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1398-UM014-EN-P, GML ULTRA Getting Starting User Manual

1. Allen Bradley GML Ultra Cat No 1398 5 10 Getting Started Manual Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this manual are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley office 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 in part without written permission of Allen Bradley Inc is prohibited Throughout this manual we use notes
2. 3 Make entries in the following fields Field Description Proportional Type a value in inches per minute per mil the Gain same as meters per minute per millimeter Proportional gain adjusts the bandwidth of the position loop the higher the value of the proportional gain Kp the stiffer the system response Proportional Type a value or expression in inches per Gain zone minute per mil the same as meters per minute per millimeter If proportional zone see the next field is set to zero the proportional gain value is used and the value of proportional gain zone is irrelevant Proportional gain zone is the position loop proportional gain used when the system is within the region of the commanded position defined by proportional zone Proportional Type a value in user units as defined by the Zone Transducer Count Units field Proportional zone is the region around the commanded position where the position loop proportional gain is changed to the gain set by the proportional gain zone parameter Velocity Type a value in percent Feedforward Gain The velocity feedforward gain adjusts the following error of the position loop Publication 1398 5 10 February 1997 4 20 Setting Required Definitions Field Description Integral Gain Type a value in user units Zone The position loop integral gain is used to bring the system into the desired position more quickly and increase the stiff
3. Axis Use User Variables and Flags gt 1 0 Configuration gt General Purpose 1 0 gt Operator Interface Config Fkey Set Up Watch Items Documentation All options on this menu are part of the setup procedure You can use these options later during testing and monitoring processes to make changes or to specify items to watch Begin the setup process by completing Setting Control Options Precedence of Changing Setup Parameters You can change setup parameters in a diagram block or from the Definitions menu depending on the extent of the change e Ifa parameter pertains to only the current diagram set the new or modified parameter in the diagram block e If you want to change a parameter for the default control configuration change it using the Definitions menu IMPORTANT A parameter set in the diagram block overrides those set in the Definitions menu You configure the control options for the ULTRA Plus controller from the Control Options dialog box To set control options Setting Control Options 4 3 1 From the menu bar select Definitions The Definitions menu appears 2 Select Control Options The Control Option dialog box appears Control Option Download Options Executable Script and Executable l Add Debug Information Firmware Version Ultra Plus 3 10 v Program Type Program o Defines the control options for the Ultra Plus Axis Drive Setup D
4. Add Debug Information Description To add debug information to your translated diagram 1 Identify if debug information is added to the translator diagram so that the Breakpoint Stop Auto or Trace functions can be used in the Online Manager Select the check box when you are debugging your diagram Note The program runs slower with the check box selected After you are satisfied that your diagram works correctly clear the Add Debug Information check box Download the diagram to the ULTRA Plus 6 Make an entry in the following field Field Axis Drive Data Downloads Description Identify the information to be downloaded Select the box to download the diagram and the data Clear the box to only download the diagram Publication 1398 5 10 February 1997 4 6 Setting Required Definitions 7 Make an entry in the following field Field Description Type the address of a single ULTRA Plus when it is communicating in RS 422 multi drop or daisy chained mode Multi drop Axis Select The valid address range is 0 through 63 Address 0 The ULTRA Plus does not wait to be selected before transmitting This can cause garbled communication if on a multi drop link Address 1 63 Select the address of the ULTRA Plus drive to communicate with The address is set using DIP switch SW1 on the drive 8 Select Save Your settings are stored as part of the current GML Ult
5. M Program Running 4 I At Home 5 M Home Sequence Complete 6 M In Position 7 M Error 8 l Error Output When Disabled Default DAC1 Output Value All dedicated outputs canbe disabled and used as general purpose outputs The function of these outputs when they are assigned is described below Cancel Note All dedicated outputs can be disabled and used as general purpose outputs 4 Inthe Enable Dedicated Outputs area select the check boxes next to outputs that you want to enable Field Description Program The Program Running output is ON when a Running 04 program other than an Fkey program is running otherwise Program Running is OFF At Home O5 The At Home output indicates when the system is at the home position The At Home output uses the In Position Window size but not the In Position Window Time to determine if it should turn ON Note Home position must have been defined and the system must be in Absolute mode to use the At Home output Publication 1398 5 10 February 1997 Field Home Sequence Complete 06 In Position 07 Error 08 Error Output when Disabled Defining I O Configuration 5 15 Description The Home Sequence Complete is ON when the ULTRA Plus has been homed The In Position output is ON when the feedback position has been within the In Position window of the commanded position for the time set by the window time In Position is valid
6. Creating a Variable by Editing an Existing Variable To create a new variable by editing and replacing an existing variable 1 In the dialog box for the defined variable select a variable name from the defined variable list that you want to replace A check mark appears to its left 2 Select Edit A dialog box appears that is similar to the one below The variable name you selected is in the Name field with the system VO address displayed in the G Variable Number field Publication 1398 5 10 February 1997 Deleting a Variable Inserting a Variable Defining User Variables and Flags 5 5 User G Variable G Variable Number Cancel 3 Make entries in one or both of the following fields Field Description Name Type the name for the new variable G Variable Number Type a variable number Note The range is 1 to 64 for G and V variables and F flags The range for B flags is 1 to 8 4 Select Save The edited variable with its new name or address number replaces the original variable in the variable list 5 In the dialog box of the defined variable select Done The variables in the list are entered into the diagram and the diagram window appears To delete a variable from the variable list 1 In the defined variable list select the variable name that you want to delete A check mark appears to its left 2 Select Delete The variable you selected is removed from the list 3 In the dialog box of the
7. Serial Interface Baud Rate 9600 v Port COMM v v Cancel Save Publication 1398 5 10 February 1997 3 2 Setting System Preferences Publication 1398 5 10 February 1997 3 Make entries in the following fields in the Options area Field Novice Mode A Keep Novice Mode on unless you are very experienced with GML Ultra and the associated control family Generate Comments Color Display Diagram File Backup Confirm On Download Show Page Grid Description Prompts you to set up diagram definitions when creating a diagram Displays warnings and error messages Includes the block name and the block function when translating a diagram to script Turns the color display of blocks on or off Note If you have a black and white monitor clear this check box Automatically creates a backup file when you save a GML Ultra diagram Note The file has the current diagram name with a BAK extension instead of ULT Displays a warning when you are about to change a diagram that resides in the controller Displays the current printer driver s page grid in the diagram window Only those pages that have blocks are printed 4 Make entries in the following fields in the Diagram Drawing area Field Blocks in Foreground Connections in Foreground Description Blocks are drawn on top of connecting lines Connecting lines are drawn on top of blocks Setting Preferences 3
8. February 1997 Creating a General Purpose Input by Editing an Existing Input To create a general purpose input by editing and replacing an existing general purpose input 1 3 In the Defined GP Inputs dialog box select an input name from the defined input list that you want to replace A check mark appears to its left Select Edit A dialog box appears that is similar to the one below Manual_Mode GP Input Number Cancel Make entries in the following fields Field Description Name Type the name for the new general purpose input GP Input Number Type a new input number Note The range is 1 to 16 Select Save The edited input with its new name or address number replaces the previously selected input in the Defined GP Inputs dialog box Select Done The diagram window appears Deleting a General Purpose Input To delete a general purpose input 1 In the Defined GP Inputs dialog box select the input name from the defined input list that you want to delete A check mark appears to its left Select Delete The input you selected is removed from the list In the dialog box for the defined input select Done The diagram window appears Defining General Purpose I O 5 19 Inserting a General Purpose Input To insert a general purpose input 1 3 In the Defined GP Inputs dialog box select an input from the list A check mark appears to its left When you insert an input it
9. Not running Type win at the DOS prompt Running Close all open applications ReadMe File 1 3 2 Insert your copy of GML Ultra in the diskette drive and close the drive door 3 From the menu bar select File The File menu appears 4 Select Run A command window appears 5 Type the following a setup 6 Press Enter A dialog box appears notifying you that the setup is initializing When initialization is done a system message asks you to confirm that you want GML Ultra installed on your hard drive To Do this Accept the path that Setup proposes Select Continue Installation progress appears in the status bar Choose your own directory 1 Type a new path in the Install To field Note Type carefully because you do not have an opportunity to confirm your entry 2 Select Continue Installation progress appears in the status bar 8 When setup is complete select OK The installation process places all GML Ultra files in a GML Ultra directory and creates the following Windows program icon GA gt ReadMe File In the GML Ultra directory is a ReadMe file that contains the latest information about GML Ultra You can open and read this file with a text editor such as Write Publication 1398 5 10 February 1997 1 4 Getting Started Starting GML Ultra When installation is complete double click on the GML Ultra icon The GML Ultra application window appears displaying a new active diagra
10. This chapter provides step by step procedures for defining the following Definitions menu options e Control Options e Axis Use e Operator Interface Configuration Use the procedures in the Setting Other Definitions chapter to define other optional settings from the Definitions menu Defining a Diagram s Configuration Using an Existing Diagram To define a diagram s configuration you can either copy a diagram that has the configuration you need or select from the GML Ultra menu options Procedures for both follow An easy way to configure your new diagram is to copy an existing diagram file with the configuration you need To copy an existing diagram for your new diagram 1 Open the diagram by selecting File from the menu bar The File menu appears 2 Select Open Diagram 3 Select the diagram you want to copy for the new diagram GML Ultra diagrams have a ULT extension 4 When the diagram opens select Save As from the File menu 5 In the File name field type the file name for your new diagram 6 Select Save Publication 1398 5 10 February 1997 4 2 Setting Required Definitions You can now proceed to create or edit the new diagram The original diagram file remains unaltered Selecting Diagram Specific Options Setting Control Options Publication 1398 5 10 February 1997 You can also set up a configuration by selecting the parameters from the Definition menu as shown below Control Options
