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SERCOS and Analog Motion Configuration and Startup User Manual

1. Torque l Offset e Acc gt dat D gt FF Velocity Gain Offset Output l e Offset Output amp Filter Friction Servo b Yel BW Comp Polarity l gt didt gt FF l Gain Position Command Velocity Coarse Position Commend Velocity low gii Eror mr Pass sp 16Bit Torque Fine Pos P Yel P a p Scalin Output gt t Dae gt gt Interpolaer a gt Gain gt Gain Filter o gt Limit T Position Servo Command Velocity Output l Feedback Level ists pa Enor sition Pos Accum Yel Feedback Accam P Gain ulator gt Gain l Position Velocity Integrator Integrator x EA Emor Enor Servo Config Position Servo Low Motor Pass Filter i A Encoder Polarity didt Position Ch A B i poms A Encoder Yy Coarse Input P i AQB lt Position 16 bit Accum e Encoder 4 Encoder ulator Counter i Watch T Event Watch l __ Ewn l Handler l l 1 l Watch Position l chz Homing pau Event Marker r Event j amp Marker Handler Latch I Registration l Event z Regist i Sy Fes lt Event le Regist le _ Registration Handler Input This configuration gives full position servo control using an external torque loop servo drive Synchronous input data to the servo loop includes Position Com
2. Do you want any of these faults to give the controller a major fault e YES Set the General Fault Type of the motion group Major Fault e NO You must write code to handle these faults Drive Fault Input Status AXIS_SERVO BOOL Tag Digital output from the drive that shows if there is a fault If this bit is e ON The drive faulted e OFF The drive does not have a fault Drive Hard Fault AXIS_SERVO_DRIVE BOOL Set when the drive detects a serious hardware fault Drive Model Time AXIS_ SERVO REAL GSV Seconds Constant AXIS_SERVO_DRIVE SSV The value for the Drive Model Time Constant represents the lumped model time constant for the drive s current loop used by the MRAT instruction to calculate the Maximum Velocity and Position Servo Bandwidth values The Drive Model Time Constant is the sum of the drive s current loop time constant the feedback sample period and the time constant associated with the velocity feedback filter This value is set to a default value when you configure the axis For this Axis type Details AXIS_ SERVO This value is only used by MRAT when the axis is configure for an External Torque Servo Drive AXIS_SERVO_DRIVE Since the bandwidth of the velocity feedback filter is determined by the resolution of the feedback device the value for the Drive Model Time Constant is smaller when hi resolution feedback devices are selected 228 Rockwell Automation Publication MOTION UM001D E
3. to add a Catalog Module Discovery Favortes Exe Search Text for Module Type Clear Filters Hide Filters 4 v Module Type Category Fitters cal Module Type Vendor Fitters v Analog EV Alen Bradey 7 Communication V Advanced Micro Controls Inc AMC v Controler vI Hardy Process Solutions v Digtal gt Molex Incomorated mi m Catalog Number Description Vendor Category S 124 Single or Dual Resolver interface Advanced Micro Speciaty 1756CFM Configurable Flow Meter Allen Bradiey Speciaty 1756CN2 1756 CortrolNet Bridge Allen Bredey Communication 1756 CN2R 1756 ControlNet Bridge Allen Bradey Communication 1756 CNB 1756 ControiNet Bridge Allen Bradiey Communication 1756 CNBR 1756 CortrolNet Bridge Redundant Media Alien Bradiey Communication 1756 DHRIO 1756 DH Bridge RIO Scanner Aben Bradey Communication 138 of 138 Module Types Found Add to Favorites FI Close on Create Close Help 3 Select the Close on Create check box and click Create Rockwell Automation Publication MOTION UM001D EN P November 2015 25 Chapter 1 Configure SERCOS motion 4 On the New Module dialog box in the Name box type a name for the module New Module Exe Type 1756 HYD02 2 Ads Hydraulic Servo Vendor Allen Bradley Name Hydraulic_1 Slot pi Description Rowson 2 1 Bectronic Keying Compatible Keying 5 In the Slot box choose the number that corresponds to the physical slot that
4. 5 Inthe Travel Limit box type the limit of movement for the axis during the tuning procedure 6 Inthe Speed box type the maximum speed for your equipment 7 Click Start Tuning Troubleshoot faults The following table explains the types of motion faults Type Description Example Instruction error Caused by a motion instruction A Motion Axis Move MAM instruction with a parameter e Instruction errors do not impact controller operation out of range e Examine the error code in the motion control tag to see why an instruction has an error e Fix instruction errors to optimize execution time and make sure that your code is accurate 64 Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 Type Description Example Fault Caused by a problem with the servo loop e Loss of feedback e You choose whether motion faults give the controller major faults e Actual position exceeding an overtravel limit e Can shut down the controller if you do not correct the fault condition Manage motion faults By default the controller keeps running when there is a motion fault As an option you can have motion faults cause a major fault and shut down the controller 1 Choose a Non Major Fault Tip If you select a Major Fault then you should develop a Fault handler See Logix5000 Controllers Major Minor and 1 0 Faults Programming Manual publication 1756 PM014 2 Inthe
5. SINT GSV Fault Action SSV Shutdown Disable Drive Stop Motion Status Only DINT GSV 0 Reserved SSV 1 Home Switch Normally Closed 2 Marker Edge Negative Home Switch Normally Closed The Home Switch Normally Closed bit attribute determines the normal state of the home limit switch used by the homing sequence The normal state of the switch is its state before being engaged by the axis during the homing sequence For example if the Home Switch Normally Closed bit is set true then the condition of the switch before homing is closed When the switch is engaged by the axis during the homing sequence the switch is opened which constitutes a homing event SINT GSV 0 unidirectional forward SSV 1 bidirectional forward 2 unidirectional reverse 3 bidirectional reverse BOOL Tag Set when a home event is armed through execution of the MAH Motion Axis Home instruction Cleared when a home event occurs BOOL Tag Set when a home event occurs Cleared when another MAH Motion Axis Home instruction is executed DINT MSG User Event Task that is triggered to execute when a Home event occurs An instance value of 0 indicates that no event task is configured to be triggered by the Home Event This attribute indicates which user Task is triggered when a home event occurs The triggering of the user Task occurs simultaneously with the setting of the Process Complete bit for the instruction that armed the home event This att
6. Backlash Compensation Window To address the issue of dither when applying Backlash Compensation and hunting from the integral gain a Backlash Compensation Window is applied around the current command position when the axis is not being commanded to move If the actual position is within the Backlash Compensation Window the Backlash Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Backlash Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Backlash Compensation Window attribute the full Backlash Compensation value is applied If the Backlash Compensation Window is set to zero this feature is effectively disabled A nonzero Backlash Compensation Window has the effect of softening the Backlash Compensation as it is applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Backlash Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Backlash Compensation and Backlash Reversal Offset Backlash Reversal Offset provides the capability to compensate for positional inaccuracy introduced by mechanical backlash For example power train type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical compon
7. 5 Green 5 Green 306 Rockwell Automation Publication MOTION UM001D EN P November 2015 Wiring diagrams Appendix C Temposonic GH feedback The following image illustrates the temposonic GH feedback device device Temposonic 1756 HYD02 GH Series Temposonic GH RTB Cable Color Code _y tlnterrogate or Start n Yellow OF clnterrogate or Start Chassis Chassis f i i 24 VDC f Customer i 24 V DCLDT Power Supply Supply Common Ta Local Ground Bus Temposonic GH Series Tempasanic GH Cable Color Code Red of Brown LDT Cmn tg 8018 OF S100 A eeen omonat aati treamtguassvemterpereeqoo tooooaeate ATT Chassis Chassis Rockwell Automation Publication MOTION UM001D EN P November 2015 307 Appendix C Wiring diagrams The following image illustrates the 24V registration sensor 24V registration sensor i 24V dc Field Power Supply 24V Sourcin g Type Registration T Sensor Supply General cable REG24V From the motion module lt gt 9779 LK xX Output AJ IN_COM Common Notes e Use sourcing type registration sensors e Wire the inputs so that they get source current from the sensor e Do not use current sinking sensor configurations because the registration input common IN_ COM is shared with the other 24V servo module inputs 5V registration sensor The following image illustrates the 5V r
8. Confirm that you wish to complete the download procedure Click Download When the download is complete place the controller in Run Test mode After the project file is downloaded status and compiler messages appear in the status bar Tip When multiple workstations connect to the same controller using Logix Designer application and invoke the Axis Wizard or Axis Properties dialog box the firmware only lets the first workstation make changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them If an axis in a motion group is open for edit then any other workstation only gets read only for any axis in that workstation even if it is not the axis that the first workstation is modifying Test axis wiring and Follow these instructions to check the wiring of each drive direction Test Description Test marker Checks that the drive gets the marker pulse You must manually move the axis for this test Test feedback Checks the polarity of the feedback You must Test command and feedback manually move the axis for this test Checks the polarity of the drive Rockwell Automation Publication MOTION UM001D EN P November 2015 61 Chapter 3 Commission and tune ATTENTION These tests make the axis move even with the controller in remote program mode e Before you do the tests make sure no one is in the w
9. Coordinated Motion Instructions Motion Axis Position Cam MAPC 78 101 Motion Coordinated Change Dynamics MCCD 78 101 Motion Axis Stop MAS 78 101 Motion Coordinated Circular Move MCCM 78 101 Motion Axis Time Cam MATC 78 101 Motion Coordinated Linear Move MCLM 78 101 Motion Calculate Cam Profile MCCP 78 101 Motion Coordinated Shutdown MCSD 78 101 Motion Calculate Slave Values 78 101 Motion Coordinated Shutdown Reset MCSR 78 101 Motion Change Dynamics MCD 78 101 Motion Coordinated Stop MCS 78 101 Motion Redefine Position MRP 78 101 Motion Configuration Instructions Motion Apply Axis Tuning MAAT 78 101 Motion State Instructions Motion Axis Fault Reset MAFR 78 101 Motion Apply Hookup Diagnostic MAHD 78 101 Motion Axis Shutdown MASD 78 101 Motion Run Axis Tuning MRAT 78 101 Motion Axis Shutdown Reset MASR 78 101 Motion Run Hookup Diagnostic MRHD 78 101 Motion Direct Drive Off MDF 78 101 Motion Event Instructions Motion Arm Output Cam MAOC 78 101 Motion Direct Drive On MDO 78 101 Motion Arm Registration MAR 78 101 Motion Servo Off MSF 78 101 Motion Arm Watch Position MAW 78 101 Motion Servo On MSO 78 101 Motion Disarm Output Cam MDOC 78 101 overview 42 62 Motion Move Instructions Motion Disarm Registration MDR 78 101 Motion Axis Home MAH Absolute Homing 119 Motion Disarm Watch Position MDW 78 101 ActiveHoming 120 Motion Group Ins
10. Provides details on how to create and configure a coordinated motion system Provides a programmer with details about motion instructions for a Logix based controller Describes how to get started programming and maintaining Logix5000 controllers Provides detailed and comprehensive information about how to program a Logix5000 controller Provides a programmer with details about general instructions for a Logix based controller Provides a programmer with details about process and drives instructions for a Logix based controller Describes how to configure and program a Logix5000 controller to use equipment phases Describes the necessary tasks to install configure program and operate a ControlLogix system Rockwell Automation Publication MOTION UM001D EN P November 2015 Resource CompactLogix Controllers User Manual publication 1768 UM001 Analog Encoder AE Servo Module Installation Instructions publication 1756 IN047 ControlLogix SERCOS interface Module Installation Instructions publication 1756 IN572 CompactLogix SERCOS interface Module Installation Instructions publication 1768 IN005 Ultra3000 Digital Servo Drives Installation Manual publication 2098 IN003 Ultra3000 Digital Servo Drives Integration Manual publication 2098 IN005 Kinetix 7000 High Power Servo Drive User Manual publication 2099 UM001 Kinetix 6000 Multi axis Servo Drives User Manua
11. Rockwell Automation Publication MOTION UM001D EN P November 2015 Sets the Actual Position to the Home Position Sets the Actual Position to the Home Position when axis motion encounters a home limit switch Sets the Actual Position to the Home Position when axis encounters an encoder marker Sets the Actual Position to the Home position when a marker is encountered after a home switch is encountered 143 Appendix A Axis properties Item Description Torque Level Sets the Home Position when the specified Homing Torque level is achieved on the assigned axis Important For more information on the Home to Torque level sequence see Home to Torque level Example Application Note publication MOTION AT001 Torque Level marker Sets the Home Position when the specified Homing Torque level is achieved on the assigned axis only after the axis encounters an encoder marker Important For more information on the Home to Torque level sequence see Home to Torque level Example Application Note publication MOTION ATO01 See the section Homing Configurations for a detailed description of each combination of homing mode sequence and direction Limit Switch Ifa limit switch is used indicate the normal state of that switch that is before being engaged by the axis during the homing sequence e Normally Open e Normally Closed Direction For active homing sequences except for the Immediate Sequence type select the des
12. Rockwell Automation Publication MOTION UM001D EN P November 2015 145 Appendix A Axis properties Item Feedback Polarity Output Polarity Test Marker Test Feedback Test Output amp Feedback Hookup tab AXIS_SERVO_DRIVE 146 Description The polarity of the encoder feedback this field is automatically set by executing the Feedback Test or the Output amp Feedback Test This field is set only after the test is executed and the user accepts the results e Positive e Negative When properly configured this setting ensures that axis Actual Position value increases when the axis is moved in the user defined positive direction This bit can be configured automatically using the MRHD and MAHD motion instructions WARNING Modifying input polarity values by running the Feedback or Output amp Feedback Tests can cause an unexpected motion resulting in damage to the equipment and physical injury or death The polarity of the servo output to the drive this field is automatically set by executing and accepting the results of the Output amp Feedback Test e Positive e Negative When properly configured this setting and the Feedback Polarity setting ensure that when the axis servo loop is closed it is closed as a negative feedback system and not an unstable positive feedback system This bit can be configured automatically using the MRHD and MAHD motion instructions Runs the Marker test which ensures that the e
13. Rockwell Automation Publication MOTION UM001D EN P November 2015 29 Chapter 1 Configure SERCOS motion 30 2 On the Select Module Type dialog box choose the module that you want to add Enter Search Text for Module Type Module Type Category Fiters Catalog Number Description 1394C SJT05 D 1394 460VAC SERCOS System Modul 1384C SJT10 D 1394 460VAC SERCOS System Modu 1394C SJT22 D 1394 460VAC SERCOS System Modul 2093 ACOS MP1 Kinetix 2000 230VAC IAM kW PS 1 2093 ACO5 MP2 Kinetic 2000 230VAC IAM KW PS 2 2093 ACO5 MP5 Kinetix 2000 230VAC IAM KW PS 4 Kinetix 2000 230VAC AM 8 5A Cort 2 109 of 109 Module Types Found E Close on Create 3 Select the Close on Create check box and click Create 4 On the New Module dialog box in the Name box type a name for the interface drive 2093 ACO5 MP5 Kinetix 2000 230VAC IAM 3kW PS 4 2A Cont 12 7A Peak Allen Bradley SERCOS_Drive_1 5 Inthe Node box choose the SERCOS node number of the interface drive see the module s rotary switch 6 optional In the Description box type a description 7 Inthe Revision boxes select the Major Revision and Minor Revision of the module 8 Inthe Electronic Keying list choose a keying option of either Compatible Keying or Exact Match See Electronic Keying on page 26 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure S
14. e Use the Quick View pane to see the state and faults of an axis e Use a Get System Value GSV instruction or Set System Value SSV instruction to read or change the configuration at run time Rockwell Automation Publication MOTION UM001D EN P November 2015 37 Chapter 1 Configure SERCOS motion e Use the tag of the axis for status and faults Izl Motion Groups amp motion_group axis an axis_y All information provided No Warranty or implied merchantability Hydro_01 Refer to the RSLogix 5000 End User License Agreement EULA in the Release XD seRvO_2 Notes Ungrouped Axes Add On Instructions Data Types H User Defined cy oa Strings oa Add On Defined oe Predefined nj axis_x InhibitStatus SSV J NOP Set System Value Class Name Axis Instance Name axis_x Attribute Name InhibitAxis Source Analog_In_Ch0 sLocal 8 1 ChOData 3 E Module Defined 9 674581 F Trende of t lype AXIS_SERYO description Axis State Module Name ServoCard hannel o When the DriveOff_Button is enabled turn axis_x servo off Reset all axis faults fo Axis Fault axis_x shutdown state Servo Fault Autocycle_Button DriveOtf_Button Module Faults eLocal2IData12 gt lt Local2 Data 3 gt aR Attribute Error Motion Axis Fault Reseg Follow these instructions to configure the axis of a SERCOS interface drive The steps are may differ dep
15. 0 Unused blanks the FDBK and DRIVE status indicators This controller attribute is also replicated in the motion module Logix Designer application also uses the current configured value for Axis Type to control the look of many of the dialog boxes associated with configuring an axis Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Backlash Reversal Offset Backlash Stabilization Window Motion axis attributes Appendix B Axis Type Data Type Access Description AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV SSV REAL GSV SSV Backlash Reversal Offset provides the user the capability to compensate for positional inaccuracy introduced by mechanical backlash For example power train type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical components such as a motor a gearbox and a ball screw which can introduce inaccuracies and which are subject to wear over their lifetime Hence when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw and so on may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis did not move Compensation for mechanical backlash can be achieved by adding a directional offset specified by the Backlash R
16. 3000 RPS2 0 0333 Rated Revs Per Second2 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also do not reflect the true performance of the system Enable Notch Filter Frequency Select this to enable the drive s notch filter Clear this to disable this filter Notch Filter Frequency When Enable Notch Filter Frequency is selected this value sets the center frequency of the drive s digital notch filter If the Notch Filter value is set to zero the notch filter Frequency is disabled Currently implemented as a 2nd order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output attenuation at the Notch Filter frequency This output notch filter is particularly useful in attenuating mechanical resonance phenomena The output filter is particularly useful in high inertia applications where mechanical resonance behavior can severely restrict the maximum bandwidth capability of the servo loop This value is not applicable for Ultra3000 drives Enable Low Pass Output Filter Select this to enable the servo s low pass digital output filter Clear this to disable this filter During tuning if the controller detects a high degree of tuning inertia the controller enables the Low Pass Output Filter and calculates and sets a value for Low Pas
