds the drive shutdown temperature M otorOvertempFault BOOL Set when the motor s temperature exceeds the motor shutdown temperature DriveCoolingFault BOOL Set when the a
116. StoppingStatus 06 BOOL Stopping Status AxisHomedStatus 07 BOOL Homed Status PositionCamStatus 08 BOOL Position Cam Status TimeCamStatus 09 BOOL Time Cam Status PositionCamPendingStatus 10 BOOL Position Cam Pending Status TimeCamPendingStatus 11 BOOL Time Cam Pending Status GearingLockStatus 12 BOOL Gearing Lock Status PositionCamLockStatus 13 BOOL Position Cam Lock Status TimeCamLockStatus 14 BOOL Time Cam Lock Status M asterOffsetM oveStatus 15 BOOL Master Offset M ove Status Publication 1756 UM 006B EN P J uly 2001 C 2 The Motion Control Structures Mnemonic Data Description Type AxisStatus DINT The status bits for your axis Bit Number Data Type Description ServoActStatus 00 BOOL Servo Action Status DriveEnableStatus 01 BOOL Drive Enable Status Shutdow nStatus 02 BOOL Axis Shutdown Status ConfigUpdatelnProcess 03 BOOL Configuration Update in Process AxisFault DINT The axis faults for your axis Bit Number Data Type Description PhysicalAxisFault 00 BOOL Physical Axis Fault M oduleFault 01 BOOL M odule Fault ConfigFault 02 BOOL Configuration Fault AxisEvent DINT The event status for your axis Bit Number Data Type Description WatchEvArmStatus 00 BOOL Watch Event Armed Status WatchEvStatus 01 BOOL Watch Event Status RegEvArmStatus 02 BOOL Registration Event 1 Armed Status RegEvStatus 03 BOOL Registration Event 1 Status RegEv2ArmStatus 04 BOOL Regi
117. TD ned tae ae he Besar ke ON 6 32 Dynamics Tab c a dvo doe a oc rco vc ed o 6 32 Maximum Velocity sos oe ene RR aC R et 6 33 Maximum Acceleration 5 uus v REVISE EIS 6 34 Maximum Deceleration 6 34 Program Stop Action suu us b erbe ice Bae 6 35 Manual Time aos n vao wa eA tex XIIe 6 35 Gains Tab s AXIS SERVO S ud ru eR Aa 6 35 Velocity Feedforwad ooooooooo o 6 37 Acceleration Feedforwald 6 37 Proportional Position GaM 6 37 Integral Position Gall IA X Rte 6 38 Proportional Velocity Gain 6 39 Integral Velocity Gain eere 6 39 Integrator Hold 3 454 arde 6 39 Manual Tunes ey step ee x Re E 3 6 40 Gains Tab AXIS SERVO DRIVE 6 40 Velocity Feedforwad 6 41 Acceleration Feedforwald 6 42 Proportional Position GaM 6 42 Integral Position Gain 2 54 5 v dk ES 6 43 Proportional Velocity Gain 6 43 Integral Velocity Gain 6 44 Integrator Hold ld 6 45 Set Custom Gals x Qoo READ CREE Ro aC Es 6 45 Marital Tte 4 v oar A ai 6 45 Output Tab SERVO AXIS radiata 6 45 Velocity Cal open Scd doa ERG P dr ed 6 46 TOLUCA dup eau qe pe OC rab barata 6 47 Enable Low pass Output Filter 6 47 Low pass Output Filter Bandwidth 6 48 Manual TULDe tratara dada 6 48 Output Tab Overview A
118. The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Tune dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode orif a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Velocity Scaling The Velocity Scaling attribute is used to convert the output of the servo loop into equivalent voltage to an external velocity servo drive This has the effect of normalizing the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The Velocity Scaling value is typically established by servo s automatic Naming Configuring Your Motion Axis 6 47 tuning procedure but these values can be calculated if necessary using the following guidelines If the axis is configured for a velocity ext
119. Threshold 3 18 Transmit Rea adria 3 18 Set limit A IN RE E CE ee 3 18 Receive Error Counters o o 3 18 Transmit Error Counters 5i a as eds 3 18 A Re antes Scot RU e SU ISO N Pastas 3 18 Assigning Additional Motion Modules 3 19 Chapter 4 Configuring the 1756 M 08SE Module Adding the 1756 M08SE 00 a 4 1 1756 M08SE 8 Axis Motion Module Overview 4 4 Editing 1756 M08SE Module Properties 4 5 General Tab ees ou quae e E Aaa 4 5 Publication 1756 UM 006B EN P J uly 2001 AV DO camion Stee Mea bine ee E e d 4 5 VONdOP spay a Baw ws AS 4 6 NGING naar Shae E Doa 4 6 DESCOPUON 24 5 5 5 9 4 9 a 4 6 SOU vata Sa E idco s Saba a dab ok rbd beds 4 6 REVISION s 15 nsu s pecados AN Er ES 4 6 Electronic Keying oooo oo o 4 6 Connection Tabs do dl p ER 4 7 Requested Packet Interval 4 8 Inhibit Module checkbox 4 8 Major Fault on Controller estantes 4 9 Module Faults east ya a NE 4 9 SERCOS Interface Tab dd 4 10 Data Rale raro oC a ci E 4 11 Cycle TIME rr o RE 4 11 Transmit POWGOE erue 3 dope Gate OV ROO Wine t 4 11 SERCOS Interface Info Tab 4 11 Ring Comm Phase cuoi a x OR ce Re QE EUER 4 12 Fault Typer basti gate Pob Or aedi e Sca a 4 12 R fresh 26 oi soo o ue Ged rwn CP SER 4 12 Module Info Tab ricardo Scenes Rb Dread Sea 4 13 Ten NACION v4 ou be vt ec bei ane d bakes 4 14 M
120. XIS SERVO DRIVE 6 48 Torque Scaling 5 2 0 xo Mae te ade kas Re 6 49 Enable Notch Bet ae soe eae E ot 6 50 Notch Filter ada 6 50 Enable Low pass Output Filter 6 50 Low pass Output Filter Bandwidth 6 51 Manual TUE A ERU 6 51 Limits Tab AXIS SERVO asadas 6 51 Soft Travel Limits a ad ia 6 52 Maximum Positive oo o 6 53 Maximum Negative sss bred bct e ER Y bes 6 53 Position Error Tolerance 6 53 Position Lock Tolerance s uoa e mv 6 53 Output Emil culum ute vd eor peri en d bls 6 54 Manual TIE d xa e Er ete OR n 6 54 Limits Tab AXIS SERVO DRIVE 6 54 Hard Travel DENS Ser ice RE DIR t es 6 55 Soft Travel Pinte s aie ES 6 55 Maximum Positive lt lt o 6 55 Maximum Negative 0 s psi e e A rS US 6 56 Position Error Tolerance 6 56 Position Lock Tolerance exi EA he 6 56 Set Custom limits o ee sand eraot ex nir 6 56 Niamial Tues ata od esee wide eod RS 6 56 Offset Tab AXIS SERVO a eite XN OR REOR 6 57 Friction CoMpensati0D o 6 58 Velocity DE Es 6 58 TOUS ESE a Ree 6 58 Output OSet e odere dais 6 59 Manual TUM G6 dai pite RSS a 6 59 Offset Tab AXIS SERVO DRIVE 6 59 Friction Compensation is 6 60 Velocity OT SOt oooooooooooo o 6 60 Tongue OS i 6 60 Manual Te a aaro a ed EDO dU s 6 61 Fault Actions Tab AXIS SERVO
121. XIS VIRTUAL Use this tab to associate the axis of the data type AXIS VIRTUAL to a Motion Group Note RSLogix 5000 supports only one Motion Group tag per controller When RSLogix 5000 software is online the parameters on this tab transition to a read only state When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Assigned Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Naming amp Configuring Your Motion Axis 6 11 Ellipsis button Opens the Motion Group Properties dialog box for the Assigned Motion Group where you can edit the properties of the Assigned Motion Group If no Motion Group is assigned to this axis this button
122. Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 LL Properties Wax ihnen Geral Unite Conversion Sewo Hemeg Hooks Tune er Gans Dupa Um Dion Faut Action Tag Esedbsok Hose Cisse Dira Feedback fo s bila Dora Easton Eno Es Dana om c9 J fon When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type e Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Furthermore this fault action opens the OK contact associated with the servo module which can be used to open the E stop string to the drive power supply Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly a
123. Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear AuxFeedbackN oiseFault BOOL Set for an auxiliary feedback source when the servo module has detected simultaneous transitions of the feedback A and B channels called feedback noise Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear PosErrorFault BOOL Set when the servo has detected that the axis position error has exceeded the current configured value for Position ErrorTolerance This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to Clear DriveFault
124. able in the controller When offline this parameter is empty Memory Total The total amount of memory in the controller used plus unused If a memory daughter card is present this total includes that memory When offline this parameter is empty Publication 1756 UM 006B EN P J uly 2001 2 22 Getting Started Publication 1756 UM 006B EN P J uly 2001 Controller Fault Handler Choose the program that runs as the result of a system fault from the pull down menu The list contains all of the unscheduled programs Power Up Handler Choose the program the processor executes when it powers up in Run mode after a power down in Run mode The list contains all of the unscheduled programs System Overhead Time Slice Enter or select the percentage of time the controller spends running its system task relative to running user tasks File Tab The File tab displays information about the project file The fields on this tab cannot be edited To change the file name or path you must use the Save As command ENFIELD EE LI General SenPon Sate Protocol se Pico Maja Fais O Mins Fat Dama Aduna Fie w p Path SASL ogee SOOM Praec Ceset MEIN EA Edited TAO BSE 5M Getting Started 2 23 Name The name of the project file Path The drive and directory of the project file Created The creation date and time of the project file in the format currently selected in the Regional Settings applica
125. abled in this case WARNING Inhibiting the module causes the connection to the module to be broken and may result in loss of data When you check this box and go online the icon representing this module in the controller organizer displays the Warning Icon Configuring an Ultra 3000 Drive 8 13 If you are Check this checkbox to offline put a place holder for a module you are configuring online p communication to a module If you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs go to the last configured Program mode state e f you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted e Ifyouuninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the ow ner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module e Ifyou uninhibit a module while online and a fault condition occurs a connection is not made to the module Major Faulton Controller if Connection Fails checkbox Check this box to configure
126. agnostic M AHD 9 5 Motion Run Axis Tuning M RAT 9 4 Motion Run Hookup Diagnostic M RHD 9 5 Motion event instructions 9 3 Motion Arm Output Cam M AOC 9 4 Motion Arm Registration M AR 9 4 Motion Arm Watch Position M AW 9 4 Motion Disarm Output Cam M DOC 9 4 Motion Disarm Registration M DR 9 4 Motion Disarm Watch Position M DW 9 4 Motion group instructions 9 3 Motion Group Programmed Stop M GPS 9 3 Motion Group Shutdown M GSD 9 3 Motion Group Shutdown Reset M GSR 9 3 Motion Group Stop M GS 9 3 Motion Group Strobe Position M GSP 9 3 Motion instance variables D 1 Motion instructions 9 1 Motion Apply Axis Tuning M AAT 9 4 Motion Apply Hookup Diagnostic M AHD 9 5 Motion Arm Output Cam M AOC 9 4 Motion Arm Registration M AR 9 4 Motion Arm Watch Position M AW 9 4 Motion Axis Fault Reset M AFR 9 2 Motion Axis Gear M AG 9 2 Motion Axis Home M AH 9 2 Motion Axis J og MAJ 9 2 Motion Axis M ove MAM 9 2 M otion Axis Position Cam M APC 9 3 Motion Axis Shutdown M ASD 9 2 Motion Axis Shutdown Reset M ASR 9 2 Motion Axis Stop MAS 9 2 Motion Axis Time Cam M ATC 9 3 M otion Calculate Cam Profile M CCP 9 3 Motion Change Dynamics M CD 9 2 Motion configuration instructions 9 4 M otion Direct Drive Off M DF 9 2 M otion Direct Drive On M DO 9 2 Motion Disarm Output Cam M DOC 9 4 Motion Disarm Registration M DR 9 4 Motion Disarm W atch Position M DW 9 4 M otion event instructions 9 3 Mo
127. ajor Minor Fault Status lt lt lt 4 15 Internal State Status llle 4 15 Configured Serer Banya keen en RR Cono et 4 15 OWDOU es uc x Rhe Edu VN PE RN ES 4 16 Module Ida aa 4 16 Refresh 42 2 ii A eder ote is 4 16 Reset Module quay WA NE XE 4 16 Backplane Tab Meet A SS RAG AOS 4 17 Control Bus Staus essa eh ee bee RR s 4 17 ControlBus ParametelS o 4 17 Multicast CRC Error Threshold 4 18 Transmit Retry Limit us esee sa 4 18 Set Limit Button exe RO RE eee Rate eee eS 4 18 Receive Error Counters oo 4 18 Transmit Error Counters aa a ie 4 18 A A ce Rd 4 18 Chapter 5 The Motion Group Creating A MOON do rw ns RE RARE 9 1 Editing the Motion Group PropertieS 0 4 Axis Assignment Tab oooooo ooo 9 4 UASD 9 4 Assigned ER Iob qoa Seb ug 9 4 Publication 1756 UM 006B EN P uly 2001 vi A AS 5 4 REMOVE o acd dou eat S as 5 5 Aunbule Tab s ser dona 3a toe id EM Cs 5 5 Coarse Update Period 5 5 Auto Tag UDGaUe 1 23 ordeo eer Res 9 6 General Fault Type 2 Lu ts e 9 6 Scan Times elapsed time 0 6 Reset Matorral eo tin marg bd wien 5 6 Tag Pals ice eod bs qu rq A PR RU ES 5 7 Name aa aa E Probus 9 7 DGSCHTDUGODSN 125 cta ded Borg en Se MEAS 9 7 Tag Type eddie 5 8 Data Type read only 3 64 dae oe Sia Xx 5 8 COPE vers todd ew gre A EORUM Do e RNC oerte Ra aces 5 8 l
128. al instruction that it is tied to i e jog move gearing ERR INT The error value contains the error code associated with a motion function See page 1 8 STATUS SINT The message status value indicates the status condition of any message associated with the motion function See page 1 10 STATE SINT The execution status value keeps track of the execution state of a function M any motion functions have several steps and this value tracks these steps See page 1 10 SEGMENT DINT A segment is the distance from one point up to but not including the next point A SEGM ENT gives the relative position by segment number as the Cam is executing The M otion Control Structures C 29 Error codes ERR Error Code Error Message Description 1 Reserved Error Code 1 Reserved for future use 2 Reserved Error Code 2 Reserved for future use 3 Execution Collision The instruction tried to execute while another instance of this instruction was executing This can occur when the controller executes a messaging instruction without checking the DN bit of the preceding instruction 4 Servo On State Error The instruction tried to execute on an axis with a closed servo loop 5 Servo Off State Error The instruction tried to execute on an axis with a servo loop that is not closed 6 Drive On State Error The axis drive is enabled 1 Shutdown Sta
129. alue for the Position Proportional Gain is 100 Sec 1 Integral Position Gain The Integral i e summation of Position Error is multiplied by the Position Loop Integral Gain or Pos I Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automatic servo tuning procedure in the Tuning tab of this dialog the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system in the Output tab of this dialog box Once this is done the Pos I Gain can be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 2 025 0 001 Sec mSec Pos P Gain 2 Assuming a Pos P Gain value of 100 Sec 1 this results
130. amping Factor of 0 8 On this tab or dialog These attributes are recalculated M otor Feedback tab M otor Feedback Type M otor Feedback Resolution Gains tab Position Proportional Gains Velocity Proportional Gains Dynamics tab M aximum Velocity M aximum Acceleration M aximum Deceleration Limits tab Position ErrorTolerance Custom Stop Action Attributes dialog Stopping Torque Custom Limit Attributes dialog Velocity Limit Bipolar Velocity Limit Positive Velocity Limit Negative Acceleration Limit Bipolar Acceleration Limit Positive Acceleration Limit Negative Torque Limit Bipolar Torque Limit Positive Torque Limit Tune Bandwidth dialog Position Loop Bandwidth Velocity Loop Bandwidth Note The Associated Module selection selected on the General tab determines available catalog numbers Publication 1756 UM 006B EN P J uly 2001 6 20 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 M otor Feedback Type This read only field displays the type of feedback associated with the selected motor in the Catalog Number field above If you selected None as the Catalog Number you must select a Feedback Type M otor Interpolation Factor This field displays a fixed read only value for each feedback type This value is used to compute the resolution of the feedback device M otor Cycles The number of cycles per revolution of the associated feedback
131. an axis with full motion planner functionality and integrated configuration support It is associated with digital drive interface modules sending digital commands to an external drive such as a 1756 M08SE SERCOS The AXIS SERVO DRIVE structure contains the following status and configuration attributes Mnemonic Data Description Type M otionStatus DINT The motion status bits for your axis Bit Number Data Type Description AccelStatus 00 BOOL Acceleration Status DecelStatus 01 BOOL Deceleration Status M oveStatus 02 BOOL M ove Status J ogStatus 03 BOOL J og Status GearingStatus 04 BOOL Gearing Status HomingStatus 05 BOOL Homing Status StoppingStatus 06 BOOL Stopping Status AxisHomedStatus 07 BOOL Homed Status PositionCamStatus 08 BOOL Position Cam Status TimeCamStatus 09 BOOL Time Cam Status PositionCamPendingStatus 10 BOOL Position Cam Pending Status TimeCamPendingStatus 11 BOOL Time Cam Pending Status GearingLockStatus 12 BOOL Gearing Lock Status PositionCamLockStatus 13 BOOL Position Cam Lock Status TimeCamLockStatus 14 BOOL Time Cam Lock Status M asterOffsetM oveStatus 15 BOOL M aster Offset M ove Status AxisStatus DINT The status bits for your axis Bit Number Data Type Description ServoActStatus 00 BOOL Servo Action Status DriveEnableStatus 01 BOOL Drive Enable Status Shutdow nStatus 02 BOOL Axis Shutdown Status ConfigUpdatelnProcess 03 BOOL Configuration Update in Process Publication 1756 UM 006B EN P J uly 2001 The
132. aring relationship according to the specified gear ratio The clutch function ofthe gearing planner is used to ramp an axis up or down to speed in a gearing process M AG with Clutch selected This bit is cleared during the intervals where the axis is clutching PositionCamLockStatus BOOL Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the M APC instruction This bit is bitis cleared when the current position cam profile completes or is superseded by some other motion operation In uni directional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction M asterOffsetM oveStatus BOOL Setif aM aster Offset M ove motion profile is currently in progress This bitis cleared when the M aster Offset M ove is complete or is superseded by some other motion operation ServoActStatus BOOL Setwhen the associated axis is under servo control Cleared when servo action is disabled Publication 1756 UM 006B EN P J uly 2001 C 4 The Motion Control Structures Mnemonic DriveEnableStatus Data Type BOOL Description Set when the Drive Enable output of the associated physical axis is currently enabled Cleared when physical servo axis Drive Enable output is currently disabled Shutdow nStatu
133. arm W atch instruction is executed WatchEvStatus BOOL Set when a watch event has occurred Cleared when either another M AW M otion Arm W atch instruction or a M DW M otion Disarm Watch instruction is executed RegEvArmStatus BOOL Set when a registration checking has been armed for registration input 1 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs ora M DR M otion Disarm Registration instruction is executed for registration input 1 RegEvStatus BOOL Set when a registration event has occurred on registration input 1 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEv2ArmStatus BOOL Set when a registration checking has been armed for registration input 2 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs ora M DR M otion Disarm Registration instruction is executed for registration input 2 RegEv2Status BOOL Set when a registration event has occurred on registration input 2 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 2 HomeEvArmStatus BOOL Set when a home event has been armed through execution of the M AH Motion Axis Home i
134. at even with a significant position error the axis refuses to budge Friction Compensation is used to break sticktion in the presence of a non zero position error This is done by adding or subtracting a percentage output level called Friction Compensation to the Servo Output value The Friction Compensation value should be just less than the value that would break the sticktion A larger value will cause the axis to dither i e move rapidly back and forth about the commanded position Velocity Offset Provides a dynamic velocity correction to the output of the position servo loop in position units per second Because the position servo loop output value is updated synchronously every Coarse Update Period the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming Torque Offset Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output Because velocity servo loop output is updated synchronously every Naming Configuring Your Motion Axis 6 59 Coarse Update Period the Torque Offset can be tied into custom outer control loop algorithms using Function Block programming Output Offset Corrects the problem of axis drift by adding a fixed voltage value not to exceed 10 Volts to the Servo Output value Input a value to achieve near zero drive velocity when the uncompensated Servo Output val
135. ates in a row constitutes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished TimerEventFault BOOL Set when the associated servo module has detected a problem with the module s timer event functionality used to synchronize the motion module s servo loop to the master timebase of the Logix rack i e Coordinated System Time This fault bit can be cleared only by reconfiguration of the motion module M oduleHardw areFault BOOL Set when the associated servo module has detected a hardware problem that in general is going to require replacement of the module to correct Publication 1756 UM 006B EN P J uly 2001 C 12 The Motion Control Structures Mnemonic Data Description Type OutputCamStatus DINT Asetof bits that are set when the Output Cam has been initiated OutputCamPendingStatus DINT Asetof bits that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start cam end position OutputCamLockStatus DINT A set of bits that are set when an Output Cam is locked to the M aster Axis OutputCamTransitionStatus DINT Asetof bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target AXIS SERVO DRIVE Structure A servo drive axis object represents
136. aultAction attribute EncLossFaultActStatus BOOL The status of an update to the EncoderLossFaultA ction attribute EncNsFaultActStatus BOOL Thestatus of an update to the EncoderN oiseFaultAction attribute FricCompStatus BOOL The status of an update to the FrictionCompensation attribute MaxNTrviStatus BOOL Thestatus of an update to the M aximumN egativeTravel attribute MaxPTrvlStatus BOOL The status of an update to the M aximumPositiveTravel attribute OutFiltBW Status BOOL Thestatus of an update to the OutputFilterBandw idth attribute OutLimitStatus BOOL The status of an update to the OutputLimit attribute OutOffsetStatus BOOL Thestatus of an update to the OutputOffset attribute OutScaleStatus BOOL Thestatus of an update to the OutputScaling attribute PosErrorFaultActStatus BOOL Thestatus of an update to the PositionErrorFaultAction attribute PosErrorTolStatus BOOL Thestatus of an update to the PositionErrorTolerance attribute PoslGainStatus BOOL Thestatus of an update to the PositionIntegralGain attribute PosLockTolStatus BOOL The status of an update to the PositionLockTolerance attribute Publication 1756 UM 006B EN P J uly 2001 C 26 The Motion Control Structures Variable Data Type Description PosPGainStatus BOOL Thestatus of an update to the PositionProportionalGain attribute PosUnwindStatus BOOL Thestatus of an update to the PositionUnwind attribute POtrviFactActStatus BOO
137. ave been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis A PhysicalAxisFault can be set as either a M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box M oduleFault BOOL Set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition A M oduleFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box ConfigFault BOOL Set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module A ConfigFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box WatchEvArmStatus BOOL Set when a watch event has been armed through execution of the M AW M otion Arm W atch instruction Cleared when either a watch event occurs or a M DW M otion Dis
138. avel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog Software overtravel limits are disabled during the tuning process Maximum Positive Type the maximum positive position to be used for software overtravel checking in position units Note The Maximum Positive limit must always be greater than the Maximum Negative limit Publication 1756 UM 006B EN P J uly 2001 6 56 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Maximum Negative Type the maximum negative position to be used for software overtravel checking in position units Note The Maximum Negative limit must always be less than the Maximum Positive limit Position ErrorTolerance Specifies how much position error the servo will tolerate before issuing a position error fault This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 position units means that a position error fault will be generated whenever the position error of the axis is greater than 0 75 orless than 0 75 position units as shown here Note This value is set to twice the following
139. aximum of 40 characters contain letters numbers and underscores Description Type a description for your motion axis This field is optional Data type AXIS CONSUM ED AXIS SERVO AXIS SERVO DRIVE AXIS VIRTUAL Scope Select the scope of the axis variable To use the axis Select Within the entire program Controller Once you have named your axis in the New Tag window you must then configure it You can make your configuring options in the Axis Properties screen These have a series of Tabs that access a specific dialog for configuring the axis Make the appropriate entries for each of the fields An asterisk appears on the Tab to indicate changes have been made but not implemented Press the Apply button at the bottom of each dialog to implement your selections When you configure your axis some fields may be TIP unavailable greyed out because of choices you gt made in the New Tag window In the Controller Organizer right click on the axis to edit and select Axis Properties from the drop down menu The Axis Properties Naming amp Configuring Your M otion Axis 6 5 General window appears The General screen depicted below is for an AXIS SERVO data type The General screen shown below is for an AXIS SERVO DRIVE Data Type Dm Gem Dew tee Otet Feu Publication 1756 UM 006B EN P J uly 2001 6 6 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2
140. ble Drive Stop Motion and Status Only Naming Configuring Your Motion Axis 6 67 Motor Thermal Specifies the fault action to be taken when a Motor Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Feedback Noise Specifies the fault action to be taken when excessive feedback noise is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Feedback Specifies the fault action to be taken when Feedback Fault is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Position Error Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Hard Overtravel Specifies the fault action to be taken when an axis encounters a travel limit switch for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Soft Overtravel Specifies the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured in the Limits tab of
141. blication 1756 UM 006B EN P J uly 2001 software travel limits can be used After the homing sequence is complete the axis is left at this position If the Positioning Mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning Mode is Rotary then the home position should be less than the unwind distance in position units Sequence This read only parameter is always set to Immediate Hookup Tab AXIS SERVO Use this tab to configure and initiate axis hookup and marker test sequences for an axis of the type AXIS SERVO When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value ie Aix Prapeilimz manzana Out Lins Diet Fis chona Tag General Urds Conversion Sewo Homing Hop Ture Opens Gara Teal Increment m Flees ere ne Feedback Pola G Posve T Hegel Teu tectus Output Poles G Pagiwe f Hegsive Ta ieee i DANGER T Thana taki ma cea DA niti tv pala eoe odiar polsi determined afier evscuing Ihe edo p Ws Le ew J ls te Test Increment Specifies the amount of distance traversed by the axis when executing the Output amp Feedback test The default value is set to approximately a quarter of a revolution of the motor in position units Naming Configuring Your Motion Axis 6