11. defined variable select Done The variables remaining in the list are entered into the diagram and the diagram window appears You can change the sequence of the variables on the list To insert a variable in the variable list 1 In the defined variable list select the variable where you want to insert the new variable Publication 1398 5 10 February 1997 5 6 Setting Optional Definitions Defined User G Variables New Edit Delete Insert User_G_Variable w User_G_Variable_3 User_G_Variable_4 2 Select Insert A dialog box appears that is similar to the one below User G Variable G Variable Number Cancel 3 Make entries in the following fields Field Description Name Type the name for the new variable G Variable Number Type a variable number Note The range is 1 to 64 for G and V variables and F flags The range for B flags is 1 to 8 Publication 1398 5 10 February 1997 Defining I O Configuration 5 7 4 Select Save The new variable appears on the variable list The inserted variable is assigned the number of the next available variable with the name you just selected Defined User G Variables Edit Delete Insert User_G_Yariable User_G_Yariable_1 User_G_Variable_2 User _G_Variable_3 User_G_Variable_4 5 In the dialog box of the defined variable select Done The variables are entered into the diagram and the diagram window appears Defi
12. during motion and while stopped but only if the drive is enabled The Error output indicates a system error In addition to errors you can set this output to turn ON when the drive is disabled by selecting the Error Output When Disabled check box This output turns OFF when the error is cleared by e Disabling and enabling the drive e Issuing a reset e Cycling power OFF and ON e Inthe case of a travel limit by jogging OFF the limit switch If the fault condition remains the Error output turns ON again Selects whether the Error Output turns on when the ULTRA Plus is disabled The ULTRA Plus can disable due to e The Enable input e A FEEDBACK OFF block e A fault detected in the system The default setting is disabled Publication 1398 5 10 February 1997 5 16 Setting Optional Definitions Field Description Default DAC1 The default value for the 12 bit Digital to Output Value Analog Converter DAC1 output P3 6 in volts This is the value the DAC1 output is set to on power up and when a program is not running The range is 10 volts with about 5 mV resolution The default is 0 volts 5 Select Save The dialog box closes the selections are saved and the diagram window appears Defining General Purpose I O Any digital input 1 through 16 that is not assigned a dedicated user defined function can be used as a general purpose output Defining a General Purpose Input To define a general purpose
13. gains with care Excessive settings on any gain can result in motor instability To configure the Velocity Loop Gains option 1 From the Configure field select Velocity Loop Gains Axis Name Use Transducer Polarity Filter Latched Position SERVO Configure Velocity Loop Gains 300 Filter Value full servo Position Units Defines axis as disabled used for gearing input only or configured as a Also defines the Axis Configuration see the control s set up manual for more information Proportional Gain 300000 Integral Gain 30 0000 0 0000 Acceleration Feedforward Gain 2 Make entries in the following fields Field Filter Description Select one of the following Used Enable the low pass filter on the output of the velocity regulator Not Used Disable the low pass filter on the output of the velocity regulator Publication 1398 5 10 February 1997 4 18 Setting Required Definitions Field Filter Value Proportional Gain Integral Gain Acceleration Feedforward Gain Description If you selected Used in the Filter field type the bandwidth in hertz Hz of the low pass filter on the output of the velocity regulator The maximum value is 300 Hz Reducing the filter value reduces noise from high frequency torque pulsations This field is displayed only when the Used parameter is selected in the Filter field Type a value to increase the Pro
14. window appears Watch Items are the data that is available for real time monitoring by way of the Online Manager Watch Option You can identify watch items during setup or later when you go online to test your diagram or monitor your program as it runs Publication 1398 5 10 February 1997 5 24 Setting Optional Definitions Publication 1398 5 10 February 1997 To define the items you want to monitor 1 From the menu bar select Definitions The Definitions menu appears Select Watch Items A Watch Items appears that is similar to the one below Watch Items Defined Items Items to Watch Make_Up i 4 9 Knife_Down Cut_Counts 4 71 Cut Running_Count Insert Start_Batch Manual_Cut Remove In_Auto Knife_Down Manual_Mode Cut Test 1 Defines the data items which are a 5 available for realtime monitoring via the Axis Online Manager Watch Option Data may canen Note The items in the Defined Items list are the user defined and system defined items for this program Using the table below go to the correct section for information showing you how to add edit delete or insert an item To Go to Add one item Adding One Item to the Items to Watch List Adding Multiple Items to Watch Add more than one item Delete an output Deleting an Output Inserting an Output Insert an output Adding One Item to the Items to Watch List To add one item to the list F
15. 1 to 8 4 Select Save The edited output with its new name or address number replaces the previously selected output in the Defined GP Outputs dialog box 5 In the Defined General Purpose Outputs dialog box select Done The diagram window appears Deleting a General Purpose Output To delete a general purpose output 1 In the Defined GP Outputs dialog box select the output name from the defined output list that you want to delete A check mark appears to its left 2 Select Delete The output you selected is removed from the list 3 In the dialog box for the defined output select Done The diagram window appears Defining Watch Items Defining Watch Items 5 23 Inserting a General Purpose Output To insert a general purpose output 1 3 In the Defined GP Outputs dialog box select an output from the list A check mark appears to its left When you insert an output it is placed in front of this output Select Insert The General Purpose Output dialog box appears Name GP Output Number Make entries in the following fields Field Description Name Type the name for the new general purpose output G Output Number Type a new output number Note The range is 1 to 8 Select Save The inserted output is assigned the number of the next available output with the name you just selected The Defined GP Outputs dialog box appears with the new inserted output displayed Select Done The diagram
16. 3 Make entries in the following fields in the Diagram Grid area Field Description Snap to Vertical The diagram snaps to the corresponding vertical grid to keep the blocks aligned Snap to Horizontal The diagram snaps to the corresponding horizontal grid to keep the blocks aligned Make entries in the following fields in the Serial Interface area Field Description Baud Rate Select the baud rate at which your system communicates with the ULTRA Plus Default baud rate is 9600 Port Select the appropriate port your system uses for serial communication with the ULTRA Plus Default port is COMM1 Select one of the following to save the settings Option Description Save Save the settings for the current diagram and as the default for future diagrams The GML Ultra window appears OK Save the settings for the current diagram only The GML Ultra window appears Cancel To cancel any changes and close the dialog box Before starting a new diagram you need to set up control information Do this by completing the procedures in the Setting Required Definitions chapter Publication 1398 5 10 February 1997 3 4 Setting System Preferences Publication 1398 5 10 February 1997 Chapter 4 Setting Required Definitions Before you begin a new diagram you need to define several control options GML Ultra uses this information to customize the menu options based on the controller you are using
17. Block descriptions e The block s dialog box e The Diagram Block Library Definition descriptions of definitions you are configuring Rockwell Automation Support Local Product Support How to get the help Select Help from the menu bar In a diagram double click on a block to open its dialog box In a diagram click on the Library Browser block to open the Diagram Block Library From the Definitions menu select an option Rockwell Automation offers support services worldwide Contact your local Allen Bradley representative for Sales and order support Product technical training Warranty support Support service agreements Publication 1398 5 10 February 1997 P 4 Preface Technical Product Assistance If you need technical assistance first review the information in the Troubleshooting chapter of the GML Ultra User Manual If you need more information call your local Allen Bradley representative For the quickest possible response we recommend that you have the catalog numbers of your products available when you call Refer to Where to Find Help for the publication numbers related to this product The Rockwell Automation Technical Support number is 216 646 6800 Common Techniques Used in this Manual Publication 1398 5 10 February 1997 The following conventions are used throughout this manual e Bulleted lists provide information not procedural steps e Numbered lists provide sequentia
18. In the value entry box to the right of the Multiple Items selection type the number of consecutive defined items you want to add to the Items to Watch list The maximum you can enter is 99 In the Items to Watch dialog box select the location where you want the defined items inserted In the Defined Items list select the first item you want to insert A check mark appears in front of the item Select Insert The items from the Defined Items list box are inserted in the Items to Watch list In the Axis field select the axis you want to watch Select Save The dialog box closes The items to watch are defined and the diagram window appears Defining Watch Items 5 27 Deleting One Item from the Watch List To delete one item from the list 1 Select an item that you want to delete from the Items to Watch list A check mark appears in front of the item Select Remove The item you selected is deleted from the list Select Save The dialog box closes the items to watch are defined and the diagram window appears Deleting Multiple Items from the Watch List To delete multiple consecutive items from the list 1 In the drop down list box below the Defined Items list box select Multiple Items A value entry box appears to the right of the Multiple Items selection In the box to the right of the Multiple Items selection type the number of consecutive defined items that you want to delete from the Items to Watch li
19. Plus in amps If the average current to the motor exceeds this value the ULTRA Plus disables unless Disable On Fault is set to Partial and indicate an excessive average current fault This value can be set as high as 150 of the rated current of the motor or the ULTRA Plus continuous rate current whichever is lower Configuring Axis Use 4 13 Field Description Disable on Fault Select one of the following to identify which fault causes the ULTRA Plus to disable All When any fault is detected Partial All faults except the lavg Average Current Trip Point fault IMPORTANT Use caution when setting the value to Partial because it defeats the fault safety protection of the ULTRA Plus For example if Disable On Fault is set to Partial and the ULTRA Plus exceeds the Avg Current Trip Point value for an extended period of time the amplifier could be damaged because it does not disable due to the fault This feature is for use on machines where disabling the amplifier unexpectedly could result in damage to expensive tooling or workpieces The error output acts as an alarm so the machine can be put in a safe state before disabling the ULTRA Plus To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window Select Done The GML Ultra diagram window appears Publication 1398 5 10 February 1997 4 14 Setting Required Definitions Configu