17. AXIS SERVO_DRIVE wsecccssssssssssessessseessesseeeseenees 137 Aux Feedback tab AXIS_SERVO_DRIVE c cesssssssssssessessesssessesaseeneesnees 137 Rockwell Automation Publication MOTION UM001D EN P November 2015 7 Table of contents Conversion tabiin anaana a A RER Homing tab AXIS SER VO css csvarcsispcsoudavandagsteventsinnnieaienndeinana na Homing tab AXIS SERVO_DRIVE sssssssssnnsssunsnsntinessneinee Homing tab AXIS_VIRTUAL sssssssssssessissssessessssetsesssserseenssereressereressssreeessse Hookup tab AXIS SERVO sinnini o Hookup tab AXIS_SERVO_DRIVE sssssesesssssssessssrersssssrersssssrerssssseeressss Test Incrementnanina a a a a e eats acseaaehsoeeseeess Driye Polarity eereirern iiien ciee AREER EEE SEEEN ETY GE E ARAA RTEA E OE EEA EE E EE AE E AERA Test Feedbacks sanan a a caressa aiee Test Command amp Feedback ssss sssessssseseeeessssssseserssssssreeeessssssseerrssssssesereres Tune tab AXIS SERVO AXIS SERVO_DRIVE vs Travel Limites ma a a a n na t Start TUNING vsiiiiisiniiiiiiiiiiiiiriiiiiiiriieinieit iiaii Dynamics tab AXIS_SERVO AXIS_SERVO _DRIVE AIO a A ited cat O A A Maximum Speed imien sereia E eerie Aetna tid cad tacts eat n Maximum Puc Celera biota sierciseetlenicsoawie uae NnS Maximum Deceleration cccsccineiatistiaduittie ariedastnGeieansaudmenas Maximum Acceleration Jerk nicowiee tedince eee aac aimuemenn Maximum Decelerationy Gtk sincunnnataonnnaitenenmanieanaws Calculate button
18. Only for AXIS_SERVO Data Type If this bit is set the servo module forces the DAC output for the axis to zero volts This bit only applies if the axis is in the Direct Drive State with the drive enabled but no servo action Abort Home Request If this bit is set any active homing procedures are canceled Abort Event Request If this bit is set any active registration or watch event procedures are canceled Change Cmd Reference If this bit is set the controller switches to a new position coordinate system for command position The servo module or drive uses this bit when processing new command position data from the controller to account for the offset implied by the shift in the reference point The bit is cleared when the axis acknowledges completion of the reference position change by clearing its Change Position Reference bit Appendix B Motion axis attributes Attribute Axis Data Type Axis Event AXIS_ CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL 214 Axis Type Data Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL SINT DINT ca Description Associated motion axis tag data type 0 Feedback 1 Consumed 2 Virtual 3 Generic 4 Servo 5 Servo Drive 6 Generic Drive The Axis Data Type attribute and is used to determine which data template memory format and set of attributes are created and applicable for this axis instance This attrib
19. ow Limit Torque Camenandt niet haen Terna Tonie Fams Lew Aemplitvar Poemon Cummand Cersa Feedaazt j tis pan Channa omron wowa fun ceim Fee salar Posison Foocnasa The Motor Position Servo configuration provides full position servo control using only the motor mounted feedback device to provide position and velocity feedback This servo configuration is a good choice in applications where smoothness and stability are more important that positioning accuracy Positioning accuracy is limited due to the fact that the controller has no way of compensating for non linearity in the mechanics external to the motor Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the base update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability 314 Rockwell Automation Publication MOTION UM001D EN P November 2015 Torv
20. AXIS_SERVO If this bit is e ON The Drive Enable output of the axis is on e OFF The Drive Enable output of the axis is off AXIS_SERVO_DRIVE If this bit is e ON The drive s power structure is active e OFF The drive s power structure is not active AXIS_VIRTUAL e Bitis OFF If this bit is set then the external servo drive detected a fault and communicated the existence of this fault to the servo module via the Drive Fault input This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Drive Fault Axis Type Data Type Access Description AXIS_SERVO_DRIVE Drive Fault Action AXIS_ SERVO SINT SSV Motion axis attributes Appendix B Allows access to all drive fault bits in one 32 bit word This tag is the same as the Drive Fault Bits attribute Tag Bit Tag Bit Pos Soft Overtravel Fault 0 Overload Fault 16 Neg Soft Overtravel Fault 1 Drive Overtemp Fault 17 Pos Hard Overtravel Fault 2 Motor Overtemp Fault 18 Neg Hard Overtravel Fault 3 Drive Cooling Fault 19 Mot Feedback Fault 4 Drive Control Voltage Fault 20 Mot Feedback Noise Fault 5 Feedback Fault 21 Aux Feedback Fault 6 Commutation Fault 22 Aux Feedback Noise Fault 7 Drive Overcurrent Fault 23 Reserved 8 Drive Overvoltage Fault 24 Drive E
21. Appendix B Introduction for Motion Axis Attributes Motion axis attributes The Access column shows how to access the attribute Attribute Acceleration Feedforward Gain Accel Status Actual Acceleration Axis Type Data Type Accessing an MSG instruction For complete information on how to access data using an MSG instruction see Logix5000 Controllers Messages Programming Manual publication 1756 PM012 Access GSV SSV Tag GSV Tag Description Use a Get System Value GSV instruction to get the value Use a Set System Value SSV instruction to set or change the value The attribute can only be modified when the axis is not enabled Use the tag for the axis to get the value Use the tag for the axis or a GSV instruction to get the value It s easier to use the tag If you need more information on Attribute and Class IDs see the drive documentation Interpreting the Attribute Tables The following table provides an explanation of the information nomenclature and abbreviations used in the attribute tables Rockwell Automation Publication MOTION UM001D EN P November 2015 199 Appendix B Motion axis attributes Column Heading Attribute Axis Type Data Type Access Description Description Each attribute table begins with the attribute name The tag GSV SSV and MSG names for each of these attributes are the same as the attribute name listed but with
22. DINT REAL REAL REAL GSV GSV GSV SSV GSV Tag GSV Tag Motion axis attributes Appendix B Description This attribute is derived from the Drive Units attribute See IDN 46 in IEC 1491 This attribute is derived from the Drive Units attribute See IDN 45 in IEC 1491 Position Units sec This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Error in Position Units Seconds Velocity Error is the difference in configured axis Position Units per Second between the commanded and actual velocity of an axis For an axis with an active velocity servo loop velocity error is used along with other error terms to drive the motor to the condition where the velocity feedback is equal to the velocity command Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Feedback in Position Units Seconds Velocity Feedback is the actual velocity of the axis as estimated by the motion module in the configured axis Position Units per second The estimated
23. Guard Limited Speed Input Guard Reset input Guard Limited Speed Request Guard Reset Required Guard Limited Speed Monitor Guard Stop Input Cycle Required in Progress Guard Limited Speed Output Guard Max Speed Monitor in Progress A non zero Backlash Compensation Window softens the Backlash Compensation as its applied to the Servo Output and reduces the dithering effect that it can create This generally allows higher values of Backlash Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Rockwell Automation Publication MOTION UM001D EN P November 2015 241 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Guard Status AXIS_SERVO_DRIVE DINT Tag Important To use this attribute choose it as one of the attributes for Real Time Axis GSV Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 ts a Ca i cae Onpa K Cao 7 GaSe n Gai Poges g care tees Ge n cae a 2 Gd ee Se 5 Guard Limited Speed Request 10 Guard Reset Required 24 tors in Progress nanje aF 31 an Progress 242 Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Guard Faults Gearing Lock Status Gearing Status Ground Short Fault Axis Type Data Type AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CON
24. Hookup tab AXIS SERVO Use the Hookup tab to configure and initiate axis hookup and marker test sequences for an axis of the type AXIS_SERVO gt Avis Properties AXIS SERVO sta Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Fanner Unts Servo Feedback Conversion Homing Hookup Tune _ Test Increment 0 0 Position Units Feedback Polarity Positive Negative lest Feedbact Output Polarity Positive D Negative Test Output Feedbac DANGER Executing test with controller in Program or Run Mode eN may cause axis motion Modifying polarity after executing Test Command amp Feedback test may cause axis runaway condition When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Item Description Test Increment Specifies the amount of distance traversed by the axis when executing the Output amp Feedback test Test Increment is also used for the Marker and Feedback test The test is complete when the distance is traveled For example if the distance is set to 1 4 of the revolution then the marker test will fail 75 of the time because the marker will never be seen For the Marker test the test increment has to be a distance large enough to ensure that a marker is passed The default value is set to approximately a quarter of a revolution of the motor in position units
25. J1 to 50 pin Terminal Block z Kit P N 9109 1391 Servo Drive Fue l Terie Gable General cable ENABLE n From 1756 M02AE C 0721 DRVFLT General cable OUT From 1756 MO2AE C 0720 pi i N T CHA General cable HB From1756 M02AE C 072 a Notes This is an example of one way to wire the drive e e See Ultra 200 Series Drive Installation Manual publication number 1398 5 0 for other configurations 1398 CFLAExx cable The following image illustrates the 1398 CFLAExx cable Ve Sq ao Se 1 0 in Individually Jacketed pairs z w NN CSS SS SX a BRAKE AN RESET BP 1a98 CrLAE eel i A 50in l xy Rockwell Automation Publication MOTION UM001D EN P November 2015 297 Appendix C Wiring diagrams Wires Stripped Back 25 in Wires Terminated with Ferrules 298 m BROWN28GA Pinouts for 1398 CFLAExx cable The following image illustrates the pinouts for the 1398 CFLAExx cable m WHT ORG22GA_ gt Ea fez m ag MN N o gt i on amp So bes ae DRAIN Pet TSEL TET LARE A EE TAN28GA a1 2 ipa a as tte g WHT RED22GA s 5 V V X WHT BLK 22GA LA 5 nA DRAIN ae UEC ee ae eee ese WHT GRN22GA_ 9 9 22 bA WHT BLU 22GA LA 23 Ke DRAIN T e Ot AA oe ee eee X RED 28GA az aN 1i ORANGE 28GA L 6 Xi vewowzeca Xi daa Ca DRAIN T EIA ANN EEEN PA E GRE
26. Lower deceleration than the stopping instruction S curve profile in the instruction that starts the motion Jog_PB lt Local 4 Datalt 0 gt S Motion Axis Stop Axis My_Axis Mation Control Stop_Jog Stop Type is Jog or Move Jog Higher deceleration than the jogging instruction For example Change Decel is set to Nb This means the axis uses its Maximum Deceleration 108 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 Cause The axis does not have enough time at the new lower deceleration to stop at the target position It stops past the target position Then it corrects to get back to the target position a MCD instruction changes axis overshoots axis reverses and deceleration target position returns to target position Corrective action To avoid overshooting position do one of the following e Avoid decreasing the deceleration or deceleration jerk while an axis is decelerating along an S curve profile e Avoid increasing the programmed speed while an axis is decelerating along an S curve profile This has the same effect as decreasing the deceleration jerk Test any changes in small increments to make sure a change does not cause an overshoot during normal operation Rockwell Automation Publication MOTION UM001D EN P November 2015 109 Chapter 5 Introduction for Home an Axis Guidelines for homing Guid
27. The Conversion Constant is calculated from the values entered on the Feedback screen when you click Calculate This calculated value must be typed into the Conversion Constant field on the Conversion tab as it is not automatically updated Minimum Servo The Minimum Servo Update period is calculated based on the values entered for Recirculations and Length Update Period on the Feedback tab When these values are changed clicking Calculate recalculates the Minimum Servo Update Period based on the new values Calculate Button Calculate becomes active whenever you make changes to the values on the Feedback tab Clicking Calculate recalculates the Conversion Constant and Minimum Servo Update Period values However you must then re enter the Conversion Constant value at the Conversion tab as the values are not updated automatically Drive Motor tab Use the Drive Motor tab to configure the servo loop for an AXIS_SERVO_DRIVE axis and open the Change Catalog dialog box AXIS_SERVO_DRIVE T 7 5 Axis Properties AXIS_SERVO_DRIVE Ss Foy Homing Hookup Tune Dynamics Gains Output Limits Offset Faut Actions Tag General Motion Planner Unts Drive Motor Motor Feedback Aux Feedback Conversion Amplifier Catalog Number lt none gt X Motor Catalog Number lt none gt Change Catalog Loop Configuration Dual Command Servo z Drive Resolution 200000 Drive Counts Motor Rev x Calculate V Drive Enable Input
28. The Tuning Travel Limit attribute limits the travel of the axis during the tuning procedure If the axis cannot complete the tuning procedure before exceeding the Tuning Travel Limit the motion module stops the tuning procedure and reports that the Tuning Travel Limit was exceeded via the Tune Status attribute This does not mean that the Tuning Travel Limit was actually exceeded but that had the tuning procedure gone to completion the limit would be exceeded Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Command in Position Units Seconds Velocity Command is the current velocity reference to the velocity servo loop in the configured axis Position Units per Second for the specified axis The Velocity Command value hence represents the output of the outer position control loop Velocity Command is not to be confused with Command Velocity which represents the rate of change of Command Position input to the position servo loop This attribute is derived from the Drive Units attribute See IDN 44 in IEC 1491 Attribute Velocity Data Scaling Factor Velocity Droop Velocity Error Velocity Feedback Axis Type Velocity Data Scaling AXIS_SERVO_DRIVE Exp AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE Data Type INT
29. The block of data stored in the Motor Data attribute is derived at configuration time from a Logix Designer software motion database file Motor Capacity AXIS_SERVO_DRIVE The present electrical angle of the motor shaft Motor Electrical Angle AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Real Time Axis Tag Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Degrees 254 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Description Attribute Axis Type Data Type Motor Feedback AXIS_SERVO_DRIVE INT GSV The controller and drive use this for scaling the feedback device counts These attributes are Configuration derived from the corresponding Motor and Auxiliary Feedback Unit attributes Bit 0 Feedback type 0 rotary default 1 linear 1 reserved 2 Linear feedback unit 0 metric 1 english 3 Feedback Polarity Aux Only 0 not inverted 1 inverted If the bits are Then Feedback Resolution Is scaled to 2 6 0 0 0 Feedback Cycles per Feedback Rev 0 Feedback Cycles per Feedback Rev 0 1 Feedback Cycles per mm 1 1 ij Feedback Cydes per inch Feedback Polarity The Feedback Polarity bit attribute can be used to change the sense of direction of the feedback device This bit is only vali
30. Tune Velocity Bandwidth KiloCounts Per Seconds The Tune Speed Scaling attribute returns the axis drive scaling factor measured during the tuning procedure This value is only applicable to axes configured for interface to an external velocity servo drive In this case the Tune Speed Scaling attribute value is directly applied to the Velocity Scaling attribute by a subsequent MAAT Motion Apply Axis Tune instruction 0 tune process successful 1 tune in progress 2 tune process aborted by user 3 tune process timed out 4 AXIS_SERVO tune process failed due to servo fault AXIS_SERVO_DRIVE tune process failed due to drive fault 5 axis reached Tuning Travel Limit 6 axis polarity set incorrectly More codes for a AXIS_SERVO_DRIVE 7 tune measurement fault 8 tune configuration fault The Tune Status attribute returns status of the last run MRAT Motion Run Axis Tuning instruction that initiates a tuning procedure on the targeted axis Use the attribute to determine when the MRAT initiated operation successfully completed Conditions may occur however that make it impossible for the control to properly perform the operation When this is the case the tune process is automatically aborted and a tune fault reported that is stored in the Tune Status output parameter Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Access Descripti
31. amp Feedback Test can cause an unexpected motion Test Marker Runs the Marker test which ensures that the encoder A B and Z channels are connected correctly and phased properly for marker detection When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Rockwell Automation Publication MOTION UM001D EN P November 2015 147 Appendix A Axis properties Tune tab AXIS_SERVO AXIS_SERVO_ DRIVE 148 Test Feedback Runs the Feedback Test which checks and if necessary reconfigures the Feedback Polarity setting When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Test Command amp Feedback Runs the Command amp Feedback Test which checks and if necessary reconfigures the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Executing any test operation automatically saves all changes to axis properties Use this tab to configure and initiate the axis tuning sequence for an axis of the types AXIS_SERVO or AXIS_SERVO_DRIVE l X Avis Properties AXIS SERVO_DRIVE So General Motion Planner Unts Drive Motor _
32. associated with the axis If the Motor ID does not match that of the actual motor an error is generated during the drive configuration process Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Motor Inertia Motion axis attributes Appendix B Axis Type Data Type Access Description AXIS_SERVO_DRIVE REAL GSV Rated Pos Units per Sec SSV The Motor Inertia value represents the inertia of the motor without any load attached to the motor shaft in Torque Scaling units of Rated Pos Units per Sec The Load Inertia Ratio attribute s value represents the ratio of the load inertia to the motor inertia Auto tuning uses the Motor Inertia value to calculate the Load Inertia Ratio based on the following equation Load Inertia Ratio Total Inertia Motor Inertia Motor Inertia Total Inertia is directly measured by the auto tuning algorithm and applied to the Torque Scaling attribute in units of Rated Pos Units per Sec If the Load Inertia Ratio value is known the Motor Inertia value can also be used to calculate a suitable Torque Scaling value for the fully loaded motor without performing an auto tune The equation used by RSLogix5000 to calculate the Torque Scaling value is as follows Torque Scaling 1 Load Inertia Ratio Motor Inertia The value for Load Inertia may be automatically calculated using Rockwell s MotionBook program while the value for Motor Inertia is derived from the Moti
33. control system You need the following to configure a SERCOS or Analog motion system SERCOS e Logix L6x or Logix L7x controller e SERCOS interface drive 6000 6200 2000 Ultra3000 e SERCOS interface module e Kinetix 6000 drive actuators pair e Logix Designer application Rockwell Automation Publication MOTION UM001D EN P November 2015 13 Preface Analog e Logix L6x controller e Analog interface module e Analog interface drive Ultra3000 e Kinetix 6000 drive actuators pair e Logix Designer application Configuration and sta It UP The following are three example scenarios of how you can get a motion solution scenarios up and running Tip Programming Virtual first is the safest method to begin with because you are separating the motion programming from the hardware Progam Fire 1 Pogam Vrtu 2 Configure J Wire Sete n bestabatice lastrarTyes Modh Pogan F you program n Virusai frst pou see Configure Fest Ware Fart E Cothigere 1 Wire Peter i trstatiumion lestructoms i i x 2 Pogam 2 Configure 7 E v f i Wer z 3 Commason Sefer n letalaten sracot f 4 nms 4 Program D y pour propia hom ea Prisa gers to oval ao t Comans Description of the modules The following table describes the Logix5000 motion modules Motion Module 1756 M03SE 1756 M08SE 1756 M16SE 1768 M04SE Description Use a SERCOS interface module to connect the controller