142. by an MAS M GS Stop M otion fault action or mode change AxisHomedStatus BOOL Cleared at power up or reconnection Set by the M AH instruction upon successful completion of the configured homing sequence and later cleared when the axis enters the shutdown state PositionCamStatus BOOL Setif a Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation TimeCamStatus BOOL Setif a Time Cam motion profile is currently in progress Cleared when the Time Cam is complete or is superseded by some other motion operation PositionCamPendingStatus BOOL Setif a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending execution selected This bit is cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is superseded by some other motion operation TimeCamPendingStatus BOOL Setif a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the pending cam profile This bit is also cleared if the time cam profile c
143. ccelStatus BOOL Setif the axis is currently being commanded to accelerate DecelStatus BOOL Setif the axis is currently being commanded to decelerate M oveStatus BOOL Setif a Move motion profile is currently in progress Cleared when the M ove is complete or is superseded by some other motion operation J ogStatus BOOL Set if a og motion profile is currently in progress Cleared when the J og is complete or is superseded by some other motion operation Publication 1756 UM 006B EN P J uly 2001 Mnemonic GearingStatus Data Type BOOL The M otion Control Structures C 23 Description Set if the axis is a slave that is currently Gearing to another axis Cleared when the gearing operation is stopped or is superseded by some other motion operation HomingStatus BOOL Set if a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation StoppingStatus BOOL Set if there is a stopping process currently in progress Cleared when the stopping process is complete Note The stopping process is used to stop an axis initiated by an MAS MGS Stop M otion fault action or mode change AxisHomedStatus BOOL Cleared at power up or reconnection Set by the MAH instruction upon successful completion of the configured homing sequence and later cleared when the axis enters the shutdown state PositionCamStatus BOOL Set if a
144. checking drive fault normally closed 0 C Un CJ NJ HO Publication 1756 UM 006B EN P J uly 2001 D 6 The Motion Attributes Variable Data Type Access Description ServoConfigurationUpdateBits DINT AXIS The servo configuration status bits for your servo loop structure Bit Bit Name Meaning 0 AxisTypeStatus axis type 1 PosUnwndStatus position unwind 2 M axPTrvlStatus maximum positive travel 3 M axNTrvIStatus maximum negative travel 4 PosErrorTolStatus position error tolerance 5 PosLockTolStatus position lock tolerance 6 PosPGainStatus position proportional gain 7 PosiGainStatus position integral gain 8 VelFfGainStatus velocity feedforward gain 9 AccFfGainStatus acceleration feedforward gain 10 VelPGainStatus velocity proportional gain 11 VellGainStatus velocity integral gain 12 OutFiltBw Status output filter bandwidth 13 OutScaleStatus output scaling 14 OutLimitStatus output limit 15 OutOffsetStatus output offset 16 FricCompStatus friction compensation 17 POtrvlFaultA ctStatus soft overtravel fault action 18 PosErrorFaultActStatus position error fault action 19 EncLossFaultActStatus encoder loss fault action 20 EncNsFaultActStatus encoder noise fault action 21 DriveFaultA ctStatus drive fault action 22 ServoConfigBitsStatus update to Servo config bits ServoEventBits DINT AXIS The servo event bits for your servo loop structure Bit BitName Meaning 0 WatchEvArmStatus watch event armed 1 WatchEvStatus watch
145. condition update is in progress using the motion e The OK contact has instructions opened e Resume normal operation e f the flashing persists reconfigure the module Solid red e A potential e Reboot the module light non recoverable fault e f the solid red persists has occurred replace the module e The OK contact has opened Publication 1756 UM 006B EN P J uly 2001 10 2 Troubleshooting 1756 M 02AE M odule Status Using the FDBK Indicator If the FDBK LED Then the module status is Take this action displays Off The axis Ts not used e None if you are not using this axis e f you are using this axis make sure you configured the module and associated an axis tag with the module Flashing The axis is in the normal servo None You can change the green light loop inactive state servo axis state by executing motion instructions Steady The axis is in the normal servo None You can change the greenlight loop active state servo axis state by executing motion instructions Flashing The axis servo loop error e Correct the source of red light tolerance has been exceeded the problem e Clear the servo fault using a fault reset instruction Resume normal operation Solid red An axis encoder feedback fault e Correct the source of light has occurred the problem by checking the encoder and power connections Clear the servo fault using the M AFR instruction Resume normal operation
146. current configured value for M aximum Positive Travel Cleared when the axis is moved back within this travel limit NOtraviFault BOOL Set when the axis has traveled or attempted to travel beyond the current configured value for Maximum Negative Travel Cleared when the axis is moved back within this travel limit PosHardOvertravelFault BOOL Set when the axis has traveled beyond the current positive direction position limits as established by hardware limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires execution of an explicit MAFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear NegHardOvertravelFault BOOL Setwhenthe axis has traveled beyond the current negative direction position limits as established by hardware limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear FeedbackFault BOOL Set for a specific feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A and A B and B or Z and Z are at
147. d For more information about motion state instructions refer to the Motion Event Instructions chapter of Logix5550 Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendix E Instruction Timing Understa nding Motion Motion configuration instructions allow you to tune an axis and to run Configuration Instructions e A motor encoder hookup test e An encoder hookup test e A marker test The motion configuration instructions are Instruction Motion Apply Axis Tuning Abbreviation M AAT Description Computes a complete set of servo gains and dynamic limits based on a previously executed M RAT instruction The M AAT instruction also updates the servo module with the new gain parameters diagnostic tests for your control system These tests include Type of Timing M essage Motion Run Axis Tuning MRAT Commands the servo module to run a tuning motion profile for an axis Message Process Publication 1756 UM 006B EN P J uly 2001 Motion Apply Hookup Diagnostic MAHD M otion Instructions 9 5 Applies the results of a previously executed M RHD instruction The M AHD instruction generates a new set of encoder and servo polarities based on the observed direction of motion during the M RHD instruction M essage M otion Run Hookup Diagnostic MRHD Commands the servo module to run one of three
148. d it to a group in the group inhibit mode M otionConfigurationBits DINT GSV The motion configuration bits for your axis SSV Bit Meaning 0 home direction reverse 1 home switch normally closed 2 home marker edge negative M otionFaultBits DINT AXIS The motion fault bits for your axis structure Bit BitName Meaning 0 ACAsyncConnFault asynchronous connection fault 1 ACSyncConnFault synchronous connection fault Publication 1756 UM 006B EN P J uly 2001 D 4 The Motion Attributes Variable Data Type Access Description M otionStatusBits DINT AXIS The motion status bits for your axis structure Bit Bit Name Meaning 0 AccelStatus velocity increase 1 DecelStatus velocity decrease 2 M oveStatus move motion profile in progress 3 J ogStatus jog motion profile in progress 4 GearingStatus axis is gearing to another axis 5 HomingStatus home motion profile in progress 6 StoppingStatus stopping process in progress 7 AxisHomedStatus absolute position ref established 8 PositionCamStatus Pcam in progress 9 TimeCamStatus Tcam in progress 10 PositionCamPendingStatusPcam profile waiting for another to end 11 TimeCamPendingStatus Tcam profile waiting for another to end 12 GearingLockedStatus clutching to a new gear Speed 13 PositionCamLockStatus master axis meets Pcam condition M otorEncoderTestIncrement REAL GSV The amount of motion that is necessary to initiate the M otion Run SSV Hookup Diagnostic M RHD
149. diagnostic tests on an axis Message Process For more information about motion state instructions refer to the Motion Configuration Instructions chapter of Logix5550 Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendix E Instruction Timing Publication 1756 UM 006B EN P J uly 2001 9 6 Motion Instructions Publication 1756 UM 006B EN P J uly 2001 Chapter 10 Troubleshooting This chapter describes how to troubleshoot your ControlLogix motion control system 1756 M 02A E M odule Status Using the OK Indicator If the Then the module status Is Take this action OK LED displays Ort The module 1s not operating e Apply chassis power e Verify the module is completely inserted into the chassis and backplane Flashing The module has passed internal None if you have not green light diagnostics but it is not configured the module communicating axis data over If you have configured the backplane the module check the slot number in the 1756 M 02AE Properties dialog box Steady e Axis data is being None The module is ready for green light exchanged with the action module e The module is in the normal operating state Flashing e A major recoverable e Check the servo fault red light failure has occurred word for the source of e A communication fault the error timer fault or NVS e Clearthe fault
150. ding brands in industrial automation including Allen Bradley controls Reliance Electric power transmission products Dodge mechanical power transmission components and Rockwell Software Rockwell Automation s unique flexible approach to helping customers achieve a competitive advantage is supported by thousands of authorized partners distributors and system integrators around the world Allen Bradley BRUMEE Doer Americas Headquarters 1201 South Second Street Milwaukee WI 53201 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 potio R kw i European Headquarters SA NV Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 oc e Asia Pacific Headquarters 27 F Citicorp Centre 18 Whitfield Road Causeway Bay Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Automation Publication 1756 UM 006B EN P J uly 2001 PN 957564 02 Supersedes Publication 1756 UM 006A EN P April 2001 2001 Rockwell International Corporation Printed in the U S A
151. e Enables the servo drive and sets the servo output voltage of an axis M otion Direct Drive On MDO M essage Disables the servo drive and sets the servo output voltage to the output offset voltage M otion Direct Drive Off MDF M essage M otion Axis Fault Reset M AFR Clears all motion faults M essage For more information about motion state instructions refer to the Motion State Instructions chapter of the Logix5550 Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendix E Instruction Timing Motion Move Instructions Motion move instructions control all aspects of axis position The motion move instructions are Instruction Abbreviation Description Type of Timing Motion Axis Stop MAS Initiates a controlled stop of any Immediate motion process on an axis Process M otion Axis Home MAH Homes an axis M essage Process Motion Axis J og MAJ Initiates a jog motion profile for an Immediate axis Process M otion Axis M ove MAM Initiates a move profile for an axis Immediate Process Motion Axis Gear MAG Enables electronic gearing between Immediate two axes Process Motion Change Dynamics MCD Changes the speed acceleration Immediate rate or deceleration rate of a move profile or jog profile in progress Motion Redefine Position MRP Changes the command or actual Message position of an axis
152. e ControlLogix controller contains a high speed motion task which executes ladder motion commands and generates position and velocity profile information The controller sends this profile information to one or more 1756 M02AE servo modules You can use several Logix controllers in each chassis Each controller can control up to 16 1756 MO2AE servo modules The 1756 MO2AE servo module connects to a servo drive and closes a high speed position and velocity loop Each Logix controller can support up to 16 1756 MO2AE servo modules Each 1756 M02AE module can control up to two axes The 1756 M08SE SERCOS interface module serves as the interface between one ControlLogix processor and 1 to 8 axes operating in either position or velocity mode The module has a programmable ring Cycle Period of 1ms or 2ms depending on the number of axes and a ring Data Rate of 4 Mbaud RSLogix5000 programming software provides complete axis configuration and motion programming support ARO 5000 1051135550 CONTRE LER 1156 AE CORRA FMECUTION ANE aos ca ERST es Ass io Medion tik Tico PA AE de E c R j Comper ica Pronranmimina gt Ln aA r T E gt SUM A 2 TECH ELOT az dl rer i Dem Publication 1756 UM 006B EN P J uly 2001 12 TheControlLogix Motion Control System Components of the The ControlLogix Controller ControlLogix Motion System The ControlLogix controller is the main component in the ControlLogix syste
153. e Data Type Access Description AccelerationFeedforwardGain REAL GSV The value used to provide the torque command output to generate SSV the command acceleration ActualPosition REAL GSV The actual position of your axis ActualVelocity REAL GSV The actual velocity of your axis The internal resolution limit of the actual velocity is 1 encoder count per coarse update AverageVelocity REAL GSV The average velocity of your axis Publication 1756 UM 006B EN P J uly 2001 D 2 The Motion Attributes Variable Data Type Access Description AverageVelocityTimebase REAL GSV The timebase of the average velocity of your axis SSV AxisConfigurationState SINT GSV The state of the axis configuration AxisType INT GSV The type of axis that you are using SSV Value Meaning 0 unused axis 1 position only axis 2 servo axis 3 consumed axis 4 virtual axis CommandPosition REAL GSV The command position of your axis CommandVelocity REAL GSV The command velocity of your axis The internal resolution limit on the command velocity is 0 00001 encoder counts per coarse update ConversionConstant REAL GSV The conversion factor used to convert from your units to feedback SSV counts DampingFactor REAL GSV The value used in calculating the maximum position servo SSV bandwidth during the execution of the M otion Run AxisTuning M RAT instruction DriveFaultAction SINT GSV The operation performed whe
154. e Encoder j Handler Accumulator Counter Input eda Marker ven Event Marker pe Handler Registration Event and Position Regist j Registration Event lt Regist le but Handler Home o Input Publication 1756 UM 006B EN P J uly 2001 B 4 Loop and Interconnect Diagrams Understanding Wiring Wiring to a Servo Module RTB Diagrams 20 er A 0UT 0 40UT 1 Belden 9501 O OUT 0 OUT 1 e Ss A ENABLE 0 ENABLE 1 ls e ENABLE 0 ENABLE 1 Belden 9502 O Gel DRVFLT 0 DRVFLT 1 1252 QI n CHASSIS CHASSIS 14 Q3 A IN COM IN CO 16 Q5 HOME 0 HOME 1 18 Qi r REG24V 0 REG24V 1 20 tw REG5V 0 REG5V 1 228 Qi 40K OK 240 z I CHASSIS CHASSIS O Sz CHA 0 CHA 1 285 Qr CHA 0 CHA 1 305 Ga 4CHB 0 CHB 1 Belden 9503 3220 Csi CHB 0 CHB 1 MO Ss CHZ 0 CHZ 1 365 E CHZ 0 CHZ 1 e Belden 9501 U Publication 1756 UM 006B EN P J uly 2001 Belden 9501 Belden 9501 To servo drive To servo drive To encoder To home limit switch To registration Sensor To E stop relay coil This is a general wiring example illustrating Axis 1 wiring only Other configurations are possible with Axis 0 wiring identical to Axis 1 Wiring t
155. e module s e Vendor e Product Type e Product Code e Revision Number e Serial Number e Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module If the module is a 1756 L1 module this field displays the catalog number of the memory expansion board this selection applies to any controller catalog number even if additional memory cards are added 1756 L1M1 1756 L1M2 Configuring the 1756 M 08SE Module 4 15 Major M inor Fault Status If you are configuring a This field displays one of the following digital module EEPROM fault Backplane fault None analog module Comm Lost with owner Channel fault None any other module None Unrecoverable Recoverable Internal State Status This field displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configuration bad e Major Fault e Run mode Program mode e 16fxxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured This field displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once a module has been configured it stays configured until the module is Publication 1756 UM
156. e the project file The directory defaults to the one you configured in the Workstation Options dialog If you want to use a different directory type its path or click on the Browse button to find the directory The project file is created in this directory with the same name as the controller with a ACD file extension For example if your controller name is Oven1 the project file name becomes Oven1 ACD Publication 1756 UM 006B EN P J uly 2001 2 2 Getting Started Accessing the New Controller dialog Publication 1756 UM 006B EN P J uly 2001 8 Click on OK to create the project Once the project file is created you can see the Controller Organizer which shows everything in the controller The default configuration contains a continuous task called Main Task The Main Task contains a program called Main Program The Main Program contains a routine called Main Routine which is configured as the main routinedef main routine gloss hlp In addition if you have chosen a FlexLogix controller 2 FlexBus adapters are created in slots 3 and 4 under the I O Configuration folder These 2 folders contain all local I O for FlexLogix other than the 2 local slots for communication The first folder contains all I O configured on the local Flex rail housing the Flex controller the second folder contains all I O configured for the local non controller rail Note You cannot delete copy cut paste or drag and drop the FlexBus adap
157. eLimit REAL Thecurrently operative negative positive torque current limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit MotorCapacity REAL The present utilization of motor capacity as a percent of rated capacity DriveCapacity REAL The present utilization of drive capacity as a percent of rated capacity PowerCapacity REAL The present utilization of the axis power supply as a percent of rated capacity BusRegulatorCapacity REAL The present utilization of the axis bus regulator as a percent of rated capacity MotorElectricalAngle REAL The present electrical angle of the motor shaft TorqueLimitSource DINT The present source if any of any torque limiting for the axis Publication 1756 UM 006B EN P J uly 2001 The M otion Control Structures C 15 Mnemonic Data X Description Type DriveStatus DINT The status bits for your servo drive Bit Number Data Type Description no tag 00 BOOL Servo Action Status no tag 01 BOOL Drive Enable Status no tag 02 BOOL Axis Shutdown Status ProcessStatus 03 BOOL Process Status no tag 04 BOOL Reserved no tag 05 BOOL Reserved HomeSwitchStatus 06 BOOL Home Input Status ReglInputStatus 07 BOOL Registration 1 Input Status Reg2InputStatus 08 BOOL Registration 12Input Status PosOvertravelInputStatus 09
158. ecomes inactive 4 Position and Enable The output bit is reset when the axis leaves the compensated cam range orthe enable bit becomes inactive 5 Duration and Enable The output bit is reset when the duration expires or the enable bit becomes inactive Left REAL The left cam position along with the right cam position define the cam range of the Output Cam element The left and right cam positions specify the latch or unlatch positions of the output bit w hen the latch or unlatch type is setto Position or Position and Enable with the enable bit active If the left position is less than the Cam Start position or greater than the Cam End position an Illegal Output Cam error is returned and the cam element is not considered Right REAL The right cam position along with the left cam position define the cam range of the Output Cam element The right and left cam positions specify the latch or unlatch positions of the output bit when the latch or unlatch type is set to Position or Position and Enable with the enable bit active If the right position is less than the Cam Start position or greater than the Cam End position an Illegal Output Cam error is returned and the cam element is not considered Duration REAL Duration specifies the time in seconds between latching and unlatching when the UnlatchType is Duration or Duration and Enable with the enable bit active A value less than or equal to 0 results inan Illegal Output Cam er
159. ed 3000 RPS2 0 0333 Rated Revs Per Second2 Note If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also does not reflect the true performance of the system Enable Low pass Output Filter Select this to enable the servo s low pass digital output filter De select this to disable this filter Publication 1756 UM 006B EN P J uly 2001 6 48 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Note During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Low pass Output Filter Bandwidth With Enable Low pass Output Filter selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting will be filtered out and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value u
160. ed and edited by going to the tabbed Module Property screens Further explanations of the fields in this dialog are detailed below Editing YourMotion Module The following section provides explanations of the Motion Module Settin gs Properties screens Use these screens to edit the properties of the module when changes need to be made You can access the Module Properties screen by highlighting the motion module and right Publication 1756 UM 006B EN P J uly 2001 Adding and ConfiguringYour 1756 M 02AE M otion Module 3 7 clicking the mouse Select Properties from the displayed pop up menu screen as shown in the following figure This accesses the Module Properties screen This screen is tabbed to take you to the particular dialog you require Publication 1756 UM 006B EN P J uly 2001 3 8 X Adding and Configuring Your 1756 M 02AE M otion M odule Publication 1756 UM 006B EN P J uly 2001 General Tab Use this tab to create view module properties for 1756 M02AE motion module This dialog provides you with the means to view the type description vendor and the name of the parent module You can also enter the name and a description for the module Other fields and buttons on this dialog let you set the slot location of the module review information for both channels go to the New Tag dialog to create an axis to associate with one of the channels select the minor revision number and select an electronic keying option You ca
161. ed by some other motion operation HomingStatus BOOL Setif a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation StoppingStatus BOOL Setif there is a stopping process currently in progress Cleared when the stopping process is complete Note The stopping process is used to stop an axis initiated by an MAS MGS Stop M otion fault action or mode change AxisHomedStatus BOOL Cleared at power up or reconnection Set by the M AH instruction upon successful completion of the configured homing sequence and later cleared when the axis enters the shutdown state PositionCamStatus BOOL Setif a Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation TimeCamStatus BOOL Setifa Time Cam motion profile is currently in progress Cleared when the Time Cam is complete or is superseded by some other motion operation PositionCamPendingStatus BOOL Setif a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending execution selected This bit is cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is superseded by some other motion operation TimeCamPendingStatus
162. ed by the serial port driver before it is given to the ladder logic Choose from e Ignore The delete character sequence is treated the same as any other character that is read in e CRT or Printer The preceding character in the string buffer is removed before being given to the ladder logic The only difference between CRT and Printer modes is the type of device sending the string to the controller If Echo mode is disabled CRT and Printer do exactly the same thing Major Faults Tab The Major Faults tab displays information on the major faults that have occurred in the controller Publication 1756 UM 006B EN P J uly 2001 2 18 Publication 1756 UM 006B EN P J uly 2001 Getting Started Number of M ajor Faults Since Last Cleared Displays the number of major fault events that have been reported since the log was last cleared Recent Faults Displays a description of the last three major faults that have occurred These faults are stored in reverse chronological order When offline this field contains the stored contents of the last online session Clear Majors Click on this button to clear the Major Fault log Minor Faults Tab The Minor Faults tab displays information on the minor faults that have occurred in the controller o Dontrolla Progestios Fusdkezi ical xe fered Sena Pot Synema User Peine Hoyer Fou Hinor Ful Dae Tme adarei Fie Ditra u Rece Faults Fal Bas I T n r
163. edit in the Manual Tune dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Friction Compensation The percentage of output level added to a positive current Servo Output value or subtracted from a negative curent Servo Output value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called sticktion that even with a significant position error the axis refuses to budge Friction Compensation is used to break sticktion in the presence of a non zero position error This is done by adding or subtracting a percentage output level called Friction Compensation to the Servo Output value The Friction Compensation value should be just less than the value that would break the sticktion A larger value will cause the axis to dither i e move rapidly back and forth
164. emperature Connector Bend Radius 1 32 meters 980um 60um 1000um 60um 140 dB km 650nm 55 to 85 C F SM A standard screw type connector 2 5 cm Glass Fiber Optic Specifications Transmission Range Core Diameter Cladding Diameter Cable Attenuation Operating Temperature 1 200 meters 200um 4um 230um 0 10um 6 0 dB km 820nm 20 to 85 C Connector F SMA standard screw type connector Bend Radius 2 5cm SERCOS SERCOS Class Class B Position or Velocity Data Rate 4 M bits per second Operating cycle 1 ms for 1 4 axes 2 ms for 5 8 axes Agency certification when product or packaging is marked UL508 Industrial Control Equipment Qu UL1604 Class Division 2 Groups A B C D Hazardous location C marked for all applicable directives Publication 1756 UM 006B EN P J uly 2001 A 4 Specifications and Performance Coarse Update Period Calculations Baseline 2 task time Publication 1756 UM 006B EN P J uly 2001 To calculate the coarse update period for the number axes in your application you can use the following formula Actions for Actions for Actions for Coarse axis 1 axis2 e axisn Update Period The result of the above calculation must be divided by 1000 rounded up to the nearest milliseconds You can use the sample calculation worksheet in this section to determine your coarse update period To determine the values for your equation refer to
165. ent to a message sent to the slave EOT Suppression Check this box if you want to suppress End of Text transmissions at the end of a slave message DF1 Master Parameters Transmit Retries Enter the number of attempted transmits without getting an acknowledgment before a message is deemed undeliverable Valid values are from 0 to 255 the default value is 3 Reply Message Wait Enter the time in ms that the master waits after receiving an acknowledgment to a master initiated message before polling the slave for a reply Specify this time in 20 ms increments the default value is 50 i e 50 20 ms or 1000 ms or 1 second Polling Mode Choose a polling mode from the pull down menu Choose from e Message Based slave can initiate messages e Message Based slave cannot initiate messages e Standard Multiple message transfers per node scan e Standard Single message transfer per node scan The default mode is Message Based allowing a slave to initiate messages Publication 1756 UM 006B EN P J uly 2001 2 14 Getting Started Publication 1756 UM 006B EN P J uly 2001 Master Transmit Choose the master message transmit that designates when to send any DF1 master message Choose from e Between Station Polls The master transmits a message before the next station e In Poll Sequence The master transmits messages only when the station number is encountered in the poll list The default is Between Station Poll