20. Time Remove button If contiguous data is desired choose Multiple Items from the Cancel removed from the Watch List by using the vv 5 Inthe Axis field select the axis you want to watch 6 Select Save The dialog box closes The items to watch are defined and the diagram window appears Publication 1398 5 10 February 1997 5 26 Setting Optional Definitions Publication 1398 5 10 February 1997 Inserting One Item in the Items to Watch List To insert one item in the list 1 From the drop down list box below the Defined Items list box select Single Item In the Items to Watch dialog box select an item from the list A check mark appears to its left When you insert an item it is placed in front of this item In the Defined Items list select the item you want to insert A check mark appears in front of the item Select Insert The item from the Defined Items list is inserted in front of the item previously selected in the Items to Watch list In the Axis field select the axis you want to watch Select Save The dialog box closes The items to watch are defined and the diagram window appears Inserting Multiple Items in the Items to Watch List To monitor multiple items listed contiguously in the Defined Items list 1 From the drop down list box below the Defined Items list box select Multiple Items A value entry box appears to the right of the Multiple Items selection
21. ata may be optionally Downloaded with the M Axis Drive Data Downloads Diagram This includes Axis Specific Multi drop Axis Select o Gains Dynamics IJ Cancel 3 Make entries in the following fields Field Firmware version Program Type Program Description Select the firmware version of your ULTRA Plus To determine the firmware version select Online from the Diagram menu The installed firmware version appears on the Online Manager window Select the type of program that your diagram becomes Main Numbered 0 31 in the Program Directory Auto Stored in program 0 of the System Directory Runs automatically when the ULTRA Plus is powered up Error Stored in location 27 of the System Directory It runs when the ULTRA Plus detects an error System Numbered 1 24 in the System Directory Define functions for the operator terminal F keys Type the program number that determines where the diagram is stored in the ULTRA Plus Publication 1398 5 10 February 1997 4 4 Setting Required Definitions 4 Inthe Download Options area select the type of information to be downloaded Field Description Executable Select this to download to the ULTRA Plus diagram without the script Script and Select this to download to the ULTRA Plus Executable diagram and the script Publication 1398 5 10 February 1997 Setting Control Options 4 5 5 Make an entry in the following field Field
22. d Allen Bradley range of automation products worldwide They include logic processors power and motion control devices operator interfaces sensors and a variety of software Rockwell is one of the world s leading technology companies Worldwide representation Argentina Australia Austria Bahrain Belgium Brazil Bulgaria Canada Chile China PRC Colombia Costa Rica Croatia e Cyprus Czech Republic e Denmark Ecuador Egypt El Salvador Finland France Germany Greece Guatemala Honduras Hong Kong Hungary Iceland India Indonesia Ireland Israel Italy Jamaica Japan Jordan Korea Kuwait e Lebanon Malaysia Mexico Netherlands New Zealand Norway Pakistan Peru Philippines Poland Portugal Puerto Rico Qatar Romania Russia CIS Saudi Arabia Singapore Slovakia Slovenia South Africa Republic Spain Sweden Switzerland Taiwan Thailand Turkey United Arab Emirates United Kingdom United States Uruguay Venezuela Yugoslavia Allen Bradley Headquarters 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Publication 1398 5 10 February 1997 P N 74102 244 01 Copyright 1997 Rockwell international Corporation Printed in USA
23. dures for setting parameters that are specific to the diagram you are creating or changing Provides alphabetical listing and page locations of manual topics GML Ultra provides two types of help e A set of user manuals e Online help Using the Manual Set This manual is part of a documentation set for GML Ultra e GML Ultra Getting Started publication 1398 5 10 e GML Ultra User Manual publication 1398 5 11 e GML Ultra Reference Manual publication 1398 5 12 Use this manual GML Ultra Getting Started GML Ultra User Manual GML Ultra Reference Manual Publication 1398 5 10 February 1997 To find information on this topic e Installing the software e Starting the software e Setting up the system e Connecting the hardware e Saving a diagram and closing GML Ultra e Basic features and functions e Screen menu and toolbar functions e The process of defining the values that the controller uses to control motion and I O e The mechanics of working with blocks modules and diagrams e Basic block definitions e Setup details e Expression Builder details e Block function details Using Online Help Rockwell Automation Support P 3 You have access several types of online help Type of online help GML Help e Detailed descriptions of all menus and screens e Guidelines for creating a diagram e Error messages e Troubleshooting information e Howto start up the ULTRA Plus
24. e that could be in progress The jog reverse input causes motion in the reverse direction position decreasing Clear the box The jog position command is ramped down from its present velocity to zero using the assigned deceleration rate Pause 19 Select the box The pause input function is enabled Clear the box The pause input function is disabled Emergency return Select the box If a program is running it is aborted Once all motion has 110 stopped system program 26 emergency return is executed Clear the box The edge is ignored by the controller Publication 1398 5 10 February 1997 5 10 Setting Optional Definitions 5 Inthe Selectable Inputs area make entries in the following fields Field Define Home Input Hard Reset Input Kill Motion Input Publication 1398 5 10 February 1997 Description Type one of the following e A value from 1 through 16 to assign an input to a function Note If an input value is in use for another dedicated function do not choose that input for this input e A Oto disable a function Define Home Input selects an input that is used to define the home position for the system Type one of the following e A value from 1 through 16 to assign an input to a function Note If an input value is in use for another dedicated function do not choose that input for this input e A Oto disable a function Hard Reset Input assigns an input to the hardware re
25. ect this option the Forward Limit Reverse Limit and Ereturn Position fields appear You must type values in these fields Not Used Disable software overtravel limits and the emergency return function This setting implies incremental mode Type a value in user units that sets the forward software overtravel limit If travel exceeds this value in the forward direction a fault occurs and the ULTRA Plus is disabled This field appears only when Used is selected in the Absolute Mode field Type a value in user units that sets the reverse software limit If travel exceeds this value in the reverse direction a fault occurs and the ULTRA Plus is disabled This field appears only when Used is selected in the Absolute Mode field Type a value in user units that specifies the position the system moves to when the Emergency Return input is activated This field appears only when Used is selected in the Absolute Mode field Configuring Axis Use 4 17 To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window Configuring the Velocity Loop Gains Option Select Done The GML Ultra diagram window appears The ULTRA Plus uses gains to adjust both the velocity and position loop performance Use this dialog box to type values for both options The Velocity Loop Gains option must be set before setting the Position Loop Gains option A ATTENTION Change
26. eeeeteeeeeettteeeeeees 4 2 Setting Control Options ceccceeeeeeeeeeeeeeceeeeeeeeeeeeeccaaeeeeeeeeeeeeeaaaes 4 2 Configuring AXIS SEn aeea Aae 4 6 Configuring the Servo AXiS cccceeeeeeeeeeeeeeeeneeeeeeeeeeeeetaaeeeeeees 4 6 Using the Configure field ccccececcecceeeeeeeeeeeeeeecseeeeeeeeeeeeetaaaes 4 8 Configuring the Position Units Option eeeeeeeeeeeeeeeteeeeeees 4 9 Configuring the Positioning Option cccceeeeeeeeeeeeeeeseteeeeeees 4 10 Public ation 1398 5 10 February 1997 ii Table of Contents Setting Optional Definitions Public ation 1398 5 10 February 1997 Configuring the Servo Option sssesssssssssssiesssssssrrrrrrsssssrrrrrnesssses 4 12 Configuring the Homing Option ccccecceecceeeeeeeeeeeeeestneeeeeees 4 14 Configuring the Overtravel Option cccccccceeeeeeeeeeeeeestteeeeeees 4 15 Configuring the Velocity Loop Gains Option eeeeceeeeeeees 4 17 Configuring the Position Loop Gains Option ecceeeeeeeees 4 18 Configuring the Dynamics Option cccceeeeeeeeeeeeeeeeeeetteeeeees 4 20 Configuring the Jogging Option cccceeeceeccseeeeeeeeeeeeettneeeeeees 4 23 Setting the Feedback Configuration Options 4 24 Configuring a Master AXiS cccccceeeeeeeeeeeeeeecceeeeeeeeeeteeetaaeeeeeees 4 25 Configuring Your Operator Interface c ccccceeeeeeeeeeeteeeeeeteeteeeeaaes 4 27 Chapte
27. elect programs I16 is always the most significant and 12 is always the least significant You can select program numbers 0 to 5 When GML Ultra receives a Start input the program number to be run is determined by these input lines You can use up to five inputs to select programs 116 is always the most significant and 12 is always the least significant You can select program numbers 0 to 31 This input is also used as interrupt input INT2 If the interrupt line is also used in a program make sure to set the input to the proper state after selecting the program to be run The ULTRA Plus can handle up to 32 programs 10 Make an entry in the Default Run Program field Field Default Run Program Description Type a number to indicate the program you want to use as the default program The range of valid numbers is from 0 through 31 The Select Program from Inputs field must be set to Not Used to type a default run program number 11 Select Save The dialog box closes the selections are saved and the diagram window appears Publication 1398 5 10 February 1997 5 14 Setting Optional Definitions Configuring User Defined Output To configure an output 1 From the menu bar select Definitions The Definitions menu appears 2 Select Configure I O A submenu appears 3 Select Output The Configure Output dialog box appears Configure Output Enable Dedicated Outputs
28. es the term indicates your choice to GML Ultra Publication 1398 5 10 February 1997 P 6 Preface Publication 1398 5 10 February 1997 System Requirements Prerequisite Knowledge Chapter 1 Getting Started Before you draw your first diagram you must perform the procedures in this chapter The following information gets you started e System requirements e Prerequisite knowledge e Backing up the GML Ultra diskette e Installing GML Ultra e Starting GML Ultra e Connecting your controller to your computer GML Ultra a member of the GML family is a Microsoft Windows based interface to the ULTRA Plus series of controllers GML Ultra is designed to run on Windows 3 1 but can also run on Windows 95 and Windows NT To ensure that the program works as it should we recommend at minimum the following hardware e Personal computer PC with 25 MHz 486 microprocessor e 4 Mbyte RAM 8 Mbyte or greater recommended e Microsoft Windows 3 1 operating system e MS DOS 5 0 operating system 6 0 recommended e EGA monitor VGA or Super VGA recommended e One diskette drive 3 5 inch high density 1 44 Mbyte e Windows compatible mouse and mouse driver e Two serial ports COM1 and COM2 To use GML Ultra you should be familiar with the operation of Microsoft Windows 3 1 and your motion controller For more information refer to your Microsoft Windows User s Guide MS DOS Operating System Guide and the installatio