34. gearing and synchronization where the actual axis position must not significantly lag behind the commanded position at any time When you connect to a velocity servo drive use Acceleration Feedforward to add a term to the Velocity Command that is proportional to the commanded acceleration This can be effective in cases where the external drive shows a steady state velocity error during acceleration and deceleration The best value for Acceleration Feedforward depends on the drive configuration Excessive Acceleration Feedforward values tend to produce axis overshoot For torque servo drive applications the best value for Acceleration Feedforward is theoretically 100 However the value may need to be increased slightly to accommodate servo loops with non infinite loop gain and other application considerations For velocity servo drive applications the best value for Acceleration Feedforward is highly dependent on the drive s speed scaling and servo loop configuration A value of 100 in this case means only that 100 of the commanded acceleration value is applied to the velocity command summing junction and may not be even close to the optimal value To find the best Acceleration Feedforward Gain run a simple project that jogs the axis in the positive direction and monitors the Position Error of the axis during the jog Usually Acceleration Feedforward is used in tandem with Velocity Feedforward to achieve near zero following error during the
35. or click Cancel to exit without changing the value The Unit of Time is allowed for Jerk limiting only via the Instruction Faceplate Only the Profile S curve allows Jerk control Programmable S curve The units for programming Jerk limiting are more easily expressed in terms of of Time rather than Position Units s3 Calculate Maximum Acceleration Jerk of Time Maximum Acceleration Jerk 3000 0 Position Units s 3 Manual Adjust Use Dynamics tab for online editing of the Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk and Maximum Deceleration Jerk When values are changed on this dialog box manually using the spin control or entering numeric values a blue arrow appears This means that the values have been instantaneously sent to the controller r i Manual Adjust AXIS_SERVO_DRIVE x Dynamics Gains Output Limts Offset Friction Compensation Friction Compensation 0 0 ae Window 0 0 Position Units Backlash Compensation Reversal Offset 0 0 Position Units Stabilization Window 0 0 e Position Units Velocity Offset 0 0 e Position Units s Torque Force Offset 0 0 tje Manual Adjust is unavailable when the Logix Designer application is in Wizard mode and when offline edits to the parameters have not yet been saved or applied Rockwell Automation Publication MOTION UM001D EN P November 2015 155 Appendix A Axis properties Ga
36. see below during execution of the MRAT Motion Run Axis Tune instruction In general the Damping Factor attribute controls the dynamic response of the servo axis When gains are tuned using a small damping factor like 0 7 a step response test performed on the axis would demonstrate under damped behavior with velocity overshoot A gain set generated using a larger damping factor like 1 0 produces a system step response that has no overshoot but has a significantly lower servo bandwidth The default value for the Damping Factor of 0 8 should work fine for most applications Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Volts This parameter is the present voltage on the DC Bus of the drive Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Description Decel Status AXIS_CONSUMED BOOL Tag Set if the axis is currently being commanded to decelerate AXIS_ GENERIC Use the Accel Status bit and the Decel Status bit to see if the axis is accelerating or AXIS_ SERVO decelerating If both bits are off then the axis is moving at a steady speed or is at rest AXIS_SERVO_DRIVE AXIS_VIRTUAL Direct Drive Ramp Rate AXIS_SERVO REAL GSV Volts Second SSV The Direct Drive Ramp Rate attribute contains a slew rate for
37. time are converted to engineering units as follows If Start Speed lt Programmed Speed Programmed Accel Rate 200 Accel Jerk Units Sec Bb lll 1 Programmed Speed of Time Programmed Decel Rate 200 Decel Jerk Units Sec 1L M Max Programmed Speed Start Speed Programmed Speed of Time t Programmed Speed Velocity If Start Speed gt Programmed Speed Programmed Decel Rate 200 DeceVerkl oe Max Programmed Speed Start Speed Programmed Sp eed of Time Programmed Decel Rate 200 DeceVerk2 1 Programmed Speed of Time 4 DeceVerk1 3 7 Programmed Speed Decel erk2 gt Time DecelJerk1 is used while Current Speed gt Programmed Speed DecelJerk2 is used while Current Speed lt Programmed Speed Rockwell Automation Publication MOTION UM001D EN P November 2015 87 Chapter 4 Program Depending on the instruction s Speed parameter the same of time jerk can result in slopes for the acceleration profile that differ from the deceleration profile Speed 0 Deceleration 20 30 40 30 30 40 130 ees oe MAJI MAJ The motion planner algorithm adjusts the actual jerk rate so that the acceleration profile and the deceleration profile contains at least the of time ramp time If the Start Speed is close to the programmed Speed parameter the actual percentage of ramp time may be higher than
38. 2015 163 Appendix A Axis properties 164 Integral Velocity Gain This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab At every servo update the current Velocity Error is accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Torque Command that attempts to correct for the velocity error The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too much I Gain results in axis oscillation and servo instability In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other In general where static positioning accuracy is required Position Integral Gain is the better choice While the Vel I Gain if employed is typically established by the automatic servo tuning procedure in the Tune tab of th
39. 209 LDT Recirculations 209 LDT Scaling 209 LDT Scaling Units 209 LDT Type 209 Servo Feedback Type 209 A Quadrature B Encoder Interface 209 Linear Displacement Transducer 209 Synchronous Serial Interface 209 Servo Loop Configuration 209 Servo Polarity Bits 209 Feedback Polarity Negative 209 Servo Polarity Negative 209 SSI Clock Frequency 209 SSI Code Type 209 SSI Data Length 209 Servo Drive Attributes Analog Input 209 Attribute Error Code 209 Attribute Error ID 209 Axis Control Bit Attributes 209 Abort Process 209 Change Cmd Reference 209 Shutdown Request 209 Axis Info Select 209 Axis Response Bit Attributes 209 Abort Event Acknowledge 209 Abort Home Acknowledge 209 Abort Process Acknowledge 209 Change Pos Reference 209 Shutdown Request Acknowledge 209 Commissioning Configuration Attributes Motor Inertia amp Load Inertia Ratio 209 Rockwell Automation Publication MOTION UM001D EN P November 2015 327 Index Commissioning Status Attributes Test Direction Forward 209 Test Status 209 Tune Acceleration 209 Tune Acceleration Time 209 Tune Deceleration 209 Tune Deceleration Time 209 Tune Inertia 209 Tune Status 209 Drive Fault Bit Attributes 209 Drive Gains 340 Advanced Drive Gain Attributes 209 Output Notch Filter Frequency 209 Velocity Proportional Gain Maximum Bandwidth 209 Drive Limits Advanced Drive Limits 209 Continuous Torque Limit 209 Torque Limit 209 Drive Offsets Backl
40. 3 85 of Max Accel Time Calculate Maximum Deceleration Jerk 20000 0 Position Units s 3 100 of Max Decel Time Calculate Important The parameters on this tab can be edited in the following ways e Use this tab to edit parameter changes and then click OK to save your edits e Click Manual Adjust Many attributes cannot be changed when online and or the axis is enabled Use Manual Adjust to make modifications to these attributes when online and the axis is enabled Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When the Logix Designer application is offline the following parameters can be edited and the program saved to disk using the Save command or when you click Apply You must re download the edited program to the controller before it can be run Maximum Speed The steady state speed of the axis it is initially set to Tuning Speed by the tuning process This value is typically set to about 90 of the maximum speed rating of the motor This provides sufficient head room for the axis to operate at all times within the speed limitations of the motor The Maximum Speed value entered is used when the motion instruction is set with Speed Units of Maximum Ifa motion instruction has a Speed Units units
41. AXIS_SERVO_DRIVE INT GSV The Drive Unit attribute establishes the unit of measure that is applied to the Drive Resolution attribute value Units appearing in the enumerated list may be linear or rotary English or metric Further discrimination is provided in the enumerated list to specify whether the Drive Unit is referenced directly to the motor or to the external or auxiliary feedback 0 motor revs 1 aux revs 2 motor inches 3 aux inches 4 motor mm 5 aux mm Rockwell Automation Publication MOTION UM001D EN P November 2015 235 oj w oO vj me wjn O M Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Drive Warning Bits AXIS_SERVO_DRIVE DINT 236 Rockwell Automation Publication MOTION UM001D EN P November 2015 Warming Bit Drive Overload Warning 0 Drive Overtemperature Warning 1 Motor Overtemperature Warning E Cooling Error Warning 3 Drive Overload Warning When the load limit of the motor is exceeded the Overload Warning bit is set If the condition persists an Overload Fault occurs This warning bit gives the control program an opportunity to reduce motor loading to avoid a future shutdown situation Drive Overtemperature Warning When the over temperature limit of the drive is exceeded the Drive Overtemperature Warning bit is set If the condition persists a Drive Overtempe
42. Automation Publication MOTION UM001D EN P November 2015 Configure analog motion Chapter 2 Configure an axis for Configure Analog Motion L Follow these steps to configure the axis of an analog module In the Controller Organizer double click the axis 2 On the General tab in the Module box select the name that you gave to the drive for this axis gt Axis Properties AXIS SERVO fe rere Dynamics Son oom Offset Fault Actions Tag General wee Mima F merrer _Conversion Homing Hookup Tune ses Caton Motion Group motion group Mi la New Group Associated Module Module Analog _Encoder 7 Module Type 1756 M02AE Chanal 3 Click the Units tab and in the Position Units box set the units in which you want to program Fault Actions mal Tag Sesser e ch eel Homing Hookup Tune Position Units Average Velocity Timebase 0 25 Seconds Click the Conversion tab and in the Positioning Mode and Conversion Constant boxes enter the conversion details Dynamics L Tag Gains Output Limts Offset Fault Actions General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Fst Mede Conversion Constant 80000 Feedback Counts 1 0 Postion Units Position Unwind 8000 Feedback Counts Unwind Rockwell Automation Publication MOTION UM001D EN P November 2015 59
43. BOOL BOOL BOOL BOOL REAL DINT GSV Tag Tag Tag Tag Tag Tag Tag MSG Motion axis attributes Appendix B Description The PWM Frequency Select attribute controls the frequency of the pulse width modulated voltage applied to the motor by the drive s power structure Higher PWM Frequency values reduce torque ripple and motor noise based on the motor s electrical time constant Higher PWM frequencies however mean higher switching frequencies which tends to produce more heat in the drive s power structure So for applications that have high torque demands a lower PWM frequency is recommended 0 low frequency default 1 high frequency If this bit is e ON Registration 1 input is active OFF Registration 1 input is inactive If this bit is e ON Registration 2 input is active OFF Registration 2 input is inactive Set when a registration checking is armed for registration input 1 through execution of the MAR Motion Arm Registration instruction Cleared when a registration event occurs or an MDR Motion Disarm Registration instruction is executed for registration input 1 Set when a registration event occurs on registration input 1 Cleared when another MAR Motion Arm Registration instruction or an MDR Motion Disarm Registration instruction is executed for registration input 1 Set when a registration checking is armed for registration input 2 through execut
44. Backlash Reversal Error 209 Backlash Stabilization Window 209 Directional Scaling Ratio 209 Maximum Bandwidth 209 Output LP Filter Bandwidth 209 Torque Scaling 209 Velocity Scaling 209 Servo Limits Direct Drive Ramp Rate 209 Friction Compensation 209 Friction Compensation Window 209 Maximum Negative Travel 209 Maximum Positive Travel 209 Output Limit 209 Output Offset 209 Position Error Tolerance 209 Position Lock Tolerance 209 Torque Offset 209 Velocity Offset 209 Servo Loop Block Diagrams Position Servo with Torque Servo Drive 332 Position Servo with Velocity Servo Drive 333 Rockwell Automation Publication MOTION UM001D EN P November 2015 329 Index 330 Servo Status Attributes Acceleration Command 209 Attribute Error Code 209 Attribute Error ID 209 Aux Position Feedback 209 Axis Response Bit Attributes Zero DAC Request Acknowledge 209 Commissioning Status Attributes Test Direction Forward 209 Test Status 209 Tune Acceleration 209 Tune Acceleration Time 209 Tune Deceleration 209 Tune Deceleration Time 209 Tune Inertia 209 Tune Rise Time 209 Tune Speed Scaling 209 Tune Status 209 Marker Distance 209 Position Command 209 Position Error 209 Position Feedback 209 Position Integrator Error 209 Servo Fault Bit Attributes 209 Servo Output Level 209 Servo Status Bit Attributes 209 Velocity Command 209 Velocity Error 209 Velocity Feedbac 209 Velocity Integrator Error 209 Status Attributes Out
45. Chapter 2 Configure analog motion Set the homing sequence for Configure Analog Motion For complete information about Homing modes methods and guidelines see Home an Axis on page 111 Follow these instructions to set the homing sequence 1 Click the Homing tab and in the Mode box choose the homing mode SS SSS a Axis Properties HYD_AXIS atom x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Mode Active x Postion 0 0 Position Units Sequence Immediate xj Active Home Sequence Group 2 In the Position box type the position units 3 Inthe Sequence box choose the sequence type 4 For all sequence types except Intermediate in the Description box choose the active home sequence type and then in the Speed and Return Speed boxes set the homing speeds 5 Click OK to apply the changes 60 Rockwell Automation Publication MOTION UM001D EN P November 2015 Chapter 3 Commission and tune Introduction for This chapter discusses how to commission an axis for a motion application Commission and Tune Downloada program to the Follow these instructions to download a program to the controller controller 1 With the keyswitch place the controller in Program or Remote Program mode From the Communications menu choose Download
46. Checking Drive Enable Input Fault Real Time Axis Information Attribute 1 Postion Feedback x Attribute 2 Marker Distance X kt a tn A a a pe d da a a a a a Item Description Amplifier Catalog Number Select the catalog number of the amplifier to which this axis is connected Motor Catalog Number Select the catalog number of the motor associated with this axis When you change a Motor Catalog Number the controller recalculates the values 132 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Change Catalog Lets you select a new motor catalog number There are three fields that can be used to refine the selection process Drive Motor Tab AXIS_SERVO_ DRIVE Recalculations On this tab These attributes are recalculated Motor Feedback tab Motor Feedback Type Motor Feedback Resolution Gains tab Position Proportional Gains Velocity Proportional Gains Dynamics tab Maximum Speed Maximum Acceleration Maximum Deceleration Limits tab Position Error Tolerance Custom Stop Action Attributes Stopping Torque dialog box Custom Limit Attributes dialog Velocity Limit box Bipolar Velocity Limit Positive Velocity Limit Negative Acceleration Limit Bipolar Acceleration Limit Positive Acceleration Limit Negative Torque Limit Bipolar Torque Limit Positive Torque Limit Tune Bandwidth dialog box Position Loop Bandwidth Velocity Loop Bandwidth Drive Motor Tab Loop Configurati
47. Communication 1756 CNB 1756 ControiNet Bridge Allen Bradiey Communication 1756 CNBR 1756 CortrolNet Bridge Redundant Media Allen Bradley Communication 1756 DHRIO 1756 DH Bridge RIO Scanner Aben Bradey Communication j 138 of 138 Module Types Found Add to Favorites F Close on Create Cose Help 3 Select the Close on Create check box and click Create Rockwell Automation Publication MOTION UM001D EN P November 2015 47 Chapter 2 Configure analog motion 4 On the New Module dialog box in the Name box type a name for the module s New Module a Type 1756 HYD02 2 Ads Hydraulic Servo Vendor Allen Bradley Name Hydreulic_1 Description Revision 5 In the Slot box choose the number that corresponds to the physical slot that contains the module 6 optional In the Description box type a description 7 Inthe Electronic Keying box choose a keying option of either Compatible Keying or Exact Match see Electronic Keying on page 26 A WARNING Disable Keying should never be used with motion modules 8 Select the Open Module Properties check box and click OK Continue with the procedure to modify the properties for the module Modify properti es foran Follow these instructions to modify the properties for an analog module analog module 1 Inthe Controller Organizer double click the module 48 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure analog mot
48. Controller Organizer double click the motion group 3 Click the Attribute tab 4 Inthe General Fault Type box choose Non Major Fault EiWeneroeuprerste Monotoeeny Laci o S Axis Assignment Attribute Tag Base Update Period ms n O Sincrements Axis Schedule Altemate 1 Update 2 0 ms Altemate 2 Update 20 ms General Faut Type Non Major Faut v Scan Times elapsed time Max us Last us Average us 5 Click OK Rockwell Automation Publication MOTION UM001D EN P November 2015 65 Chapter 3 Commission and tune 6 Inthe Controller Organizer drag your programs into the Controller Fault Handler folder so that the program runs when a fault occurs Controller Organizer a Controller Demo A Controller Tags fia Controller Fault Handler Power Up Handler Configure the fault actions Use the fault actions to set how an axis responds to faults The type of faults depends on the type of axis and how you configure it for an axis If you want to Then choose Description Shut down the axis and let it coast to a Shutdown Shutdown is the most severe action Use it for faults that could endanger the machine or the operator if you do not stop remove power quickly and completely For this axis type When the fault happens AXIS_ SERVO e Axis servo action is disabled e The servo amplifier output is zeroed e The drive enable output is deactivated e The OK contact of the servo module
49. Corann Puson Fooduwck Coarse Povinen Anum uma En om Val P fy Torque Friet zen Noen Forse Tene Sain r Sealing Comp Tat Filime Liv Arapiles Molor The Motor Dual Command Servo configuration provides full position servo control using only the motor mounted feedback device to provide position and velocity feedback Unlike the Motor Position Servo configuration however command position and command velocity are applied to the loop to provide smoother feedforward behavior This servo configuration is a good choice in applications where smoothness and stability are important Positioning accuracy is limited due to the fact that the controller has no way of compensating for non linearities in the mechanics external to the motor Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Command and Velocity Offset These values are updated at the base update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block
50. FactoryTalk Services Platform that has the same name as the controller If there is no existing Logical Name that matches the controller name a new Logical Name is created with the controller s name The new Logical Name inherits permissions from its parent resource See FactoryTalk Help for more information on how networks and devices inherit security permissions Select Permission Set to apply a specific set of permissions to the controller The permission sets in the list are maintained in FactoryTalk Services Platform and identify a set of actions that are allowed or denied for a particular user and computer combination 11 optional In the Description box type a description for the controller Tip The description is limited to 128 bytes Standard ASCII characters consume 1 byte per character allowing for 128 characters Characters in some languages require up to three bytes per character resulting in less than 128 characters 12 optional Select Enable redundancy if this project supports an automatic transfer of project control to a redundant controller in case of primary controller failure 13 Click Finish Rockwell Automation Publication MOTION UM001D EN P November 2015 45 Chapter 2 Configure analog motion Set time synchronization for Configure Analog Motion 46 Time Synchronization in ControlLogix is called CIP Sync CIP Sync is a layer of functionality that Rockwell Automation has developed on top of the