166. er as the master controller Once you complete this Step you can synchronize all the motion modules and ControlLogix controllers in your chassis Name and Configure an axis Adds an axis to your application program Develop a motion application program Create a program for your motion control application Add a motion module Adds a motion module to your application program Assign additional servo modules and axes Adds additional modules and axes to your application program Run hookup diagnostics and auto tuning Completes hookup diagnostics and auto tuning for each axis The MOTION INSTRUCTION Tag The controller uses the MOTION INSTRUCTION tag structure to store status information during the execution of motion instructions Every motion instruction has a motion control parameter that requires a MOTION INSTRUCTION tag to store status information MSO Motion Servo On N5 The Axis No motion control Motion control A gt parameter Tags used for the motion control parameter of instructions should only be used once Re use of the motion control parameter in other instructions can cause unintended operation of the control variables The ControlLogix M otion Control System 1 5 For more information about the MOTION INSTRUCTION tag refer to Appendix C The Motion Control Structures Motion Status and Configuration Parameters You can read motion status and configuratio
167. ere it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward is 10096 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Note Acceleration Feedforward Gain is not applicable for applications employing velocity loop servo drives Such systems would require the acceleration feedforward functionality to be located in the drive itself Proportional Position Gain Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability Publication 1756 UM 006B EN P J uly 2001 6 38 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 To set the gain manually you must first set the appropriate output scaling factor either the Velocity Scaling factor or Torque Scaling factor in the Output tab of this dialog Your selection of External Drive Configuration type either Torque or Velocity in the Servo tab of this dialog will determine which scaling factor you must configure before manually s
168. ernal servo drive in the Servo tab of this dialog the software velocity loop in the servo module is disabled In this case the Velocity Scaling value can be calculated by the following formula Velocity Scaling 100 Speed 100 For example if this axis is using position units of motor revolutions revs and the servo drive is scaled such that with an input of 100 e g 10 Volts the motor goes 5 000 RPM or 83 3 RPS the Velocity Scaling attribute value would be calculated as Velocity Scaling 100 83 3 RPS 1 2 Revs Per Second Torque Scaling The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rat
169. es the parent module must be a 1756 M08SE 8 Axis SERCOS interface module On this tab you can e view the type and description of the module being created e view the vendor of the module being created e enter the name of the module e enter a description for the module e set the Base Node for the module e select the minor revision number of your module e select Electronic Keying Exact Match Compatible Module or Disable Keying e view the status the controller has about the module you can only view the status while online Configuring a 1394C SJ T05 10 22 D Digital Servo Drive 7 5 Type Displays the module type of the module being created 1394C SJT05 D 5 KW 1394C SJT10 D 10 KW or 1394C SJT22 D 22 KW digital servo drive module read only Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant If you attempt to enter an invalid character or exceed the maximum length the software beeps and ignores the character Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software beeps to warn you and ignores any extra characters Base Node Type or select the Base Node number of the drive module This node number is determined by multiplying the node number from the module s rotary switch 1 to 9 by a factor of ten Thus
170. ess than the unwind distance in position units Offset Type the desired offset if any in position units the axis is to move upon completion of the homing sequence to reach the home position In most cases this value will be zero Sequence Select the event that will cause the Home Position to be set Sequence Type Description Immediate Sets the Home Position to the present actual position without motion Switch Sets the Home Position when axis motion encounters a home limit switch Marker Sets the Home Position when axis encounters an encoder marker Switch Marker Sets the Home Position when axis first encounters a home limit switch then encounters an encoder marker Note See the section Homing Configurations below for a detailed description of each combination of homing mode sequence and direction Limit Switch If a limit switch is used indicate the normal state of that switch i e before being engaged by the axis during the homing sequence e Normally Open e Normally Closed Publication 1756 UM 006B EN P J uly 2001 6 24 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Direction For active homing sequences except for the Immediate Sequence type select the desired homing direction Direction Description Forward The axis jogs in the positive axial direction Uni directional until a homing event switch or marker is encountered then co
171. est e Positive Negative Note Proper wiring guarantees that the servo loop is closed with negative feedback However there is no guarantee that the servo drive has the same sense of forward direction as the user for a given application Negative Polarity inverts the polarity of Naming Configuring Your Motion Axis 6 29 both the command position and actual position data of the servo drive Thus selecting either Positive or Negative Drive Polarity makes it possible to configure the positive direction sense of the drive to agree with that of the user This attribute can be configured automatically using the MRHD and MAHD motion instructions WARNING Modifying polarity values automatically input by running the Command amp Feedback Test can cause a runaway condition Test Marker Runs the Marker test which ensures that the encoder A B and Z channels are connected correctly and phased properly for marker detection When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the markeris not detected check the encoder wiring and try again Test Feedback Runs the Feedback Test which checks and if necessary reconfigures the Feedback Polarity setting When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Test Output amp Feedback
172. et to about 8596 of the measured tuning deceleration rate by the tuning process If set manually this value should typically be set to about 8596 of the maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the deceleration limits of the drive and motor Any change in value caused by manually changing the spin control is instantaneously sent to the controller Naming Configuring Your Motion Axis 6 35 Program Stop Action Select how a specific axis will stop when the processor undergoes a mode change or when an explicit Motion Group Programmed Stop MGPS instruction is executed e Fast Disable The axis is decelerated to a stop using the current configured value for maximum deceleration Servo action is maintained until the axis motion has stopped at which time the axis is disabled i e Drive Enable is disabled and Servo Action is disabled Fast Shutdown The axis is decelerated to a stop using the curent configured value for maximum deceleration Once the axis motion is stopped the axis is placed in the shutdown state i e Drive Enable is disabled Servo Action is disabled and the OK contact is opened To recover from this state a reset instruction must be executed Fast Stop The axis is decelerated to a stop using the current configured value for maximum deceleration Servo action is maintained after the axis motion has stopped This mode is useful for g
173. etected by the motion group will cause the processor OK light to go blinking red and the fault routine to be invoked If the fault routine handles the fault and clears it then the OK light turns green If the fault routine does not clear the fault then the OK light becomes solid red and the processor stops executing the program Scan Times elapsed time e Max displays the value from the previous scan clear this value if necessary e Disabled displays the value from the previous scan ResetMax Click on this button to clear the Scan Times Max value Publication 1756 UM 006B EN P J uly 2001 The Motion Group 5 7 Tag Tab Use this tab to modify the name and description of the group amp Motion Group Properties group Axis Assignment Attribute Tag Name rm Description E Tag Type Base Data Type MOTION GROUP Scope frectst Style z 5 Eroduce this tea for up to p a consumers Base Tag liri Cancel Apply Help When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you save your changes all pending changes revert to their previously saved state Name Enter the name of the motion group This name must not exceed 40 characters If you enter more than 40 characters the system notifies you and it ignores the extra characters Description Enter a description of the motion group This description must not
174. etting gains If you know the desired loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 The typical value for the Position Proportional Gain is 100 Sec 1 Integral Position Gain The Integral i e summation of Position Error is multiplied by the Position Loop Integral Gain or Pos I Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automatic servo tuning procedure in the Tuning tab of this dialog the Pos I Gain value may
175. event 2 RegEvArmStatus registration event armed 3 RegEvStatus registration event 4 HomeEvArmStatus home event armed 5 HomeEvstatus home event ServoFaultBits DINT AXIS The servo fault bits for your servo loop structure Bit Bit Name Meaning 0 POtrvlFault positive overtravel fault 1 NOtrviFault negative overtravel fault 2 PosErrorFault position error fault 3 EncCHA LossFault encoder channel A loss fault 4 EncCHBLossFault encoder channel B loss fault 5 EncCHZLossFault encoder channel Z loss fault 6 EncNsFault encoder noise fault 1 DriveFault drive fault 8 SyncConnFault synchronous connection fault 9 HardFault servo hardware fault ServoOutputLevel REAL GSV The output voltage level for your axis servo loop Publication 1756 UM 006B EN P J uly 2001 The Motion Attributes D 7 Variable Data Type Access Description ServoStatusBits DINT AXIS The status bits for your servo loop structure Bit BitName Meaning 0 ServoActStatus servo action 1 DriveEnableStatus drive enable 2 OutLmtStatus output limit 3 PosLockStatus position lock 5 HomeSwitchStatus State of home input switch 13 TuneStatus tuning process 14 TestStatus test diagnostic 15 Shutdow nStatus axis shutdown ServoStatusUpdateBits DINT GSV The servo status update bits for your axis SSV Bit Meaning 0 position error update 1 position integrator error update 2 velocity error update 3 velocity integrator error update 4 velocity command update 5 ve
176. ew data from the module e Reset Module to return the module to its power up state by emulating the cycling of power By doing this you also clear all faults Identification Displays the module s e Vendor e Product Type e Product Code e Revision e Serial Number e Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module If the module is a 1756 L1 module this field displays the catalog number of the memory expansion board this selection applies to any controller catalog number even if additional memory cards are added Publication 1756 UM 006B EN P J uly 2001 8 16 Configuring an Ultra 3000 Drive Publication 1756 UM 006B EN P J uly 2001 Major M inor Fault Status If you are configuring a digital module This field displays one ofthe follow ing EEPROM fault Backplane fault None analog module Comm Lost with ow ner Channel fault None Any other module Internal State Status None Unrecoverable Recoverable Displays the module s current operational state e Self test e Hash update e Communication fault e Unconnected e Flash configuration bad e Major Fault please refer to Major Minor Fault Status above e Run mode e Program mode e 16fxxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only
177. eying Mismatch Electronic Keying is enabled and some part of the keying information differs between the software and the module Associated Axes Tab This tab lets you assign axis tags to specific channels of the servo module Use this tab to configure the selected 1756 MO2AE motion modules by e setting the selected 1756 MO2AE motion module s Servo Update Period e associating axis tags of the type AXIS SERVO with channels 0 and 1 E Module Properties Local 2 1755 MIEPAE 5 1 General Correction Associated Asas Modus Iris Backplane Aceanseiated Asa mewn n sj Gee eo sil Publication 1756 UM 006B EN P J uly 2001 Adding and Configuring Your 1756 M 02AE Motion Module 3 13 Servo Update Period Selects the periodic rate at which the 1756 MO2AE module closes the servo loop for the axis in microseconds ps Channel 0 Represents Channel 0 on the servo module This field allows you to associate an AXIS SERVO tag with channel 0 This field transitions to a read only state while online Click on the button to the right of this field to open the Axis Properties dialog for the associated axis Channel 1 Represents Channel 1 on the servo module This field allows you to associate an AXIS SERVO tag with channel 1 This field transitions to a read only state while online Click on the button to the right of this field to open the Axis Properties dialog for the associated axis New Axis button C
178. figured Velocity Limit PosLockStatus BOOL Set when the magnitude of the axis position error has become less than or equal to the configured Position Lock Tolerance value for the associated physical axis PosSoftOvertravelFault BOOL Set when the axis has traveled or attempted to travel beyond the current configured value for M aximum Positive Travel Cleared when the axis is moved back within this travel limit NegSoftOvertravelFault BOOL Set when the axis has traveled or attempted to travel beyond the current configured value for M aximum Negative Travel Cleared when the axis is moved back within this travel limit PosHardOvertravelFault BOOL Set when the axis has traveled beyond the current positive direction position limits as established by hardware limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear NegHardOvertravelFault BOOL Set when the axis has traveled beyond the current negative direction position limits as established by hardware limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires executio
179. figuring a motion axis 3 1 Features 1 2 Loop and interconnect diagrams B 1 Specifications A 1 Troubleshooting 10 1 Wiring diagrams 1394 drive B 8 24V registration sensor B 10 5V registration sensor B 10 Home limit switch B 11 OK contacts B 11 Servo module RTB B 4 Ultra 100 drive B 5 Ultra 200 drive B 6 1756 M 08SE 4 1 Adding the module 4 1 configuring module 4 1 M otion M odule Overview 4 4 1756 M 08SE Properties Backplane Tab 4 17 ControlBus Parameters 4 17 ControlBus Status 4 17 M ulticast CRC Error Threshold 4 18 Receive Error Counters 4 18 Refresh 4 18 Set Limit Button 4 18 Transmit Error Counters 4 18 Transmit Retry Limit 4 18 Connection Tab 4 7 Inhibit M odule checkbox 4 8 M ajor Fault 4 9 M odule Fault 4 9 Requested Packet Interval 4 8 General Tab 4 5 Name 4 6 Description 4 6 Electronic Keying 4 6 Compatible Module 4 7 Disable Keying 4 7 Exact Match 4 6 Revision 4 6 Slot 4 6 Type 4 5 Vendor 4 6 M odule Info Tab 4 13 Configured 4 15 Identification 4 14 Publication 1756 UM 006B EN P J uly 2001 Internal State Status 4 15 M ajor M inor Fault Status 4 15 Module Identity 4 16 Owned 4 16 Refresh 4 16 Reset Module 4 16 SERCOS Interface Info Tab 4 11 Fault Type 4 12 Refresh 4 12 Ring Comm Phase 4 12 SERCOS Interface Tab 4 10 Cycle Time 4 11 Data Rate 4 11 Transmit Power 4 11 1756 M 08SE SERCOS interface module 1 1 8 Axis SERCOS interface Module 1 3 A Adding the 1756 M 02AE Module 3 1 New Module 3
180. g The rest of the Create Wizard screens are only informational and do not let you enter any information It saves time if you click on the Finish gt gt button at this time 11 The 1756 MO8SE motion module appears in the I O Configuration branch of the Controller Organizer It can now be put into use or edited as you require 1756 M O8SE 8 Axis Motion The 1756 MO8SE 8 Axis SERCOS motion module has been added To edit the 1756 MO8SE Module Properties go to the I O Configuration Module Overview organizer and right click on the 1756 MO8SE module and select Properties from the drop down menu The tabbed Module Properties screen displays Publication 1756 UM 006B EN P J uly 2001 Configuring the 1756 M 08SEM odule 4 5 The Module Properties screen has the following tabs e The General tab references the 1756 M08SE 8 Axis motion module e The Connection tab references the connection of the module to the controller e The SERCOS Interface tab is for configuring SERCOS communication settings for the 1756 MO8SE 8 Axis motion module e The SERCOS Interface Info tab is used to monitor the status of the SERCOS communication ring The Module Info tab when Online displays the current condition of the module e The Backplane tab when Online displays diagnostic information about the module s communication over the backplane and the chassis in which it is located Editing 1756 M 08SE Module General Tab Properties Use th
181. gistration input 1 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEv2ArmStatus BOOL Set when a registration checking has been armed for registration input 2 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs or a M DR M otion Disarm Registration instruction is executed for registration input 2 RegEv2Status BOOL Set when a registration event has occurred on registration input 2 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 2 HomeEvArmStatus BOOL Set when a home event has been armed through execution of the M AH Motion Axis Home instruction Cleared when a home event occurs HomeEvStatus BOOL Set when a home event has occurred Cleared when another M AH M otion Axis Home instruction is executed OutputCamStatus DINT A set of bits that are set when the Output Cam has been initiated OutputCamPendingStatus DINT A set of bits that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start cam end position Publication 1756 UM 006B EN P J uly 2001 The M otion Control Structures C 25 Mnemonic Data De
182. gradation e Inspect drives for any faults and correct them Off The module has detected no Check your system and installation ring data on its receiver as follows e Make sure all cables are properly installed e Inspect cable for degradation and breakage e Inspect drives for faults Flashing The ring drive or axes are not Nota problem if the system has not green light configured been configured If you are having trouble configuring the ring drive and axes e Make sure that the application program is setup properly for the equipment in use Publication 1756 UM 006B EN P J uly 2001 10 6 Troubleshooting Publication 1756 UM 006B EN P J uly 2001 1756 M 02AE Motion Module Specifications Appendix A Specifications and Performance This appendix shows specifications and performance guidelines for the motion modules Number of axes per chassis Configurable M otion commands 32 Number of axes per module 2 axes maximum Servo loop Type Gain resolution Absolute position range Nested PI digital position and velocity servo 32 bit floating point 1 000 000 000 encoder counts Rate 5 kHz M odule location 1756 ControlLogix chassis M odule keying Electronic Power dissipation 5 5W maximum Backplane current 5V dc 700 mA 24V dc Q 2 5 mA Encoder input Type M ode Rate Electrical interface Voltage range On state Off state Input impedance
183. gree of tuning inertia the controller enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Naming Configuring Your Motion Axis 6 51 Low pass Output Filter Bandw idth With Enable Low pass Output Filter selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting will be filtered out and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Manual Tune Click on this button to open the Dynamics tab of the Manual Tune dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Note The Manual Tune button is disabled when RSLogix 5
184. guring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Test Feedback Runs the Feedback Test which checks and if necessary reconfigures the Feedback Polarity setting When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Test Output amp Feedback Runs the Output amp Feedback Test which checks and if necessary reconfigures both the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab of this dialog box Note Executing any test operation automatically saves all changes to axis properties Hookup Tab Overview AXIS SERVO DRIVE Use this tab to configure and initiate axis hookup and marker test sequences for an axis of the type AXIS SERVO DRIVE When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Test Increment Specifies the amount of distance traversed by the axis when executing the Command amp Feedback test The default value is set to approximately a quarter of a revolution of the motor in position units Drive Polarity The polarity of the servo loop of the drive set by executing the Command amp Feedback T
185. hould work well for most applications Click on the Apply button to accept your changes Naming Configuring Your Motion Axis 6 13 Click on the Conversion Tab to access the Axis Properties Conversion dialog E M B l 3 l mug Comares Bam Dupa Lt Omm cir Tap Genel Unis Comwetsion Die Motoe Feedback Homing Hookup Tens Posting Hode Line 7 Dries Counts Peeve Conversion Constant 200007 barbed ari 00000 Counts Miske Fre OF Cancel E L he Conversion Tab Use this tab to view the Positioning Mode and configure the Feedback Resolution for an axis of the tag types AXIS SERVO AXIS SERVO DRIVE and AXIS VIRTUAL When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Positioning M ode This parameter is not editable for an axis of the data type AXIS CONSUMED Instead this value is set in and taken from a producing axis in a networked Logix processor The values that can be passed are Publication 1756
186. iate sections in this publication as well as the Allen Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity publication 1770 4 1 This equipment is classified as open equipment and must be mounted in an enclosure during operation to provide safety protection Preface Chapter 1 Chapter 2 Table of Contents The Manual Using This Manda nr as P 1 Who Should Use This Manual P 1 The Purpose of This Manual P 1 Related Documentati0D o o oooooo o o P 2 Rockwell Automation Support 00005 P 3 Local Product SUD POM catan ata a YS P 3 Technical Product Assistance P 3 OMe WED eek a ar OG P 4 The ControlLogix Motion Control System ControlLogix Motion Cool vd pwede Aton eec 1 1 Components of the ControlLogix Motion System 1 2 The Controllogix Controller 1 2 The Analog Encoder Servo Module 1756 MO2AE 1 2 The 8 Axis SERCOS interface Module 1756 MO8SE 1 3 RSLogix5000 Programming Software 1 3 Developing a Motion Control Application Program 1 3 Application Program Development 1 4 The MOTION INSTRUCTION Tag 1 4 Motion Status and Configuration Parameters 1 5 Modifying Motion Configuration Parameters 1 5 Handling Motbon FauliSu A EXP Es 1 5 Getting Started TOHWOUCHON d stro aca e RERO e du e RAD R
187. ication format when you created the module this tab is not available The data on this tab comes directly from the module I edule Peopetes Lorcak ITSE MIZAE 5 1 Gral Connection Aciaciated Asus Moda Info Eackplane ConirolBus Status ControlB us Status This box either displays OK or one of the following errors Receiver disabled Multicast addresses disabled e RA GA miscompare To clear the module s backplane fault click the Clear Fault button ControlBus Parameters This box contains the following fields and button Publication 1756 UM 006B EN P J uly 2001 3 18 Adding and Configuring Your 1756 M 02AE M otion M odule Publication 1756 UM 006B EN P J uly 2001 Multicast CRC Error Threshold This value is the point where it enters a fault state because of Cyclic Redundancy Check CRC errors Transmit Retry Limit Not applicable to motion module Set Limit Button You must click on the Reset Limit button to make the new Transmit Retry Limit effective If you do not and then click either the OK or the Apply button this limit is not set Receive Error Counters This box displays the number of receiving errors that occurred in the following categories e Bad CRC errors that occurred on received frames messages e Bus time out when the receiver timed out e CRC error multicast receive errors Transmit Error Counters This box displays the number of transmitting errors that occurred in the fol
188. ies window is displayed for informational purposes You can use this tab to review diagnostic information about the module s communications over the backplane and the chassis in which it is located clear a fault and set the transmit retry limit Information on this tab is displayed only if you are online If you selected a Listen O nly communication format when you created the module this tab is not available The data on this tab comes directly from the module i Module Propertez Locat 1756 H005E 231 Genesi Connection SERCOS Intesacs SERCOS interlace inis Mackie into Backrlara r EonbeiBus Staus ControlB us Status This box either displays OK or one of the following errors Receiver disabled Multicast addresses disabled e RA GA miscompare To clear the module s backplane fault click the Clear Fault button ControlBus Parameters This box contains the following fields and button Publication 1756 UM 006B EN P J uly 2001 4 18 Configuring the 1756 M 08SE M odule Publication 1756 UM 006B EN P J uly 2001 Multicast CRC Error Threshold This value is the point where it enters a fault state because of Cyclic Redundancy Check CRC errors Transmit Retry Limit Not applicable to motion module Set Limit Button You must click on the Reset Limit button to make the new Transmit Retry Limit effective If you do not and then click either the OK or the Apply button this limit is not set Receive Error
189. in this field is always 0 and cannot be edited Revision Enter the controller revision For this release of RSLogix 5000 this field is not editable The revision defaults to the latest revision for the given controller type Create In Enter the directory in which you want the project file to be created The file name is the same as the controller name with a acd extension Browse Click on this button to bring up the Choose Directory dialog from which you can browse for the appropriate directory The Controller Properties dialog displays controller configuration information for the open project and when online for the attached controller This section describes the fields on each of the dialogs for the Controller Properties Publication 1756 UM 006B EN P J uly 2001 2 6 Getting Started Publication 1756 UM 006B EN P J uly 2001 General Tab The General tab displays the controller name and description as well as the physical properties of the controller sy Controller Psnpertses lrediest Major Falls Minu Falta Dawes Advanced Fie Girard Seien Sytem Protocol Uem Franca Venda Alen Bradley T 175515375 Contra ogh Tia Controller Cange Type Vendor Displays the name of the controller s manufacturer Type The catalog number and description of the controller When online this field includes the catalog number of the memory card if any Name The name of the controller When you c