29. es axis as disabled used for gearing input only or configured as a full servo Also defines the Axis Configuration see the control s set up manual for more information Position Units Make entries in the following fields Field Description Velocity Type a value in user units per timebase that represents the default velocity used for jog commands Acceleration Type a value in user units per second per second that represents the default acceleration used for jog commands Deceleration Type a value in user units per second per second that represents the default deceleration used for jog commands To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window Select Done The GML Ultra diagram window appears Publication 1398 5 10 February 1997 4 24 Setting Required Definitions Setting the Feedback Configuration Options Publication 1398 5 10 February 1997 Use the Feedback Configuration options to do the following e Set up the source of the feedback signals e Set up the gear input e Set up the P4 Connector as output Encoder 1 signals input Encoder 2 signals or an indexer Step Direction input You can store up to four different configurations in the ULTRA Plus These are Feedback Configurations 1 2 3 and 4 On power up the ULTRA Plus defaults to Configuration Menu 1 Changing a Feedback Configuration You can cha
30. es the Axis Configuration Feedback Config 3 see the control s set up manual for Feedback Config 4 more information Position Units Publication 1398 5 10 February 1997 Configuring Axis Use 4 9 Use the procedures on the following pages to select and modify these options to suit your system Configuring the Position Units Option To configure the Position Units option 1 Axis Name SERVO Use From the Configure field select Position Units Position Units Y s000 Configure Transducer Counts Unit Transducer Polarity Latched Position Defines axis as disabled used for gearing input only or configured as a full servo Also defines the Axis Configuration see the control s set up manual for more information Position Units 2 Make an entry in the Transducer Count Units field Field Transducer Counts Unit Description Type the number of feedback counts for one user unit The feedback counts can be generated from either Transducer 1 or Transducer 2 as specified under Feedback Configuration Refer to Setting the Feedback Configuration Options The encoder counts per revolution is four times the number of encoder lines For example if a particular machine has an encoder with 2 000 lines and a leadscrew with 5 turns per inch the proper scale factor for user units of inches is 4 X 2 000 X 5 40 000 counts per user unit For user units of e
31. etting is Enabling e Disabling Home To Encoder Index forces the ULTRA Plus to use the input encoder index defined by Define Home to indicate home In this case an input must be defined for Define Home or else the ULTRA Plus does not home correctly 3 To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window 4 Select Done The GML Ultra diagram window appears Configuring the Overtravel Option To configure the Overtravel option 1 From the Configure field select Overtravel Axis Name geRvo Configure Absolute Mode Use Transducer Polarity Forward Limit 1000 0000 Reverse Limit 1000 0000 Latched Position Ereturn Position TT Defines axis as disabled used for gearing input only or configured as a full servo Also defines the Axis Configuration see the control s set up manual for more information Position Units Publication 1398 5 10 February 1997 4 16 Setting Required Definitions Publication 1398 5 10 February 1997 2 Make entries in the following fields Field Absolute Mode Forward Limit Reverse Limit Ereturn Position Description Select one of the following to indicate which moves are linked to the Home position Used Enable software overtravel limits and the emergency return function Ereturn Position Absolute moves do not execute until home position is established If you sel
32. f these dedicated inputs when they Cancel In the Enable Dedicated Inputs area select the inputs you want to assign A check mark appears when the input is selected The table below describes the inputs This is the result If a program is running and the forward limit is activated the program is aborted Once all motion has stopped system program 27 Error program is executed Use travel limit switches to help avoid safety hazards or equipment damage IMPORTANT An open travel limit input indicates a fault condition The edge is ignored The current flows through this switch and the switch has no effect If a program is running and the reverse limit is activated the program is aborted Once all motion has stopped system program 27 Error program is executed Use travel limit switches to help avoid safety hazards or equipment damage IMPORTANT An open travel limit input indicates a fault condition Clear the box The edge is ignored Publication 1398 5 10 February 1997 Defining I O Configuration 5 9 Input If you do this This is the result to the check box Enable 13 Select the box Enables the ULTRA Plus default Clear the box Enables the ULTRA Plus on power up and can be enabled and disabled only by the FEEDBACK block in a diagram Program Start 14 Select the box The program start input can be used to start a user program Select a program by entering a default r
33. fined by the following error time then a fault occurs and the ULTRA Plus is disabled This allows peak following error values greater than the limit to exist without generating a fault condition Type a value in user units following error limit is the maximum position error that is used to generate an excessive following error fault See the explanation above Field In Position Window Time In Position Window Timebase In Position Mode Configuring Axis Use 4 11 Description Type a value in seconds In Position Window and In Position Window Time set the following error and time used to determine of the axis is in position Following error equals the difference between commanded position and actual position The three parameters associated with In Position are window time and mode In Position Mode determines if the axis can be considered in position while moving or when motion is not commanded If the Following Error is less than the In Position Window for the amount of the time defined by the In Position Window Time the axis is in position Type a value in user units In Position Window is the maximum position error that is used to determine if the ULTRA Plus is in position Select one of the following Seconds To set velocity units to user units per second Minutes To set velocity units to user units per minute Timebase is the velocity time unit Select one of the following Relative T
34. he In Position output is activated any time the system is within Following Error Limit Size of commanded position even if it is in motion Absolute The In Position output is activated only when the system is within Following Error Limit Size of commanded position and not in motion The default setting is Absolute In Position Mode determines the operation of the In Position output 07 and the In_Position_Flag System flag Publication 1398 5 10 February 1997 4 12 Setting Required Definitions Configuring the Servo Option Publication 1398 5 10 February 1997 To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window Select Done The GML Ultra diagram window appears To configure the Servo option From the Configure list box select Servo Axis Name Configure Servo 7 Peak Current 0 Use Limit saa Transducer Polarity ee 3 5000 Latched Position Disable On Fault Defines axis as disabled used for gearing input only or configured as a full servo Also defines the Axis Configuration see the control s set up manual for more information Pasition Units 2 Make entries in the following fields Field Description Peak Current Limit Type the maximum current limit in amps The commanded current to the motor does not exceed this value Avg Current Trip Type the average current trip point for Point the ULTRA
35. his preface covers the following topics e Who should use this manual e The purpose of this manual e The contents of this manual e How to find help e Technical support e Common techniques used in this manual Who Should Use this Manual Purpose of this Manual Contents of this Manual Use this manual if you are responsible for installing and setting up GML Ultra and for connecting your PC to the Ultra Plus GML Ultra is a member of the GML family You will also find procedures for preparing to draw your first diagram This manual provides information and step by step instructions for preparing GML Ultra for drawing diagrams 1 Getting Started Chapter 2 Setup Overview 3 Setting System Preferences 4 Setting Required Definitions Contents Describes the audience purpose background and scope of this manual Provides the requirements for running GML Ultra and the procedures for installing and starting it Provides an overview of the setup process including a one page setup quick reference Provides step by step procedures for setting parameters that customize the GML Ultra menu options for your system Provides step by step procedures for customizing GML Ultra menu options based on your controller axis and operator interface Publication 1398 5 10 February 1997 Preface Chapter 5 Setting Optional Definitions Where to Find Help Contents Provides step by step proce
36. ickly as the master when changing velocity If you select Used for this field you need to complete the Slew Value field Not Used No limit set on the change rate of the command generated by the ULTRA Plus Slew enables the slew rate limit for the gear input Type the Slew value in user units per second per second If you selected Not Used in the Slew field this field does not appear Type a value in user units per timebase for the system If this speed is exceeded the ULTRA Plus disables and indicates that a fault has occurred Type a value in velocity units per volt This is used for the Command_Velocity and Feedback_Command variables for the Monitor Output Type a value to average the display update time for the Filtered_Feedback_Velocity variable The range is 0 to 32 767 A value of 32 767 does not provide filtering quickest change of the variable while a value of 0 provides maximum filtering slowest change Configuring the Jogging Option Configuring Axis Use 4 23 To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window Select Done The GML Ultra diagram window appears To configure the Jogging option 1 2 4 From the Configure field select Jogging Axis Name SERVO Configure Joggin v Velocity 50 0000 Use Transducer Polarity Acceleration 20 0000 Deceleration 200 0000 Latched Position Defin
37. input 1 From the menu bar select Definitions The Definitions menu appears 2 Select General Purpose I O A submenu appears 3 Select Inputs The Defined GP Inputs dialog box appears Defined GP Inputs News e pore eea 4 Using the table below go to the correct section for information showing you how to add edit delete or insert a general purpose input Publication 1398 5 10 February 1997 Defining General Purpose O 5 17 To Go to Add an input Creating a General Purpose Input Creating an Input by Editing an Existing Input Edit an existing input Inserting a General Purpose Input Insert an input Deleting an General Purpose Input Delete an input Creating a General Purpose Input To create a new general purpose input and add it to the list of general purpose inputs 1 In the Defined GP Inputs dialog box select New The General Purpose Input dialog box appears General Purpose Input GP Input Number Cancel 2 Make entries in one of the following fields Field Description Name Type the name for the new general purpose input GP Input Number Type a new input number Note The range is 1 to 16 3 Select Save The new input is added at the end of the input list in the Defined GP Inputs dialog box 4 Select Done The diagram window appears Publication 1398 5 10 February 1997 5 18 Setting Optional Definitions Publication 1398 5 10