51. IEEE 1588 PTP protocol CIP Sync lets you maintain accurate time synchronization of your automation solutions This setting establishes the module to participate in time synchronization In systems with multiple processors all controllers must have time synchronization enabled if they use CSmainT PTP time The 1756 ENxT communication modules win the arbitration over any processor 1 Inthe Controller Organizer double click the controller 2 On the Controller Properties dialog box click the Date Time tab l Controller Properties Motion_Control Lo e Project Redundancy Nonvolatie Memory Memory Securty Aam Log General Major Fauts __ Minor Fauts Date Time Advanced SFC Execution i The Date and Time displayed here is Controller local time not workstation local time Use these fields to configure Time attributes of the Controller Time Synchronize Enabl DANGER ff time synchronization is Time Synchronization disabled online active axes in any controller in this chassis or any other ls the system time master synchronized device may experience unexpected motion Safety controllers may O is a synchronized time slave fault f no other time master exists in the O Duplicate CST master detected local chassis CST Mastership disabled No CST master 3 Select the Enable Time Synchronization check box 4 Click OK Without intervention the Grandmaster is PTP and CST master You can use the
52. If you go online before you save your changes all pending changes revert to their previously saved state ENNER Tees General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Name AXIS_SERVO_DRIVE Description Type Base Data Type AXIS_SERVO_DRIVE Scope fa Demo Extemal Read Write Name Displays the name of the current tag If desired you can rename this tag Description Displays the description of the current tag if any is available If desired you can edit this description Tag Type Indicates the type of the current tag This type may be e Base e Alias e Consumed Displays the data type associated with the current tag Data Type Displays the axis data type of the current tag Rockwell Automation Publication MOTION UM001D EN P November 2015 195 Appendix A Axis properties Monitoring axis tags Create reports 196 Scope Displays the scope of the current tag The scope is controller scope or program scope based on one of the programs in the controller Style Displays the default style in which to display the value of the tag Note that style is only applicable to an atomic tag a structure tag does not have a display style In Edit Tags or Monitor Tags you can sort the tags alphabetically Right click on the Nam
53. Limts Offset Faut Actions Teas General_ Motion Planner _ Unts Sewo Feedback Conversion Homing Hookup Tune _ Extemal Drive Configuration Hydraulic Loop Configuration Position Servo V Enable Drive Fault Input Drive Fault Input Normally Open Closed V Enable Direct Drive Ramp Control Direct Drive Ramp Rate 50 0 Volts Second Real Time Axis Information Attribute 1 Position Feedback zj Attribute 2 lt none gt 7 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Item External Drive Configuration Loop Configuration Enable Drive Fault Input Drive Fault Input Enable Direct Drive Ramp Control Direct Drive Ramp Rate Attribute 1 Attribute 2 Description Select the drive type for the servo loop e Velocity Disables the servo module s internal digital velocity loop e Torque The servo module s internal digital velocity loop is active which is the required configuration for interfacing the servo axis to a torque loop drive e Hydraulic Enables hydraulic servo application features Select the configuration of the servo loop For this release only Position Servo is available Select this check box if you wish to enable the Drive Fault Input When active the motion module receives notice whenever the external drive detects a fault Specifies the usual state of the drive fault input when a fault is detected
54. MCCP No Motion Calculate Cam Profile Start electronic camming between 2 axes MAPC No Motion Axis Position Cam Start electronic camming as a function of time MATC No Motion Axis Time Cam Calculate the slave value slope and derivative of the slope MCSV No for a cam profile and master value Motion Calculate Slave Values Initiate action on all axes Stop motion of all axes MGS Yes Motion Group Stop Force all axes into the shutdown state MGSD Yes Motion Group Shutdown Transition all axes to the ready state MGSR Yes Motion Group Shutdown Reset Latch the current command and actual position of all axes MGSP Yes Motion Group Strobe Position Arm and disarm special event checking Arm the watch position event checking for an axis MAW Yes functions such as registration and watch Motion Arm Watch Position osition 4 Disarm the watch position event checking for an axis MDW Yes Motion Disarm Watch Position Rockwell Automation Publication MOTION UM001D EN P November 2015 97 Chapter 4 Program If You Want To Use This Instruction Motion Direct Command Arm the servo module registration event checking foran MAR Yes axis Motion Arm Registration Disarm the servo module registration event checking for MDR Yes an axis Motion Disarm Registration Arm an output cam for an axis and output MAOC No Motion Arm Output Cam Disarm one or all output cams connected to an axis MDOC No Motion Disarm Output Cam Tune an axis and run diagnostic tests
55. Motion Group appears in the Motion Groups branch of the Controller Organizer When you select none it terminates the Motion Group association and moves the axis to the Ungrouped Axes in the Controller Organizer MOTION_GROUP structure There is one MOTION_GROUP data type per controller This structure contains status and configuration information about the motion group Enumerations Data Type Description GroupStatus DINT The status bits for the group Number Data Type Description InhibitStatus DINT Inhibit status GroupSynced AxisInhibitStatus DINT Synchronization status DINT DINT Timer Event started os m Ny Nw no tag Reserved 03 31 MotionFault DINT The motion fault bits for the group Data Type Description ACAsyncConnFault foo DINT Asynchronous connection fault ACSyncConnFault DINT Synchronous connection fault Reserved 02 31 ServoFault DINT The servo module fault bits for the group Data Type Description POtrvlFault DINT Positive overtravel fault NOtrvlFault DINT Negative overtravel fault PosErrorFault DINT Position error fault 124 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Enumerations Data Type Description EncCHALossFault EncCHBLossFault EncCHZLossFault EncNsFault DINT Encoder channel A loss fault o E i a w DINT Encoder channel B loss fault DINT Encoder cha
56. Motor Feedback AuxFeedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit 10 0 Position Units g Speed 20 0 Position Units s DANGER Starting tuning A procedure with controller oct Tn Raed eee Direction Forward Bidirectional v Damping Factor 0 8 Tune V Position Eror Integrator F Velocity Eror Integrator V Friction Compensation 7 Velocity Feedforward W Acceleration Feedforward V Torque Offset V Output Filter Travel Limit Specifies a limit to the excursion of the axis during the tune test If the servo module determines that the axis is not able to complete the tuning process before exceeding the tuning travel limit it terminates the tuning profile and report that this limit was exceeded Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Speed Determines the maximum speed for the tune process This value should be set to the desired maximum operating speed of the motor in engineering units before running the tune test Torque Force AXIS_SERVO_ DRIVE The maximum torque of a Rotary motor or Force for a linear motor Force is used only when a linear motor is connected to the application This attribute should be set to the desired maximum safe torque level before running the tune test The default value is 100 which yields the most accurate measure of the acc
57. Rated This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Set when the magnitude of the physical axis Torque Feedback is less than the configured Torque Threshold If the bit is e ON The axis is part of an active transform e OFF The axis is not part of an active transform Position Units Sec The Tune Acceleration and Tune Deceleration attributes return the measured acceleration and deceleration values for the last run tuning procedure These values are used in the case of an external torque servo drive configuration to calculate the Tune Inertia value of the axis and are also typically used by a subsequent MAAT Motion Apply Axis Tune to determine the tuned values for the Maximum Acceleration and Maximum Deceleration attributes 282 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Tune Acceleration Time AXIS_SERVO REAL AXIS_SERVO_DRIVE Description Sec The Tune Acceleration Time and Tune Deceleration Time attributes return acceleration and deceleration time in seconds for the last run tuning procedure These values are used to calculate the Tune Acceleration and Tune Deceleration attributes Tune Deceleration AXIS_ SERVO AXIS_SERVO_DRIVE REAL Position Units Sec The Tune Acceleration and Tu
58. Ratio attribute s value represents the ratio of the load inertia to the motor inertia Auto tuning uses the Motor Inertia value to calculate the Load Inertia Ratio based on the following equation Load Inertia Ratio Total Inertia Motor Inertia Motor Inertia Total Inertia is directly measured by the auto tuning algorithm and applied to the Torque Scaling attribute in units of Rated Pos Units per Sec If the Load Inertia Ratio value is known the Motor Inertia value can also be used to calculate a suitable Torque Scaling value for the fully loaded motor without performing an auto tune The equation used by RSLogix5000 to calculate the Torque Scaling value is as follows Torque Scaling 1 Load Inertia Ratio Motor Inertia The value for Load Inertia may be automatically calculated using Rockwell s MotionBook program while the value for Motor Inertia is derived from the Motion database file based on the motor selection 1 0 Map Instance Number This is 0 for virtual and consumed Data Types The axis is associated to a motion compatible module by specifying the instance of the map entry representing the module Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Marker Distance in Position Units Marker Distance is the distance between the axis position at which a home switc
59. Real Time Axis Information Select up to two axis attributes whose statuses are transmitted along with the actual position data to the Logix processor You Attribute 1 Attribute 2 can access the values of the selected attributes using a GSV command or from the axis tag itself This data is transmitted at a rate equal to the servo status data update time If you issue a GSV command for servo status attribute or use the value from the axis tag without having selected this attribute via the Drive Info Select attribute the attribute value is static and does not reflect the true value in the servo module If the AXIS_SERVO_DRIVE is associated with a Kinetix Enhanced Safe Torque Off or Advanced Safety Drive these two additional Real Time Axis attributes are available e Guard Status e Guard Faults If an AXIS_SERVO_DRIVE is associated with a Kinetix Advanced Safety Drive we recommend that you configure the Guard Status attribute Otherwise you receive a warning when verifying your project If the AXIS_SERVO_DRIVE is associated with a Kinetix Advanced Then Safety Drive and Attribute 1 or Attribute 2 is populated as Guard Status No action is taken Attribute 1 or Attribute 2 is not populated as Guard Status Attribute 2 is populated as Guard Status Attribute 2 is populated with an attribute other than Guard Status and Attribute 1 is populated as Guard Status Attribute 1 is undefined Attribute 1 and Attribute 2 are populated with
60. Tag dialog box in the Name box type a name for the axis 4 optional In the Description box type a description for the axis 5 Click Create Get Axis Information You can get information about an axis in several ways e Use the Quick View pane to see the state and faults of an axis e Use a Get System Value GSV instruction or Set System Value SSV instruction to read or change the configuration at run time e Use the tag of the axis for status and faults a Motion Groups ane 6 8 motion_group axis_ XD axis_y All information provided No Warranty or implied merchantability X Hydro_01 Refer to the RSLogix 5000 End User License Agreement EULA in the Release XD seRvO_2 Notes E Ungrouped Axes Add On Instructions axis_x InhibiStatus Re SSV E Data Types J Nor Set System Value Class Name Axis E G User Defined Instance Name axis_x E E Strings Attribute Name InhibitAxis Gi Add On Defined Source Analog _In_Ch0 ER Predefined lt Local 8 1 Ch0Data ER Module Defined 9 674681 4 R Trende of t Type AXIS_SERVO description Axis State Module Name ServoCard Zhannel o When the DriveOff_Button is enabled turn axis_x servo off Reset all axis faults for Axis Faut axis_x shutdown state Servo Fault Autocycle_Button DriveOff_Button Module Faults eLocal2 IData12 gt lt Local 2 Data 9 gt AFR Attribute Error j Motion Axis Fault Rese 58 Rockwell
61. The Units tab is the same for all axis data types Use this tab to determine the units to define your motion axis 8 Axis Proper es AXIS SER Ti ea hah CE ajea Dynamics Gains Output Limits Ofset Faut Actions Tag General _ Motion Planner_ Unts Servo Feedback Conversion Homing Hookup Tune _ i Position Units Average Velocity Timebase 0 25 Seconds Description User defined engineering units rather than feedback counts used for labeling all motion related values for example position and velocity These position units can differ for each axis Position units should be chosen for maximum ease of use in your application For example linear axes might use position units of Inches Meters or mm whereas rotary axes might use units of Revs or Degrees Specifies the time in seconds to be used for calculating the average velocity of the axis This value is computed by taking the total distance the axis travels in the amount of time specified and dividing this value by the timebase The average velocity timebase value should be large enough to filter out the small changes in velocity that would result in a noisy velocity value but small enough to track significant changes in axis velocity A value of 0 25 to 0 50 seconds should work well for most applications Servo tab AXIS SERVO The following image is an example of the Servo tab for AXIS_SERVO TERELI OO O eos 128 Dynamics Gans Outpt
62. a loss of data Modify properties for a SERCOS motion module Follow these instructions to modify the module properties 1 Ifthe Module Properties Report dialog box is not already open in the Controller Organizer double click the motion module 2 On the Module Properties Report dialog box click the Connection tab Rockwell Automation Publication MOTION UM001D EN P November 2015 27 Chapter 1 28 Baud Rate of Drives 4 Mbps Configure SERCOS motion 3 Verify that the Major Fault on Controller If Connection Fails While in Run Mode check box is clear General Connection SERCOS Interface SERCOS Interface Info Module info Backplane Requested Packet interval RPI 0 ms Inhibit Module Major Fault On Controller if Connection Fails While in Run Mode Tip Keep this check box clear until you execute the program the first time If this check box is selected then a Major Fault is generated when the SERCOS ring attempts to phase up the first time 4 Click the SERCOS Interface tab General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Data Rate Auto Detect v Mb Cycle Time Transmit Power Transition To Phase 4 5 Inthe Data Rate and Cycle Time boxes choose the baud rate and update rate for the SERCOS ring using the following table as a guide The data rate and the number of drives associated with the module dictate your min
63. active If the servo loop is active the MAH instruction errors If Absolute Feedback Enable is set to False the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer In this case a homing or redefine position operation is therefore needed to establish the absolute machine reference position The Absolute Home Mode in this case is invalid This attribute is configurable if the Transducer Type is set to SSI For an LDT transducer the Absolute Feedback Enable is forced to True For an AQB transducer the Absolute Feedback Enable is forced to False 201 Appendix B Motion axis attributes Attribute Absolute Feedback Offset Absolute Reference Status 202 Axis Type Data Type AXIS SERVO REAL AXIS_SERVO_DRIVE BOOL Description Position Units Important Use this attribute only for an axis of a 1756 HYD02 or 1756 M02AS module Set the Absolute Feedback Enable attribute to True This attribute is used to determine the relative distance between the absolute position of the feedback device and the absolute position of the machine At powerup this attribute is sent to the servo module and added to the current position of the feedback device to restore the absolute machine position reference If the axis is configured for Linear operation absolute position may be recovered after power cycle as long as the feedback device does not exceed its range limit If t
64. an event and the action initiated by the event For instance in coil winding applications Start Command Positions can be used in an expression to compensate for overshooting the end of the bobbin before the gearing direction is reversed If you know the position of the coil when the gearing direction was supposed to change and the position at which it actually changed the Start Command Position you can calculate the amount of overshoot and use it to correct the position of the wire guide relative to the bobbin Start Master Offset in Master Position Units The Start Master Offset is the position offset that was applied to the master side of the position cam when the last Motion Axis Move MAM instruction with the move type set to Absolute Master Offset or Incremental Master Offset was executed The Start Master Offset is returned in master position units The Start Master Offset shows the same unwind characteristic as the position of a linear axis Rockwell Automation Publication MOTION UM001D EN P November 2015 277 Appendix B Attribute Stopping Status Stopping Time Limit Stopping Torque Strobe Actual Position Strobe Command Position Strobe Master Offset Telegram Type 278 Motion axis attributes Axis Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_
65. an attribute other than Upon project verification a warning is issued Guard Status 136 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Motor Feedback tab AXIS SERVO DRIVE Use the Motor Feedback tab to configure motor and auxiliary feedback device if any parameters for an axis of the type AXIS_SERVO_DRIVE gt Avis Properties AXIS SERVO_DRIVE gt ees Homing Hookup Tune Dynamics Gains Output Limts Offset Fault Actions Tao General Motion Planner _ Units Drive Motor Motor Feedback _ Aux Feedback _ _ Conversion Feedback Type nones oo Cycles 4000 per Rev Interpolation Factor 1 Feedback Resolution 4000 Feedback Counts per Rev The Axis Configuration selection made on the General tab and the Loop Configuration selection made on the Drive tab determine which sections of this dialog box Motor and Auxiliary Feedback are enabled Item Description Feedback Type This field displays the type of feedback associated with the selected motor Cycles The number of cycles of the associated feedback device This helps the Drive Compute Conversion constant used to convert drive units to feedback counts Depending on the feedback type you select this value may be read only or editable Per The units used to measure the cycles Interpolation Factor This field displays a fixed read only value for each feedback type This val
66. any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however you may need to update the value to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforward Acceleration Feedforward Gain scales the current Command Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not contribute much to the Servo Output and the Position and or Velocity Error values are significantly reduced Therefore when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward is 100 theoretically In reality however you may need to update the value to accommodate velocity loops with non infinite loop gain and other application considerations Integrator Hold If the Integrator Hold parameter is e Checked the servo loop temporarily stops any enabled position or velocity integrators while the command position is changing This fea