190. in Position Units Sec2 Publication 1756 UM 006B EN P J uly 2001 C 8 The Motion Control Structures Mnemonic Data Description Type AccelerationFeedback REAL Acceleration Feedback in Position Units Sec2 ServoOutputLevel REAL Servo Output Level in Volts M arkerDistance REAL Marker Distance in Position Units VelocityOffset REAL Velocity Offset in Position Units Sec TorqueOffset REAL Torque Offset from 100 to 100 AccelStatus BOOL Setif the axis is currently being commanded to accelerate DecelStatus BOOL Setif the axis is currently being commanded to decelerate M oveStatus BOOL Setif a Move motion profile is currently in progress Cleared when the M ove is complete or is superseded by some other motion operation J ogStatus BOOL Set if a og motion profile is currently in progress Cleared when the J og is complete or is superseded by some other motion operation GearingStatus BOOL Setif the axis is a slave that is currently Gearing to another axis Cleared when the gearing operation is stopped or is superseded by some other motion operation HomingStatus BOOL Setif a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation StoppingStatus BOOL Setif there is a stopping process currently in progress Cleared when the stopping process is complete Note The stopping process is used to stop an axis initiated
191. in a ControlLogix chassis RSLogix 5000 compares the following information for the inserted module to that of the configured slot e Vendor e Product Type e Catalog Number e Major Revision e Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot Configuring a 1394C S T05 10 22 D Digital Servo Drive Connection Tab Use this tab to define controller to drive module behavior F Propeities mllBse2 1394 541 10 0 1 1 General Connector Associated Awes Power Mode irda Requested Packel Interval Fett m mk 20 750 0 mal la i Sd Fe Mayol Fault On Controla LE Comecon F als hie in Fun Mode Module Fed On this tab you can e Choose to inhibit the module 7 7 e configure the controller so loss of the connection to this module causes a major fault e view module faults TIP The data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module p and the controller Requested packet Interval The amount of time in milliseconds between updates of data from the remote controller This value is scaled as a real value from the microseconds stored in the controller The local controller will receive data at least this fast Not enabled for this release Publication 1756 UM 006B EN P J uly 2001 7 8 Configuring a 1394C SJ T05 10 22 D Digital Servo Drive Publication 1756 UM 0
192. inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Executing a Tune operation automatically saves all changes to axis properties WARNING This tuning procedure may cause axis motion with the controller in program mode Dynamics Tab Use this tab to view or edit the dynamics related parameters for an axis of the type AXIS SERVO or AXIS SERVO_DRIVE configured for Naming Configuring Your Motion Axis 6 33 Servo operations in the General tab of this dialog box or AXIS VIRTUAL Voix Fropelinz asig Genes Units Convession Drie HotoFesdosck Homing Hookup Tune Dpoanics Bam Doe Lint Cicas Fadia Tag Mm umVebdy o Amh Banus Tune Maimum goeeesen FIC Bennc2 Meim ecserin E717 531 Rive Brogram 5iop Acton Fue hon ok ee vw IMPORTANT The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Tune dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode orif a Feedback On condition exists
193. ing are available Bus Regulator ID 1394 SR10A 1394 SR9A 1394 SROAF 1394 SR36A 1394 SR36AF none Internal Custom Module Info tab Description 1400 Watt Resistor for 5 and 10 kW modules 300 Watt External Shunt No Fan for 22 kW modules 900 Watt External Shunt No Fan for 22 kW modules 1800 Watt External Shunt No Fan for 22 kW modules 3600 Watt External Shunt No Fan for 22 kW modules No bus regulator The bus regulator is internal to the drive and need not be specified A bus regulator not listed above Use this tab to display identifying and status information about the 1394C SJT05 10 22 D drive module It also allows you to refresh a module and reset a module to its power up state F Module Properties alo 1394 517 10 D 1 1 General Corrscicn Associated Axe Power Mode lia ldentifc shion Vendor Product Type Product Code Fedin Tesis Humber Product Hame TE Maju Fendi Marea Fest Inderal Dista Configured Deret Module Ideni E ew Configuring a 1394C S T05 10 22 D Digital Servo Drive 7 13 The information on this tab is not displayed if you are e offline or e currently creating a module The data on this tab comes directly from the module TIP E If you selected a Listen Only communication format when you created the module this tab is not E available Identification Displays the module s e Vendor e Product Type Product Code
194. ion A Cancel ee Tag Type Base C Alias C Produced F E CONSUMES C Consumed Data Type MOTION_GROUP El Configure Scope fredtst controller Sd Style 1 Enter a name for the Motion Group in the Name field 2 In the Description field enter a description of the tag 3 Click on the respective radio button to select one of the following tag types e Base refers to a normal tag selected by default e Alias refers to a tag which references another tag with the same definition Special parameters appear on the New Tag dialog that allows you to identify to which base tag the alias refers 4 Select MOTION GROUP for the Data Type 5 From the Scope pull down menu select the scope for the tag 6 If you want to produce this tag for other controllers to consume check the Produce box and enter the maximum number of consumers Producing a tag requires a connection for each IMPORTANT E sae E consumer Connections are a limited resource in the controller so only produce tags that you know you are needed in other controllers 7 Click on OK to create the tag and close the New Tag dialog If there are errors you will be prompted Publication 1756 UM 006B EN P J uly 2001 The Motion Group 5 3 8 Click on the Configure button The Motion Group Wizard group Axis Assignment screen displays Add any existing axes to the group 9 Continue on through the Motion Group Wi
195. ion Instructions 9 4 Troubleshooting 1756 MO2AE Module Status Using the OK Indicator 10 1 1756 MO2AE Module Status Using the FDBK Indicator 10 2 1756 MO2AE Module Status Using the DRIVE Indicator 10 2 1756 M08SE SERCOS Communication Phase Status 10 3 1756 MO8SE Module Status Using the OK Indicator 10 4 1756 MO8SE SERCOS Ring Status 10 4 Specifications and Performance 1756 MO2AE Motion Module Specifications A 1 1756 MO8SE Motion Module Specifications A 3 Coarse Update Period Calculations A 4 Understanding Action TiMiNQ A 4 Using the Sample Calculations Worksheet A 6 Sample Calculation Es A 7 Output Cam Timing For 1756 Controller A 9 For the 1756 150 Controller A 10 For the 1756 153 Controller A 10 Loop and Interconnect Diagrams Understanding Block Diagrams B 1 Using a 1756 MO2AE Module With Torque Servo Drive B 1756 MO2AE Module With a Velocity Servo Drive B 3 Winnd DPA RATING os bis ri as S d B 4 Wiring to a Servo Module RTB B 4 Wiring to an Ultra 100 Series Drive B 5 Wiring to an Ultra 200 Series Drive B 6 1398 CFLAExx Cable Diagram B 7 Pinouts for 1398 CFLAExx Cable B 7 Wiring to a 1394 Servo Drive in Torque Mode only
196. ion Units CommandPosition REAL Command Position in Position Units StrobeCommandPosition REAL Strobe Command Position in Position Units StartCommandPosition REAL Start Command Position in Position Units CommandVelocity REAL Command Velocity in Position Units Sec Publication 1756 UM 006B EN P J uly 2001 The Motion Control Structures C 7 Mnemonic Data Description Type CommandAcceleration REAL Command Acceleration in Position Units Sec2 InterpolatedCommandPosition REAL Interpolated Command Position in Position Units ServoStatus DINT The status bits for your servo loop Bit Number Data Type Description no tag 00 BOOL Servo Action Status no tag 01 BOOL Drive Enable Status no tag 02 BOOL Axis Shutdown Status ProcessStatus 03 BOOL Process Status OutLmtStatus 04 BOOL Output Limit Status PosLockStatus 05 BOOL Position Lock Status HomeSwitchStatus 06 BOOL Home Input Status ReglInputStatus 07 BOOL Registration 1 Input Status Reg2InputStatus 08 BOOL Registration 12Input Status PosOvertravellnputStatus 09 BOOL Positive Overtravel Input Status NegOvertravellnputStatus 10 BOOL Negative Overtravel Input Status DriveFaultinputStatus 11 BOOL Drive Fault Input Status ServoFault DINT The servo fault bits for your servo loop Bit Number Data Type Description POtrvlFault 00 BOOL Positive Software Overtravel Fault NOtrvlFault 01 BOOL Negative Software Overtravel Fa
197. ions Configuring a 1394C S T05 10 22 D Digital Servo Drive 7 11 to a read only state while online Click on the Ellipses button to the right of this field to open the Axis properties dialog box for the associated axis Node X3 Represents Axis 3 on the 1756 M08SE SERCOS module The node number is the sum of the Base Node set in the General page of this dialog box X0 and the axis number 3 This field allows you to associate an AXIS SERVO DRIVE tag with Axis 3 This field transitions to a read only state while online Click on the Ellipses button to the right of this field to open the Axis properties dialog box for the associated axis New Axis button Click this button to navigate to the New Tag dialog to create an AXIS SERVO_DRIVE tag to associate with one of the channels Power Tab Use this tab to select a bus regulator for your 1394C SJT05 D 1394C SJT10 D or 1394C SJT22 D drive module Module Properties m de 1234 C S4T 100 1 1 General Connection Assccttnd wes Power Hodie info Bus Flegalalor Calado Humber SROS Bus Regulator ID Select the catalog number that describes bus regulator device used by the 1394C SJTO5 D 1394C SJT10 D or 1394C SJT22 D drive module Publication 1756 UM 006B EN P J uly 2001 7 12 Configuring a 1394C SJ T05 10 22 D Digital Servo Drive Publication 1756 UM 006B EN P J uly 2001 Depending upon the Drive Module you have selected one or more of the follow
198. is reached tuning travel limit 6 axis polarity set incorrectly 7 tune speed is too small to make measurements TuneVelocityBandwidth REAL GSV The bandwidth of the drive as calculated from the measurements made during the last M otion Run AxisTuning M RAT instruction TuningConfigurationBits DINT GSV The tuning configuration bits for your axis SSV Bit Meaning 0 tuning direction 0 forward 1 reverse 1 tune position error integrator 2 tune velocity error integrator 3 tune velocity feedforward 4 acceleration feedforward 5 tune velocity low pass filter TuningSpeed REAL GSV The maximum speed reached by the M otion Run Axis Tuning SSV M RAT instruction TuningTravelLimit REAL GSV The travel limit used by the M otion Run Axis Tuning M RAT SSV instruction to limit the action of the axis during tuning VelocityCommand REAL GSV The current velocity reference to the velocity servo loop for an axis VelocityError REAL GSV The difference between the commanded and actual velocity of a Servo axis You can use this value to drive the motor to where the velocity feedback equals the velocity command VelocityFeedback REAL GSV The actual velocity of your axis as estimated by the servo module To estimate the velocity the servo module applies a 1 kHz low pass filter to the change in actual position in one update interval Publication 1756 UM 006B EN P J uly 2001 The Motion Attributes D 9 Variable Data Type Access Descripti
199. is tab to create view module properties for the 1756 M08SE 8 Axis SERCOS motion module On this tab you can e view the type and description of the module being created e view the vendor of the module being created e enter the name of the module e enter a description for the module e select the slot number of the module on the network e select the minor revision number of your module e select Exact Match Compatible Module or Disable Keying Type Displays the type and description of the module being created read only Publication 1756 UM 006B EN P J uly 2001 4 6 Configuring the 1756 M 08SE M odule Publication 1756 UM 006B EN P J uly 2001 Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant If you attempt to enter an invalid character or exceed the maximum length the software beeps and ignores the character Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software beeps to warn you and ignores any extra characters Slot Enter the slot number where the module resides The spin button contains values that range from 0 to 1 less than the chassis size e g if you have a 4 slot chassis the spin button spins from 0 to 3 If you enter a slot number that is out of this range you receive an error message when y
200. ise Fault e Feedback Fault e Position Error Fault e Hard Overtravel Fault e Soft Overtravel Fault Naming amp Configuring Your Motion Axis 6 65 for an axis of the type AXIS SERVO DRIVE Hover E When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Publication 1756 UM 006B EN P J uly 2001 6 66 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Select one of the following fault actions for each fault type e Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Furthermore this fault action opens the OK contact associated with the servo module which can be used to open the E stop string to the drive power supply Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the o
201. isplays If the module in the physical slot Match agrees with what is specified on the General Tab In order for the Match condition to exist all of the following must agree Vendor Module Type the combination of Product Type and Product Code for a particular Vendor Major Revision Mismatch does not agree with what is specified on the General Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Refresh Click on this button to refresh the tab with the new data from the module Reset M odule Click on this button to return a module to its power up state by emulating the cycling of power WARNING Resetting a module causes all connections to or through the module to be closed this may result in loss of control Publication 1756 UM 006B EN P J uly 2001 7 16 Configuring a 1394C S T05 10 22 D Digital Servo Drive Publication 1756 UM 006B EN P J uly 2001 Chapter 8 Configuring an Ultra 3000 Drive The Ultra3000 Digital Servo Drive with fiber optic SERCOS interface simplifies the integration of the Ultra3000 with the ControlLogix architecture by providing single point drive commissioning through RSLogix5000 software and reducing the control wiring to a single fiber optic cable You can initiate the configuration of an Ultra3000 drive module by either of two methods 1 In the Controller Organizer in the I O Configura
202. isten Only Communications Format you can not re configure the module If you uninhibit a module while online and a fault condition occurs a connection is not made to the module Configuring a 1394C SJ T05 10 22 D Digital Servo Drive 7 9 M ajor Fault on Controller if Connection Fails checkbox Check this box to configure the controller so that failure of the connection to this module causes a major fault on the controller if the connection for the module fails M odule Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred The following are common categories for errors e Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made e Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully e Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault e Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the Publication 1756 UM 006B EN P J uly 2001 7 10 Configuring a 1394C SJ T05 10 22 D Digital Servo Drive Publication 1756 UM 006B EN P J uly 2001 Associated Axes Tab Use this
203. ition REAL Actual Position in Position Units StrobeActualPosition REAL Strobe Actual Position in Position Units StartActualPosition REAL Start Actual Position in Position Units AverageVelocity REAL Average Velocity in Position Units Sec ActualVelocity REAL Actual Velocity in Position Units Sec ActualAcceleration REAL Actual Acceleration in Position Units Sec2 WatchPosition REAL Watch Position in Position Units RegistrationPosition REAL Registration 1 Position in Position Units Registration2Position REAL Registration 2 Position in Position Units Registration1Time DINT Registration 1 Time as CST time in microseconds Registration2Time DINT Registration 2 Time as CST time in microseconds InterpolationTime DINT Interpolation Time as CST time in microseconds InterpolatedActualPosition REAL Interpolated Actual Position in Position Units M asterOffset REAL Master Offset in M aster Position Units StrobeM asterOffset REAL Strobe Master Offset in M aster Position Units StartM asterOffset REAL Start Master Offset in M aster Position Units CommandPosition REAL Command Position in Position Units StrobeCommandPosition REAL Strobe Command Position in Position Units StartCommandPosition REAL Start Command Position in Position Units CommandVelocity REAL Command Velocity in Position Units Sec CommandAcceleration REAL Command Acceleration in Position Units Sec2 InterpolatedCommandPosition REAL Interpolated Command Position in Position Units A
204. ive groups of motion instructions Motion state instructions Motion move instructions Motion group instructions Motion event instructions Motion configuration instructions For more information about these instructions refer to the Logix5550 Controller Motion Instruction Set Reference Manual publication 1756 6 4 3 Naming amp Configuring Your Motion Axis 6 71 Understanding a The following figure shows several rungs of a motion control Programming Example application program Rung 0 Enables the Feed and Cut axes when you press the ren eee lee EF i servo on button cad M Ens Hawn Maa Rung 1 i m pm Pu EM J ogs the Feed axis in the positive direction when you aioe cated ER au press the jog_plus button ER Lans Rung 2 cama Mute aS Laus J ogs the Feed axis in the reverse direction when you wd E press the jog minus button una Rung 3 zin 8 Stops the Feed axis when you release with the oe rana ge 6 jog plus button or the jog minus button xg Trea tig ls E lg TE For more information about instructions and creating application programs refer to the Logix5550 Controller Instruction St Reference Manual publication 1756 RM003 and the Logix5550 Motion Instruction Reference Set Manual publication 1756 RM007 Publication 1756 UM 006B EN P J uly 2001 6 72 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Chapter Configuring a 1394C S T05 10 22 D
205. kes Properties edles BTS Send Delay E x20 mal TI CN al Mode The type of protocol you want to use Choose from System or User default Baud Rate The baud rate assigned to the serial port on the Logix5550 Choose from 110 300 600 1200 2400 4800 9600 and 19200 default Data Bits The actual number of bits of data per character Choose from 7 ASCII only or 8 default Parity The parity for the link Choose from Even Odd ASCII only or No Parity default Stop Bits The actual number of stop bits per character Choose from 2 ASCII only or 1 default Publication 1756 UM 006B EN P J uly 2001 2 10 Getting Started Publication 1756 UM 006B EN P J uly 2001 Control Line Choose the type of handshaking you wish to use during communications The choices available to you vary depending on the protocol you have selected For this mode And this protocol Choose from User ASCII No Handshake default Full Duplex Half Duplex System Point to Point No Handshake default Full Duplex Slave No Handshake default Half Duplex M aster No Handshake default Full Duplex Half Duplex Continuous Carrier Check this box if you wish to use Half Duplex communication with continuous carrier This checkbox is disabled if you have chosen something other than Half Duplex communication or if you have chosen Master as your protocol By default this option is unchecked when enabled RTS Send De
206. l Tune 6 61 Torque Offset 6 60 Velocity Offset 6 60 Output Tab SERVO AXIS 6 45 Enable Low pass Output Filter 6 47 Low pass Output Filter Bandwidth 6 48 M anual Tune 6 48 Torque Scaling 6 47 Velocity Scaling 6 46 Gece DPF NUR pe Publication 1756 UM 006B EN P J uly 2001 Output Tab Overview AXIS SERVO DRIVE 6 48 Enable Low pass Output Filter 6 50 Enable Notch Filter 6 50 Low pass Output Filter Bandwidth 6 51 Manual Tune 6 51 Notch Filter 6 50 Torque Scaling 6 49 Servo Tab AXIS SERVO 6 15 Drive Fault Input 6 16 Enable Drive Fault Input 6 16 External Drive Configuration 6 15 Loop Configuration 6 16 Real Time Axis Information 6 16 Tag Tab 6 68 Base Tag 6 69 Description 6 68 M anual Tune 6 69 Name 6 68 Produce this tag for up to 6 69 Scope 6 69 Style 6 69 Tag Type 6 68 Tune Tab AXIS SERVO AXIS SERVO DRIVE 6 30 Damping Factor 6 31 Direction 6 31 Speed 6 30 Start Tuning 6 32 Torque 6 30 Travel Limit 6 30 Tune 6 31 AXIS Structures C 1 AXIS_ CONSUMED C 1 AXIS SERVO C 5 AXIS SERVO DRIVE C 12 AXIS VIRTUAL C 21 Axis Tag types alias tag 6 2 base tag 6 2 produced tag 6 2 Block diagrams for a 1756 M 02AE module B 1 With a torque servo drive B 2 With a velocity servo drive B 3 C Change Controller Type 2 7 Select a processor 2 8 Publication 1756 UM 006B EN P J uly 2001 Configuring a 1394C SJ T05 10 22 D Digital Servo Drive 7 1 consumed tag 6 2 Control structures C 1 MOTION_ GROUP C 26
207. lared ServoFault DINT The servo module fault bits for the group Bit Number Data Type Description POtrviFault 00 BOOL positive overtravel fault NOtrvl Fault 01 BOOL negative overtravel fault PosErrorFault 02 BOOL position error fault EncCHA LossFault 03 BOOL encoder channel A loss fault EncCHBLossFault 04 BOOL encoder channel B loss fault EncCHZLossFault 05 BOOL encoder channel Zloss fault EncNsFault 06 BOOL encoder noise fault DriveFault 07 BOOL drive fault Bit Number Data Type Description SyncConnFault 00 BOOL synchronous connection fault servo declared HardFault 01 BOOL servo hardware fault Publication 1756 UM 006B EN P J uly 2001 The M otion Control Structures C 27 Mnemonic Data Type Description GroupFault DINT The fault bits for the group Bit Number Data Type Description GroupOverlapFault 00 BOOL group overlap fault CSTLossFault 01 BOOL The controller has lost synchronization with the CST master GroupTaskLoadingFault 02 BOOL The group coarse update period is too low user application tasks are not getting enough time to execute The The controller uses the MOTION_INSTRUCTION tag structure to MOTION_INSTRUCTION Structure store status information during the execution of motion instructions Every motion instruction has a motion control parameter that requires a MOTION INSTRUCTION tag for this purpose MSO Motion Servo On N5 The Axis mi Nx motion contr Motion control RA pa
208. lay Enter the time in ms to delay transmitting the first character of a message after turning on the RTS line The default value is 0 RTS Off Delay Enter the time in ms to delay turning off the RTS line after the last character has been transmitted The default value is 0 System Protocol Tab The System Protocol tab allows you to configure the controller s serial port for DF1 Point to Point DF1 Master DF1 Slave or DH485 The parameters present on this tab are dependent upon the protocol you select o Cestio Properties Iredinsi Major Fate Geay Pretaced Salig Address HAL Alec Lang EHE Tiara Leva ACE Timet paml Epoteeckled Aimiponces iedeen Getting Started 2 11 Note If you wish to configure your system for ASCII IMPORTANT click on the User Protocol tab The parameters present on this tab are dependent upon the protocol you select Common Parameters Protocol Choose the protocol from the pull down menu Choose from DF1 Point to Point default DF1 Slave DF1 Master or DH485 Station Address Enter the current station link address of the com port to which the DF1 object is now associated Valid values are from 0 to 254 the default value is 0 Publication 1756 UM 006B EN P J uly 2001 2 12 Getting Started Publication 1756 UM 006B EN P J uly 2001 Error Detection Click on one of the radio buttons to specify the error detection scheme used for all messages
209. ler s of a module If a Listen Only connection is established the RPI for that connection cannot be faster than the fastest RPI configured for all owner controllers for input modules or faster than the RPI configured for the one owner controller for output modules WARNING Changing the RPI while online temporarily disables the connection and can result in a loss of data For a remote module if the RPI is changed online the connection to the module is broken until RSNetWorx is re run to schedule the network Breaking the connection may result in a loss of data Publication 1756 UM 006B EN P J uly 2001 8 12 Configuring an Ultra 3000 Drive Publication 1756 UM 006B EN P J uly 2001 For modules in remote racks when communicating on a ControlNet network the fastest the RPI should be set to is 2ms Note The RPI for the CNB module affects only the CNB Rack Object no other direct connections are affected Note This field is disabled for all motion modules e g 1756 MO2AE 1756 MO8SE and all 1394 and Ultra3000 modules Inhibit M odule Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken Note Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module Note A FLEX I O module using rack communication cannot be inhibited the Inhibit checkbox on the Connection tab is dis
210. lick on this button to navigate to the New Tag dialog to create an AXIS SERVO tag to associate with one of the channels Module Info Tab The Module Info tab contains information about the selected module however you can click on e Refresh to display new data from the module e Reset Module to return the module to its power up state by emulating the cycling of power By doing this you also clear all faults The Module Info Tab displays module and status information about the module Italso allows you to reset a module to its power up state The information on this tab is not displayed if you are offline or currently creating a module Use this tab to determine the identity of the module The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available Publication 1756 UM 006B EN P J uly 2001 3 14 Adding and Configuring Your 1756 M 02AE M otion M odule Publication 1756 UM 006B EN P J uly 2001 Identification Displays the module s e Vendor e Product Type e Product Code e Revision Number e Serial Number e Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module If the module is a 1756 L1 module this field displays the catalog number of the memory expansion board this selection applies to any controller catalog number even if additional
211. line and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module If you uninhibit a module while online and a fault condition occurs a connection is not made to the module Major Faulton Controller if Connection Fails checkbox Check this box to configure the controller so that failure of the connection to this module causes a major fault on the controller if the connection for the module fails Module Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred Publication 1756 UM 006B EN P J uly 2001 3 12 Adding and Configuring Your 1756 M 02AE M otion M odule The following are common categories for errors e Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made e Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully e Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault e Electronic K
212. ller begins to execute the instruction by setting up a message request to the servo module The remainder of the instruction executes in parallel to the program scan 3 The controller checks if the servo module is ready to receive a new message 4 The controller places the results of the check in the message status word of the control structure Publication 1756 UM 006B EN P J uly 2001 Instruction Timing E 3 5 When the module is ready the controller constructs and transmits the message to the module This process may repeat several times if the instruction requires multiple messages 6 If the controller Then Does not detect an error when the The controller sets the DN bit instruction executes Detects an error when the The controller sets the ER bit and instruction executes stores an error code in the control structure 7 The next time the rung becomes false after either the DN or ER bit sets the controller clears the EN bit 8 When the rung becomes true the controller can execute the instruction again Scan Scan Execution Scan Scan rungtrue rung false complete rung false rung true Process Type Instructions Process type motion instructions initiate motion processes that can take an indefinite amount of time to complete Examples of process type instructions include the e Motion Arm Watch Position MAW instruction e Motion Axis Move MAM instruction Publication 1756 UM 006B