38. ions menu select Definitions 2 Select Fkey Setup A dialog box appears that is similar to the one below Fkey Set Up Mode 1 Fkey Assignments F1 referred to as a mode To assign a preprogrammed function to on ofthe F2 2 function keys enter E the function number in e F3 the edit box Enter the text label F4 for each function key inthe Fkey Tetbox Setting Up Function Keys 5 29 3 Make entries in the following fields Field Mode F1 F4 Fkey Text Description Select the number of the mode that you want to define Type the function number 1 24 or 0 for none for each function key you want to define in the Fkey Assignments fields of the Fkey Assignments area This assigns a preprogrammed function to one of the function keys The Fkey programs are a subset of the programs programs 1 24 in the System Directory Main Programs are in the Program Directory Some program numbers are blank when the ULTRA Plus is shipped You can assign the blank program numbers to a function key This allows function key assignments to be made and the program created later Type the text label for each function key p to five characters per key in the Fkey Text box The text labels appear above the function keys on the operator terminal 4 After entering the function numbers and text for that mode select another mode using the Mode field 5 Repeat steps 3 and 4 f
39. is placed in front of this input Select Insert The General Purpose Input dialog box appears General Purpose Input GP Input Number Cancel Make entries in the following fields Field Description Name Type the name for the new general purpose input GP Input Number Type a new input number Note the range is 1 to 16 Select Save The inserted input is assigned the number of the next available input with the name you just selected The Defined GP Inputs dialog box appears with the new inserted input Select Done The diagram window appears Publication 1398 5 10 February 1997 5 20 Setting Optional Definitions Defining a General Purpose Output To define a general purpose output 1 From the menu bar select Definitions The Definitions menu appears 2 Select General Purpose I O A submenu appears 3 Select Outputs The Defined GP Outputs dialog box appears Defined GP Outputs New Edit Deew mesen Cut 4 Using the table below go to the correct section for information showing you how to add edit delete or insert a general purpose output To Add an output Edit an existing output Delete an output Insert an output Publication 1398 5 10 February 1997 Go to Creating a General Purpose Output Creating an Output by Editing an Existing Output Deleting a General Purpose Output Inserting an General Purpose Output Defining General P
40. l using the Print to Display code block 4 Select Save The dialog box closes the parameters are set and the diagram editor window appears 5 To save your selections select Save The Operator Interface Configuration dialog box closes and the GML Ultra diagram window becomes the active window The configuration of required options is complete Configure the options in the Setting Optional Definitions chapter as you need them for each diagram Chapter 5 Setting Optional Definitions This chapter describes the following Definitions menu options and features that you define e User variables and flags e User defined inputs and outputs e General purpose input and output e Watch items e Function keys e Documentation Defining User Variables and Flags A variable is memory allocated to store a number integer GML Ultra uses system and user variables e System variables have predefined meanings and are determined in the program setup These settings become the system default values You can change these values in the diagram but when the program ends the value returns to the default value e User variables are general purpose variables that can be used in your program You can set or modify these values during run time e You can test and or set variables in your program A variable can be tested for greater than gt less than lt or equal conditions A flag is also a variable but is limited to a binary
41. l steps e Words that you type or select and keys that you press appear in bold e Field names and references appear in italics e Warnings appear with the following symbol A ATTENTION This warning identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss This symbol indicates a situation that requires immediate attention for personnel safety or for preventing harm to machinery e IMPORTANT Identifies information that is critical for successful application and understanding of the product e The term select means that you use your mouse cursor to point to the value then click and release the left mouse button to mark your choice Depending on the field you can select one or more options for a field The options appear in various formats e Sometimes you must browse through a list to find the value you want Clicking an option in the list highlights your selection e Sometimes you can select several values in one area A check in a box M is used when you can choose more than one option e Sometimes only one value is allowed A radio button is used when you can choose only one option e When you select a block in your diagram the block is highlighted You can now Common Techniques Used in this Manual P 5 e Move the block by clicking and dragging rather than clicking and releasing e Open the dialog box by double clicking In all cas
42. lations and operator interface Define an input or output for use with a system function Any digital input 1 16 or output 1 8 that is not assigned a dedicated user defined function can be used as a general purpose input or output The data available for real time monitoring by way of the Online Manager Watch option You can program function keys for the Operator Terminal that perform predefined functions Use this feature as a notepad to document the program make notes to yourself and others and keep track of changes to the program Refer to the Setting Optional Definitions chapter for step by step instructions for performing this setup Setup Quick Reference Setup Quick Reference 2 3 The table below provides a snapshot view of the setup process At this time Before you build System Setup the first diagram Before you build Required any new control setup diagram including the first one after software installation As needed Optional control setup Purpose To define required information about your computer and the system interface To define required control information for a new diagram Control Options Axes use Operator Interface Configuration To define optional control information e User variable flags I O configuration General purpose I O Watch item Function keys Documentation From the main menu From the main menu of GML Ultra do the followi
43. m window named New Diagram You can save it with a new name Connecting Your PC to Your Controller Publication 1398 5 10 February 1997 When you are developing your GML Ultra diagram your computer does not need to communicate directly with an ULTRA Plus However when you are using the Online Manager for controller setup and debugging the motion controller and PC must be connected An RS 232C serial link using a standard RS 232C cable allows communications between your PC and an ULTRA Plus RS 232C cables are available at computer stores or from Allen Bradley To connect an ULTRA Plus to your PC 1 Turn off both the PC and the ULTRA Plus 2 Connect the PC s COM1 COM2 COM3 or COM4 serial port depending on the Preferences setting in GML Ultra to Serial Port B on the front panel of the ULTRA Plus Note You can use COM1 COM2 COM3 or COM4 depending on the Preferences setting in GML Ultra Chapter 2 Setup Overview This chapter includes a summary of the complete setup process Before you begin this chapter make sure the procedures in the Getting Started chapter are complete Understanding the Setup Process Before you start to diagram you need to give GML Ultra information about your system and your controller GML Ultra setup includes three phases At this time Set up Before you start the first diagram System preferences Before each new diagram including Required control options the first A
44. n and setup manual for the motion controller you are using Publication 1398 5 10 February 1997 1 2 Getting Started Making a Backup Copy of GML Ultra Installing GML Ultra Publication 1398 5 10 February 1997 We recommend that you make a backup copy of the GML Ultra diskette before you install the software A ATTENTION It is a violation of the Federal Copyright Law to copy GML Ultra except for backup purposes to guard against accidental loss or damage No part of the software contained on your diskette can be reproduced transmitted or transferred without prior written permission of the Allen Bradley Company To make a backup 1 Insert the GML Ultra diskette into drive A 2 Type the following at the DOS command line diskcopy a a You are prompted when to insert the SOURCE diskette and when to insert your blank diskette TARGET diskette DOS messages prompt you through the copy process As an alternative copy the disk to your hard drive and then from the hard drive to another floppy disk 3 Remove the duplicate diskette and label it the same as the original GML Ultra diskette 4 Put the original diskette in a safe dry place and use it only if the copy is damaged or destroyed GML Ultra is a self installing executable file on one 3 5 inch high density 1 4 MB diskette You need to install it on your hard disk and run it using Windows 3 1 To install GML Ultra on your PC 1 If Windows is Do this
45. ncoder counts set Transducer Counts Unit to 1 To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window Select Done The GML Ultra diagram window appears Publication 1398 5 10 February 1997 4 10 Setting Required Definitions Configuring the Positioning Option To configure the Positioning option 1 From the Configure field select Positioning full servo more information Position Units Axis Name Configure Positioning 7 Following Error Use Time Transducer Polarity enoeng Error 10000 In Position Window Time Latched Position In Position Tea Defines axis as disabled used for Window gearing input only or configured as a Timebase Also defines the Axis Configuration In Position Mode Absolute see the control s set up manual for Absolute 2 Make entries in the following fields Field Following Error Time Following Error Limit Publication 1398 5 10 February 1997 Description Type a value in seconds The following information applies to the Following Error Time field and the Following Error Limit field that follows Following Error Time and Following Error Limit set the maximum allowable following error and time for fault recognition Following error equals the difference between commanded position and actual position If the following error exceeds the limit for the amount of time de
46. ness of the positioner Integral Zone Type a value or expression in user units as defined by the Transducer Counts Unit field The Integral Zone field determines the region around the commanded position where the integral gain zone is active 4 To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window 5 Select Done The GML Ultra diagram window appears Configuring the Dynamics Option To configure the Dynamics option 1 From the Configure field select Dynamics Axis Name SERVO Configure Dynamics Y very 3000 000 Use Transducer Polarity AccelDecel 200 0000 Feedrate Mooon Latched Position Slew Defines axis as disabled used for gearing input only or configured as a Slew Value full servo 0 0000 Also defines the Axis Configuration Overspeed Fault see the control s set up manual for Limit 3000 000 Velocity Scale more information Position Units 500 Velocity Monitor Filter 300 Publication 1398 5 10 February 1997 Configuring Axis Use 4 21 2 Make entries in the following fields Field Velocity Accel Decel Feedrate Description Type a value or expression in user units per timebase unit It must be a positive number Velocity is the default velocity used to calculate motion profiles Move Axis blocks without a velocity value for the move use this default velocity to form
47. ng e Select File e Select Preferences From the main menu of GML Ultra do the following e Select Definitions Select the appropriate menu item From the main menu of GML Ultra do the following e Select Definitions Select the appropriate menu item Instruction location in this manual The Setting System Preferences chapter The Setting Required Definitions chapter The Setting Optional Definitions chapter Publication 1398 5 10 February 1997 2 4 Setup Overview Publication 1398 5 10 February 1997 Setting Preferences Chapter 3 Setting System Preferences Before you start a new diagram GML Ultra needs information about your system your computer and the interface You only need to define system information once but you can change it if your system changes This chapter provides step by step instructions for defining this information To set user interface and other computer related features such as the communication baud rate 1 From the menu bar select File The File menu appears 2 Select Preferences The Preferences dialog box appears Preferences CME Ultra gt Options M Novice Mode M Generate comments M Color Display M Diagram File Backup M Confirm on Download L Show Page Grid Diagram Drawing Blocks in Foreground Connections in Foreground Diagram Grid M Snap to Vertical I Snap to Horizontal