67. as a Servo drive AXIS_SERVO_DRIVE You can configure the following values e Set the torque scaling value which is used to generate gains e Enable and configure the Notch Filter e Enable and configure the low pass digital output filter 4 Axis Properties AXIS SERVO_DRIVE Lo eo General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fauit Actions Tag Motor Inertia 0 0 Kg m 2 Manual Adjust Load Inertia Ratio 0 0 Load Inertia Motor Inertia Torque Force Scaling 0 0 Rated Position Units s 2 System Acceleration 0 0 Position Units s 2 at 100 Rated E Enable Notch Filter Frequency 0 0 E Enable Low pass Output Filter it 1 Bandwidt 0 0 The parameters on this tab can be edited in the following ways e Edit on this tab by typing your parameter changes and then click OK to save your edits e Edit in the Manual Adjust dialog box Click Manual Adjust to open the Manual Adjust dialog box to this tab and use the spin controls to edit Rockwell Automation Publication MOTION UM001D EN P November 2015 169 Appendix A 170 Axis properties parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is se
68. axis attributes Appendix B Attribute Test Direction Forward AXIS_ SERVO SINT AXIS_SERVO_DRIVE Test Increment AXIS_ SERVO REAL AXIS_SERVO_DRIVE Test Status AXIS_SERVO INT AXIS_SERVO_DRIVE Time Cam Pending BOOL AXIS_ CONSUMED Status AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_ VIRTUAL Axis Type Data Type GSV SSV Description The direction of axis travel during the last hookup test initiated by a MRHD Motion Run Hookup Test instruction 0 reverse 1 forward positive For this Data type AXIS_ SERVO Details This value does not depend on the Servo Polarity Bits attribute The MAHD Motion Apply Hookup Test instruction uses the Test Direction Forward attribute and the Test Output Polarity attribute to set the Servo Polarity Bits attribute for negative feedback and correct directional sense This value does not depend on the Drive Polarity attribute The MAHD Motion Apply Hookup Test instruction uses the Test Direction Forward attribute and the Test Output Polarity attribute to set the Drive Polarity attribute for the correct directional sense AXIS_SERVO_DRIVE Position Units The Motor Feedback Test Increment attribute is used in conjunction with the MRHD Motion Run Hookup Diagnostic instruction to determine the amount of motion that is necessary to satisfy the MRHD initiated test process This value is typically set to approximately a quarter of a revolution of the mot
69. axis is off All axes are off Give the command to inhibit the axis y Y My_Axis_X_Inhibit My_Axis_X_Uninhibit All_Axes_Off m One Shot Rising Storage Bit My_Axig X_Inhibit_SB Output Bit My_Axis7X_Inhibit_Cmd 1 Inhibit the axis The inhibit command turns on My_Axis_X_Inhibit_Cmd SSY Set System Value Class Name AXIS Inhibit this axis Instance Name My_Axis_x Attribute Name Inhibit amp xis Source One Inhibit the axis 1 1 Wait for the inhibit process to finish All of these have happened The axis is inhibited All uninhibited axes are ready The connections to the motion module are running again For a SERCOS ring the SERCOS ring has phased up again What you want to do next My_Axis_X InhibitStatus NOP Example Uninhibit an axis 1 Make sure all axes are off This axis is off And this axis is off All axes are off My_Axis_X ServoActionStatus My_Axis_Y ServoActionStatus All Axes_Off i _ _ n Rockwell Automation Publication MOTION UM001D EN P November 2015 71 Chapter 3 Commission and tune 1 Use a one shot instruction to trigger the uninhibit Your condition to Your condition to uninhibit the axis is on inhibit the axis is off All axes are off Give the command to uninhibit the axis My_Axis_X_Uninhibit My_Axis_xX_Inhibit All_Axes_Off m m SR One Shot Rising Storage Bit My _Axi Output Bit _Uninhibit_SB My_Axis
70. bandwidth of the Master Position Filter is controlled by the Master Position Filter Bandwidth attribute see below This can be done by setting the Master Position Filter bit and controlling the Master Position Filter Bandwidth directly Setting the Master Position Filter Bandwidth to zero can be used to effectively disable the filter Rockwell Automation Publication MOTION UM001D EN P November 2015 249 Appendix B Attribute Master Offset Master Offset Move Status Master Position Filter Bandwidth Maximum Acceleration Maximum Deceleration 250 Motion axis attributes Axis Type Data Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL REAL BOOL REAL REAL REAL GSV Tag Tag GSV SSV GSV SSV GSV SSV Description Important To use this attribute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Master Offset in Master Position Units The Master Offset is the position offset that is currently applied to the master side of the position cam The Master Offset is returned in master position units The Master Offset shows the same unwin
71. by the drive when running the dual feedback servo loop configuration Aux Feedback Ratio AXIS_SERVO_DRIVE Aux Feedback AXIS_SERVO_DRIVE Resolution DINT GSV Cycles per Aux Feedback Unit The Motor and Aux Feedback Resolution attributes are used to provide the A B drive with the resolution of the associated feedback device in cycles per feedback unit These parameters provide the SERCOS drive with critical information needed to compute scaling factors used to convert Drive Counts to Feedback counts 210 Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Aux Feedback Type Aux Feedback Units Aux Position Feedback faxisType AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE axisType Data Type REAL Rockwell Automation Publication MOTION UM001D EN P November 2015 GSV Tag Description Motion axis attributes Appendix B The Motor and Aux Feedback Type attributes are used to identify the motor mounted or auxiliary feedback device connected to the drive ewe So fom te 5 C T po p C T w e Z eas fx w C C its ww h TIL Ox000A X frm mons oe i pas ww h RCM215 8 0x0010 C aa C C S Sin Cos with Hall 0x0012 B ee TiL with Hall 0x0013 p X The Motor Feedback Units attribute establishes the unit of measure that is applied to the Motor Feedback Resolution attribute value The Aux Feedback Units attribute establishes the unit of measu
72. changing the output voltage when the Direct Drive On MDO instruction is executed A Direct Drive Ramp Rate of 0 disables the output ramp rate limiter allowing the Direct Drive On voltage to be applied directly Directional Scaling AXIS_SERVO REAL GSV In some cases the speed or velocity scaling of the external drive actuator may be Ratio SSV directionally dependent This non linearity can be substantial in hydraulic applications To compensate for this behavior the Directional Scaling Ratio attribute can be applied to the Velocity Scaling based on the sign of the Servo Output Specifically the Velocity Scaling value is scaled by the Directional Scaling Ratio when the sign of the Servo Output is positive Thus the Directional Scaling Ratio is the ratio of the Velocity Scaling in the positive direction positive servo output to the Velocity Scaling in the negative direction negative servo output The value for the Directional Scaling ratio can be empirically determined by running the auto tune procedure in the positive direction and then in the negative direction and calculating the ratio of the resulting Velocity Torque Scaling values Drive Axis ID AXIS_SERVO_DRIVE INT GSV Product Code of Drive Amplifier The Drive ID attribute contains the ASA Product Code of the drive amplifier associated with the axis If the Product Code does not match that of the actual drive amplifier an error is generated during the configuration process Drive Capac
73. click OK or Apply you must choose whether to also recalculate the settings for these dependent attributes The following attributes are recalculated On the Dynamics tab e Maximum Velocity e Maximum Acceleration e Maximum Deceleration On the Limits tab e Position Error Tolerance On the Custom Drive Scaling Attributes dialog box e Torque Data Scaling On the Custom Limit Attributes dialog box e Velocity Limit Bipolar e Velocity Limit Positive e Velocity Limit Negative e Acceleration Limit Bipolar e Acceleration Limit Positive e Acceleration Limit Negative This parameter is not editable for an axis of the data type AXIS_ CONSUMED Instead this value is taken from a producing axis in a networked Logix processor For a Rotary axis AXIS_ SERVO e This value represents the distance in feedback counts used to perform automatic electronic unwind Electronic unwind allows infinite position range for rotary axes by subtracting the unwind distance from the actual and command position every time the axis travels the unwind distance For axes of the type AXIS_SERVO_DRIVE e When you save an edited Conversion Constant or a Drive Resolution value a message box opens asking if you want the controller to automatically recalculate certain attribute settings See Conversion Constant and Drive Resolution attributes e The label indicates the number of counts per motor revolution as set on the Drive tab in the Drive Resolution fie
74. command position when the axis is not being commanded to move If the actual position is within the Backlash Compensation Window the Backlash Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Backlash Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Backlash Compensation Window attribute the full Backlash Compensation value is applied If the Backlash Compensation Window is set to zero this feature is effectively disabled Rockwell Automation Publication MOTION UM001D EN P November 2015 185 Appendix A 186 Axis properties A nonzero Backlash Compensation Window has the effect of softening the Backlash Compensation as it is applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Backlash Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Backlash Compensation and Backlash Reversal Offset Backlash Reversal Offset provides the capability to compensate for positional inaccuracy introduced by mechanical backlash For example power train type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical components a motor a gearbox and a ball screw that may introduce inaccuracies and that
75. contains the module 6 optional In the Description box type a description 7 Inthe Electronic Keying list choose a keying option of either Compatible Keying or Exact Match see Electronic Keying on page 26 A WARNING Disable Keying should never be used with motion modules 8 Select the Open Module Properties check box and click OK Continue with the instructions to modify the properties for the motion module Electronic Keying Electronic Keying reduces the possibility that you use the wrong device in a control system It compares the device defined in your project to the installed device If keying fails a fault occurs These attributes are compared Attribute Description Vendor The device manufacturer Device Type The general type of the device for example digital 1 0 module Product Code The specific type of device The Product Code maps to a catalog number Major Revision A number that represents the functional capabilities of a device Minor Revision A number that represents behavior changes in the device The following Electronic Keying options are available 26 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure SERCOS motion Chapter 1 Keying Option Compatible Module Description Lets the installed device accept the key of the device that is defined in the project when the installed device can emulate the defined device With Compatible Module you can typically replace
76. correct this problem by adding a fixed value called Output Offset to the Servo Output This value is chosen to achieve near zero drive velocity when the uncompensated Servo Output value is zero This controller attribute is replicated in the motion module When the load limit of the motor drive is first exceeded the Overload warning bit is set If the condition persists the Overload fault is set Often this bit is tied into the IT limit of the drive Set when the speed of the axis as determined from the feedback exceedes the overspeed limit which is typically set to 150 of configured velocity limit for the motor If this bit is set there are one or more fauilts on the physical axis The faults can then be determined through access to the fault attributes of the associated physical axis Do you want this fault to give the controller a major fault e YES Set the General Fault Type of the motion group Major Fault e NO You must write code to handle these faults The currently operative maximum positive torque current limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit Set if the axis moves beyond the current position limits as established by hardware overtravel limit switches mounted on the equipment This fault can only occur when the drive is in the en
77. delay time is variable depending on the RBM model When applying an RBM you must set the Resistive Brake Contact Delay to the recommended value found in the RBM specification The following cases outline how the RBM output relates to the normal enable and disable sequences Case 1 Enable Sequence 1 Enable axis is initiated via MSO or MAH instruction Turn on RBM output to connect motor to drive Wait for Resistive Brake Contact Delay while RBM contacts close 2 3 4 Drive power structure enabled Drive Enable Status bit is set 5 Turn on motor brake output to release brake 6 Wait Brake Release Delay Time while motor brake releases 7 Track Command reference Servo Action Status bit is set Case 2 Disable Category 1 Stop 1 Disable axis is initiated via an MSF instruction or a drive disable fault action Drive stops tracking command reference Servo Action Status bit is cleared Apply Stopping Torque to stop motor Wait for zero speed or Stopping Time Limit 2 3 4 5 Turn off brake output to engage motor brake 6 Wait for Brake Engage delay while motor brake engages 7 Disable drive power structure Drive Enable Status bit is cleared 8 Turn off RBM output to disconnect motor from drive Case 3 Shutdown Category 0 Stop 1 Drive stops tracking command reference Servo Action Status bit is cleared 2 Disable drive power structure Drive Enable Status bit is cleared 3 Turn off brak
78. entire motion profile To fine tune the Acceleration Feedforward Gain the Velocity Feedforward Gain must first be optimized using the procedure described above While capturing the peak Position Error during the acceleration phase of the jog profile increase the Acceleration Feedforward Gain until the peak Position Error is as small as possible but still positive If the peak Position Error during the acceleration ramp is negative the actual position of the axis is ahead of the command position during the acceleration ramp If this occurs decrease the Acceleration Feedforward Gain such that the Position Error is again positive To be thorough the same procedure should be done for the deceleration ramp to verify that the peak Position Error during deceleration is acceptable Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis Appendix B Attribute Acceleration Feedforward Gain continued Acceleration Limit Bipolar Acceleration Limit Negative 206 Motion axis attributes Axis Type Data Type AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE REAL GSV SSV GSV SSV REAL Description AXIS_SERVO_DRIVE The Acceleration Feedforward Gain attribute is used to provide the Torque Command output necessary to generate the commanded acceleration It does this by scaling the current Command Acceleration by the Acceleration Feedforward Gain and adding it as an offset to the Servo
79. loop the position integrator error is used along with other error terms to drive the motor to the condition where the actual position is equal to the command position If this bit is e ON The axis position error is less than or equal to the Position Lock Tolerance value of the axis e OFF The axis position error is greater than the Position Lock Tolerance value of the axis Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type access Description Position Lock Tolerance AXIS_ SERVO REAL GSV Position Units AXIS_SERVO_DRIVE SSV Position Polarity AXIS_SERVO_DRIVE This attribute is derived from the Drive Polarity attribute See IDN 55 in IEC 1491 The Position Lock Tolerance attribute value specifies how much position error the motion module tolerates when giving a true Position Locked Status indication When used in conjunction with the Position Locked Status bit it is a useful parameter to control positioning accuracy The Position Lock Tolerance value should be set in Position Units to the desired positioning accuracy of the axis Note that the position lock tolerance value is interpreted as a quantity For example if your position units are Inches specifying a position lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 inches as shown below Position Lock Range 0 2 0 1 0 0 0 1 0 2 Position Error Rock
80. marker reference is established by the MO2AS module firmware at the feedback device s roll over point A single turn Absolute SSI feedback device rolls over at its maximum turns count 1 rev A multi turn Absolute SSI feedback device there are multiple revs or feedback base unit distances rolls over at its maximum turns count which is usually 1024 or 2048 Home to Rollover is available in the Homing Properties if Enable Absolute Feedback is cleared If you must establish the rollover of the feedback device a ladder rung using an SSV to set Home_Sequence equal Home to Rollover is available in the Homing Properties if Enable Absolute Feedback is cleared The following parameters must be added to the application program e Class Name Axis e Attribute_Name Home_Sequence e and Value 2 to Marker These cannot be set in Axis Properties They must be reset back to the initial values 0 Immediate or 1 Switch after establishing the rollover The Home Sequence to Marker must be used to allow feedback to travel until the rollover that is pseudo marker is found This must be done without the motor attached to any axis as this could cause up to a Maximum number of turns before pseudo marker is found Position The desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position is set to zero although any value within the software travel l
81. may be faulted or may fault later e For a consumed axis this bit means that communication is lost with the producing controller This bit clears when communication is reestablished If the bit is e ON Atransform is moving the axis e OFF A transform isn t moving the axis Rockwell Automation Publication MOTION UM001D EN P November 2015 223 Appendix B Motion axis attributes Attribute Conversion Constant Coordinated Motion Status Damping Factor DC Bus Voltage 224 Axis Type Data Type AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL REAL GSV SSV AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL DINT GSV Tag AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE SSV AXIS_SERVO_DRIVE DINT GSV Tag Description Counts Position Unit Range 0 1 1e Axis_ Servo Default 8000 Axis_Servo_Drive Default 2000000 To allow axis position to be displayed and motion to be programmed in the position units specified by the Position Unit string attribute a Conversion Constant must be established for each axis The Conversion Constant sometimes known as the K constant allows the Axis Object to convert the axis position units into feedback counts and vice versa Specifically K is the number of feedback counts per Position Unit The 1756 MO2AE encoder based servo module uses 4X encoder feedback decoding both edges of channel A and B are counted Th
82. on your hard drive Trademark Notices Allen Bradley ControlBus ControlFLASH Compact GuardLogix Compact I O ControlLogix CompactLogix DCM DH Data Highway Plus DriveLogix DPI DriveTools Explorer FactoryTalk FactoryTalk Administration Console FactoryTalk Alarms and Events FactoryTalk Batch FactoryTalk Directory FactoryTalk Security FactoryTalk Services Platform FactoryTalk View FactoryTalk View SE FLEX Ex FlexLogix FLEX I O Guard I O High Performance Drive Integrated Architecture Kinetix Logix5000 Logix5550 MicroLogix DeviceNet EtherNet IP PLC 2 PLC 3 PLC 5 PanelBuilder PowerFlex PhaseManager POINT I O PowerFlex Rockwell Automation RSBizWare Rockwell Software RSEmulate Historian RSFieldbus RSLinx lt RSKX gt RSNet Worx for DeviceNet RSNetWorx for EtherNet IP RSMACC RSView RSView32 Rockwell Software Studio 5000 Automation Engineering amp Design Environment Studio 5000 View Designer SCANport SLC SoftLogix SMC Flex Studio 5000 Ultra 100 Ultra 200 VersaView WINtelligent XM are trademarks of Rockwell Automation Inc Any Rockwell Automation logo software or hardware product not mentioned herein is also a trademark registered or otherwise of Rockwell Automation Inc Other Trademarks CmFAS Assistant CmDongle CmStick CodeMeter CodeMeter Control Center and WIBU are trademarks of WIBU SYSTEMS AG in the United States and or other countries Microsoft is a registered trademark o