213. locity feedback update 6 servo output level update SoftOvertravelFaultAction SINT GSV The operation performed when a soft overtravel fault occurs SSV Value Meaning 0 shutdown the axis 1 disable the drive 2 stop the commanded motion 3 change the status bit only StartActualPosition REAL GSV The actual position of your axis when new commanded motion starts for the axis You can use this value to correct for any motion occurring between the detection of an event and the action initiated by the event StartCommandPosition REAL GSV The command position of your axis when new commanded motion starts forthe axis You can use this value to correct for any motion occurring betw een the detection of an event and the action initiated by the event StrobeActualPosition REAL GSV The actual position of an axis when the M otion Group Strobe Position M GSP instruction executes StrobeCommandPosition REAL GSV The command position of an axis when the M otion Group Strobe Position M GSP instruction executes TestDirectionForw ard BOOL GSV The direction of axis travel during the M otion Run Hookup Diagnostic M RHD instruction as seen by the servo module Value Meaning 0 negative reverse direction 1 positive forward direction TestStatus UINT16 GSV The status of the last M otion Run Hookup Diagnostic M RHD instruction Value Meaning test process successful test in progress test process aborted by the user test exceeded 2 second time
214. log box with Position Loop Configuration Y as Propetinz mazlanariz Dup Limits Orsa Fation Twa General Uris Comerson Servo Homing Hookup Tune Dynamics Gans WebctyFeedowed E E Morus Tune Scores Esedipnasid g Xx Pioti Das Proportional fac ih integral ac Tras Velocity D an LUE J cm ee ow The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Tune dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Naming Configuring Your Motion Axis 6 37 Velocity Feedforw ard Velocit
215. log modules supported by the software Communication display communication modules supported by the software Motion display motion modules supported by the software Controller display controller modules supported by the software Vendor display a particular vendor s module profiles that are installed on the system Other display modules that do not fit under the rest of the check box categories Publication 1756 UM 006B EN P J uly 2001 3 4 Adding and Configuring Your 1756 M 02AE M otion M odule SelectAll Click on this button to display all modules in the list box all the check boxes in the Show field are checked Clear All Click on this button to clear all check boxes in the Show field 4 In the Type field select 1756 MO2AE 2 Axis Analog Encoder Servo 5 Select OK The Module Crate Wizard displays Module Properties Local 1756 H024E 6 1 x Type 179EMUAE 2 Anm Angop Erodas Seren Vendor Aerie a fa Cancel I Mic gt Lr Hal 6 Make entries in the following fields Field Entry Name Type a name for the servo module The name can e have a maximum of 40 characters e contain letters numbers and underscores Slot Enter the number of the chassis slot that contains your module Description Type a description for your motion module This field is optional Publication 1756 UM 006B EN P J uly 2001 Adding and ConfiguringYour 1756 M 02AE Motion Module 3 5 Field
216. lowing categories e Bad CRC errors that occurred on transmitted frames e Bus Time out when the transmitter bus timed out Refresh Click on the Refresh button to refresh the tab When you refresh the tab if you re using then digital analog or motion counters are cleared modules another module the tab is refreshed but the counters are not cleared Adding and Configuring Your 1756 M 02AE Motion Module 3 19 Assigning Additional You can assign additional modules by repeating the preceding Motion Modules sections You can assign up to 16 1756 MO2AE modules to each Logix5550 controller Each module uses a maximum of two axes Publication 1756 UM 006B EN P J uly 2001 3 20 Adding and Configuring Your 1756 M 02AE M otion M odule Publication 1756 UM 006B EN P J uly 2001 Chapter 4 Configuring the 1756 M 08SE Module Adding the 1756 M 08SE This chapter reviews the necessary steps for configuring the 1756 MO8SE motion module Much of this information is the same as for adding and configuring the 1756 MO2AE as discussed in the previous chapter To configure a 1756 M08SE motion module 1 In the Controller Organizer select the I O Configuration branch 2 In the File menu select New Component then Module Publication 1756 UM 006B EN P J uly 2001 42 Configuring the 1756 M 08SE M odule 3 The Select Module Type screen displays Select Clear All Select Motion The list displays only available motion m
217. m It supports sequential and motion functions and it performs all of the motion command execution and motion trajectory planner functions You can use one or more ControlLogix controllers in each chassis and each controller can control up to 16 motion modules The Controllogix controller provides the following motion support e Thirty motion instructions A high speed motion task which manages motion functions and generates move profiles e The ability to control up to 16 Analog Encoder servo modules for a total of 32 axes The Analog Encoder Servo Module 1756 M O2AE The Analog Encoder servo module provides an analog quadrature encoder servo drive interface The servo module receives configuration and move information from the ControlLogix controller and manages motor position and velocity The servo module supports e Connection capability for up to two drives e 10V analog outputs e Quadrature encoder inputs e Home limit switch inputs e Drive fault inputs e Drive enable outputs e 5V or 24V position registration inputs e 200 us position and velocity loop updates Publication 1756 UM 006B EN P J uly 2001 Developing a Motion Control Application Program The ControlLogix M otion Control System 1 3 The 8 Axis SERCOS interface Module 1756 M O8SE The 8 Axis SERCOS interface module 1756 MO08SE serves as a link between the ControlLogix platform and intelligent drives The communication link between the module and
218. mbient temperature surrounding the drive s control circuitry temperature exceeds the drive ambient shut down temperature DriveControlVoltageFault BOOL Set when the power supply voltages associated with the drive circuitry fall outside of acceptable limits FeedbackFault BOOL Set when one of the feedback sources associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable position information from the feedback device CommutationFault BOOL Set when the commutation feedback source associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable motor shaft information to perform commutation DriveOvercurrentFault BOOL Set when drive output current exceeds the predefined operating limits for the drive DriveOvervoltageFault BOOL Set when drive DC bus voltage exceeds the predefined operating limits for the bus DriveUndervoltageFault BOOL Set when drive DC bus voltage is below the predefined operating limits for the bus PowerPhaseLossFault BOOL Setwhen the drive detects that one or more of the three power line phases is lost from the 3 phase power inputs PosErrorFault BOOL Set when the servo has detected that the axis position error has exceeded the current configured value for Position ErrorTolerance This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to Clear Out
219. memory cards are added 1756 L1M1 1756 L1M2 Adding and Configuring Your 1756 M 02AE Motion Module 3 15 Major M inor Fault Status If you are configuring a This field displays one of the following digital module EEPROM fault Backplane fault None analog module Comm Lost with owner Channel fault None any other module None Unrecoverable Recoverable Internal State Status This field displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configuration bad e Major Fault e Run mode Program mode e 16fxxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured This field displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once a module has been configured it stays configured until the module is Publication 1756 UM 006B EN P J uly 2001 3 16 Adding and Configuring Your 1756 M 02AE M otion M odule Publication 1756 UM 006B EN P J uly 2001 reset or power is cycled even if the owner drops connection to the module Ow ned This field displays a yes or no value indicating whether an owner controller is currently connected to the module Module Identity Displays If the module in the
220. meters described below must match or RSLogix will reject the inserted module e Compatible Module e the Module Types Catalog Number and Major Revision must match e the Minor Revision of the physical module must be equal to or greater than the one specified in the software or RSLogix 5000 will reject the inserted module e Disable Keying RSLogix 5000 will not employ keying at all When you insert a module into a slot in a ControlLogix chassis RSLogix 5000 compares the following information for the inserted module to that of the configured slot e Vendor e Product Type e Catalog Number e Major Revision e Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot Connection Tab The Connection Tab is used to define controller to module behavior This is where you select a requested packet interval choose to inhibit Publication 1756 UM 006B EN P J uly 2001 3 10 Adding and Configuring Your 1756 M 02AE M otion M odule the module configure the controller so loss of the connection to this module causes a major fault and view module faults F Module Properties Local 2 1 756 MIZAE 5 1 General Connection Associated Aes Mode irdo Backplane Bequesied Packet interval PIE Is 2 750 FO qnbsbit Hode FF bar Fauk De Controller i Connection Faik while in Aun Hode Hadule Fasuk Sahu Div Lm irs o 0e The data on this tab comes directly from the controller Thi
221. mum speed for the tune process This value should be set to the desired maximum operating speed of the motor in engineering units prior to running the tune test Torque The maximum torque of the tune test This attribute should be set to the desired maximum safe torque level prior to running the tune test The default value is 10096 which yields the most accurate measure of the acceleration and deceleration capabilities of the system Note In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of Naming Configuring Your Motion Axis 6 31 the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases Direction The direction of the tuning motion profile Negative indicates the reverse direction positive indicates the forward direction Damping Factor Specifies the dynamic response of the servo axis The default is set to 0 8 When gains are tuned using a small damping factor a step response test performed on the axis may generate uncontrolled oscillation The gains generated using a larger damping factor would produce a system step response that has no overshoot and is stable but may be sluggish in response to changes Note The tuning procedure uses the Damping Factor that
222. n e Velocity Offset e Torque Offset e Output Offset for an axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits Publication 1756 UM 006B EN P J uly 2001 6 58 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 e edit in the Manual Tune dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Friction Compensation The percentage of output level added to a positive curent Servo Output value or subtracted from a negative curent Servo Output value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called sticktion th
223. n 1756 UM 006B EN P J uly 2001 6 2 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 The New Tag window appears testei2Iconteoler Entering Tag Information A tag allows you to allocate and reference data stored in the controller A tag can be a simple single element or an array or a structure There are four types of tags that you can create e A base tag allows you to create your own intemal data storage e An alias tag allows you to assign your own name to an existing tag structure tag member or bit e A produced tag lets you make the tag available to remote controllers through controller to controller messaging e A consumed tag allows you to retrieve data from a tag in another controller You must set up only one consumed tag to get data from the same producing tag in another controller WARNING Setting up more than one consumed tag results in unpredictable controller to controller behavior Naming Configuring Your M otion Axis 6 3 Use this dialog to create new tags The parameters that appear on this dialog depend upon the type of tag you are creating You can create base tags and alias tags while the controller is online or offline as long as the new tag is verified You can only create consumed tags while the controller is offline Common Parameters The following parameters appear on the New Tag dialog whether you are creating a base tag alias
224. n a Ed etg 7 5 Base Node aa dora eic REB ea C oot Ro E COE t 7 5 REVISION d Dur a ane e tore adan 7 5 Electronic Keying mos aro Y AERE UE ES 7 6 Connection Tab 22a eR o I Fc 7 7 Requested packet Interval 7 7 Inhibit Module checkbox 7 8 Major Fault on Controller ina A 7 9 Module Falta id rra 7 9 Associated Axes Tab id 7 10 NOE A OSO 7 10 NOdE X Tos rta ad a e n 7 10 NOTE OE a DERE ORDER EDS 7 10 INDE X 9o esca As quac rd SO ER ROC qu Rose daa 7 11 xi NEW AXIS DION 2a cases eR DEOR An 7 11 Poser Lab enese nea nn Wette a E NOME RT RT A td 7 11 Bus Regulator ID uoi ra 7 11 Module Info tabo ds catur ati SCR IR EO da 7 12 Tdentuticaligt sou ta ona bdo ONE EN ESPERE DO RE 3 7 13 Product Name creans age Re tr E Oh 7 13 Major Minor Fault Status 7 13 Internal State Status onou ace ep wx 7 14 16 xxxx unknown oss ru Y PV ERES 7 14 Configured lt 5 4 4 RR had E 7 14 OWED A A be er 7 14 Module Idenuly a sso AERE ex eO XE 7 15 RETOS ca vcn t SER RAF ACRI SOROR ARS 7 15 Reset Module 53 35 Roa eR ad p EP d Cane EN 7 15 Chapter 8 Configuring an Ultra 3000 Drive Editing the Ultra Drive Properties 8 7 General T3 sss ee yee gh casas dre wig rue Rides T ab 8 8 TDBS 11x acude du Seit II ud cobro o ok 8 8 MentlOE cuu xut Aca o Sow e RC e LACER Ric 8 8 INGUIN e zs eterne ausi eate ies uni bee 8 8 Description o d a ved SR Adah LOCO ERA ERES 6 8 TNO Cie
225. n a drive fault occurs SSV Value Meaning 0 shutdown the axis 1 disable the drive 2 stop the commanded motion 3 change the status bit only Effectivelnertia REAL GSV The inertia value for the axis as calculated from the measurements the controller made during the last M otion Run Axis Tuning M RAT instruction EncoderLossFaultA ction SINT GSV The operation performed when an encoder loss fault occurs SSV Value Meaning 0 shutdown the axis 1 disable the drive 2 stop the commanded motion 3 change the status bit only EncoderNoiseFaultA ction SINT GSV The operation performed when an encoder noise fault occurs SSV Value Meaning 0 shutdown the axis 1 disable the drive 2 stop the commanded motion 3 change the status bit only FrictionCompensation REAL GSV The fixed output level used to compensate for static friction SSV Groupinstance DINT GSV The instance number of the motion group that contains your axis HomeM ode SINT GSV The homing mode for your axis SSV Value Meaning 0 passive homing 1 active homing default HomePosition REAL GSV The homing position of your axis SSV Publication 1756 UM 006B EN P J uly 2001 The Motion Attributes D 3 Variable Data Type Access Description HomeReturnSpeed REAL GSV The homing return speed of your axis SSV HomeSequenceType SINT GSV The homing sequence type for your axis SSV Value Meaning 0 immediate homing 1 switch homing 2 marker
226. n also view the status the controller has about the module but only when online Type Displays the type and description of the module being created read only Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant If you attempt to enter an invalid character or exceed the maximum length the software beeps and ignores the character Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software beeps to warn you and ignores any extra characters Slot Enter the slot number where the module resides The spin button contains values that range from 0 to 1 less than the chassis size e g if you have a 4 slot chassis the spin button will spin from 0 to 3 If you enter a slot number that is out of this range you will receive an error message when you go to apply your changes The slot number cannot be changed when online Adding and ConfiguringYour 1756 M 02AE Motion Module 3 9 Revision Select the minor revision number of your module The revision is divided into the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog Electronic Keying Select one of these keying options for your module during initial module configuration e Exact Match all of the para
227. n of an explicit M AFR M otion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear M otFeedbackFault BOOL Set for a specific feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A andA B and B or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear M otFeedbackNoiseFault BOOL Set for a specific feedback source when the servo module has detected simultaneous transitions of the feedback A and B channels called feedback noise Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear
228. n parameters in your ladder logic program using two methods Method Example For more information Directly accessing e Axis faults Referto Appendix C The the AXIS and e Motion status M otion Control Structures MOTION GROUP e Servo status structures Using the GSV e Actual position Refer to the Input Output instruction e Command position Instructions chapter of the e Actual velocity Logix Controller Instruction Set Reference M anual publication 1756 RM 003B Modifying Motion Configuration Parameters In your ladder logic program you can modify motion configuration parameters using the SSV instruction For example you can change position loop gain velocity loop gain and current limits within your program For more information about the SSV instruction refer to the Logix Controller Instruction Set Reference Manual publication 1756 RM003 Handling Motion Faults Two types of motion faults exist Type Description Example M otion e Do not impact controller A Motion Axis M ove Instruction operation MAM instruction with a Errors e Should be corrected to optimize parameter out of range execution time and ensure program accuracy M inor e Caused by a problem with the The application exceeded M ajor servo loop the PositionErrorTolerance Faults e Can shutdown the controller if value you do not correct the fault condition Publication 1756 UM 006B EN P J uly 2001 1 6 TheControlLogix Motion
229. nd completely as possible Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Naming amp Configuring Your Motion Axis 6 63 e Stop Motion If a fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared Status Only If a fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate WARNING Selecting the wrong fault action for your application can cause a dangerous condition Keep clear of moving machinery Drive Fault Specifies the fault action to be taken when a drive fault condition is detected for an axis with the Drive Fault Input enabled in the Servo tab of this dialog that is configured as Servo
230. ne dialog click on the Manual Tune button to open the Manual Tune dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Torque Scaling The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent 96 rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Publication 1756 UM 006B EN P J uly 2001 6 50 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Torque Scaling 100 Rated Torque Acceleration 9 10096 Rated Torque For example if this axis is using position units
231. nstruction Cleared when a home event occurs HomeEvStatus BOOL Set when a home event has occurred Cleared when another M AH M otion Axis Home instruction is executed Publication 1756 UM 006B EN P J uly 2001 C 18 The Motion Control Structures Mnemonic ControlSyncFault Data Type BOOL Description Set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the associated servo module The Logix controller is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished M oduleSyncFault BOOL Set when the motion module detects that several position update messages in a row from the ControlLogix processor module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the servo module The servo module is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress M issing more than four position updates in a row constitu
232. ntinues in the same direction until axis motion stops after decelerating or moving the Offset distance Forward Bi directional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Reverse Uni directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Reverse Bi directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Speed Type the speed of the jog profile used in the first leg of an active homing sequence The homing speed specified should be less than the maximum speed and greater than zero Return Speed The speed of the jog profile used in the return leg s of an active homing sequence The home return speed specified should be less than the maximum speed and greater than zero Naming Configuring Your Motion Axis 6 25 Homing Configurations The following examples of Active and Passive homing assume that the initial motion if any is in a positive axial direction Click on an individual homing configuration for more information e Acti
233. nue The remainder of the instruction and the control process continue in parallel with the program scan Publication 1756 UM 006B EN P J uly 2001 Instruction Timing E 5 5 The next time the rung becomes false after either the DN bit or the ER bit sets the controller clears the EN bit 6 When the rung becomes true the instruction can execute again EN DN ER PC Scan Scan Execution Scan Process rung true rungfalse complete rung false complete Publication 1756 UM 006B EN P J uly 2001 E 6 X Instruction Timing Publication 1756 UM 006B EN P J uly 2001 Fault Handling Appendix F This appendix describes motion errors and faults Two types of motion faults exist Description e Do not impact controller operation e Should be corrected to optimize execution time and ensure program accuracy Example A Motion Axis M ove MAM instruction with a parameter out of range e Caused by a problem with the servo loop e Can shutdown the controller if you do not correct the fault condition The application exceeded the PositionErrorTolerance value Executing a motion instruction within an application program can generate errors The MOTION INSTRUCTION tag has a field that contains the error code For more information on error codes for individual instructions refer to the motion instruction chapters in the Logix5550 Controller Instruction Set Reference Manual
234. o an Ultra 100 Series Drive J 1 to 50 pin Terminal Block it P N 9109 1391 Loop and Interconnect Diagrams B 5 K 24 VDC 115 24 VDC 1 26 Field Power 1 24 2p 24 VCOM 1 6 1 13 F Iden 950 0UT L L 211 22 rom gt Belden 9501 1756 M02AE OUT 1 23 ENABLE From gt Beld ENABLE 11 20 rom Belden 9502 1756 M02AE DRVFLT J1 25 IN_COM CH H 7 cH 8 CHB H 9 chz H 1 CHZ 31 12 24VDC 24VDC READY 24VCOM 24VCOM COMMAND COMMAND ENABLE READY AOUT AOUT BOUT BOUT lOUT IOUT Interface Cable P N 9109 1369 003 Ultra 100 Series Digital Servo Drive This is a general wiring example only Other configurations are possible For more information refer to the Ultra 100 Series Drive Installation Manual publication number 1398 5 2 Publication 1756 UM 006B EN P J uly 2001 B 6 Loop and Interconnect Diagrams From 1756 M02AE From 1756 M02AE From 1756 M02AE Publication 1756 UM 006B EN P J uly 2001 0UT Belden 9501 K 1 5 Wiring to an Ultra 200 Series Drive J1to 50 pin Terminal Block it P N 9109 1391 24VDC 1 24 1 6 or 13 11 22 11 23 ENABLE ENABLE DRVFLT IN COM CH JH CH H 8 CHB8 _ 1 3 CH8 10 4CHZ HH ckz HA
235. odules Show Verdi as F Other Tie Saeco Ansa Da Communication F Mown Puerro cesar Le cm t 4 Select 1756 MO8SE 5 Press the OK button to close the Select Module Type dialog The Create Module Wizard opens Publication 1756 UM 006B EN P J uly 2001 Configuring the 1756 M 08SEM odule 4 3 Name is the only required field that must be entered to create the MO8SE module It must conform to the IEC 1131 3 standard You can also enter a description for the module select the minor revision number of your module and select the method for Electronic Keying Fill in the atleast the required Name filed and click the Next button to advance to the next wizard screen to enter Connection information See the section titled 1756 M08SE 8 Axis Motion Module Overview in this chapter for more information on the fields in these screens The Connection Screen displays On this screen there are no required fields but you can enter how you want to handle connection faults You can either choose to inhibit the module if the connection fails or you can have a major fault After checking the appropriate box click on Next to advance the SERCOS interface Create Wizard screen Publication 1756 UM 006B EN P J uly 2001 4 4 Configuring the 1756 M 08SE M odule 9 The SERCOS interface screen displays 10 On this scree you can enter the SERCOS ring Cycle time and the transmit power for the SERCOS rin
236. of motor revolutions revs with 10096 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS2 0 033396 Rated Revs Per Second2 Note If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains will also not reflect the true performance of the system Enable Notch Filter Select this to enable the drive s notch filter De select this to disable this filter Notch Filter With Enable Notch Filter selected this value sets the center frequency of the drive s digital notch filter If the Notch Filter value is set to zero the notch filter is disabled Currently implemented as a 2nd order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output attenuation at the Notch Filter frequency This output notch filter is particularly useful in attenuating mechanical resonance phenomena The output filter is particularly useful in high inertia applications where mechanical resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Note This value is not applicable for Ultra3000 drives Enable Low pass Output Filter Select this to enable the servo s low pass digital output filter De select this to dis able this filter Note During tuning if the controller detects a high de
237. ol all aspects of axis position Motion group instructions to control a group of axes e Motion event instructions control the arming and disarming of special event checking functions Motion configuration instructions to tune an axis and to run diagnostic tests for the system For more information about Refer to M otion instructions The Logix5550 Controller M otion Instruction Set Reference M anual publication 1756 RM 007 Types of motion instruction timing Appendix E Instruction Timing Motion state instructions directly control or change the operating state of an axis The motion state instructions are Instruction Abbreviation Description Type of Timing M otion Servo On MSO Enables the servo drive and activates the Message axis servo loop M otion Servo Off MSF Disables the servo drive and deactivates Message the axis servo loop Publication 1756 UM 006B EN P J uly 2001 9 2 Motion Instructions Forces an axis into the shutdown operating state Once the axis is in the shutdown state the controller will block any instructions that initiate axis motion Motion Axis Shutdown MASD M essage Motion Axis Shutdown MASR Changes an axis from an existing Reset shutdown operating state to an axis ready operating state If all of the axes of a servo module are removed from the shutdown state as a result of this instruction the OK relay contacts forthe module will close M essag
238. ompletes or is superseded by some other motion operation GearingLockStatus BOOL Set whenever the slave axis is locked to the master axis in a gearing relationship according to the specified gear ratio The clutch function of the gearing planner is used to ramp an axis up or down to speed in a gearing process MAG with Clutch selected This bit is cleared during the intervals where the axis is clutching PositionCamLockStatus BOOL Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the MAPC instruction This bit is bit is cleared when the current position cam profile completes or is superseded by some other motion operation In uni directional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction Publication 1756 UM 006B EN P J uly 2001 Mnemonic M asterOffsetM oveStatus Data Type BOOL The Motion Control Structures C 9 Description Set if a Master Offset M ove motion profile is currently in progress This bit is cleared when the M aster Offset M ove is complete or is superseded by some other motion operation ServoActStatus BOOL Set when the associated axis is under servo control Cleared when servo action is disabled DriveEnableStatus B