48. nge the active configuration either in a diagram or in Online Manager mode Also you can change the configuration at any time even from within a diagram However changing the configuration when the ULTRA Plus is enabled could result in unexpected motion To change a feedback configuration 1 From the Configure field select one of the Feedback Configuration options A sample screen is shown below Axis Name Configure Feedback Config 1 __ v Position Use Feedback Transducer Polarity Encoder liput 2 I Position 2 Gear Input Latched Position Defines axis as disabled used for gearing input only or configured as a full servo Also defines the Axis Configuration see the control s set up manual for more information Position Units 2 Make entries in the following fields Field Description Position Select Encoder 1 default or Encoder 2 Feedback Position Feedback selects the source for the position feedback Configuring Axis Use 4 25 Field Description Encoder Input 2 Select one of the following Encoder 1 Out Outputs the Encoder 1 signals on P4 Encoder 2 In Uses P4 to input Encoder 2 signals default Step Direction Allows step and direction inputs on P4 to be used as input indexer input To use Step and Direction as the command for motion you must do both of the following e Seta gear ratio The Gear Axes block enables the gear function and sets the number of step c
49. ning I O Configuration Inputs and Outputs are either ON or OFF Configuring User Defined Input Digital inputs 1 through 16 are used as a general purpose inputs You must select the inputs you want to be user defined Some inputs have system functions assigned to them Inputs are used as the condition for any conditional instruction All dedicated inputs can be disabled and used as general purpose inputs To configure an input 1 From the menu bar select Definitions The Definitions menu appears 2 Select I O Configuration A submenu appears Publication 1398 5 10 February 1997 5 8 Setting Optional Definitions 3 4 Input to the check Forward Travel Limit 11 Reverse Travel Select the box Limit 12 If you do this box Select the box Clear the box Select Inputs The Configure Input dialog box appears Configure Input Enable Dedicated Inputs Forward Limit 11 l Reverse Limit 12 l Enable 13 I Program Start 14 l Home Switch 15 M Home Command I6 l Jog Reverse I Selectable Inputs Define Home Input p e k Debounce Time m ec o Hard Reset Input Kill Motion Input I Jog Forward 18 ADC1 l Pause 19 I Emergency Return 110 Select Program From Inputs Active States Closed M Home Switch M Pause Switch Default Run Program o All dedicated inputs can be disabled and used as general purpose inputs The function o
50. ns The Definitions menu appears Documenting Your Diagram 5 31 2 Select Documentation The following dialog box appears Diagram Documentation Application ID enter ID string Application comments Type notes comments here 3 Type your comments 4 Select Save The text is saved The diagram window appears Publication 1398 5 10 February 1997 5 32 Setting Optional Definitions Publication 1398 5 10 February 1997 A Allen Bradley representative local Axis Configuration dialog box axis Master dialog box Configure field options Position Units option 4 25 axis Servo dialog box Configure field options Dynamics option Feedback Confi Homing option Jogging option Overtravel option Position Loop Gains option Position Units option Positioning option Servo option Velocity Loop Gains option backing up GML Ultra block color display on off configuring your axis servo axis Control Option dialog box control options setting control setup quick reference define function keys Definitions menu axis use control options diagram copying for new 4 1 documenting a diagram configuration change setup parameters copying an existing 4 1 selecting options diagram file backup diagram residing in controller warning Dynamics option configuring guration options Feedback Configuration options setup uses G General Purpo
51. nterface Configuration Baud Rate 9600 v Mode Parity Controller Address for Operator Terminal multi drop l Generic Terminal Publication 1398 5 10 February 1997 4 28 Setting Required Definitions Publication 1398 5 10 February 1997 3 Make entries in the following fields Field Description Baud Rate Select one of the following 1200 2400 4800 9600 default or 19200 Mode Select one of the following RS 232 Single axis applications with cable lengths less than 35 feet RS 422 Multi drop applications or cable lengths longer than 35 feet Parity Select one of the following None Not set not used the default Even Always be an even number of bits Odd Always be an odd number of bits Controller Specify a unique address from 0 through 9 Address for Operator Terminal multi drop To use the operator terminal in multi drop mode the operator terminal and the ULTRA Plus must be wired for RS 422 and Port A must be set to RS 422 mode Address 0 is automatically selected on power up This address is used when the operator terminal is used in a multi drop application To communicate with a different ULTRA Plus from the operator terminal press the NO key on the operator terminal Then press the desired address 0 9 Generic If you select this check box operator terminal Terminal control codes are not sent to the terminal when using print commands You can send control codes to your termina
52. ommands per encoder count of motion with the Follower Master Ratio e Select a source for the gear input Encoder Input 2 selects signals on connector P4 as outputs for Encoder 1 as inputs for Encoder 2 In default or Step and Direction Select this check box to enable Encoder 2 as the source for the gear input Position 2 Gear Input 3 To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window 4 Select Done The GML Ultra diagram window appears 5 After changing a Feedback Configuration option you can set the active configuration by changing the Feedback_Configuration variable from an Equation block either in a diagram or the Online Manager window Configuring a Master Axis To configure a master axis 1 From the menu bar select Definitions The Definitions menu appears Publication 1398 5 10 February 1997 4 26 Setting Required Definitions 2 Select Axis Use The Axis Configuration dialog box appears Axis Configuration New Edit Delete Insert SERVO MASTER 3 Select MASTER A V appears in front of the selection and the Edit button becomes active 4 Select Edit The MASTER dialog box appears MASTER Axis Name MASTER Configure Position Units _v Transducer 8000 Use Disabled Y Counts Unit Transducer Polarity Defines axis as disabled used for gearing input only or configured as a full ser
53. on Techniques Used in this Manual ccceeeeeeeeeeeeneeeeeees P 4 Getting Started Chapter 1 System RequireMent ccccccceeeeeeeeeeccceeeeeeeeeeeeecaaaeeeeeeeseeesscaeeeeees 1 1 Prerequisite Knowledge cccccceeceeeeeeeeeeeeeeeeeaeeeeeeeeeteeecaaeeeeeeeeeteees 1 1 Making a Backup Copy of GML Ultra 2 0 0 0 eee ceeeeeee eee eeeeeeteeeeeeeeetees 1 2 Installing GML Ultra 2 2 eee ceeeeeeeee eee eeccnnee eee e ee eteeaaaeeeeeeeeeteecaaeeeeeeeentee 1 2 ReadMe ING cat Cee ered tate a gee eae ea eee te ran danas 1 3 Starting GML Ulta eea a a a 1 4 Connecting Your PC to Your Controller eeeeeeseeeeeeeesesereeeneneseeenns 1 4 Setup Overview Chapter 2 Understanding the Setup Process eeseeeeeeeeeeeeeeeeereirrrressserrrrnrnesees 2 1 Before You Start the First Diagram ccceeeeeeeeeeeeteeeeeeeeeete 2 1 Before You Start a New Diagram ceececeeeeeeeeeeeeeeeeeeeeeeeeeeetee 2 1 AS Negd i iississcaaasiaic a e a a ii 2 2 Setup Quick Reference ccccteeceeeeeeeeeeceaeeeeeeeeeeeeecaaaeeeeeeeeeeeeeaaaes 2 3 Setting System Preferences Chapter 3 Setting Preferences cccccccccceceeeee cece ee eeeeccaeeeeeeeeeeteeccaaeeeeeeeeeeeeenaaaes 3 1 Setting Required Definitions Chapter 4 Defining a Diagram s Configuration ccccccccceeeeeeeeeeeeeeeeteeeeeeeeeneee 4 1 Using an Existing Di taMs siorse ata 4 1 Selecting Diagram Specific Options cccceeceee
54. or Boolean value ON or OFF 1 or 0 or TRUE or FALSE e System flags have predefined functions and represent conditions in the controller s native language e You can test and or set flags in your program A flag can be tested for TRUE or FALSE You can elect to make variables and flags effective e For the current usage only e For all future uses of the program Publication 1398 5 10 February 1997 5 2 Setting Optional Definitions Variables provide different capabilities based upon whether you want a variable value to be retained regardless of the power to a controller or to respond in a defined way to a power change State Characteristics Use Nonvolatile Do not change when power is To store data that does not change removed Maintain their values frequently when power is removed Volatile Variables that are reset to a When you want to know that power known state 0 or OFF each time has been removed power is applied to the controller or each hard reset To force the operator to do some initialization For temporary use in calculation To define or modify user defined variables and flags 1 From the menu bar select Definitions The Definitions menu appears 2 Select User Variables and Flags A submenu appears Definitions Control Options Axis Use User Variables and Flags dh G Variables nonvolatile 170 Configuration gt Variables volatile General Purpose 1 0 gt B Flag
55. or each mode that you want to define 6 Select OK to save the new function key assignments Publication 1398 5 10 February 1997 5 30 Setting Optional Definitions Selecting the Fkeys for Display on the Operator Terminal Once the Fkey modes are set you can select a mode to appear on the operator terminal 1 Use one of the following methods to select the mode In this location On the operator terminal Ina program Do this Repeatedly press the Mode key to display the Mode values The Fkeys appear on the operator terminal To set the Fkey mode to appear on the operator terminal from a program use a Print to Display block with Cn in the message where n corresponds to the Fkey mode number The number n is zero based that is 0 corresponds to Fkey Mode 1 1 corresponds to Fkey Mode 2 and so on 2 Clear the labels from the screen by either pressing the CLEAR key or by pressing the STATUS key which displays one of the status displays Note The Fkeys that monitor a variable appear until you press the same Fkey a second time Documenting Your Diagram Publication 1398 5 10 February 1997 Use this feature to document the program make notes to yourself and other users keep track of changes to the program anything you want The text you type appears in the Comments area at the start of the translated script You can access this feature at any time 1 From the menu bar select Definitio
56. portional Gain to reduce dynamic velocity errors and to increase the velocity loop bandwidth Type a value to improve the stiffness of the velocity loop and to reduce the effects of load disturbances IMPORTANT Excessive integral gain results in velocity overshoot and could cause instability Type a value in percent 3 To save your selections select Save The SERVO dialog box closes and the Axis Configuration dialog box becomes the active window 4 Select Done The GML Ultra diagram window appears Configuring the Position Loop Gains Option Publication 1398 5 10 February 1997 The ULTRA Plus uses gains to adjust both the velocity and position loop performance A ATTENTION Change gains with care Excessive settings on any gain can cause motor instability To configure the Position Loop Gains option 1 Make sure you set the Velocity Loop Gains option before you set the Position Loop Gains option 2 From the Configure field select Position Loop Gains Configuring Axis Use 4 19 Axis Name Configure Proportional 1 0000 Use Gain Transducer Polarity Proportional 0 0000 Gain zone Zone 0000 Zone Latched Position Velocity Defines axis as disabled used for Feedforward Gain 120 900 gearing input only or configured as a Integral Gain poo full servo zone j Also defines the Axis Configuration Integral Zone see the control s set up manual for econ e more information Pasition Units