83. opens Use this to open the E Stop string to the drive power supply e This impacts both axes associated with the analog motion not just the axis with the fault AXIS_SERVO_DRIVE e Axis servo action and drive power structure are immediately disabled e The axis coasts to a stop unless you use some form of external braking Disable the axis and let the drive stop Disable Drive For this axis type When the fault happens Y a enn i best available AXIS_SERVO e Planner decelerates axis motion to zero speed based on Maximum a a Memo configured declaration using Trap Acc Dec e Axis servo action is off e The servo amplifier output is zeroed e The drive enable output is deactivated AXIS_SERVO_ DRIVE e Planner decelerates axis motion to zero speed based on Maximum configured declaration using Trap Acc Dec e Ifthe axis does not stop in the Stopping Time the servo action and the power structure are disabled Leave the servo loop on and stop the Stop Motion Use this fault action for less severe faults It is the gentlest way to stop Once the axis stops you must clear the axis at its Maximum Deceleration rate fault before you can move the axis For this axis type When the fault happens AXIS_ SERVO The axis slows to a stop at the Maximum Deceleration Rate without disabling servo action or the servo module s Drive Enable output AXIS_SERVO_ DRIVE e Control of the drive s servo loop is maintained e The axis slows to a stop at the Maxi
84. output of the velocity servo loop as a percentage of velocity servo loop output Output Offset Corrects the problem of axis drift by adding a fixed voltage value not to exceed 10 Volts to the Servo Output value Enter a value to achieve near zero drive velocity when the uncompensated Servo Output value is zero When interfacing an external drive it is necessary to compensate for the effect of drive offset This is especially true for a velocity drive Cumulative offsets of the servo module s DAC output and the Servo Drive Input result in a situation where a zero commanded Servo Output value causes the axis to drift If the drift is excessive it can cause problems with the Hookup Diagnostic and Tuning procedures and can result in a steady state nonzero position error when the servo loop is closed Rockwell Automation Publication MOTION UM001D EN P November 2015 183 Appendix A Axis properties Offset tab AXIS _SERVO_ DRIVE 184 Manual Adjust Opens the Offset tab of the Manual Adjust dialog box for online editing of the Friction Deadband Compensation Backlash Compensation Velocity Offset Torque Offset and Output Offset parameters Manual Adjust AXIS SERVO Dynamics Gains Output Limits Offset Friction Deadband Compensation n Friction Compensation 0 0 et Reset Window 0 0 e Position Units Backlash Compensation IK 00 e Da e Velocity Offset 0 0 P
85. parameters have not yet been saved or applied Set custom limits Opens the Custom Limit Attributes dialog box From this dialog box you can monitor and edit the limit related attributes When Logix Designer application is online the parameters on this tab transition to a read only state When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using Logix Designer application and invoke the Axis Wizard or Axis Properties dialog box the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Attributes The following attribute values can be monitored and edited in this dialog box Attribute Description VelocityLimitBipolar This attribute sets the velocity limit symmetrically in both directions If the command velocity exceeds this value VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x1012 AccelerationLimitBipolar This attribute sets the acceleration and deceleration limits for the drive If t
86. parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When Logix Designer application is offline the following parameters can be edited and the program saved to disk using the Save command or by clicking Apply You must re download the edited program to the controller before it can be run Friction Deadband Compensation and Backlash Compensation The percentage of output level added to a positive current Servo Output value or subtracted from a negative current Servo Output value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called sticktion that even with a significant position error the axis refuses to budge Backlash Compensation is used to break sticktion in the presence of a nonzero position error This is done by adding or subtracting a percentage output level called Backlash Compensation to the Servo Output value Rockwell Automation Publication MOTION UM001D EN P November 2015 181 Appendix A Axis properties 182 The Backlash Compensation value should be just less than the value that would break the sticktion A larger value can cause the axis to dither that is move rapidly back and forth about the commanded position This controller attribute is replicated in the motion module
87. per sec value entered then the speed is taken from the motion instruction faceplate 152 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Maximum Acceleration The maximum acceleration rate of the axis in Position Units second it is initially set to about 85 of the measured tuning acceleration rate by the tuning process If set manually this value should typically be set to about 85 of the maximum acceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration limits of the drive and motor The Maximum Acceleration value entered is used when the motion instruction is set with Accel Units of Maximum When a motion instruction is configured with Accel Units units per sec2 field then the Maximum Acceleration is taken from the motion instruction faceplate Maximum Deceleration The maximum deceleration rate of the axis in Position Units second it is initially set to approximately 85 of the measured tuning deceleration rate by the tuning process If set manually this value should typically be set to about 85 of the maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the deceleration limits of the drive and motor The Maximum Deceleration value entered is used when the motion instruction is set with decel Units of Maximum When a motion instruct
88. positive direction sense of the drive to agree with that of the user This attribute is configured automatically using the MRHD and MAHD motion instructions See the Logix Motion Instruction Specification for more information on these hookup diagnostic instructions Rockwell Automation Publication MOTION UM001D EN P November 2015 229 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Drive Resolution AXIS_ SERVO_DRIVE DINT Drive Counts Drive Unit The Drive Resolution attribute determines how many Drive Counts there are in a Drive Unit Drive Units may be configured as Revs Inches or Millimeters depending on the drive application Furthermore the configured Drive Unit may apply to a motor or auxiliary feedback device All position velocity and acceleration data to the drive is scaled from the user s Position Units to Drive Units based on the Drive Resolution and Conversion Constant The ratio of the Conversion Constant to Drive Resolution determines the number of Position Units in a Drive Unit Conversion Constant Drive Resolution Drive Units rev inch or mm Position Unit Conversely all position velocity and acceleration data from the drive is scaled from the user s Position Units to Drive Units based on the Drive Resolution and Conversion Constant The ratio of Drive Resolution and the Conversion Constant determines the number of Position Units in a Drive Unit Drive Resolution Co
89. profile and an S curve profile Start while decelerating Trapezoidal S curve 1or ee pe 100 Speed goes down until acceleration is 0 Sh ZY f 7 acceleraton 8 V7 Af acceleration i 40 The axis speeds back up as soon as you start the jog again The axis continues to slow down until the S curve profile brings the acceleration rate to 0 Corrective action 15 or earlier Increase the deceleration rate of the This increases the deceleration jerk The axis stops the Motion Axis Jog MAJ instruction that deceleration sooner at the higher deceleration jerk starts the jog 16 or later Increase the deceleration jerk of the The axis stops the deceleration sooner at the higher Motion Axis Jog MAJ instruction that deceleration jerk starts the jog Why does my axis overshoot its position and reverse direction While an axis is moving to a target position you change a parameter of the move The axis overshoots its target position Eventually the axis stops and moves back to its target position Rockwell Automation Publication MOTION UM001D EN P November 2015 107 Chapter 4 Program Example You use a Motion Change Dynamics MCD instruction to reduce the deceleration while a Motion Axis Move MAM instruction is in process The axis continues past the target position of the move stops and returns to the target position Look For Jog_PB lt Local 4 Data 1 0 gt My_Axis_OK
90. reduce electrical noise The FPGA can interface to two types of LDTs Start Stop and PWM Start Stop transducers accept an input interrogate signal to start the measurement cycle and respond with two pulses on the Return line The time between the pulses is proportional to the position PWM transducers respond to the interrogate signal with a long pulse on the Return line The pulse width is proportional to the position The FPGA generates the Interrogate signal every Servo Update time and measures the time between the Start Stop pulses or the PWM pulse width The resolution of the position measurement is determined by the frequency of the clock used for the time measurement In the 1756 HYD02 design a 60 MHz clock is used and both edges of the clock signal are used for an effective time resolution of 8 3 nanoseconds This translates into a position resolution better than 0 001 inch Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Servo Loop Configuration Servo Output Level Servo Polarity Bits Axis Type AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO Data Type REAL DINT GSV SSV GSV Tag GSV Description Note It is possible to achieve higher resolutions with PWM transducers that are configured to perform multiple internal measurements recirculations and report the sum of those measurements in the pulse width The Servo Loop
91. s Position Unit is Revs of the gearbox output shaft the Conversion Constant is still rational since our scaling is Load Referenced You set the Conversion Constant to 200 000 Drive Counts Output Shaft Rev based on the default Drive Resolution value of 200 000 Drive Counts Aux Rev The system would work in this configuration without any loss of mechanical precision that is a move of 1 output shaft revolution would move the output shaft 1 revolution Rockwell Automation Publication MOTION UM001D EN P November 2015 231 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Drive Resolution Linear Ball Screw Ball Screw Combination WITH Aux Feedback Device continued Based on a linear aux feedback selection Drive Resolution would be expressed as Drive Counts per Linear Unit say Millimeters Metric bit selection and be applied to the Linear Position Data Scaling IDNs Now that position is based on the auxiliary feedback device according to the Servo Loop Configuration the Data Reference bit of the various Scaling Types should again be Load Referenced rather than Motor Referenced The motor feedback would be rotary and resolution expressed in cycles per motor rev The aux feedback device is now linear and its resolution expressed in cycles per say mm The Aux Feedback Ratio would be set to the number of aux feedback units mm per motor rev and internally applied to IDN 123 to relate position servo loo
92. second Node Number box choose an axis 9 Click the Power tab aD Cee ei ae ul 32 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure SERCOS motion Chapter 1 10 In the Bus Regulator Configuration box choose the catalog number that describes the bus regulator device used by the drive module Depending upon the drive you have selected one or more of the bus regulator IDs may be available Important This setting does not apply to the 8720MC drive the Ultra3000 SERCOS drive or Kinetix 6200 Integrated Drive Motor IDM drive For those drives lt none gt is the only available option 11 Ifyou are configuring a Kinetix 2000 230 volt drive in the Input Power box choose Single Phase or Three Phase 12 Ifyou are configuring an IDM Power Interface Module IPIM or IDM module in the Additional Bus Capacitance box choose the additional bus capacitance that is required This parameter is only valid if an axis is associated with the Kinetix 6000 and Kinetix 6200 IAM module When an axis is initially associated to the IAM this parameter shows the default value and is enabled If a valid value is set in the associated axis and the axis is not associated to the IAM this parameter is reset to the default value and cannot be changed until an axis is associated to the IAM 13 Click OK Add amotion group for Follow these instructions to add a motion group Configu
93. should be less than the maximum speed and greater than zero Homing tab AXIS VIRTUAL Use the Homing tab to configure the attributes related to homing an axis of the 7 type AXIS_VIRTUAL QD Axis Properties AXIS VIRTUAL La e eee General Motion Planner Units Conversion Homing Dynamics Tag Mode Active Position M o CS Position Units Sequence Immediate Only an Active Immediate Homing sequence can be performed for an axis of the type AXIS_VIRTUAL A virtual axis is always enabled The controller assigns the 144 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Home Position to the current axis actual position and command position This homing sequence produces no axis motion Item Description Mode This read only parameter is set to Active Position Desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position is set to zero although any value within the software travel limits can be used After the homing sequence is complete the axis is left at this position If the Positioning Mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning Mode is Rotary then the home position should be less than the unwind distance in position units Sequence This read only parameter is set to Immediate
94. similar to the corresponding active homing sequence except that no motion is commanded the controller just waits for the switch and marker events to occur AXIS_SERVO_DRIVE and AXIS_ SERVO when associated with a 1756 HYD02 LDT feedback or 1756 M02AS SSI feedback module only e In this mode the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device e The only valid Home Sequence for an absolute Homing Mode is immediate In the LDT and SSI cases the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position less any enabled Absolute Feedback Offset to the reported position of the absolute feedback device e Before execution of the absolute homing process using the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled No Physical Marker Pulse Exists For the SSI feedback transducer no physical marker pulse exists However a pseudo marker reference is established by the MO2AS module firmware at the feedback device s roll over point A single turn Absolute SSI feedback device rolls over at its maximum turns count 1 rev A multi turn Absolute SSI feedback device there are multiple revs or feedback base unit distances rolls over at its maximum turns count which is usually 1024 or 2048 If you must establish the rollover o
95. state AXIS_SERVO_DRIVE AXIS_VIRTUAL 276 Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Soft Overtravel Fault Action SSI Clock Frequency SSI Code Type SSI Data Length Start Actual Position Start Command Position Start Master Offset Axis Type Data Type AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO SINT AXIS_SERVO AXIS_SERVO SINT AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL SINT SINT REAL REAL REAL O n lt SSV GSV GSV GSV GSV Tag a A a 2 GSV Tag Motion axis attributes Appendix B Description Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 This controller attribute is replicated in the motion module 0 208 kHz 1 650 kHz This attribute provides for setting the Clock Frequency in kHz of the SSI device This attribute is only active if the Transducer Type is set to SSI 0 Binary 1 Gray This attribute provides for setting whether the SSI device is using Binary or Gray code This attribute is only active if the Transducer Type is set to SSI This attribute provides for setting the data length of the SSI device This attribute is only active if the Transducer Type is set to SSI Start Actua
96. switch 2 A decel position is calculated using the Home Offset and the decel distance The axis keeps moving to the decel position and then decelerates to a stop 3 The axis moves to the Home Offset position if it is in the same direction as the Home Direction e When your position mode is linear it decelerates to a stop You may not be at your home position but you are correctly referenced to your home position e When your position mode is Rotary the rotary turns as many times that it needs to decelerate and finish at the home position This active homing sequence is useful for single turn rotary and linear encoder applications when unidirectional motion is required The following steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker 2 If the axis is linear it decelerates to a stop unless the home offset is greater than the distance required to decelerate then the home offset is applied If the axis is rotary it adds as many revolutions as necessary so it decelerates and stops at the home position 3 The axis moves to the Home Offset position if it is in the same direction as the Home Direction Rockwell Automation Publication MOTION UM001D EN P November 2015 Sequence Active home to switch and marker in forward unidirectional Home an axis Chapter 5 Description This active homing sequence is useful for multi turn rotary applications when unidirectional motion i
97. the drives you can inhibit the axis and remove the faulty hardware When the ring phases back up the inhibited axis with its missing hardware does prevent the rest of the axes from operating Before you begin The following table explains what to do before you begin Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 Before you inhibit or uninhibit an axis turn off all Follow these steps before you inhibit or uninhibit an axis axes 1 Stop all motion 2 Open the servo loops of all axes Use an instruction such as the Motion Servo Off MSF instruction This lets you stop motion under your control Otherwise the axes turn off on their own when you inhibit or uninhibit one of them The connections to the motion module shut down when you inhibit or uninhibit an axis This opens the servo loops of all the axes that are connected to the module For a SERCOS interface module the SERCOS ring also shuts down Controller Motion Module SERCOS Ring Drive Motor The controller automatically restarts the connections The SERCOS ring also phases back up Inhibit only certain types of axes You can inhibit only the following types of axes e AXIS_SERVO e AXIS_SERVO_DRIVE Rockwell Automation Publication MOTION UM001D EN P November 2015 69 Chapter 3 Commission and tune To inhibit all axes of a motion module inhibit the Do you want to inhibit all axes of a motion module mod
98. the OK contact opened To recover from the Shutdown state requires execution of one of the axis or group Shutdown Reset instructions MASR or MGSR Hard Shutdown 4 When configured for Hard Shutdown the axis is immediately placed in the Shutdown state that is Drive Enable disabled Servo Action disabled and the OK contact opened Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop To recover from the Shutdown state requires execution of one of the axis or group Shutdown Reset instructions MASR or MGSR Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Axis Type Data Type PWM Frequency Select AXIS_SERVO_DRIVE Reg 1 Input Status Reg 2 Input Status Reg Event 1 Armed Status Reg Event 1 Status Reg Event 2 Armed Status Reg Event 2 Status Registration 1 Position Registration 1 Event Task Registration 2 Event Task AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL SINT BOOL BOOL