239. on VelocityFeedforw ardGain REAL GSV The value used to provide the velocity command output to SSV generate the command velocity VelocityIntegralGain REAL GSV The value that the controller multiplies with the SSV VelocityIntegratorError value to correct the velocity error VelocitylntegratorError REAL GSV The sum of the velocity error fora specified axis You can use this value to drive the motor to where the velocity feedback equals the velocity command VelocityProportionalGain REAL GSV The value that the controller multiplies with the VelocityError to SSV correct the velocity error WatchPosition REAL GSV The watch position of your axis Publication 1756 UM 006B EN P J uly 2001 D 10 The Motion Attributes Publication 1756 UM 006B EN P J uly 2001 Appendix E Instruction Timing This appendix describes motion instruction timing types Motion instructions use three types of timing sequences Timing type Description Immediate The instruction completes in one scan Message The instruction completes over several scans because the instruction sends messages to the servo module Process The instruction could take an indefinite amount of time to complete Immediate Type Immediate type motion instructions execute to completion in one Instructions scan If the controller detects an error during the execution of these instructions the error status bit sets and the operation ends Examples of immediate type ins
240. on Publication Description Number 1756 IN047 Analog Encoder AE Servo Provides instructions for M odule Installation installing wiring and Instructions troubleshooting your 1756 M 02AE servo module 1756 UM 001 Logix5550 Controller User Provides information for using M anual your Logix5550 controller and its components 1756 RM 0003 Logix5550 Controller Instruction Set Reference Provides descriptions of all the instructions supported by the M anual RSLogix 5000 programming software 1756 RM 007 M otion Instructions Reference Provides descriptions of all of Set Manual the motion instructions used in the RSLogix 5000 software 1756 IN572 8 Axis SERCOS interface Provides instructions for M odule Installation Instructions installing wiring and troubleshooting your 1756 M 08SE SERCOS module Rockw ell Automation Support Preface P 3 Publication Publication Description Number 1394C 5 20 1394 SERCOS Interface M ulti Information on installation Axis M otion Control System wiring and setup for the 1394C S Txx D 1394 IN024 1394 SERCOS Integration Information on integrating the M anual 1394 drive with the 1756 M 08SE 2098 IN003 Ultra3000 Hardware Information on Ultra3000 Installation M anual installation 2098 IN001 Ultra5000 Hardware Information on Ultra5000 Installation M anual installation 2098 IN005 Ultra3000 SERCOS Integration Information on integrating the M anual Ultra3000 with
241. on this button to return a module to its power up state by emulating the cycling of power Resetting a module causes all connections to orthrough the module to be closed and this may result in loss of control Note The following modules return an error if a reset is attempted e 1756 L1 ControlLogix5550 Programmable Controller e 1336T AC Vector Drive e 1395 Digital DC Drive Note A controller cannot be reset Refresh Click on this button to refresh the tab with new data from the module If you are online in Program Remote Program or Remote Run mode and this controller is the owner controller and you have changed the module s configuration in the software then when you click the Apply or the OK button the information is automatically sent to the Publication 1756 UM 006B EN P J uly 2001 8 18 Configuring an Ultra 3000 Drive controller The controller tries to send the information to the module if the module s connection is not inhibited If you don t click Apply your changes are not sent to the controller Publication 1756 UM 006B EN P J uly 2001 Motion State Instructions Chapter 9 Motion Instructions This chapter describes the 32 motion instructions for RSLogix 5000 programming software The motion instructions for the RSLogix 5000 programming software consist of five main categories e Motion state instructions to control or change the operating state of an axis e Motion move instructions to contr
242. on value for each axis Actions If you are using an action enter its execution time from the Action Timing table If you are not using an action enter zero 0 2 Servo on us 3 Trapezoidal move us 4 S curve move us 5 Trapezoidal jog us 6 S curve jog us 7 Actual gear us 8 Command gear us 9 Actual PCAM us 10 Command PCAM us 11 TCAM us 12 Total Axis Action Value Add lines 2 through us 11 Place total here 3 Calculate the Total Axes Action Value by adding all of the Total Axis Action Values line 12 for all axes in the group 4 The Recommended Coarse Update Period is calculated by Baseline Task Time line 1 Total of Axes Action Values line12 2 1000 then round up to the milliseconds to get your Recommended Coarse Update Period Publication 1756 UM 006B EN P J uly 2001 Specifications and Performance A 7 Sample Calculation You have the following situation e You have a system consisting of 2 modules 3 Servo axes and 1 virtual axis e You are tuming the servo on and performing a trapezoidal move for axisl e You are turning the servo on and doing an S Curve jog for axis2 e Axis3 is a virtual axis and you are doing a command gear for on it e You are tuming the servo on and doing a cubic command position cam for axis4 1 Complete the following table System Describe the type of system you are using Enter baseline task time M otion Ta
243. ontrol Structures Mnemonic ConfigUpdatelnProcess Data Type BOOL Description The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service which is internal to the firmware or an SSV in the user program W hen such an update is initiated the ControlLogix processor sets this bit This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation PhysicalA xisFault BOOL Set when one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis A PhysicalAxisFault can be set as either a M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box M oduleFault BOOL Set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the
244. otor Feedback Only e Aux Feedback Only e Position Servo e Auxiliary Position Servo not applicable to Ultra3000 drives e Dual Position Servo not applicable to Ultra3000 drives e Motor Dual Command Servo e Auxiliary Dual Command Servo e Velocity Servo e Torque Servo Publication 1756 UM 006B EN P J uly 2001 6 18 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Drive Resolution Type in the number of counts per motor revolution This value will apply to all position data Valid values range from 1 to 2 32 1 One Least Significant Bit LSB for position data equals 360 Rotational Position Resolution Note Drive Resolution is also referred to as Rotational Position Resolution When you save an edited Conversion Constant or a Drive Resolution value a message box appears asking you if you want the controller to automatically recalculate certain attribute settings Refer to Conversion Constant and Drive Resolution Attributes for a list of these attributes Drive Resolution is especially helpful for either fractional unwind applications or multi turn applications requiring cyclic compensation You can modify the Drive Resolution value so that dividing it by the Unwind Value yields a whole integer value The higher the Drive Resolution setting the finer the resolution Real Time Axis Information Attribute 1 Atrribute 2 Select up to two axis attributes whose status will be transmi
245. ou apply your changes The slot number cannot be changed when online Revision The revision is divided into the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog The major revision is used to indicate the revision of the interface to the module The minor revision is used to indicate the firmware revision Select the minor revision number of your module Electronic Keying Select one of these keying options for your module during initial module configuration Fxact Match all of the parameters must match or the inserted module rejects the connection Configuring the 1756 M 08SEM odule 4 7 Compatible Module the Module Types Catalog Number and Major Revision must match The Minor Revision of the physical module must be equal to or greater than the one specified in the software or the inserted module rejects the connection Disable Keying Logix5550 does not employ keying at all WARNING Changing the RPI and Electronic Keying selections may cause the connection to the module to be broken and may result in a loss of data Be extremely cautious when using this option if used incorrectly this option can lead to personal injury or death property damage or economic loss When you insert a module into a slot in a ControlLogix chassis RSLogix5000 compares the following information for the inserted module to that of the configured slot e Vendor
246. out test process failed due to servo fault insufficient test increment Cn R Uy NP c Publication 1756 UM 006B EN P J uly 2001 D 8 The Motion Attributes Variable Data Type Access Description TuneAcceleration REAL GSV The acceleration value measured during the last M otion Run Axis Tuning M RAT instruction TuneAccelerationTime REAL GSV The acceleration time in seconds measured during the last M otion Run Axis Tuning M RAT instruction TuneDeceleration REAL GSV The deceleration value measured during the last M otion Run Axis Tuning M RAT instruction TuneDecelerationTime REAL GSV The deceleration time in seconds measured during the last M otion Run Axis Tuning M RAT instruction TuneRiseTime REAL GSV The axis rise time in seconds measured during the last M otion Run Axis Tuning M RAT instruction This value only applies to axes that you configure to work with an external velocity servo drive TuneSpeedScaling REAL GSV The axis drive scaling factor measured during the last M otion Run Axis Tuning M RAT instruction This value only applies to axes that you configure to work with an external velocity servo drive TuneStatus UINT16 GSV The status of the last M otion Run Axis Tuning M RAT instruction Value Meaning 0 tune process successful 1 tuning in progress 2 tune process aborted by user 3 tune exceeded 2 second time out 4 tune process failed due to servo fault 5 ax
247. perator if power is not removed as quickly and completely as possible Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Stop Motion If a fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared Status Only If a fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate WARNING Selecting the wrong fault action for your application can cause a dangerous condition Keep clear of moving machinery Drive Thermal Specifies the fault action to be taken when a Drive Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disa
248. physical slot M atch agrees with what is specified on the GeneralTab In order for the M atch condition to exist all of the following must agree e Vendor e Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch does not agree with what is specified on the General Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Refresh Click on this button to refresh the tab with new data from the module Reset Module Click on this button to return a module to its power up state by emulating the cycling of power Resetting a module causes all connections to or through the module to be closed and this may result in loss of control IMPORTANT The following modules return an error if a reset is attempted 1756 L1 ControlLogix5550 Programmable Controller 1336T AC Vector Drive 1395 Digital DC Drive A controller cannot be reset Adding and Configuring Your 1756 M 02AE Motion Module 3 17 Backplane Tab The Backplane tab on the Module Properties window is displayed for informational purposes You can use this tab to review diagnostic information about the module s communications over the backplane and the chassis in which it is located clear a fault and set the transmit retry limit Information on this tab is displayed only if you are online If you selected a Listen O nly commun
249. put 2 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 2 HomeEvArmStatus BOOL Set when a home event has been armed through execution of the MAH Motion Axis Home instruction Cleared when a home event occurs HomeEvStatus BOOL Setwhen a home event has occurred Cleared when another M AH M otion Axis Home instruction is executed OutputCamStatus DINT X Asetof bits that are set when the Output Cam has been initiated OutputCamPendingStatus DINT Asetof bits that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start cam end position OutputCamLockStatus DINT A setof bits that are set when an Output Cam is locked to the M aster Axis OutputCamTransitionStatus DINT A setof bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target AXIS SERVO Structure A servo object represents an axis with full motion planner functionality and integrated configuration support It is associated with modules that close a servo loop and send an analog command to an external drive such as a 1756 MO2AE module The AXIS SERVO structure contains and following status attributes Mnemonic Data Description Type M otionStatus DINT The motion status bits for your axis Bit Number
250. putCamStatus DINT A setof bits that are set when the Output Cam has been initiated OutputCamPendingStatus DINT A setof bits that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start cam end position Publication 1756 UM 006B EN P J uly 2001 The M otion Control Structures C 21 Mnemonic Data Description Type OutputCamLockStatus DINT A setof bits that are set when an Output Cam is locked to the M aster Axis OutputCamTransitionStatus DINT Asetof bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target AXIS VIRTUAL Structure A virtual axis object is an axis with full motion planner operation but is not associated with any physical device The AXIS VIRTUAL structure contains the following status attributes Mnemonic Data Description Type M otionStatus DINT The motion status bits for your axis Bit Number Data Type Description AccelStatus 00 BOOL Acceleration Status DecelStatus 01 BOOL Deceleration Status M oveStatus 02 BOOL M ove Status J ogStatus 03 BOOL J og Status GearingStatus 04 BOOL Gearing Status HomingStatus 05 BOOL Homing Status StoppingStatus 06 BOOL Stopping Status AxisHomedStatus 07 BOOL Homed Status PositionCamStatus 08 BOOL Position Cam Status TimeCamStatus 09 BOOL Time Cam Status PositionCamPendingStatus 1
251. r r Fin Elm Number of Minor Faults Since Last Cleared Displays the number of minor fault events that have been reported since the log was last cleared Getting Started 2 19 Recent Faults Displays a description of the last eight minor faults that have occurred These faults are stored in reverse chronological order When offline this field contains the stored contents of the last online session Clear Minors Click on this button to clear the Minor Fault log Fault Bits Lists the minor fault bits that have a specific fault type assigned to them If the bit is set the checkbox is set When offline these checkboxes are disabled but display the contents of the last online session Date Time Tab The Date Time tab allows you to view and edit the controller s wall clock time and the coordinated system time status Publication 1756 UM 006B EN P J uly 2001 2 20 Getting Started Publication 1756 UM 006B EN P J uly 2001 Date The wall clock date in the format currently selected in the Regional Settings application in your Windows NT Control Panel This parameter is read only When offline this parameter is empty Time The wall clock time in the format currently selected in the Regional Settings application in your Windows NT Control Panel This parameter is read only When offline this parameter is empty Set Click on this button to bring up the Set Date Time dialog from which you can set the date
252. r Code PositionCommand REAL Position Command in Position Units PositionFeedback REAL Position Feedback in Position Units AuxPositionFeedback REAL Auxiliary Position Feedback in Position Units PositionError REAL Position Error in Position Units PositionIntegratorError REAL Position Integrator Error in Position Units mSec VelocityCommand REAL Velocity Command in Position Units Sec VelocityFeedback REAL Velocity Feedback in Position Units Sec VelocityError REAL Velocity Error in Position Units Sec VelocitylntegratorError REAL Velocity Integrator Error in Position Units mSec Sec AccelerationCommand REAL Acceleration Command in Position Units Sec2 AccelerationFeedback REAL Acceleration Feedback in Position Units Sec2 ServoOutputLevel REAL Servo Output Level in Volts M arkerDistance REAL Marker Distance in Position Units VelocityOffset REAL Velocity Offset in Position Units Sec TorqueOffset REAL Torque Offset from 100 to 100 TorqueCommand REAL The command when operating in Torque Mode in terms of rated TorqueFeedback REAL The torque feedback when operating in Torque Mode in terms of rated PosDynamicTorqueLimit REAL The currently operative maximum positive torque current limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit NegDynamicTorqu
253. r M otion The Motion Group Group Chapter 6 How to name and configure a Adding and Configuring M otion Axes motion axis using the RSLogix 5000 programming software Chapter 7 Configuring a 1394C SJ T05 10 22 D Digital Servo Drive How to add and configure a 1394C Digital Servo Drive Chapter 8 Configuring an Ultra 3000 Drive How to add and configure an Ultra 3000 drive Publication 1756 UM 006B EN P J uly 2001 Preface P 2 Related Documentation Publication 1756 UM 006B EN P J uly 2001 Chapter 9 The M otion Instructions Information about the 32 motion instructions provided in the RSLogix 5000 programming software Chapter 10 Troubleshooting Information about troubleshooting your ControlLogix motion control system Appendix A Specifications and Performance Specifications and performance guidelines for the motion module Appendix B Loop and Interconnect Diagrams Loop diagrams and wiring diagrams for your ControlLogix motion control system Appendix C The M otion Control Structures An explanation of the motion control structures Appendix D Information about the motion The M otion Attributes attributes Appendix E Information about types of timing for Instruction Timing motion instructions Appendix F Fault Handling Information about motion control faults The following table lists related ControlLogix documentation Publicati
254. r M otion Axis Publication 1756 UM 006B EN P J uly 2001 Channel Selects and displays the 1756 MO2AE motion module channel either 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module Output Cam Execution Targets Determines how many Output Cam execution nodes instances are created for a specific axis Note that the Execution Target parameter for the MAOC MDOC instructions specify which of the configured execution nodes the instruction is affecting In addition the number specified in the Axis Properties dialog specifies the number of instances of Output Cam in which the value of zero means none and the value specified for Execution Target in the MAOC instruction references a specific instance in which a value of zero selects the first instance General Tab AXIS SERVO DRIVE Use this tab to do the following for an axis of the data type AXIS SERVO DRIVE e Configure the axis for Servo operation or for position Feedback Only e Assign the axis or terminate the assignment of an axis to a Motion Group e Associate the axis with a 1756 MO8SE motion module e View the base node of the associated 1756 M08SE motion module Note RSLogix 5000 supports only one Motion Group tag per controller When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value
255. r down to speed in a gearing process MAG with Clutch selected This bit is cleared during the intervals where the axis is clutching PositionCamLockStatus BOOL Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the M APC instruction This bit is bitis cleared when the current position cam profile completes or is superseded by some other motion operation In uni directional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction M asterOffsetM oveStatus BOOL Set if a Master Offset M ove motion profile is currently in progress This bit is cleared when the Master Offset M ove is complete or is superseded by some other motion operation ServoActStatus BOOL Set when the associated axis is under servo control Cleared when servo action is disabled DriveEnableStatus BOOL Set when the Drive Enable output of the associated physical axis is currently enabled Cleared when physical servo axis Drive Enable output is currently disabled Shutdow nStatus BOOL Set when the associated axis is currently in the Shutdown state Cleared when the axis is transitioned from the Shutdown state to another state Publication 1756 UM 006B EN P J uly 2001 C 24 The Motion C
256. r you enter an invalid character If you exceed the maximum name length allowed by the software the extra character s are ignored Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software ignores any extra character s Node Select the network node number of the module on the network Valid values include those network nodes not in use between 1 to 99 Revision Select the minor revision number of your module The revision is divided into the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog The major revision is used to indicate the revision of the interface to the module The minor revision is used to indicate the firmware revision Configuring an Ultra 3000 Drive 8 9 Slot Enter the slot number in which the module resides Electronic Keying Select one of these keying options for your module during initial module configuration e Exact Match all of the parameters described below must match or the inserted module will reject the connection e Compatible Modules The following criteria must be met or else the inserted module will reject the connection e The Module Types Catalog Number and Major Revision must match e The Minor Revision of the physical module must be equal to or greater than the one specified in the software e
257. rameter WARNING Tags used for the motion control attribute of instructions should only be used once Re use of the motion control attribute in other instructions can cause unintended operation of the control variables The structure of the motion instruction structure is shown below MOTION_INSTRUCTION structure din Se bitnumber 31 30 29 28 27 26 16 15 1 0 EN DNI ER PC IP error code ERR 16 bits message execution SEGMENT Publication 1756 UM 006B EN P J uly 2001 C 28 The Motion Control Structures Publication 1756 UM 006B EN P J uly 2001 Mnemonic Data Type Description EN BOOL The enable bit indicates that the instruction is enabled the rung in and rung out condition is true DN BOOL The done bit indicates that all calculations and messaging if any are complete ER BOOL The error bit indicates when the instruction is used illegally JP BOOL The in process bit indicates that a process is being executed PC BOOL The process complete bit indicates that the operation is complete The DN bit sets after an instruction has completed execution The PC bit sets when the initiated process has completed ACCEL BOOL The ACCEL bit indicates that the velocity has increased for the individual instruction that it is tied to i e jog move gearing DECEL BOOL The DECEL bit indicates that the velocity has decreased for the individu
258. ravity or loaded systems where servo control is needed at all times Hard Disable The axis is immediately disabled i e Drive Enable is disabled Servo Action is disabled but the OK contact is left closed Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop Hard Shutdown The axis is immediately placed in the shutdown state Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop To recover from this state a reset instruction must be executed Manual Tune Click on this button to open the Dynamics tab of the Manual Tune dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Gains Tab AXIS SERVO Use this tab to perform the following offline functions Publication 1756 UM 006B EN P J uly 2001 6 36 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 e adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog e manually configure gains for the velocity and position loops for an axis of the type AXIS SERVO which has been configured for Servo operations set in the General tab of this dia
259. reate a project this is the same as the name of the project file When you change the name of the controller however the name of the project file does not change If you want to keep the two the same then you must rename the file using Windows Explorer or a similar file management tool IMPORTANT This name must be IEC 1131 compliant If you enter an invalid character in this field or if the name you enter exceeds 40 characters the software ignores the character Getting Started 2 7 You cannot change the name when online Description Enter a description for the controller here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software ignores any extra characters Chassis Type Select a supported chassis type from the pull down list Each entry in the list consists of the catalog number of the chassis as well as a brief description The chassis type cannot be changed when online Slot Enter the chassis slot number in which the controller resides The spin button contains values that range from 0 to 1 less than the chassis size e g if you have a 4 slot chassis the spin button spins from 0 to 3 If you enter a slot number that is out of this range you receive an error message when you go to apply your changes The slot number cannot be changed when online Revision Displays the major and minor revision of the controller The minor revision is available only
260. rew driver blade width for RTB 1 8 inch 3 2 mm maximum Environmental conditions Operating temperature 0 to 60 C 32 to 1409F Storage temperature 40 to 85 C 40 to 185 Relative humidity 5 to 95 noncondensing Agency certification when product or packaging is marked Ge Class 1 Division 2 hazardous location E marked for all applicable directives 1 Maximum wire size will require the exte ded depth RTB housing 1756 TBE 2 Use this conductor category information for planning conductor routing as described in the system level installation manual 3 Refer to Industrial Automation Wiring and Grounding Guidelines publication number 1770 4 1 1756 M 08SE Motion Module Specifications Specifications and Performance A 3 Number of Nodes 8 axes maximum M odule location 1756 ControlLogix chassis M odule keying Electronic Power dissipation 3 2W maximum Backplane current 5 1V dc 600 mA 24V dc Q 2 5 mA Environmental Specifications Operational Temperature 0 to 60 C 32 140 F Storage temperature 40 to 85 C 40 to 1859F Relative Humidity 5 to 95 non condensing IEC 68 2 30 Shock Operating 30g peak acceleration 11 2 ms pulse width Non operating 50g peak acceleration 11 2 ms pulse width Vibration 2g 10 500Hz per IEC 68 2 6 Plastic Fiber Optic Specifications Transmission Range Core Diameter Cladding Diameter Cable Attenuation Operating T
261. ronic unwind Electronic unwind allows infinite position range for rotary axes by subtracting the unwind distance from both the actual and command position every time the axis travels the unwind distance Note For axes of the type AXIS SERVO_DRIVE e when you save an edited Conversion Constant or a Drive Resolution value a message box appears asking you if you want the controller to automatically recalculate certain attribute settings Refer to Conversion Constant and Drive Resolution Attributes e the label will indicate the number of counts per motor revolution as set in the Drive Resolution field of the Drive tab Click on Apply to accept your changes Naming amp Configuring Your Motion Axis 6 15 Servo Tab AXIS SERVO Click on the Servo Tab from the Axis Properties for SERVO AXIS to access the Servo dialog a Axis Properhes mazaeakis Output Livds Oflsel Gene Uras Come Sera Homing Estena Dive Configuration Tiare Loop Caonhgurshin Postion Seren 7 Enable Drive Faut legna Tag Hookup Tune Dpnamics Gare F T C i Aaa Tiii Alas ledoreadion Aura 1 nang Albe 2 nana o sm 1 o For an axis of the data type AXIS SERVO configured for Servo operation in the General tab of this dialog box use the SERVO tab to e configure an external drive e configure the drive fault input e select up to two axis attributes whose status can be monitored When a parameter transitions