57. r 5 Defining User Variables and FlaQS cccccccecceeeeeeeeeeeeeetteeeeeeeeeetees 5 1 Creating a Variable ccccccccceecicceeceeeeeeeeeeeeeeccceeeeeeeeestecssneeeeeees 5 4 Creating a Variable by Editing an Existing Variable 8 5 4 Deleting a Variable ceeecccceeeeeeeeeeeeeceneeeeeeeeeeeencaaeeeeeeeeeeteeaaaes 5 5 Inserting a Variable 0 cece eecccseee cece ee eeeceeeeeeeeeeeeeeeaaaeeeeeeeeeeeesaaaaes 5 5 Defining I O Configuration eceeeeeee eee eeeeecceeeeeeeeeeeeecaaeeeeeeeeenee 5 7 Configuring User Defined Input sssseeeesssssssserrrsssssserrrrrssssssrrrrrne 5 7 Configuring User Defined Output 0ccccceeeeeeeeeeeteeeeeeeeeeeeeeeaaes 5 14 Defining General Purpose N O cceccceeceeceeeeeeeeeecaeeeeeeeeeeteettaeeeeeees 5 16 Defining a General Purpose Input 5 16 Defining a General Purpose OUtpUL ccececeeeceeeeeeeeeteeeetaees 5 20 Defining Watch Items ccccccceeeeeeeeecceeeeeeeeeeeeeeccaeeeeeeeeeeteencaaeeeeeees 5 23 Setting Up Function Keys cccccecceeeeeeeeeeeeneeeeeeeeeeeeecaaeeeeeeeeeeeenaaaes 5 28 Assigning a Set of Function Keys ccceeeeeeeeeceeeeeeeeeeeeeeeeaaaes 5 28 Selecting the Fkeys for Display on the Operator Terminal 5 30 Documenting Your Diagram cceeeeeeeeeeeeeeeeeeeeeccaeeeeeeeeeeeeetaaeeeeeees 5 30 Preface Preface Read this preface to familiar yourself with this manual T
58. ra diagram The dialog box closes and the GML Ultra window appears 9 Go to Configuring Axis Use Configuring Axis Use You can define the use of either the Master axis or the Servo axis Configuring the Servo Axis Use the following procedure to configure the Servo axis 1 From the menu bar select Definitions The Definitions menu appears Publication 1398 5 10 February 1997 Configuring Axis Use 4 7 2 Select Axis Use The Axis Configuration dialog box appears Axis Configuration New Edit Delete insert SER YO MASTER 3 Select SERVO A check mark appears in front of the selection and the Edit button becomes active 4 Select Edit The SERVO dialog box appears SERVO Axis Name Configure Transducer 8000 Use Counts Unit Transducer Polarity Latched Position Defines axis as disabled used for N more information Position Units gearing input only or configured as a full servo Also defines the Axis Configuration see the control s set up manual for Cancel 5 Make entries in the following fields Field Axis Name Use Description Type a descriptive name or accept the system name The default name is SERVO This name is then appended to a Watch Items variable if there is a choice between axes For example if you select Encoder_Position from the Defined Items window the variable name is Encoder_Position_ NAME where NAME is the Axis Name you
59. ring the Homing Option To configure the Homing option 1 From the Configure field list box select Homing Axis Name Transducer Polarity Offset Use Homing Y Velocity 50 0000 0 0000 M Home to Encoder Index Latched Position full servo Defines axis as disabled used for gearing input only or configured as a Also defines the Axis Configuration see the control s set up manual for more information Position Units 2 Make entries in the following fields Field Velocity Offset Publication 1398 5 10 February 1997 Description Type a value in user units per timebase that defines the velocity used in the standard home program The sign of the parameter determines the initial direction used when the home sequence starts The Velocity is also used when moving to the home offset position after home is found Type a value or expression in user units that specifies a distance to be moved once home is found The sign of the offset determines the direction of the offset position after home is found After moving the distance of the offset the current position is defined as home Configuring Axis Use 4 15 Field Description Home to Encoder Index Select one of the following to indicate home position during a home operation e Enabling Home To Encoder Index forces the ULTRA Plus to use the input encoder index defined by Define Home to indicate home The default s
60. rom the drop down list box below the Defined Items list box select Single Item In the Defined Items list select the item you want to add to the Items to Watch list A check mark appears next to the item Defining Watch Items 5 25 3 Select Add The item is added to the Items to Watch list 4 Inthe Axis field select the axis you want to watch 5 Select Save The dialog box closes The new item to watch is defined and the diagram window appears Adding Multiple Items to the Items to Watch List To monitor multiple items listed contiguously in the Defined Items list 1 From the drop down list box below the Defined Items list box select Multiple Items A value entry box appears to the right of the Multiple Items selection 2 In the value entry box to the right of the Multiple Items selection type the number of consecutive defined items you want to add to the Items to Watch list The maximum you can enter is 99 3 In the Defined Items list select the first item you want to add A check mark appears in front of the item 4 Select Add The items are added to the Items to Watch list atch Items Items to Watch d 0 Command_Current Defined Items Average_Current etpoin 1 Command_Position Y 2 Command_Position_External 3 Command_Position_Jog ag I a Command_Current Command_Position Command_Position_External Command _ ommand_Position_ Command_Yelocity Current_Limit Debounce_
61. s nonvolatile Operator Interface Config F Flags volatile Watch Items Documentation 3 Select the variable or flag you want using the table below Use Changes made to this variable or flag G Variables Define a nonvolatile user defined Remain in effect after the power is turned off G1 G64 variable integer or decimal with felibri In one program are seen by other programs A value from another variable A value or expression A timer An analog input Publication 1398 5 10 February 1997 Use V Variables V1 V64 B Flags B1 B8 F Flags F1 F64 A value from another variable A value or expression A timer An analog input Define a nonvolatile flag that sets a flag ON or OFF with another flag or constant and remains in effect when power is turned off Define a volatile flag that sets a flag ON or OFF with another flag or constant and remains in effect when power is turned off Defining User Variables and Flags 5 3 Changes made to this variable flag Define a volatile user defined variable with any of the following Are volatile and lose their value when power is removed On power up V variables are set to zero Ifa value needs to be maintained during a power failure use a G variable In one program are seen by other programs Remain in effect after the power is turned off In one program are seen by other programs Remain in effect as long as power is main
62. s needed Optional control options Before You Start the First Diagram During system setup you define parameters about your computer and the GML Ultra interface In most cases you provide this information only once after software installation Read the Setting System Preferences chapter for this setup Before You Start a New Diagram When you are setting up the required control setup you identify the following required control information Option Description Controller The options available for the ULTRA Plus configuration Axes use The type servo or master of axis Operator interface e The operator interface configuration configuration f a 9 e The terminal serial communication parameter e A terminal address e The generic terminal option Publication 1398 5 10 February 1997 2 2 Setup Overview As Needed Publication 1398 5 10 February 1997 GML Ultra needs this information for each new diagram You can either define the parameters when you start a new diagram or copy a diagram with the configuration you want to use Refer to the Setting Required Definitions chapter for step by step instructions for performing this setup Other options are available that you can define as you need them Option User variable and flags I O configuration General purpose 0 Watch item Define Function Keys Document Your Diagram Description User variables and flags are used for data storage calcu
63. se I O assigning a new input defining an input deleting an input editing an input 5 18 inserting an input inserting an ouput GML Ultra See Ultra H help types of online help Homing option configuring T O configuration configuring an input configuring an output I O general purpose Items To Watch list adding an item adding multiple items deleting multiple items inserting multiple items inserting one item removing one item selecting the axis Jogging option configuring manual as part of manual set content overview conventions help purpose who should use master axis configuring motion controller Index Public ation 1398 5 10 February 1997 l 2 Index connecting to PC motor instability novice mode warning O Operator Interface Configuration dialog box defining the interface operator terminal function keys defining one set how many sets selecting a mode operator terminal status display enabling 5 28 option descriptions Overtravel option configuring overview manual 1 1 P parameter setting block vs Definition menu PC connecting to motion controller Position Loop Gains option configuring Position Units option configuring Positioning option configuring preface preferences setting 3 1 prerequisite knowledge 1 1 product support local sales and order service agreements
64. set function When the input is on the ULTRA Plus resets faults and does power up diagnostic tests Type one of the following e A value from 1 through 16 to assign an input to a function Note If an input value is in use for another dedicated function do not choose that input for this input e A Oto disable a function Kill Motion Input enables and selects a stop input The input halts program execution and holds position when turned on This input does not stop Jog input motion 6 7 8 Defining I O Configuration 5 11 In the Active State Closed area make entries in the following fields to indicate the active state for the switch Field Description Select the Home Switch check box to indicate active closed Home Switch Clear the Home Switch check box to indicate active open Select the Pause Switch check box to indicate active closed Pause Switch Clear the Pause Switch check box to indicate active open Make an entry in the following field Field Description Debounce Time Type a value in milliseconds from 0 through 255 The default value is 0 Debounce time is the time an input must remain stable after it has changed so the change is recognized Make an entry in the following field Field Description ADC1 General Purpose To use the analog to digital converter 1 as a general purpose input The voltage rate can range from 10 to 10 volts Feedrate To use the analog
65. specified Select Servo for a fully closed loop servo operation Publication 1398 5 10 February 1997 4 8 Setting Required Definitions Field Description Transducer Select one of the following to identify the Polarity positive direction of the motor Positive Clockwise rotation of the motor as viewed from the shaft end is the positive direction Negative Counterclockwise rotation of the motor as viewed from the shaft end is the positive direction Latched Position Select Transducer 1 the default or Transducer 2 as the Transducer you want to use as the input to the hardware position latch If you change the Latched Position field the change takes effect at the next power up 6 Go to Using the Configure field for information about selecting an option in the Configure field and the fields that display for each option Using the Configure field Use the Configure field to select the different configuration options for each available axis To view the list of options you can configure select Position Units A list appears that is similar to the one below Axis Name SERVO Configure Transducer v Position Units Use Counts Unit Positioning 7 Servo Transducer Polarity Homing Overtravel Velocity Loop Gains Latched Position Pasition Loop Gains Dynamics Defines axis as disabled used for Jogging gearing input only or configured as a Feedback Config 1 full servo Feedback Config 2 Also defin