99. the current position of the axis as measured by the feedback device for example encoder Position error is the difference between the Command and Actual Positions of the servo loop and is used to drive the motor to make the actual position equal to the command position Position Error Actual Position Command position is useful when performing motion calculations and incremental moves based on the current position of the axis while the axis is moving Using command position rather than actual position avoids the introduction of cumulative errors due to the position error of the axis at the time the calculation is performed REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled for the motion Tag group default setting Otherwise you won t see the right value as the axis runs Command Velocity in Position Units Seconds Command Velocity is the commanded speed of an axis in the configured axis Position Units per second as generated by any previous motion instructions It is calculated as the current increment to the command position per base update interval Command Velocity is a signed value the sign or depends on which direction the axis is being commanded to move Command Velocity is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on command velocity is 0 0
100. the drive and activate the axis servo loop MSO Yes Motion Servo On Disable the drive and deactivate the axis servo loop MSF Yes Motion Servo Off Force an axis into the shutdown state and block any MASD Yes instructions that initiate axis motion Motion Axis Shutdown Reset the axis from the shutdown state MASR Yes Motion Axis Shutdown Reset 96 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 If You Want To Use This Instruction Motion Direct Command Enable the drive and set the servo output voltage of an axis MDO Yes Motion Direct Drive On Disable the drive and set the servo output voltage to the MDF Yes output offset voltage Motion Direct Drive Off Clear all motion faults for an axis MAFR Yes Motion Axis Fault Reset Control axis position Stop any motion process on an axis MAS Yes Motion Axis Stop Home an axis MAH Yes Motion Axis Home Jog an axis MAJ Yes Motion Axis Jog Move an axis to a position MAM Yes Motion Axis Move Start electronic gearing between 2 axes MAG Yes Motion Axis Gear Change the speed acceleration or deceleration ofa move MCD Yes or a jog that is in progress Motion Change Dynamics Define a Master Slave relationship between two motion MDAC axes and select the type of move instructions Master Driven Axis Control Change the command or actual position of an axis MRP Yes Motion Redefine Position Calculate a Cam Profile based on an array of cam points
101. the maximum Velocity Servo Bandwidth for the velocity servo loop based on the drive system and in some cases the desired damping factor of the system Z Exceeding these limits could result in an unstable servo operation Data type Bandwidth limits AXIS_ SERVO For an external velocity loop servo drive Max Velocity Servo Bandwidth Hz 0 159 2 Tune Ris Time For an external torque loop servo drive Max Velocity Servo Bandwidth Hz 0 159 0 25 1 2 1 Drive Model Time Constant AXIS_SERVO_DRIVE Max Velocity Servo Bandwidth Hz 0 159 0 25 1 2 1 Drive Model Time Constant The factor of 0 159 represents the 1 2PI factor required to convert Radians per Second units to Hertz Velocity Standstill AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is less than the configured Status Velocity Standstill Window Velocity Standstill AXIS_SERVO_DRIVE REAL GSV Position Units sec Window SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Velocity Threshold AXIS_SERVO_DRIVE REAL GSV Position Units sec SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Velocity Threshold AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velo
102. the programmed value In most cases the condition is if start Speed is 0 0 OR start Speed is gt 2 max Speed then you get programmed percentage of ramp time else you get higher than programmed percentage of ramp time Conversion from Engineering Units to of Time Ifyou want to convert Engineering Units to of Time use these equations 88 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 For Accel Jerk 2 j of Time _ _ 100 i i ja EU S Vmax EU S max EU 53 For Decel Jerk 2 ja of Time 100 ja EU 5 V max EU S le dmax EV 5 Jerk Programming in Units Sec3 If you want to specify the jerk in Units sec instead of of time adjust your jerk value as follows so that you get the value that you programmed Programmed Decel Rate Temporary Speed Desired Decel Jerk value in Units Sec Start Speed Programmed Speed k Max Programmed Speed Temporary Speed if k lt 1 Instruction faceplate Decel jerk in Units Sec Desired Decel Jerk in Units Sec else Instruction faceplate Decel jerk in Units Sec gt Desired Decel Jerk in Units Sec k Unique program considerations If you program a move using the of Time units Logix Designer application computes an Accel Jerk a v where a the programmed Accel Rate and v programmed Speed Therefore the higher the programmed speed th
103. the switch but not on the switch Active Bidirectional Home with Switch Homing Velocity Axis Position Axis Velocity 2 Home Limit Switch Cleared J Rome Position The following steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and decelerates to a stop using the configured Maximum Deceleration Rate It does not stop immediately 2 Ifitis stopped as the Home Limit Switch at position 2 when the sequence is started it would be at the home position The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch and then stops 3 The axis moves back to the home limit switch or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis it moves on the shortest path to the Home Position that is no more than Y2 revolution If the axis is past the home limit switch at the start of the homing sequence the axis reverses direction and starts the return leg of the homing sequence Again it decelerates to a stop Use a Home Return Speed that is slower than the Home Speed to increase the homing accuracy The accuracy of this sequence depends on the return speed and the delay to detect the transition of the home limit switch Uncertainty Home Return Speed x delay to detect the home limit switch Example Suppose your Home Return Speed is 0 1 in s and it takes 10 ms to detect the ho
104. these maximum travel limits a Software Overtravel Fault is issued When software overtravel checking is enabled values for the maximum travel in the Maximum Positive and Maximum Negative Travel attributes need to be established with Maximum Positive Travel greater than Maximum Negative Travel These values are specified in the configured Position Units of the axis Soft Travel limits are checked if the Soft Travel Limit enable attribute is true This controller attribute is replicated in the motion module Position Units Sec The value of the Maximum Speed attribute is used by various motion instructions for example MAJ MAM MCD to determine the steady state speed of the axis These instructions all have the option of specifying speed as a percent of the Maximum Speed attribute value for the axis The Maximum Speed value for the axis is automatically set to the Tuning Speed by the MAAT Motion Apply Axis Tune instruction This value is typically set to 90 of the maximum speed rating of the motor This provides sufficient head room for the axis to operate at all times within the speed limitations of the motor Amount of memory consumed for this instance in bytes Controller memory space where instance exists 105 0x69 1 0 space 106 0x6a Data Table space Logix Designer software uses this attribute to create axis instances in 1 0 memory for axes that are to be produced or consumed The Memory Use attribute can only be
105. to accommodate hydraulic cylinder dynamics e Intelligent transducer noise detection filtering in hardware and firmware replaces programmable IIR filtering 1756 M02AS The 1756 M02AS module is a two axis servo module for drives actuators that need a 10V velocity or torque reference input Use the 1756 M02AS module when your equipment has Serial Synchronous Input SS position feedback The module is similar to the 1756 MO2AE module with these exceptions e Gain ratio between extend direction and retract direction to accommodate hydraulic cylinder dynamics e Intelligent transducer noise detection filtering in hardware and firmware replaces programmable IIR filtering e SSI interface consisting of Differential Clock output and Data return signals replaces the differential encoder interface H elp for sel ecting drives The Motion Analyzer utility helps you select the Rockwell Automation drives and motors based upon your load characteristics and typical motion application cycles and motors You can access and download the program at the Motion Analyzer Software web page Rockwell Automation Publication MOTION UM001D EN P November 2015 15 Preface Where to find sample projects Additional resources 16 The Motion Analyzer guides you through wizard like screens to collect information about your application After you enter the information for example the load inertia gear box ratio feedback device and brak
106. to the reported position of the absolute feedback device Before execution of the absolute homing process via the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled The marker homing sequence is useful for single turn rotary and linear encoder applications because these applications have only one encoder marker for full axis travel These homing sequences use a home limit switch to define the home position e You need a home limit switch if the axis moves multiple revolutions when it runs Otherwise the controller cannot tell which marker pulse to use e For the most precise homing use the switch and marker With unidirectional homing the axis does not reverse direction to move to the Home Position To help insure that the Home operation is complete consider using an offset If these are not done the axis position is still correct and accurate e Use a Home Offset that is in the same direction as the Home Direction e Use a Home Offset that is greater than the deceleration distance e Ifthe Home Offset is less than the deceleration distance e The axis simply slows to a stop The axis does not reverse direction to move to the Home Position In this case the MAH instruction does not set the PC bit e Ona rotary axis the controller adds 1 or more revolutions to the move distance This makes sure that the move to the Home Position is unidirectional Rockwell Automation Publication MOTION UM00
107. torque loop mode The percentage of the drive s maximum current that the servo controller ever commands is equal to the specified servo output limit For example if the drive is capable of 30 Amps of current for a 10 Volt input setting the servo output limit to 5V limits the maximum drive current to 15 Amps The servo output limit may also be used if the drive cannot accept the full 10 Volt range of the servo output In this case the servo output limit value effectively limits the maximum command sent to the amplifier For example if the drive can only accept command signals up to 7 5 Volts set the servo output limit value to 7 5 volts Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Limits tab AXIS SERVO DRIVE Manual Adjust Opens the Limits tab of the Manual Adjust dialog box for online editing of the Position Error Tolerance Position Lock Tolerance and Output Limit parameters ty ee a ns Manual Adjust AXIS SERVO ea Dynamics Gains Output Limits Offset Postion Eror Tolernce 10 0 e Position Units Rese e Position Lock Tolerance 0 0 Position Units Output Limit 10 0 e Volts Manual Adjust is disabled when Logix Designer application is in Wizard mode and when offline edits to the parameters have not yet been saved or applied Use the Limits tab to make the following offline configurations for an axis of the type AXIS_SER
108. use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss A ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence Important Identifies information that is critical for successful application and understanding of the product Labels may also be on or inside the equipment to provide specific precautions SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present temperatures ARC FLASH HAZARD Labels may be on or inside the equipment for example a motor control center to alert people to potential Arc Flash Arc Flash will cause severe injury or death Wear proper Personal Protective Equipment PPE
109. used after the first leg of an active bidirectional homing sequence 0 immediate default 1 switch 2 marker 3 switch then marker 4 torque limit 5 torque limit then marker Position Units Seconds The Home Speed attribute controls the speed of the jog profile used in the first leg of an active homing sequence as described in the above discussion of the Home Sequence Type attribute Rockwell Automation Publication MOTION UM001D EN P November 2015 245 Appendix B Attribute Axis Homed Status Homing Status Inhibit Status InhibitAxis Integrator Hold Enable Inter Module Sync Fault Interpolated Actual Position 246 Motion axis attributes Axis Type Data Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL BOOL BOOL BOOL INT SINT BOOL REAL Description Tag The HomedStatus bit is set by the MAH instruction upon successful completion of the configured homing sequence This bit indicates that an absolute machine reference position is established When this bit is set operations that require a machine reference such as Software Overtravel checking can be meaningfully enabled For CIP Drive axis data types
110. value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit Rockwell Automation Publication MOTION UM001D EN P November 2015 257 Appendix B Motion axis attributes Attribute Axis Type Neg Hard Overtravel AXIS_SERVO_DRIVE Fault Neg Overtravel Input AXIS_SERVO Status AXIS_SERVO_DRIVE Neg Soft Overtravel AXIS_ SERVO Fault AXIS_SERVO_DRIVE Negative Dynamic AXIS_SERVO_DRIVE Torque Limit Output Cam Execution AXIS_CONSUMED Targets AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type BOOL BOOL BOOL REAL DINT Tag Tag Tag GSV Tag GSV Description Set if the axis moves beyond the negative direction position limits as established by hardware overtravel limit switches mounted on the equipment This fault can only occur when the drive is in the enabled state and the Hard Overtravel Checking bit is set in the Fault Configuration Bits attribute If the Hard Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the hard overtravel limit switch using a motion instruction results in an instruction error To recover from this fault the axis must be moved back within normal operation limits of the equipment and the limit switch closed T
111. would only exacerbate the situation Another common case is when performing certain motion When the Integrator Hold Enable attribute is set the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other In general where static positioning accuracy is required Velocity Integral Gain is the better choice The typical value for the Velocity Integral Gain is 15 mSec Sec If you have an AXIS_SERVO_DRIVE data type While the Vel Gain if employed is typically established by the automatic servo tuning procedure the Pos Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system See Torque Scaling attribute description for an explanation of how the Torque Scaling factor can be calculated Once this is done the Vel Gain can be computed based on the current or computed value for the Vel P Gain using the following formula Vel Gain 0 25 0 001 Sec mSec Vel P Gain Assuming a Vel P Gain value of 0 25 Sec this results in a Vel Gain value of 15 6 mSec Sec Velocity Integrator AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Real Time Axis Error AXIS
112. zn nitanna ana a erry e IVA eit A Ah pS ceca sanien R ARER Gainstab A CTS SERVO munninn Halt ulin an aaa anA Proportional Position Gain sss ssssessssessssserssseetssesessssertsseoresoeessseerssseresse Integral Positi n GUN rererere aoar ERE OERE Differentials emna ainn e a aii Proportional Velocity Gain sss sssessssesssssssrsssersssssesssserrsseeressseresseerssseessse Integral Velocity Gaii qcenwieavaatenncuvatene ENES Velocity Feedforward snenieiiiunnionieie isina nni Acceleration Pecotsiw arsed lsixcteuceeanecees bixchauseetansieas incites Integrator Folds isesssecinsasesstessssebsivlssesesavicemtiadessussaeusaiechesnelehasoumuacbesineagss M n al Ac ists acotsectaniicrtaddaienssansieiaasinniiaainanemnndnaatages Gains Tab 2AX1S SERVO TORU Eviisssssiscsaertisaecupisdnse nanan Velocity Peediorwands s utiwis soe atienice taaats Rett ae WecelerarioniF ce cto rw abl cided axl iekvwiseaeitselG ean atalino Rockwell Automation Publication MOTION UM001D EN P November 2015 Table of contents Proportional Position Gatti icecisiancanicauinaninnsanumcaunaiiiions 162 Integral Position Gattigecesoieyctsiceiowesciorsselvenceienene tensed raeessoutnretetcte 162 Proportional Velocity Gani je ssdcieetansciosncsisteakdeiaiteantor nannies 163 Intesral Velocity Gaif ssisicnenninninsoniniin nass 164 Integtator STOIC si cittleis cir lesimunlarania enticing eia a avenias 164 Manual AA asc ossn i cconcatezo edd AECE 165 Set cus
113. 0001 feedback counts per base update The drive shuts down if you give it 3 phase power while it s configured for Common Bus Follower mode If that happens this bit turns on DINT BOOL Set when there is a problem with the commutation feedback source associated with the drive axis that prevents the drive from receiving accurate or reliable motor shaft information to perform commutation BOOL Tag Set when an update operation targeting an axis configuration attribute of an associated motion module failed For more information about the Configuration Fault see the Attribute Error Code and Attribute Error ID attributes associated with the motion module Do you want this fault to give the controller a major fault e YES Set the General Fault Type of the motion group Major Fault e NO You must write code to handle these faults Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Config Update In Process Continuous Torque Limit Control Sync Fault Controlled By Transform Status Axis Type AXIS_CONSUMED AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_SERVO AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type BOOL REAL BOOL BOOL Tag GSV SSV Tag Tag Motion axis attributes Appendix B Description When you use an SSV instruction to change an attribute the controller s
114. 08 AOI E E E E 308 DV registration SernisOr anaien iaai E i Ai A E E ARSi 308 OOIE TE T E PE A E E E EA 308 Rockwell Automation Publication MOTION UM001D EN P November 2015 11 Table of contents Servo loop block diagrams Index 12 Home limit switch input ciqasusadiecieietennndncsdasitasebiteae 309 DOES ics tasshansssca gee aannciaeat ait a a R nena 309 OK COM CAGES ose sepcasteseonanssesseceosnssesssuseecasssbn coaster eects nndccsote aaa 309 Notes isisisi i eiai tdaa tibiae ocular seca Aaa 309 Appendix D Introduction for Servo Loop Block Diagrams ss ssesssssesrssersresesresssrressrsresse 311 Interpreting the diagramSs ss ssessissssssssssesssersssettessttessseresettesesteneseetenesrensstresnee 311 AXIS SERVO iiite pia r E EER G E E 312 Position servo with torque servo drive sss sssssesssssstsssssseetesssseesssseeressssee 312 Position servo with velocity servo drive s sssssssessssessesssssesrssssesresssreressse 313 AXIS SERVO DRIV Enana nnna ieaiai 314 Mot r Position Sery o innsceraniriia npani 314 Auxiliary Position ServO ssssssesssssssesesssresesssstteessssteeesssseteessssereessssereessssere 315 Du al Positi n Serve eases gaia ieee recta ag anatase cael ias 316 Motor Dual Command Servon ncuatcaet iad cierto 317 Auxiliary Dual Command ServOtccs ni ier echenseunen caus 318 Dual Command Feedback Servo wasn aintesiiihanasninaiausneied 319 Velocity SERVOS ionainn i ia iR 319 Torque Seryoso aana a ai 319 Drive Gains
115. 1 A INT 0 INT 1 RET 0 RET 1 RETO RET 1 General cable C0722 To LOT LDT CMN LDT CMN CHASSIS CHASSIS A General cable C0720 To e stop relay coil Notes e This example shows the wiring for Axis 1 Wire Axis 0 the same way e Use transducers that use an external interrogation signal e Do not exceed the specified isolation voltage between power sources Rockwell Automation Publication MOTION UM001D EN P November 2015 305 Appendix C Wiring diagrams LDTs These diagrams show the connections for Temposonic and Balluff LDTs Important Other suppliers also have compatible LDTs Before you connect an LDT to your module make sure that it is the best LDT for your application Temposonics Il Balluff BTL type RPM or DPM 24V Connections 15V Connections Ground Interrogate Interrogate 12V de 24V 15V Pulse Output 15V Pulse Ground Output Ground Interrogate Output Pulse Interrogate Interrogate No shield connections on these examples The following table lists the LDT connections for fabricating your won LDT cable Function 1 1756 HYD02 RTB Wiring Numbers below represent Temposonics II 2 Balluff terminal numbers RPM or DPM BTL type Interrogate 9 Yellow 1 Yellow 1 Yellow Power Supply 5 Red 12V 7 Brown 24V 7 Brown 15V 8 White 15V Ground 34 33 1 White 6 Blue 6 Blue 8 White Output Pulse 8 Purple 2 Gray 2 Gray