262. roperties M odule Info wned 8 16 OK LED indicator 10 1 Output Cam Timing A 9 1756 L50 Controller A 10 P Performance guidelines A 1 Process instruction timing E 3 product support local telephone number P 4 Profile Segment C 30 R Rockwell Automation support Technical product assistance P 3 RSLogix 5000 programming software 1 1 Application program Developing 6 70 Example 6 71 Control structures C 1 Fault handling F 1 Features 1 3 GSV SSV instructions D 1 Instruction timing E 1 Publication 1756 UM 006B EN P uly2001 Motion attributes D 1 M otion instructions 9 1 Running Hookup Diagnostics and Auto Tuning 6 70 S Select M odule Type window 3 2 Servo Configuration Update Status Bits attributes C 25 Specifications A 1 SSV instruction D 1 Changing configuration parameters 1 5 structures AXIS C 1 CAM C 31 CAM PROFILE C 31 support On the Web P 4 T Termination 2 15 Troubleshooting 10 1 DRIVE LED indicator 10 2 Publication 1756 UM 006B EN P J uly 2001 FDBK LED indicator 10 2 OK LED indicator 10 1 U Ultra 3000 Drive 8 1 W Windows New module 3 4 Select module type 3 2 Wiring diagrams B 4 1394 drive B 8 24V registration sensor B 10 5V registration sensor B 10 Home limit switch B 11 OK contacts B 11 Servo module RTB B 4 Ultra 100 drive B 5 Ultra 200 drive B 6 World Wide Web site P 4 Reach us now at www rockwellautomation com Wherever you need us Rockwell Automation brings together lea
263. ror and the cam element is not considered EnableType DINT This defines the source and polarity of the specified EnableBit when LatchType or UnlatchType isEnable Position and Enable or Duration and Enable A value of less than 0 or greater than 31 results in an Illegal Output Cam error and the cam element is not considered Value Description 0 z Input The enable bit is in the Input parameter 1 Inverted Input The enable bit is in the input parameter and is active low 2 Output The enable bit is in the Output parameter 3 Inverted Output The enable bit is in the Output parameter and is active low EnableBit DINT The value of the Enable Bit selected must be between 0 and 31 when LatchType or UnlatchType isEnable Position and Enable or Duration and Enable A value of less than 0 or greater than 31 results in an Illegal Output Cam error and the cam element is not considered Publication 1756 UM 006B EN P J uly 2001 The M otion Control Structures C 33 OUTPUT COMPENSATION The OUTPUT COMPENSATION data type defines the details for each Structure output bit by setting the characteristics of each actuator OUTPUT COMPENSATION contains the following members Mnemonic Data Type Description Offset REAL Offset provides position compensation for both the latch and unlatch operations LatchDelay REAL Latch delay programmed in seconds provides time compensation for the latch operation UnlatchDelay REAL
264. rtempFault 17 BOOL Drive Overtemp Fault M otorOvertempFault 18 BOOL M otor Overtemp Fault DriveCoolingFault 19 BOOL Drive Cooling Fault DriveControlVoltageFault 20 BOOL Drive Control Voltage Fault FeedbackFault 21 BOOL Feedback Fault CommutationFault 22 BOOL Commutation Fault DriveOvercurrentFault 23 BOOL Drive Overcurrent Fault DriveOvervoltageFault 24 BOOL Drive Overvoltage Fault DriveUndervoltageFault 25 BOOL Drive Undervoltage Fault PowerPhaseLossFault 26 BOOL Power Phase Loss Fault PosErrorFault 2 BOOL Position Error Fault no tag 28 BOOL SERCOS Commutation Fault Publication 1756 UM 006B EN P J uly 2001 C 16 The Motion Control Structures Mnemonic Data Description Type SERCOSErrorCode INT Error code returned by SERCOS module indicating source of drive parameter update failure AccelStatus BOOL Setif the axis is currently being commanded to accelerate DecelStatus BOOL Setif the axis is currently being commanded to decelerate M oveStatus BOOL Setif a Move motion profile is currently in progress Cleared when the M ove is complete or is superseded by some other motion operation J ogStatus BOOL Set if a og motion profile is currently in progress Cleared when the J og is complete or is superseded by some other motion operation GearingStatus BOOL Setif the axis is a slave that is currently Gearing to another axis Cleared when the gearing operation is stopped or is supersed
265. s BOOL Set when the associated axis is currently in the Shutdown state Cleared when the axis is transitioned from the Shutdown state to another state ConfigUpdatelnProcess BOOL The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service which is internal to the firmware or an SSV in the user program W hen such an update is initiated the ControlLogix processor sets this bit This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation PhysicalAxisFault BOOL Set when one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis A PhysicalAxisFault can be set as either a M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box M oduleFault DINT Set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion mod
266. s Normal Poll Node Tag Choose the tag name of the structure that contains the normal poll node list Use the Tag Browser to select the appropriate tag name The default tag is none Normal Poll Group Size Enter the total number of active stations polled from the poll node list Valid values are 0 to 255 the default value is 0 Priority Poll Node Tag Choose the tag name of the structure to store the priority poll node list Use the Tag Browser to select the appropriate tag name The default tag is none Active Station Tag Choose the tag name of the structure to store the status active non active of each node Use the Tag Browser to select the appropriate tag name The default tag is none DH485 Parameters Max Station Address This field is available when you choose DH485 as the protocol It sets the maximum value allowable for the Station Address The range is from 0 to 31 Getting Started 2 15 Token Hold Factor A value between 1 and 4 User Protocol Tab The User Protocol tab allows you to configure the controller s serial port for the ASCII protocol ig m IET TET E oj x MaeFmd Mins Fede Deme Aden Fa General SeisPon Gysen Protocal User Broce a Fieac wrke Buffer Sine E ed Lernination Character 1 Pr E fare Append Characker 1 hv zu I BOHAI T Echo Made Duet Hiii E r pnr 7 Pigs Protocol Choose the ASCII protocol Buffer Size
267. s BOOL Set when there is an axis tuning operation or an axis hookup diagnostic test operation in progress on the associated physical axis OutLmtStatus BOOL Set when the magnitude of the output of the associated physical servo axis has reached or exceeded the configured Output Limit value PosLockStatus BOOL Setwhen the magnitude of the axis position error has become less than or equal to the configured Position Lock Tolerance value for the associated physical axis HomeSwitchStatus BOOL Setwhen the current state of the dedicated Home input is active Cleared when the Home input is inactive DriveFaultInputStatus BOOL Set when the current state of the Drive Fault input is active Cleared when the Drive Fault input is inactive ReglInputStatus BOOL Setwhen the current state of the dedicated Registration 1 input is active Clear when the Registration 1 input is inactive Reg2InputStatus BOOL Set when the current state of the dedicated Registration 1 input is active Clear when the Registration 1 input is inactive PosOvertravelInputStatus BOOL Set when the current state of the dedicated Positive Overtravel input is active Clear when the Positive Overtravel input is inactive NegOvertravellnputStatus BOOL Set when the current state of the dedicated Negative Overtravel input is active Clear when the Negative Overtravel input is inactive POtraviFault BOOL Set when the axis has traveled or attempted to travel beyond the
268. s multiplied by the Velocity Integral Gain to produce a component to the Servo Output or Torque Command that attempts to correct for the velocity error The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too much I Gain results in axis oscillation and servo instability In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice The typical value for the Velocity Proportional Gain is 15 mSec 2 Integrator Hold If the Integrator Hold parameter is set to Publication 1756 UM 006B EN P J uly 2001 6 40 Naming amp Configuring Your M otion Axis e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to
269. s tab displays information about the condition of the connection between the module and the controller Requested Packet Interval This does not apply to motion module Inhibit Module checkbox Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module ATTENTION Inhibiting the module causes the connection to the A module to be broken and may result in loss of data Publication 1756 UM 006B EN P J uly 2001 Adding and Configuring Your 1756 M 02AE Motion Module 3 11 When you check this box and go online the icon representing this module in the controller organizer displays the Attention Icon If you are Check this checkbox to offline put a place holder for a module you are configuring online stop communication to a module If you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs go to the last configured Program mode state If you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted If you uninhibit a module clear the checkbox while on
270. scription Type OutputCamLockStatus DINT A setof bits that are set when an Output Cam is locked to the M aster Axis OutputCamTransitionStatus DINT Asetof bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target Servo Configuration Update Status Bits attributes You can use the servo configuration update status bits attributes to monitor the progress of servo configuration attribute updates which are initiated by an SSV instruction in your application program When the SSV instruction initiates an update the controller sets the update status bit associated with the attribute The update status bit remains set until the servo module indicates that the data update was successful For example if you use an SSV instruction to change the PositionProportionalGain attribute of an axis and follow it with logic based on the completion of the SSV instruction you can check for the resetting of the PosPGainStatus bit to ensure that the servo module attribute is updated The following is a list of the servo configuration update status bits attributes Variable Data Type Description AccFfGainStatus BOOL The status of an update to the AccelerationFeedforw ardGain attribute AxisTypeStatus BOOL Thestatus of an update to the AxisType attribute DriveFaultActStatus BOOL The status of an update to the DriveF
271. sition units means that a position error fault will be generated whenever the position error of the axis is greater than 0 75 orless than 0 75 position units as shown here Note This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed Position Lock Tolerance Specifies the maximum position error the servo module will accept in order to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units as shown here Publication 1756 UM 006B EN P J uly 2001 6 54 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 Output Limit Provides a method of limiting the maximum servo output voltage of a physical axis to a specified level The servo output for the axis as a function of position servo error both with and without servo output limiting is shown below The
272. sk 980 us 1 Overhead 3 Servo Axis 1 Virtual Axis 2 For each axis in your application use the following tables to determine the action value for each axis Axis 1 Actions If you are using an action enter its execution time from the Action Timing table If you are not using an action enter zero 0 2 Servo on 40 us 3 Trapezoidal move 310 us 4 S curve move 0 us 5 Trapezoidal jog 0 us 6 S curve jog 0 us 7 Actual gear 0 us 8 Command gear 0 us 9 Actual PCAM 0 us 10 Command PCAM 0 us 11 TCAM 0 us 12 e Axis Action Value Add lines 2 through 350 us Publication 1756 UM 006B EN P J uly 2001 A 8 Specifications and Performance Publication 1756 UM 006B EN P J uly 2001 Axis 2 Actions If you are using an action enter ts execution time from the Action Timing table If you are not us ing an action enter zero 0 2 Servo on 40 us 3 Trapezoidal move 0 us 4 S curve move 0 us 5 Trapezoidal jog 0 us 6 S curve jog 340 us 7 Actual gear 0 us 8 Command gear 0 us 9 Actual PCAM 0 us 10 Command PCAM 0 us 11 TCAM 0 us 12 Total Axis Action Value Add lines 2 through 380 us Axis 3 Actions 11 If you are using an action enter its execution time from the Action Timing table If you are not us ing an action enter zero 0 2 Servo on 0 us 3 Trapezoidal move 0 us 4
273. stration Event 2 Armed Status RegEv2Status 05 BOOL Registration Event 2 Status HomeEvArmStatus 06 BOOL Home Event Armed Status HomeEvStatus 07 BOOL Home Event Status ActualPosition REAL Actual Position in Position Units StrobeActualPosition REAL Strobe Actual Position in Position Units StartActualPosition REAL Start Actual Position in Position Units AverageVelocity REAL Average Velocity in Position Units Sec ActualVelocity REAL Actual Velocity in Position Units Sec ActualAcceleration REAL Actual Acceleration in Position Units Sec2 WatchPosition REAL Watch Position in Position Units RegistrationPosition REAL Registration 1 Position in Position Units Registration2Position REAL Registration 2 Position in Position Units Registration1Time DINT Registration 1 Time as CST time in microseconds Registration2Time DINT Registration 2 Time as CST time in microseconds InterpolationTime DINT Interpolation Time as CST time in microseconds InterpolatedActualPosition REAL Interpolated Actual Position in Position Units M asterOffset REAL Master Offset in M aster Position Units StrobeM asterOffset REAL Strobe Master Offset in M aster Position Units StartM asterOffset REAL Start Master Offset in M aster Position Units CommandPosition REAL Command Position in Position Units StrobeCommandPosition REAL Strobe Command Position in Position Units StartCommandPosition REAL Start Command Position in Position Units CommandVelocity REAL Command Velocity in
274. sually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Manual Tune Click on this button to access the Gains tab of the Manual Tune dialog for online editing Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Output Tab Overview AXIS SERVO DRIVE Use this dialog box to make the following offline configurations e set the torque scaling value which is used to generate gains e enable and configure the Notch Filter e enable and configure servo s low pass digital output filter for an axis of the type AXIS SERVO DRIVE configured as a Servo drive in the General tab of this dialog Naming amp Configuring Your Motion Axis 6 49 CAE Pinpartier asc General Ur s Conversion Dowe MotovPeedback Homing Hookup Twe Dua Gara Guta Lit ns Fault Actor Tag Tome icaing EEE neun Manual Tune FF Enable Lose parts Dudpat Filer Lowepass Dupa Filler Rendah 152 54537 He ok tm c one The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Tu
275. such as static friction and gravity PositionIntegratorError REAL GSV The sum of the position error for an axis You can use this value to drive the motor to where the actual position equals the command position PositionLockTolerance REAL GSV The amount of position error that the servo module tolerates when SSV giving a true position locked status indication PositionProportionalGain REAL GSV The value the controller multiples with the position error to correct SSV for the position error PositionServoBandwidth REAL GSV The unity gain bandwidth that the controller uses to calculate the SSV gains for a M otion Apply Axis Tuning M AAT instruction PositionUnwind DINT GSV The value used to perform the automatic unwind of the rotary axis SSV ProgrammedStopM ode SINT GSV The type of stop to perform on your axis SSV Value Meaning 0 fast stop 1 fast shutdown 2 hard shutdown RegistrationPosition REAL GSV The registration position for your axis You can use the following equation to determine the maximum registration position error based on your axis speed MaximumSpeed Eo Accuracy PositionUnits Seconds 0 000001 Seconds ServoConfigurationBits DINT GSV The servo configuration bits for your servo loop SSV Bit Meaning rotary axis external velocity servo drive encoder polarity negative servo polarity negative soft overtravel checking position error checking encoder loss fault checking encoder noise fault checking drive fault
276. t e dl 5 8 Produce this tag for Di o 5 8 Bas TOf 6 kenia A Se ri ANR AE 5 8 Chapter 6 Naming amp Configuring Your Motion Axis Naming an AXIS Lact napeta Seb TAE e cte 6 1 Entering Tag Intormauon s iaceo be S x ERAS 6 2 Common Parameters cado oa 6 3 INANE s dd erweisen a a a a wind depen ab esos 6 3 IDESCIID TOR nyt al os vod ox x ec a ees Re DA 6 3 Tag IDO tex uote M d aR a RO ARE CEDAR 6 3 Data VB bs evo i a o o bor CE us eve ALS 6 3 Editing Motion Axis Properties 6 4 General Tab SERVO AXIS ceci dE YR 6 6 Axis CON IO stress Grab qe Re RERO Ae En 6 7 Assigned Motion GIOUP o o o oooooo 6 7 AAA ULT Sese A e teis 6 7 New Group button c are dos er E Code e es 6 7 Module asina m ee ER Je edi e eA ORC 6 7 Module Type Alacranes 6 7 Channel gong rdc EY QA ERI ES 6 8 Output Cam Execution TargetS 6 8 General Tab AXIS SERVO DRIVE 6 8 Axis EOL QUAN es vac eX ER ae CES 6 9 Assigned Motion GTOUP oooo o 6 9 Ellipsis 1 DURON c ac oto D do RNG cosh deere e og 6 9 New Group button 4 4 54 dare eb RUE 6 9 Modules sai e QW Urat ee RA NER 6 9 Module Ty PGs 5 ic eee aed eu CR TN 6 9 NOU Cs ea ay ery AR ee cee ee ae ES 6 10 Output Cam Execution Targets 6 10 Publication 1756 UM 006B EN P J uly 2001 vii General Tab AXIS VIRTUAL 6 10 Assigned Motion GIOUP ooo ooooooo o 6 10 Ellipsis button a abra 6
277. ta Type Description WatchEvArmStatus 00 BOOL Watch Event Armed Status WatchEvStatus 01 BOOL Watch Event Status RegEvArmStatus 02 BOOL Registration Event 1 Armed Status RegEvStatus 03 BOOL Registration Event 1 Status RegEv2ArmStatus 04 BOOL Registration Event 2 Armed Status RegEv2Status 05 BOOL Registration Event 2 Status HomeEvArmStatus 06 BOOL Home Event Armed Status HomeEvStatus 07 BOOL Home Event Status ActualPosition REAL Actual Position in Position Units StrobeActualPosition REAL Strobe Actual Position in Position Units StartActualPosition REAL Start Actual Position in Position Units AverageVelocity REAL Average Velocity in Position Units Sec ActualVelocity REAL Actual Velocity in Position Units Sec ActualAcceleration REAL Actual Acceleration in Position Units Sec2 WatchPosition REAL Watch Position in Position Units RegistrationPosition REAL Registration 1 Position in Position Units Registration2Position REAL Registration 2 Position in Position Units Registration1Time DINT Registration 1 Time as CST time in microseconds Registration2Time DINT Registration 2 Time as CST time in microseconds InterpolationTime DINT Interpolation Time as CST time in microseconds InterpolatedActualPosition REAL Interpolated Actual Position in Position Units M asterOffset REAL Master Offset in M aster Position Units StrobeM asterOffset REAL Strobe Master Offset in M aster Position Units StartM asterOffset REAL Start Master Offset in M aster Posit
278. tab to configure the selected 1394C SJT05 D 1394C SJT10 D or 1394C SJT22 D drive module by associating up to four AXIS SERVO DRIVE axis tags with configured axis modules E Maske Propeetion milis 1 9540 517 10 0 3 1 Geressl Correction Acctaciated At Porn Module Into Hodie 1 Nude Maga T Mode Siue Diiira Node X0 Represents Axis 0 on the 1756 M08SE SERCOS module The node number is the sum of the Base Node set in the General page of this dialog box X0 and the axis number 1 This field allows you to associate an AXIS SERVO DRIVE tag with Axis 0 This field transitions to a read only state while online Click on the Ellipses button to the right of this field to open the Axis properties dialog box for the associated axis Node X1 Represents Axis 1 on the 1756 MO8SE SERCOS module The node number is the sum of the Base Node set in the General page of this dialog box X0 and the axis number 1 This field allows you to associate an AXIS SERVO DRIVE tag with Axis 1 This field transitions to a read only state while online Click on the Ellipses button to the right of this field to open the Axis properties dialog box for the associated axis Node X2 Represents Axis 2 on the 1756 M08SE SERCOS module The node number is the sum of the Base Node set in the General page of this dialog box X0 and the axis number 2 This field allows you to associate an AXIS SERVO DRIVE tag with Axis 2 This field transit
279. te Error The axis is in the shutdown state 8 Illegal Axis Type The configured axis type is not correct 9 Overtravel Condition The instruction tried to execute in a direction that aggravates the current overtravel condition 10 M aster Axis Conflict The master axis reference is the same as the slave axis reference 11 Axis Not Configured The axis is not configured 12 Servo M essage Failure M essaging to the servo module failed 13 Parameter Out Of Range The instruction tried to use a parameter that is outside the range limit 14 Tune Process Error The instruction cannot apply the tuning parameters because of an error in the run tuning instruction 15 Test Process Error The instruction cannot apply the diagnostic parameters because of an error in the run diagnostic test instruction 16 Home In Process Error The instruction tried to execute with homing in progress 17 Axis M ode Not Rotary The instruction tried to execute a rotary move on an axis that is not configured for rotary operation 18 Axis Type Unused The axis type is configured as unused 19 Group Not Synchronized The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 20 Axis In Faulted State The axis is in the faulted state 21 Group In Faulted State The group is in the faulted state 22 Axis In M otion An MSO Motion Servo On or M AH M otion Axis Home instruction was attempted while the axis was in motion 2
280. ters Once you create a FlexLogix controller the adapters appear under the I O Configuration folder and cannot be altered unless you delete the FlexLogix controller From the File menu choose New to access the New Controller dialog New Controller Dialog Create a new controller i e project from this dialog Getting Started 2 3 New Controller x Wendor Allen Bradley Type 175611 ControlLogi S550 Controller Redundancy Enabled Cancel Name Description A Chassis Type 175641 0 10 Slot ControlLogi Chassis Slot 0 3 Revision E 7 Create In je RSLogix 5000 Projects Browse Vendor Displays the name of the controller s manufacturer Type Select the controller type from the pull down menu shown here by catalog number platform and processor The default controller is the 1756 L1 ControlLogix 5550 controller Choose from e 1756 L1 ControlLogix 5550 controller e 1756 153 A ControlLogix 5553 controller e 1756 155 A ControlLogix 5555 controller e 1769 120 CompactLogix 5320 controller e 1769 130 CompactLogix 5330 controller e 1789 L60 A SoftLogix 5860 controller e 1794 133 A FlexLogix 5433 controller e 1794 134 A FlexLogix 5434 controller e PowerFlex700S DriveLogix 5720 controller Publication 1756 UM 006B EN P J uly 2001 2 4 Getting Started Publication 1756 UM 006B EN P J uly 2001 Redundancy Enabled Check this box if you wish to enable redundancy for this controller
281. tes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished TimerEventFault BOOL Set when the associated servo module has detected a problem with the module s timer event functionality used to synchronize the motion module s servo loop to the master timebase of the Logix rack i e Coordinated System Time This fault bit can be cleared only by reconfiguration of the motion module M oduleHardw areFault BOOL Set when the associated servo module has detected a hardware problem that in general is going to require replacement of the module to correct ProcessStatus BOOL Set when there is an axis tuning operation or an axis hookup diagnostic test operation in progress on the associated physical axis HomelnputStatus BOOL Set when the current state of the dedicated Home input is active Cleared when the Home input is inactive ReglInputStatus BOOL Set when the current state of the dedicated Registration 1 input is active Clear when the Registration 1 input is inactive Reg2InputStatus BOOL Set when the current state of the dedicated Registration 1 input is active Clear when the Registration 1 input is inactive PosOvertravelInputStatus BOOL Set when the current state of the dedicated Positive Overtravel input is active Clear when the Positive Overtravel input is inactive NegOvertravellnputStatus BOO
282. the controller so that failure of the connection to this module causes a major fault on the controller if the connection for the module fails Module Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred The following are common categories for errors e Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made e Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully e Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault e Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the software and the module Publication 1756 UM 006B EN P J uly 2001 8 14 Configuring an Ultra 3000 Drive Publication 1756 UM 006B EN P J uly 2001 Associated Axes Tab Ultra3000 Drives Use this tab to configure the selected 1756 MO8SE motion module by associating axis tags of the type AXIS SERVO DRIVE with nodes available on the module Node Displays the selected node of the Ultra3000 drive as selected on the General tab This field allows you to associate an AXIS SERVO DRIVE tag with the driver
283. the drive s is via IEC 1491 SErial Real time COmmunication System SERCOS using fiber optic medium The SERCOS interface module supports e reliable high speed data transmission e excellent noise immunity e elimination of interconnect wiring e ASA messages converted to SERCOS formatted messages RSLogix5000 Programming Software The RSLogix5000 programming software provides complete programming and commissioning support for the ControlLogix system RSLogix5000 is the only programming software needed to fully configure and program Controllogix motion control systems RSLogix5000 software provides the following motion support e Wizards for servo axis configuration including drive hookup diagnostics and auto tuning e adder based application programming including support for 30 motion commands This section provides an introduction to concepts used in developing application programs for motion control These concepts include e Application program development e The MOTION INSTRUCTION tag e Motion status and configuration parameters e Modifying motion configuration parameters e Handling motion faults Publication 1756 UM 006B EN P J uly 2001 14 TheControlLogix M otion Control System Publication 1756 UM 006B EN P J uly 2001 Application Program Development Developing a motion control application program involves the following Task Select the master coordinated system time Description Sets one controll
284. this axis Active homing sequences always use the trapezoidal velocity profile e Passive In this mode homing redefines the absolute position of the axis on the occurrence of a home switch or encoder marker event Passive homing is most commonly used to calibrate uncontrolled axes although it can also be used with controlled axes to create a custom homing sequence Passive homing for a given home sequence works similar to the corresponding active homing sequence except that no motion is commanded the controller just waits for the switch and marker events to occur e Absolute AXIS SERVO DRIVE only In this mode the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device The only valid Home Sequence for an absolute Homing Mode is immediate Position Type the desired absolute position in position units forthe axis after the specified homing sequence has been completed In most cases this position will be set to zero although any value within the Naming Configuring Your Motion Axis 6 23 software travel limits can be used After the homing sequence is complete the axis is left in this position If the Positioning Mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning Mode is Rotary then the home position should be l
285. tion Output Limit OutputLimit Output Offset OutputOffset Position Error PositionError Position Integrator Error PositionIntegratorError Velocity Error VelocityError Velocity Integrator Error VelocitylntegratorError Velocity Feedback VelocityFeedback Velocity Command VelocityCommand Servo Output Level ServoOutputLevel Registration Position RegistrationPosition Watch Position WatchPosition Publication 1756 UM 006B EN P J uly 2001 B 2 Loop and Interconnect Diagrams Using a 1756 M02AE Module With a Torque Servo Drive Command 7 Acceleration Acc gt d dt gt FF Gain Output Offset Output amp porn Ve Filter Friction Servo gt didt gt FF BW Comp Polarity Coarse Gain Command i Position Fine Velocity Relative Command Position Command Velocity Y Accumulator Position Error ow P orque andFine e gt gt oe gt gt as gt Pass gt Dee gt output gt eee gt Servo interpolator ain i Filter g Drive Servo Output Level Error Pos Error gt Vell Accumulator Nu Gain Accumulator Gain Position L__ Velocity Integrator Velocity Integrator l Error Feedback Error Fine Actual Position Low Optical Pass Encoder