66. st The maximum number you can delete is 99 In the Items to Watch list select the first item you want to delete from the list A check mark appears in front of the item Select Remove The items are deleted from the Items to Watch list Select Save The dialog box closes The items to watch are defined and the diagram window appears Naming the Axis to Watch In the Axis field select the name of the axis you want to watch This name is appended to a Watch Items variable if there is a choice between axes For example if you select Encoder_Position from the Defined Item window the variable name that is used is Encoder_Position_NAME where name is the Axis Name you specified Publication 1398 5 10 February 1997 5 28 Setting Optional Definitions Setting Up Function Keys The only setup required for the operator terminal is for the function keys or Fkeys F1 through F4 You can program these keys to perform pre defined functions such as Jog Axis or monitor a variable on the operator terminal It is not necessary to assign a function to every Fkey You can define up to six sets modes of function keys You can assign to the keys a description that display on the operator terminal screen To enable the operator terminal status display connect the operator terminal to serial port A P7 Assigning a Set of Function Keys Publication 1398 5 10 February 1997 To define one set mode of function keys 1 From the Definit
67. tained On power up or reset all F flags are set off to OFF If a value needs to be maintained during a power failure use a B flag In one program are seen by other programs 4 A dialog box appears that is similar to the one below Defined User G Yariables New Enit peee meen 5 Using the table below go to the correct section for information showing you how to add edit delete or insert a variable To Add a variable Edit an existing variable Delete a variable Insert a variable Go to Creating a Variable Creating a Variable by Editing an Existing Variable Deleting a Variable Inserting a Variable Publication 1398 5 10 February 1997 5 4 Setting Optional Definitions Creating a Variable To create a new variable and add it to the list of variable names 1 In the dialog box for the defined variable select New A dialog box appears that is similar to the one below User G Variable G Variable Number Cancel 2 Make entries in the following fields Field Description Name Type the name for the new variable G Variable Number Type a variable number Note The range is 1 to 64 for G and V variables and F flags The range for B flags is 1 to 8 4 Select Save The new variable is added to the end of the variable list 5 In the defined variables dialog box select Done The variables are entered into the diagram and the diagram window appears
68. technical training telephone number warranty servo axis configuring Servo dialog box system preferences setting 3 1 system requirements 1 1 system setup quick reference Public ation 1398 5 10 February 1997 U Ultra creating backup copy 1 2 installing option descriptions ReadMe file 1 3 setup before beginning 2 1 setup before starting new diagram 2 1 setup overview 2 1 starting system requirements 1 1 ULTRA Plus 2 1 acceleration deceleration address average current trip point change rate control options defeating fault safety protection diagram storage disabling fault disabling speed download to following error and disabling overtravel limit select firmware version selecting a baud rate selecting a port slew value limit storing configurations using encoder index using gains using operator terminal using position error user variables and flags defining 5 1 description V variable create by editing an existing creating deleting inserting Velocity Loop Gains option configuring W Watch Items defining real time monitoring Index l 3 Public ation 1398 5 10 February 1997 D Rockuvell Automation Allen Bradley a Rockwell automation business has been helping its customers improve productivity and quality for more than 90 years We design manufacture and support a broa
69. the motion profile unless the velocity is specified by one of the following e A different Programmed_Velocity system variable is specified by an Equation Block in a diagram e A Change Motion Settings block is used to specify a new default velocity of moves Type a value in user units per second Acceleration is the default acceleration for all motion generated by the ULTRA Plus Acceleration and deceleration rates for the home program and motion profiles are specified by this parameter Type a percent from 0 to 200 To perform the functions listed below set the value at the suggested percentage 100 To have velocities and dwells set at programmed rates Less than 100 To slow down the process More than 100 To speed up the process Feedrate is the timebase for motion Note Ifthe analog input Adc1 is selected as a feedrate input the feedrate is determined by the analog input instead of the Feedrate field Publication 1398 5 10 February 1997 4 22 Setting Required Definitions Field Slew Slew Value Overspeed Fault Limit Velocity Scale Velocity Monitor Filter Publication 1398 5 10 February 1997 Description Select one of the following Used If the change rate of the gear output exceeds the limit The command generated by the ULTRA Plus is limited to the slew value This results in the ULTRA Plus not tracking the master input exactly because the follower system cannot respond as qu
70. to digital converter 1 to set feedrate The voltage rate can range from 0 to 10 volts corresponding to 0 200 feedrate Publication 1398 5 10 February 1997 5 12 Setting Optional Definitions 9 Make an entry in the following field Field Description Select Not Used When GML Ultra receives a Program Start input the default from Inputs program number is run 116 When GML Ultra receives a Start input the program number to be run is determined by these input lines You can use up to five inputs to select programs You can select program numbers 0 to 1 115 through 116 When GML Ultra receives a Start input the program number to be run is determined by these input lines You can use up to five inputs to select programs 116 is always the most significant and 12 is always the least significant You can select program numbers 0 to 3 114 through 116 When GML Ultra receives a Start input the program number to be run is determined by these input lines You can use up to five inputs to select programs 116 is always the most significant and I11 is always the least significant You can select program numbers 0 to 7 Publication 1398 5 10 February 1997 Field Description Input 112 112 through 116 Defining I O Configuration 5 13 113 through 116 When GML Ultra receives a Start input the program number to be run is determined by input lines You can use up to five inputs to s
71. to make you aware of safety considerations A ATTENTION 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 the hazard e Recognize the consequences Important Identifies information that is critical for successful application and understanding of the product GML Ultra and ULTRA Plus are registered trademarks and Allen Bradley and GML are trademarks of Rockwell Automation Microsoft and MS DOS are registered trademarks and Windows and Windows NT are trademarks of Microsoft Corporation Table of Contents Preface Who Should Use this Manual cccccceceeeeeeeeeeeeeeeeecnneeeeeeeeeteeeeaaaes P 1 Purpose of this Manual cccccecceeeeeeeeeeeeeeeeccneeeeeeeeeeteeccaeeeeeeeeeetee P 1 Contents of this Manual ccceceeeeeeeeeneeeeeeeeeeeeecaaeeeeeeeeeeeeneaeeeeeees P 1 Where t Find Help ss sceccictcteteeettetetnaettnctdetetvistnecte P 2 Using the Manual Set c cccceeecceecceeeeeeeeeeeeeecneeeeeeeeeeeeccaeeeeeees P 2 Using Online Help cccececceeeeeeeeeccneeeeeeeeeeeecaaeeeeeeeeeeesecaaeeeeees P 3 Rockwell Automation Support cccceeeeeeeeecceeeeeeeeeeeeeeecaeeeeeeeeeetees P 3 Local Product SUpport vacicenwncannanunuannansaisiceisisdiitd P 3 Technical Product Assistance ccceeeeeeeeeeeneeeeeeeeeeeeetsaeeeeeees P 4 Comm
72. un program or by selecting a series of inputs to designate the program number from the Select Program From Inputs pop up menu Clear the box A diagram is started only from the operator terminal or by selecting Go in the Online Manager window Home Switch I5 Select the box The home switch input can be used by the supplied home program system program 25 to identify the home position The input can be defined in the Home Switch check box as active OPEN or active CLOSED Clear the box Home Switch has no effect If neither the Home Switch or Home to Encoder Index is ON the current position becomes Home when the ULTRA Plus executes the home program Home Command Select the box The home command input is used to start system program 25 16 When the Home command turns on system program 25 is started This input is ignored if another main program is running Clear the box When the Home command is off the edge is ignored Jog Forward 17 Select the box A forward jog position command is generated and added to any gear incremental move or absolute move that could be in progress The jog forward input causes motion in the forward direction position increasing Clear the box The jog position command is ramped down from its present velocity to zero using the assigned deceleration rate Jog Reverse 18 Select the box A reverse jog position command is generated and added to any gear incremental move or absolute mov
73. urpose I O 5 21 Creating a General Purpose Output To create a new general purpose output and add it to the list of general purpose outputs 1 In the Defined GP Outputs dialog box select New The General Purpose Output dialog box appears General Purpose Output GP Output Number 2 Make entries in the following fields Field Description Name Type the name for the new general purpose output GP Output Number Type a new output number Note The range is 1 to 8 3 Select Save The new output is added at the end of the output list in the Defined GP Outputs dialog box 4 In the Defined GP Outputs dialog box select Done The diagram window appears Creating a General Purpose Output by Editing an Existing Output To create a general purpose output by editing and replacing an existing general purpose output 1 In the Defined GP Outputs dialog box select an output name from the defined output list that you want to replace A check mark appears to its left Publication 1398 5 10 February 1997 5 22 Setting Optional Definitions Publication 1398 5 10 February 1997 2 Select Edit A dialog box appears that is similar to the one below General Purpose Output GP Output Number 3 Make entries in one or both of the following fields Field Description Name Type the name for the new general purpose output GP Output Number Type a new output number Note The range is
74. vo Also defines the Axis Configuration see the control s set up manual for more information Position Units 5 Type values in the following fields Field Description Axis Name Type a descriptive name or accept the default name MASTER Use Select one of the following Disabled The axis is disabled Master Gearing input only Publication 1398 5 10 February 1997 Configuring Your Operator Interface 4 27 Field Description Transducer Polarity Select one of the following to define the positive direction of the motor Positive Clockwise rotation of the motor as viewed from the shaft end is the positive direction Negative Counterclockwise rotation of the motor as viewed from the shaft end is the positive direction Latched Position Select the Transducer you want to use as the input to the hardware position latch Transducer 1 is the default Configure Select Position Units Type the number of Transducer Counts in user units To save your selections select Save The MASTER dialog box closes and the Axis Configuration dialog box becomes the active window Select Done The GML Ultra diagram window appears Configuring Your Operator Interface To define your operator interface From the menu bar select Definitions The Definitions menu appears Select Operator Interface Configuration An Operator Interface Configuration dialog box like the following appears Operator I

1398-UM014-EN-P, GML ULTRA Getting Starting User Manual

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