286. tion 1756 UM 006B EN P J uly 2001 Configuring the 1756 M 08SE Module 4 11 The SERCOS ring consists of the drives and axes connected to the 1756 MO8SE motion controller TIP The settings on this tab are specific to the 1756 MO8SE motion controller Data Rate Select the baud rate for the SERCOS ring For this release this value is set to 4 MB and is Read Only Cycle Time Select the update rate for the SERCOS ring 1 ms or 2 ms Transmit Power Select the optic transmit power range for the SERCOS ring High or Low SERCOS Interface Info Tab The SERCOS interface Tab is for monitoring the SERCOS ring of the selected 1756 MO08SE while it is on line A REFRESH button is available to access the current values IgeETNITENRLETTTEXET Geneial Connection SERCOS Intesace SEROUS Iriedace ro nocle into Backplane Ring Comm Phas Fali Topic Publication 1756 UM 006B EN P J uly 2001 4 12 Configuring the 1756 M 08SE M odule Use this tab to monitor the following Ring Comm Phase Displays the communications phase of the SERCOS ring 0 Ring Integrity 1 Polling 2 Identity 3 Configuration 4 Cyclic communication Fault Type Displays the current fault type if any on the SERCOS ring Values include No Fault Open Ring Not communicating Not responding Timing error Duplicate node Excess nodes on Ring Invalid data rate Invalid cycle time Refresh Click this button to update this page Note this informa
287. tion branch select a 1756 MO8SE motion module 2 In the File menu select New Component then Module a H Logi 5000 Feeds treolure 1 45641 BEN DANA eres STE ee a TUAPUELICA TECHE RI TAE Date acd gaonitah AED Ex E Ermua e p Predeired Tg Medida Durand EH 140 Configuration y 11175641 Producer_Pocesso Lu SESS OSD SE ficar tu 2IDSBDEDODHESE diadal Publication 1756 UM 006B EN P J uly 2001 8 2 Configuring an Ultra 3000 Drive Publication 1756 UM 006B EN P J uly 2001 3 Right click on the selected 1756 MO8SE in the I O Configuration branch of the Controller Organizer 4 Select New Module from the pop up menu Path AB VEP 21 lnzrherkuled Program 1 Motion Groups S bobo 305 MyConsunedi us Qo Mya marear Kf pyrene De Hyena AA Ura espe sore I Tends i Data Tepes qe UseDehned E B STRING Lap Pudebred Lgs Module Deben t3 UC Cordegur bon 1 T35E LT Piden Piotr z 3 SSO de E 2 ABUSA The following fields are displayed only if you are viewing this tab through the Create wizard Next Click this button to view the next Create wizard page Back Click this button to view the previous Create wizard page Finish gt gt Click this button to close the Create wizard Configuring an Ultra 3000 Drive 8 3 The Select Module Type dialog displays 1354 1048 SEADUS lederieco MIR deve T2 ok EADIE lebe necs LE diee Lira itu SACOS Ends PRW
288. tion does not refresh automatically Publication 1756 UM 006B EN P J uly 2001 Configuring the 1756 M 08SE Module 4 13 Module Info Tab The Module Info tab contains information about the selected module however you can click on e Refresh to display new data from the module e Reset Module to return the module to its power up state by emulating the cycling of power By doing this you also clear all faults The Module Info Tab displays module and status information about the module It also allows you to reset a module to its power up state The information on this tab is not displayed if you are offline or currently creating a module Use this tab to determine the identity of the module The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available Ez hodu PFropetinz locat 1756 MESE 21 Garaa Connection SERCOS Inteface SERCDS Inteviace Into Module ird packplare Verdict Siaha Vendo BlerEcades Mar Feu Hore Product Type Darana i Coria Miren Fiut Hora Pradaci Coda 1756 H BSE Internal S babe Flecicion 28 Saral Humber ADOS C3GC Product M ames SA SERCOS inier aci zh Cooidnaled Siem Tine C51 Timer Hidas Timer Sreet tee Publication 1756 UM 006B EN P J uly 2001 414 Configuring the 1756 M 08SE M odule Publication 1756 UM 006B EN P J uly 2001 Identification Displays th
289. tion group instructions 9 3 Motion Group Programmed Stop M GPS 9 3 Motion Group Shutdown M GSD 9 3 Motion Group Shutdown Reset M GSR 9 3 M otion Group Stop M GS 9 3 Motion Group Strobe Position M GSP 9 3 M otion move instructions 9 2 M otion Redefine Position M RP 9 2 Motion Run Axis Tuning M RAT 9 4 Motion Run Hookup Diagnostic M RHD 9 5 Motion Servo Off M SF 9 1 Motion Servo On M SO 9 1 M otion state instructions 9 1 Timing E 1 Immediate E 1 Message E 2 Process E 3 M otion move instructions 9 2 Motion Axis Gear MAG 9 2 Motion Axis Home M AH 9 2 Motion Axis J og M AJ 9 2 Motion Axis M ove MAM 9 2 Motion Axis Stop M AS 9 2 Motion Axis Time Cam M ATC 9 3 Motion Calculate Cam Profile M CCP 9 3 Motion Change Dynamics M CD 9 2 M otion Redefine Position M APC 9 3 M otion Redefine Position M RP 9 2 M otion state instructions 9 1 Motion Axis Fault Reset M AFR 9 2 Motion Axis Shutdown M ASD 9 2 Motion Axis Shutdown Reset M ASR 9 2 M otion Direct Drive Off M DF 9 2 M otion Direct Drive On M DO 9 2 M otion Servo Off M SF 9 1 Motion Servo On M SO 9 1 MOTION GROUP control structure C 26 MOTION INSTRUCTION control structure C 27 M otion Instruction tag 1 4 N Naming an Axis 6 1 Entering Tag Information 6 2 Common Parameters 6 3 Data Type 6 3 Description 6 3 Name 6 3 Tag Type 6 3 Alias 6 3 Base 6 3 Consumed 6 3 Produced 6 3 New Module window 3 4 0 OEditing the Ultra Drive P
290. tion in your Windows NT Control Panel Edited The date and time that the project file was last edited in the format currently selected in the Regional Settings application in your Windows NT Control Panel Publication 1756 UM 006B EN P J uly 2001 2 24 Getting Started Publication 1756 UM 006B EN P J uly 2001 Adding the 1756 M 02AE Module Chapter 3 Adding and Configuring Your 1756 M 02A E Motion Module This chapter describes how to add configure and edit your 1756 MO2AE motion module for use in your motion control application This chapter describes each of the tasks for adding and configuring a motion module To use your motion module in a control system you must add your motion module to the application program To add a motion module 1 Right click the I O Configuration folder Ma FS Lag SD TU Ele Ed Ves Sesh Lope care alela s e Diver ed CFT Craine quack riot ig Gninis Tage Car rcibas Fed Harada LC Pra ip Hande Vachs 3 8 Han ach M hf oin ey Praga Tage D Hafid Vires hio Fega i Dista Tapes f User Defined roc Fedele xs Moda Telnet Publication 1756 UM 006B EN P J uly 2001 3 2 Adding and Configuring Your 1756 M 02AE M otion Module 2 Select New Module The Select Module Type window appears 1755 Conhol s Brige 175 Conhol er Budge 1755 Conhol et Budge 1755 Conta ek Budge Fisdundant Hedi 175 Conio si Budge Fiaduredlant Hadia 17
291. to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them External Drive Configuration Select the drive type for the servo loop Publication 1756 UM 006B EN P J uly 2001 6 16 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 e Velocity disables the servo module s internal digital velocity loop e Torque the servo module s internal digital velocity loop is active which is the required configuration for interfacing the servo axis to a torque loop servo drive Loop Configuration Select the configuration of the servo loop For this release only Position Servo is available Enable Drive Fault Input Check this box if you wish to enable the Drive Fault detection When the drive fault is detected appropriate action is taken based on the Drive Fault Action specified in the Fault Actions tab of this dialog box Drive Fault Input Specifies the usual state of the drive fault input Normally e Open e Closed Real Time Axis Information A
292. tributes on this tab transition to a read only state When any attribute transitions to a read only state then any pending attribute changes are reverted When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Position Units User defined engineering units rather than feedback counts used for labeling all motion related values e g position velocity etc These position units can be different for each axis Note Position Units should be chosen for maximum ease of use in your application For example linear axes might use position units of Inches Meters or mm whereas rotary axes might use units of Revs or Degrees Average Velocity Timebase Specifies the time in seconds to be used for calculating the average velocity of the axis This value is computed by taking the total distance the axis travels in the amount of time specified and dividing this value by the timebase The average velocity timebase value should be large enough to filter out the small changes in velocity that would result in a noisy velocity value but small enough to track significant changes in axis velocity A value of 0 25 to 0 50 seconds s
293. tructions include the e Motion Change Dynamics MCD instruction e Motion Group Strobe Position MGSP instruction Immediate instructions work as follows 1 When the rung that contains the motion instruction becomes true the controller e Sets the enable EN bit e Clears the done DN bit e Clears the error ER bit 2 The controller executes the instruction completely 3 If the controller Then Does not detect an error when the The controller sets the DN bit instruction executes Detects an error when the The controller sets the ER bit and instruction executes stores an error code in the control structure Publication 1756 UM 006B EN P J uly 2001 E 2 Instruction Timing 4 The next time the rung becomes false after either the DN or ER bit sets the controller clears the EN bit 5 The controller can execute the instruction again when the rung becomes true Scan Scan Scan Scan rungtrue rungtrue rungfalse rung true M essage Type Instructions Message type motion instructions send one or more messages to the servo module Examples of message type instructions include the e Motion Direct Drive On MDO instruction e Motion Redefine Position MRP instruction Message type instructions work as follows 1 When the rung that contains the motion instruction becomes true the controller e Sets the enable EN bit e Clears the done DN bit e Clears the error ER bit 2 The contro
294. tted along with the actual position data to the Logix processor The values of the selected attributes can be accessed via the standard GSV or Get Attribute List service Note The servo status data update time is precisely the coarse update period If a GSV is done to one of these servo status attributes without the having selected this attribute via the Drive Info Select attribute the attribute value will be static and will not reflect the true value in the servo module Set Custom Scaling button Opens the Custom Drive Scaling Attributes dialog where you can read scaling related attributes for the axis Naming Configuring Your Motion Axis 6 19 Motor Feedback Tab AXIS SERVO DRIVE Use this tab to configure motor and auxiliary feedback device if any parameters for an axis of the type AXIS SERVO DRIVE Note The Axis Configuration selection made on the General tab and the Loop Configuration selection made on the Drive tab determine which sections of this dialog box Motor and Auxiliary Feedback are enabled When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Motor Catalog Number Select the catalog number of the motor associated with this axis When you change a Motor Catalog Number the controller recalculates the values of the following values using among other values the default D
295. ttribute 1 Attribute 2 Select up to two axis attributes whose status will be transmitted along with the actual position data to the Logix processor The values of the selected attributes can be accessed via the standard GSV or Get Attribute List service Note The servo status data update time is precisely the coarse update period If a GSV is done to one of these servo status attributes without having selected this attribute via the Drive Info Select attribute the attribute value will be static and will not reflect the true value in the servo module Click on the Apply button to accept your changes Naming Configuring Your Motion Axis 6 17 Drive Tab AXIS SERVO DRIVE Use this tab to configure the servo loop for an AXIS SERVO_DRIVE axis and open the Custom Drive Scaling Attributes dialog box tib Sons Propelmz ais Dp Gen Dar dm Ome Fac Te Genesi Unitas Conwenion Drie HotouFeedi Homing Hosp Ture Ample Catalog Number 20050505E Set Cypton Scaling Loop Configusation Postion Sere Drive Fissohaors mon 77 Carta Mot Fev When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Amplifier Catalog Number Select the catalog number of the amplifier to which this axis is connected Loop Configuration Select the configuration of the servo loop e M
296. ue is zero When interfacing an external Servo Drive especially for velocity servo drives it is necessary to compensate for the effect of drive offset Cumulative offsets of the servo module s DAC output and the Servo Drive Input result in a situation where a zero commanded Servo Output value causes the axis to drift If the drift is excessive it can play havoc on the Hookup Diagnostic and Tuning procedures as well as result in a steady state non zero position error when the servo loop is closed Manual Tune Click on this button to open the Dynamics tab of the Manual Tune dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Offset Tab AXIS SERVO DRIVE Use this tab to make offline adjustments to the following Servo Output values e Friction Compensation e Velocity Offset and e Torque Offset for an axis of the type AXIS SERVO DRIVE configured as a Servo drive in the General tab of this dialog Publication 1756 UM 006B EN P J uly 2001 6 60 Naming amp Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e
297. ule A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition A M oduleFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box ConfigFault BOOL Set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module A ConfigFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box ControlSyncFault BOOL Set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the associated servo module The Logix controller is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished WatchEvArmStatus BOOL Set when a watch e
298. ule can be connected to any of three drives e 1394C SJTO5 D 5 KW digital servo drive e 1394C SJT10 D 10 KW digital servo drive e 1394C SJT22 D 22 KW digital servo drive Each drive can be associated with up to 4 axes of the AXIS SERVO DRIVE tag type The 1756 M08SE 8 Axis SERCOS interface module can support up to 8 axes using varying combinations of from 2 to 8 drives The module for a 1394C SJT05 10 22 D drive has 5 tabs Module Propestins m ieJ 1354C 5JT10HP 1 1 Bened Connection Associate Acces Power Module tris Type T3940 5111040 1354 Tikw SEROOS Intetace 160W dree D a Bem D f 3 meseskeee reesnesoxes Siete Cline ox tm feo e General tab e Connection tab e Axes Association e Power tab e Module Info tab Publication 1756 UM 006B EN P J uly 2001 7 4 Configuring a 1394C S T05 10 22 D Digital Servo Drive Publication 1756 UM 006B EN P J uly 2001 General Tab Use this tab to enter the module properties for a 1394C SJT05 D 5 KW 1394C SJT10 D 10 KW or 1394C SJT22 D 22 KW digital servo drive module Modde Propestios miliized 1334 C 5JT10HP 1 1 Garral Connection Associated Axes Power Hodie iris Type TXHCSITIDO 1394 VOW GERCOS inerlace 460 dive Vendor Aller finsdley Harpe sat 354i Fisse Hora ro zl Deiscigebn zi Bee P f 3 Beeeekeee nessne moie Si Ole pma pen am IMPORTANT To create any one of the 1394C SJT modul
299. ult PosHardOvertravelFault 02 BOOL Positive Hardware Overtravel Fault NegHardOvertravelFault 03 BOOL Negative Hardware Overtravel Fault FeedbackFault 04 BOOL Feedback Fault FeedbackNoiseFault 05 BOOL Feedback Noise Fault AuxFeedbackFault 06 BOOL Auxiliary Feedback Fault AuxFeedbackN oiseFault 07 BOOL Auxiliary Feedback Noise Fault PosErrorFault 08 BOOL Position Error Fault DriveFault 09 BOOL Drive Fault ServoM oduleFault DINT Bit Number Data Type Description ControlSyncFault 00 BOOL Control Sync Fault M oduleSyncFault 01 BOOL M odule Sync Fault TimerEventFault 02 BOOL Timer Event Fault M oduleHardw areFault 03 BOOL M odule Hardware Fault AttributeErrorCode INT ASA Error code returned by erred set attribute list service to the module AttributeErrorlD INT Attribute ID associated with non zero Attribute Error Code PositionCommand REAL Position Command in Position Units PositionFeedback REAL Position Feedback in Position Units AuxPositionFeedback REAL Auxiliary Position Feedback in Position Units PositionError REAL Position Error in Position Units PositionIntegratorError REAL Position Integrator Error in Position Units mSec VelocityCommand REAL Velocity Command in Position Units Sec VelocityFeedback REAL Velocity Feedback in Position Units Sec VelocityError REAL Velocity Error in Position Units Sec VelocityIntegratorError REAL Velocity Integrator Error in Position Units mSec Sec AccelerationCommand REAL Acceleration Command
300. uly2001 Associated Axes Tab Ultra3000 Drives 8 14 Ellipsis 8 14 New Axis 8 14 Node 8 14 Connection Tab 8 10 Inhibit M odule 8 12 M ajor Fault 8 13 M odule Fault 8 13 Requested Packet Interval 8 11 General Tab 8 8 Description 8 8 Electronic Keying 8 9 Name 8 8 Node 8 8 Revision 8 8 Slot 8 9 Status 8 10 Type 8 8 Vendor 8 8 M odule Info 8 14 Configured 8 16 Identification 8 15 Internal State Status 8 16 M ajor M inor Fault Status 8 16 M odule Identity 8 17 Refresh 8 17 Power Tab Ultra Drive 8 14 Bus Regulator ID 8 14 Editing Your1756 M 02AE M otion M odule Settings 3 6 Error codes C 29 Errors F 1 Execution status C 30 F Fault handling F 1 Errors F 1 M inor major faults F 1 M otion faults F 1 Faults F 1 Types 1 5 FDBK LED indicator 10 2 G General Tab AXIS VIRTUAL 6 10 Assigned M otion Group 6 10 Ellipsis button 6 11 New Group button 6 11 Output Cam Execution Targets 6 11 Publication 1756 UM 006B EN P J uly 2001 GSV instruction D 1 Reading status and configuration parameters 1 5 Immediate instruction timing E 1 L Logix5550 controller 1 1 Features 1 2 M Major faults F 1 M essage instruction timing E 2 Message status C 30 Minor faults F 1 Motion attributes D 1 Changing configuration parameters 1 5 Motion instance variables D 1 Understanding status and configuration parameters 1 5 Motion configuration instructions 9 4 Motion Apply Axis Tuning M AAT 9 4 Motion Apply Hookup Di
301. utes This appendix describes the motion attributes their data types and their access rules The Logix5550 controller stores motion status and configuration information in the AXIS and MOTION GROUP objects To directly access this information you can select the object AXIS or MOTION GROUP and select the attribute You can also use the GSV and SSV instructions to access these objects See Input Output Instructions in the Logix5550 Controller Instruction Set Reference Manual publication 1756 6 4 1 for more information about the GSV and SSV instructions To use the motion instance variables choose AXIS from the object list of the GSV and SSV instructions When an attribute is marked with an asterisk it means that the attribute is located in both the ControlLogix controller and in the motion module When you use an SSV instruction to write one of these values the controller will automatically update the copy in the module However this process is not immediate To be sure that the new value has been updated in the module use an interlock mechanism using the boolean bits in the Servo Configuration Update Status Bits of the AXIS structure For example if you perform an SSV instruction on the PositionLockTolerance the PositionLockTolStatus of the Axis tag will be set until an update to the module is successful Therefore the logic following the SSV could wait on this bit resetting before continuing in the program Variabl
302. ve Homing Configurations e Active Immediate Home e Active Bi directional Home with Switch e Active Bi directional Home with Marker e Active Bi directional Home with Switch then Marker e Active Uni directional Home with Switch e Active Uni directional Home with Marker e Active Uni directional Home with Switch then Marker e Passive Homing Configurations e Passive Immediate Home e Passive Home with Switch e Passive Home with Marker e Passive Home with Switch then Marker Homing Tab AXIS_ VIRTUAL Use this tab to configure the attributes related to homing an axis of the type AXIS VIRTUAL Only an Active Immediate Homing sequence can be performed for an axis of the type AXIS VIRTUAL When this sequence is performed the controller immediately enables the servo drive and assigns the Home Position to the current axis actual position and command position This homing sequence produces no axis motion When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Mode This read only parameter is always set to Active Position Type the desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position will be set to zero although any value within the Publication 1756 UM 006B EN P J uly 2001 6 26 Naming amp Configuring Your M otion Axis Pu
303. velocity error The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too much I Gain results in axis oscillation and servo instability In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice While the Vel I Gain if employed is typically established by the automatic servo tuning procedure in the Tune tab of this dialog box the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system in the Output tab of this dialog box Once this is done the Vel I Gain can be computed based on the current or computed value for the Vel P Gain using the following formula Vel I Gain 0 25 0 001 Sec mSec Vel P Gain 2 The t
304. vent has been armed through execution of the M AW M otion Arm W atch instruction Cleared when either a watch event occurs or a M DW M otion Disarm Watch instruction is executed WatchEvStatus BOOL Set when a watch event has occurred Cleared when either another M AW M otion Arm Watch instruction or a M DW Motion Disarm Watch instruction is executed RegEvArmStatus BOOL Set when a registration checking has been armed for registration input 1 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEvStatus BOOL Set when a registration event has occurred on registration input 1 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEv2ArmStatus BOOL Set when a registration checking has been armed for registration input 2 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs or a M DR M otion Disarm Registration instruction is executed for registration input 2 Publication 1756 UM 006B EN P J uly 2001 The Motion Control Structures C 5 Mnemonic Data Description Type RegEv2Status BOOL Setwhen a registration event has occurred on registration in
305. when you are online Change Type Click on this button to access the Change Processor Type dialog This dialog lets you change your controller to another controller within the same platform Change Controller Type Dialog Box Overview Use this dialog to change your controller to another controller within the same platform e g changing from a 1756 L1 ControlLogix 5550 Controller to a 1756 L53 A ControlLogix 5553 controller Publication 1756 UM 006B EN P J uly 2001 2 8 Getting Started Publication 1756 UM 006B EN P J uly 2001 Change Controller Type X AY Changing the controller type will change delete and or invalidate controller properties and other project data that is not valid for the new controller type From 1756 11 ControlLogi 5550 Controller To 1756 15374 ControlLogis 5553 Controller Cancel Help IMPORTANT At this time RSLogix 5000 does not support changing to a controller from within another platform e g changing from a ControlLogix controller type to a FlexLogix controller type Selecta processor to change to Choose the controller you wish to change to from the pull down menu The list of available controllers includes all controller types within the same platform as the current processor with the exception of the current processor itself Serial Port Tab The Serial Port tab allows you to view and configure the controller s serial port Getting Started 2 9 a Comtiol
306. y Feedforward Gain scales the cument Command Velocity by the Velocity Feedforward Gain and adds it as an offset to the Velocity Command Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 10096 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforw ard Acceleration Feedforward Gain scales the current Command Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing position camming and synchronization applications wh
307. yet been made due to one of the following e its parent has not yet made a connection to it e its parentis inhibited e its parentis faulted Offline You are not online Connection Tab Use this tab to define controller to module behavior On this tab you can e Select a requested packet interval e Choose to inhibit the module e Configure the controller so loss of the connection to this module causes a major fault e View module faults Publication 1756 UM 006B EN P J uly 2001 Configuring an Ultra 3000 Drive 8 11 TIP The data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module gt and the controller Requested Packet Interval Enter the requested rate of packet arrival connection update rate The connection will be scheduled to move data to or from the module at least this often or the connection will fail with the Connection Not Scheduled fault The minimum and maximum RPI values are shown parenthetically to the right of the box spin control Note These minimum and maximum values are module dependent and will differ depending on the limits of the module For instance for the 1769 MODULE this value is limited to 2 0 ms and cannot be changed For the CompactBus 1769 Virtual Backplane adapter this value must be 0 And for the 1756 DM modules valid values range from 1 0 to 750 0 ms The RPI is determined by the Owner Control
308. ypical value for the Velocity Proportional Gain is 15 mSec 2 Naming Configuring Your Motion Axis 6 45 Integrator Hold If the Integrator Hold parameter is set to e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion e Disabled all active position or velocity integrators are always enabled Set Custom Gains Click on this button to open the Custom Gain Attributes dialog Manual Tune Click on this button to access the Gains tab of the Manual Tune dialog for online editing Note The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Output Tab SERVO AXIS Use this dialog for offline configuration of e scaling values which are used to generate gains and e the servo s low pass digital output filter foran axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog Publication 1756 UM 006B EN P J uly 2001 6 46 Naming Configuring Your M otion Axis Publication 1756 UM 006B EN P J uly 2001 yr foo Properties mo ananz General ints Conerion Sero Homing Hookup Tae Dynamics Gans Quiput Linds teat AT Tag Barras Turne Tage sesing E g Enable Low pass Oupa Files
309. zard to configure your Motion Group tag as necessary Click on Finish gt gt to close the wizard Publication 1756 UM 006B EN P J uly 2001 5 4 The Motion Group Editing the Motion Group The Motion Group properties can be edited by right clicking on the Properties group name and selecting Motion Group Properties from the drop p down menu The Motion Group Properties tabbed screen displays Motion Group Properties group Axis Assignment Attribute Tag Unassigned Assigned axis moZaeaxis lt Remove Axis Assignment Tab The Axis Assignment screen is where axes are either assigned or unassigned to the Motion Group When RSLogix 5000 software is online all attributes on this dialog transition to a read only state When an attribute transitions to a read only state all pending attribute changes revert back to their offline status Unassigned Lists the axes that are not assigned to any group in the controller Assigned Lists the axes that are assigned to this motion group Add Click on this button to add axes to the motion group Publication 1756 UM 006B EN P J uly 2001 The Motion Group 5 5 Remove Click on this button to remove axes from the motion group Attribute Tab The Attribute tab is used to modify the group attributes Axis Assignment Attribute Tag Coarse Update Period a 4i ms Auto Tag Update Disabled b General Fault Type Major Fault Scan Times elapsed time

ControlLogix Motion Module Overview

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