116. 1D EN P November 2015 111 Chapter 5 Home an axis Guideline Choose a starting direction for the homing sequence Description Which direction do you want to start the homing sequence in e Positive direction Choose a Forward direction e Negative direction Choose a Negative direction Active homing When the axis Homing Mode is configured as Active the physical axis is first activated for servo operation The Home operation does not cancel other motion but errors Err 22 You can home an axis using the configured Home Sequence which may be Immediate Switch Marker Switch Marker or Torque Level homing The Home Sequences result in the axis being jogged in the configured Home Direction Using bidirectional homing after the position is re defined based on detection of the home event the axis is automatically moved to the configured Home Position Important When unidirectional active homing is performed on a rotary axis and the Home Offset value is less than the deceleration distance when the home event is detected it adds one or more revolutions to the move distance Passive homing When the axis Homing Mode is configured as Passive the MAH instruction re defines the actual position of a physical axis on the next occurrence of the encoder marker providing that Seq Marker Immediate Switch Switch Marker and Torque Level homing is also allowed Passive homing is most commonly used to calibrate Feedback Onl
117. 24 Volts from the servo module s Drive Fault input generating an axis Drive Fault condition This is the default fail safe configuration In some cases it may be necessary to clear the Drive Fault Normally Closed bit to interface with a drive system that closes its contacts when faulted This is generally not recommended for fail safe operation Drive Enable Input Fault Handling When the Drive Enable Input Fault Handling bit is set it lets the drive post a fault based on the condition of the Drive Enable Input If an attempt is made to enable the drive axis without an active Drive Enable Input the drive sets a Drive Enable Input Fault If the Drive Enable Input ever goes from active to inactive while the drive axis is enabled the drive also sets a Drive Enable Input Fault If the Drive Enable Input Fault Handling bit is clear default and then the drive does not generate a Drive Enable Input Fault Drive Enable Input Checking When the Drive Enable Input Checking bit is set the default the drive regularly checks the current state of the Drive Enable Input This dedicated input serves as a permissive to enable the drive s power structure and servo loop Once the drive is enabled a transition of the Drive Enable Input from active to inactive results in a drive initiated axis stop where the axis is decelerated to a stop using the configured Stopping Torque and then disabled If the drive enable Input Checking bit is clear then n
118. 42A encoder without reset to 1756 MO02AS RTB Allen Bradley 842A Absolute 1756 M02AS Encoder RTB bees Clock Pr eee tee Clock ER Data hg ore Data Reset t Supply VDC __ Supply Com _SSiCom EE EETA Chassis i Drain 7 Encoder wiring shownis Chassis without reset and count UP with CW shaft rotation Customer 24V DC SSI Power Supply Allen Bradley 842A Absolute Encoder Supply VDC sel Supply Com SSI Com i Reset Clock Clock 1_ o Lt Clock hao al 4 Steers Data Data1 p Sige Data Data a f gt Chassis Encoder viring shownis Chassis without reset and count UP with CCW shat retation 302 Rockwell Automation Publication MOTION UM001D EN P November 2015 Wiring diagrams Appendix C Wiring for AB 842A encoder with remote reset to 1756 M02AS RTB The following image illustrates wiring for AB 842A encoder with remote reset to 1756 MO02AS RTB Allen Bradley 842A Absolute 1756 M02AS Encoder RTB A N Clock Clock 1 ey ejrocses Clock ere cael tees Data Dated e d oan Data Datat fo Reset Supply VDC Supply Com SSiCom Chassis Encoder wiring shownis Chassis with remote reset and count UP with Cy shaft rotation Customer 24 V DC SSI Power Supply Allen Bradley 842A Absolute Encoder Supply VDC i suid Supply Com _ SSI Com Reset flock Clock 1_ oF Lewd Clock hoe el i ni OE Dat
119. 60720 sensor REGSV 0 REGSV 1 Y azo Ona i 0K DOK jja G 23 CHASSIS CHASSIS J 28S 325 t H lt poet CHA 0 4CHA 1 ry S 28 27 i CHAO CHAS 1 S 329 H N CHB 0 _ CHB 1 X 1 To encoder 132 Sz l f Y CHBO CHBA Low si sO Oal j _ _ i 4CHZ 0 CHZ 1 cy K j 36 535 EL ey CHZ 0 CHZ 1 VU 1 t N N 4 General Cable 7 p Lt A co720 Ly To E stop relay coil Rockwell Automation Publication MOTION UM001D EN P November 2015 295 Appendix C Wiring diagrams Notes The example shows the wiring for Axis 1 Wire Axis 0 the same way Ultra 100 Series Drive The following image illustrates the Ultra 1000 series drive J1 to 50 pin Terminal Block Ultra 100 Series Digital Kit P N 9109 1391 Servo Drive 24VDC 24VDC Field Power Supply 24VCOM General cable 0UT From 1756 MO2AE C gt 0720 ii ENABLE General cable ENABLE From 1756 MO2AE C gt 0721 _ IN_COM CHA CHA General cable 8 From1756 M02AE C gt W2 dii H HZ Notes e This is an example of one way to wire the drive See Ultra 100 Series Drive Installation Manual publication 1398 5 2 for other configurations 296 Rockwell Automation Publication MOTION UM001D EN P November 2015 Wiring diagrams Appendix C The following image illustrates the Ultra 200 series drive Ultra 200 Series Drive Ultra 200 Series Digital
120. AXIS_SERVO only Low Pass Output Filter Limits Position Error Tolerance The Tune Bandwidth dialog box opens for drives in which you can tweak bandwidth values During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Executing a Tune operation automatically saves all changes only if the tune values are applied to axis properties ATTENTION This tuning procedure may cause axis motion with the controller in program mode Unexpected motion may cause damage to the equipment personal injury or death Rockwell Automation Publication MOTION UM001D EN P November 2015 151 Appendix A Axis properties Dyn amics tab AXIS SERVO Use the Dynamics tab to view or edit the dynamics related parameters for an axis a of the type AXIS_SERVO or AXIS_SERVO_DRIVE that is configured on the AXIS_SERVO _DRIVE General tab for Servo operations or for the type AXIS_VIRTUAL AXIS_VIRTUAL EA nE Properties AXIS_SERVO_DRIVE miee General I Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Maximum Speed 50 0 Position Units s Me Manual Adie Adjust Maximum Acceleration 1000 0 Position Units s 2 Maximum Deceleration 1000 0 Position Units s 2 Maximum Acceleration Jerk 27000 0 Position Units s
121. Appendix D Introduction for Servo Loop Block Diagrams Interpreting the diagrams Servo loop block diagrams This appendix shows the servo loop block diagrams for common motion configurations The diagrams use these labels for axes attributes Label Acc FF Gain Friction Comp Output Filter BW Output Limit Output Offset Output Scaling Pos Gain Pos P Gain Position Error Position Integrator Error Registration Position Servo Output Level Vel FF Gain Vel Gain Vel P Gain Velocity Command Velocity Error Velocity Feedback Velocity Integrator Error Watch Position AXIS Attribute AccelerationFeedforwardGain FrictionCompensation OutputFilterBandwidth OutputLimit OutputOffset OutputScaling PositionIntegralGain PositionProportionalGain PositionError PositionIntegratorError RegistrationPosition ServoOutputLevel VelocityFeedforwardGain VelocitylntegralGain VelocityProportionalGain VelocityCommand VelocityError VelocityFeedback VelocitylntegratorError WatchPosition Rockwell Automation Publication MOTION UM001D EN P November 2015 311 Appendix D Servo loop block diagrams AXIS_ SERVO Position servo with torque servo drive The following image illustrates position servo with torque servo drive
122. Aux Feedback Device 209 Rotary Gear Head WITH Aux Feedback Device 209 Rotary Gear Head WITHOUT Aux Feedback Device 209 Servo Loop Configuration 209 Servo Loop Block Diagrams Auxiliary Dual Command Servo 338 Auxiliary Position Servo 335 Dual Command Feedback Servo 339 Dual Position Servo 336 Motor Dual Command Servo 337 Motor Position Servo 334 Torque Servo 339 Velocity Servo 339 Servo Drive Status Attributes Acceleration Command 209 Aux Position Feedback 209 Rockwell Automation Publication MOTION UM001D EN P November 2015 Bus Regulator Capacity 209 DCBus Voltage 209 Drive Capacity 209 Drive Status Bit Attributes 209 Marker Distance 209 Motor Capacity 209 Motor Electrical Degrees 209 Negative Dynamic Torque Limit 209 PositionCommand 209 Position Error 209 Position Feedback 209 Position Integrator Error 209 Positive Dynamic Torque Limit 209 Power Capacity 209 TorqueCommand 209 Torque Feedback 209 Torque Limit Source 209 Velocity Command 209 Velocity Error 209 Velocity Feedback 209 Velocity Integrator Error 209 Servo Fault Configuration Servo Fault Actions 209 Servo Gains Acceleration Feedforward Gain 207 209 Bandwidth Method 209 Integrator Hold Enable 209 Index Loop Gain Method 209 Maximum Bandwidth 209 Position Differential Gain 209 Position Integral Gain 209 Position Proportional Gain 209 Velocity Feedforward Gain 209 Velocity Integral Gain 209 Velocity Proportional Gain 209
123. Axis My_Axis Motion Control Manual_Jog oN Direction 0 ER gt Manual_Jog_Speed 60 0 P gt Units per sec Use the same acceleration as the Manual_Jog_Accel instruction that stops the axis 200 Or use a lower acceleration i Units per sec2 Manual_Jog_Decel 20 0 Units per sec2 S Curve Manusl_Jog_Accel_Jerk 100 0 Manuai_Jog_Decel_Jerk 100 0 Jog_PB lt Local 4 Data 1 0 gt My_Axis_OK Motion Axis Jog Axis My_Axis Motion Control Jog_2 Direction 0 Speed Jog_2_ Speed 00e Speed Units Units per sec Use the same acceleration as the instruction that Accel Rate Jog_2_Accel starts the axis 20 06 Or use a higher acceleration Accel Units Units per sec2 Decel Rate Jog_2_Decel 20 0 Decel Units Units per sec2 Profile S Curve Accel Jerk 100 0 Decel Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Why is there a delay when stop and then restart a jog While an axis is jogging at its target speed you stop the axis Before the axis stops completely you restart the jog The axis continues to slow down before it speeds up Rockwell Automation Publication MOTION UM001D EN P November 2015 105 Chapter 4 Program Example You use a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you use a Motion Axis Jog MAJ instruction to start the axis again The axis does not respond right away It continu
124. CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE Data Type BOOL REAL REAL REAL REAL REAL INT Tag GSV SSV GSV SSV GSV Tag GSV Tag GSV w ro GSV Description Set if there is a stopping process currently in progress Cleared when the stopping process is complete The stopping process is used to stop an axis initiated by an MAS MGS Stop Motion fault action or mode change Sec This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Rated This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Strobe Actual Position in Position Units Strobe Actual Position and Strobe Command Position are used to simultaneously store a snap shot of the actual command position and master offset position of an axis when the MGSP Motion Group Strobe Position instruction is executed The values are stored in the configured Position Units of the axis Since the MGSP instruction simultaneously stores the actual and command positions for all axes in the specified group of axes the resultant Strobe Actual Position and Strobe Command Position values can be us
125. Configuration attribute determines the configuration of the servo loop topology when the axis is set to servo 0 custom 1 feedback only 2 aux feedback only 3 position servo 4 aux position servo 5 dual position servo 6 dual command servo 7 aux dual command servo 8 velocity servo 9 torque servo 10 dual command feedback servo Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Servo Output Level in Volts Servo Output Level is the current voltage level of the servo output of the specified axis The Servo Output Level can be used in drilling applications for example where the servo module is interfaced to an external Torque Loop Servo Drive to detect when the drill bit engages the surface of the work piece 0 Feedback Polarity Negative 1 Servo Polarity Negative Feedback Polarity Negative This Feedback Polarity Negative bit attribute controls the polarity of the encoder feedback and when properly configured insures that when the axis is moved in the user defined positive direction and that the axis Actual Position value increases This bit can be configured automatically using the MRHD and MAHD motion instructions Servo Polarity Negative This Servo Polarity Negative bit attribute controls the polarity of the servo output to the drive When proper
126. D EN P November 2015 319 Appendix D Servo loop block diagrams 320 servo loop includes only the Torque Offset These values are updated at the base update rate of the associated motion group The Torque Offset value is derived from the current value of the corresponding attribute This offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Drive Gains Rockwell Automation servo drives use Nested Digital Servo Control Loop such as shown in the block diagrams consisting typically of a position loop with proportional integral and feed forward gains around a digitally synthesized inner velocity loop again with proportional and integral gains for each axis These gains provide software control over the servo dynamics and allow the servo system to be completely stabilized Unlike analog servo controllers these digitally set gains do not drift Furthermore once these gains are set for a particular system another SERCOS module programmed with these gain values operates identically to the original one Rockwell Automation Publication MOTION UM001D EN P November 2015 1 1398 CFLAExx Cable Diagram 317 Pinouts 318 1756 M02AE servo module Block diagrams Torque servo drive 332 Velocity servo drive 333 Features 14 Loop and interconnect diagrams 331 1756 M03SE set
127. Description This parameter is not editable for an axis of the data type AXIS_CONSUMED Instead this value is taken from a producing axis in a networked Logix processor This value can be edited for AXIS_SERVO AXIS_SERVO_DRIVE and AXIS_VIRTUAL Linear Provides a maximum total linear travel of 2 14 231 billion feedback counts With this mode the unwind feature is disabled and you can limit the linear travel distance of the axis by specifying the positive and negative travel limits for the axis Rotary Enables the rotary unwind capability of the axis This feature provides infinite position range by unwinding the axis position whenever the axis moves through a complete unwind distance The number of encoder counts per unwind of the axis is specified in the Position Unwind field Rockwell Automation Publication MOTION UM001D EN P November 2015 Item Conversion Constant Position Unwind Axis properties Appendix A Description Number of feedback counts per position unit This conversion or K constant lets the axis position display and motion to be programmed in the position units set in the Units tab The conversion constant is used to convert axis position units into feedback counts and vice versa for the AXIS_ SERVO type and for the AXIS_SERVO_DRIVE the number of counts per motor revolution as set on the Drive tab in the Drive Resolution field When you edit the setting for the Conversion Constant or the Drive Resolution and
128. EN28GA gt 7 CA BLUE 28GA nt 5 ii VIOLET 28GA bial 9 Ce a PE GRAY 28GA 6 I S I 10 WHITE 28GA Pai V V DE BLACK 286 X ke lg kat DRAIN a E A A Rockwell Automation Publication MOTION UM001D EN P November 2015 BRAKE BRAKE RESET 24VDC 24VCOM COMMAND COMMAND 24VDC READY ENABLE READY 24VCOM AOUT AOUT BOUT BOUT IOUT IOUT Wiring diagrams Appendix C Ultra3000 Drive Ultra3000 to 1756 MO2AE interconnect diagram The following image illustrates interconnecting Ultra3000 to 1756 MO2AE n RELAY x WHT ORG 226A ar WHIORG 220A r RELAY a3 Peay XT weca YX RELAY RELAY X warmer 22Ga IX RELAY ag omn user configured uset configunsd L ORAIN IO PWR aas WHT RED 22GA 7A as WHTRED 276A IOPWA fa ocom X wim ackzsa X 1 XT Wir BLACK 726A IX OCM 7 10 PWA 10 PWR 5 i DAAIN J oan f N ea aee Ce wr J AUX PWA 5 a MEDZA ar ft 2264 1A AUXPWHAS 3 AUXCOM ECOM XT Backzzga X AUX PWA AUX PWR X ekara IX AUXCOM ECOM T oan T optional options DAAIN QZ E7 Kd wr AXIS 0 AXIS 1 ANALOG COMMAND mx WHT GRN 22GA outa T 2 sur fe WHIVGRNZ2GA ya ANALOG COMMAND Po ANALOG COMMAND XL WHI BLU22GA XT auta our X whr tuzca X ANALOG COMMAND a g oan e cHassS VENABLE 3 ENABLEO CHASSIS DRAIN oan amp m 10 POWER BROWN 28GA E
129. ERCOS motion Chapter 1 Modify properties for a SERCOS interface drive module A WARNING Disable Keying should never be used with motion modules 9 Select the Open Module Properties check box and click OK Continue with the instructions to modify the properties for the interface drive Follow these instructions to modify drive properties 1 Ifthe Module Properties Report dialog box is not already open in the Controller Organizer double click the interface drive 2 On the Module Properties Report dialog box click the Associated Axes tab l E Module Properties Report Motion 1 2093 ACOS MPS 1 1 a General Connection Associated Axes Power Module info Node 3 lt none gt Node 131 lt none gt 3 Click New Axis to create an AXIS_SERVO tag to associate to one of the nodes Rockwell Automation Publication MOTION UM001D EN P November 2015 31 Chapter 1 Configure SERCOS motion 4 On the New Tag dialog box in the Name box type a name for the axis tag lt controler gt AXIS_SERVO_DRIVE Fi Motion _Control Read Wrte E Open AXIS_SERVO_DRIVE Configuration Open Parameter Connections 5 Click Create 6 optional Repeat steps 3 through 5 if an additional axis is required 7 On the Module Properties Report dialog box in the Node Number box choose an AXIS_SERVO_DRIVE tag to associate with the drive s node 8 optional In the
130. Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment PPE AN BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous Allen Bradley Rockwell Software Rockwell Automation and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Summary of changes This manual contains new and updated information The following table contains the changes made to this revision Updated the create a controller project Create a controller project for Configure SERCOS information Motion on page 21 and Create a controller project for Configure Analog Motion on page 43 Rockwell Automation Publication MOTION UM001D EN P November 2015 3 Preface Configure SERCOS motion Configure analog motion Table of contents Studio 5000 Cnvironinent inean a e 13 What VOU Ce estate tacts eet EE EE E nl 13 Configuration and Statt up scenarios siassssscseissssseisissstsveacieniuasincienassanbaectoes 14 Deserption of the modules cicct acai elena 14 Help for selecting drives and Motors ccd ssscscassisnsactisayecsesnsisscnesivn actos ayeceeaniaececchsa 15 Where to find sample projects sssssssssessssesesssresssrtessrsrsseerenssteessteressereesereessteesnne 16 Additionalresources esne aaa EEE ERE E e R 16 Begal IN GEICES na casss ie c
131. Found Add to Favorites 7 Close on Creste Create cse l Help 3 Select the Close on Create check box and click Create Rockwell Automation Publication MOTION UM001D EN P November 2015 51 Chapter 2 Configure analog motion 4 On the New Module dialog box in the Name box type a name for the module New Module a Type 1756 HYD02 2 Ads Hydraulic Servo Vendor Allen Bradley Name Hydreulic_1 Slot 5 Description aeiio 2 1 G Blectronic Keying Conpaitie Keyra a 5 In the Slot box choose the number that corresponds to the physical slot that contains the module 6 optional In the Description box type a description 7 Inthe Electronic Keying box choose a keying option of either Compatible Keying or Exact Match See Electronic Keying on page 26 A WARNING Never select Disable Keying with motion modules 8 Select the Open Module Properties check box 9 Click OK Continue with the instructions to modify the properties for the hydraulic drive module Modify properties for a hydraulic drive module With a hydraulic drive you must configure the feedback type Based on the length of the feedback the Servo Update Period must be configured This setting is unique for the 1756 HYD02 module If the Servo Update Period is not configured correctly the axis does not work Follow these instructions to modify the properties for a hydraulic drive 1 Ifthe Module Properties Report dialog box is no
132. ION UM001D EN P November 2015 Appendix A Axis properties Introduction for Axis Use this appendix for a description of the properties of an axis For a description of the Axis_CIP_Drive properties see Integrated Motion on the Ethernet IP Properties Network Configuration and Startup publication MOTION UMO003 General tab AXIS SERVO The following General dialog box below is for an AXIS_SERVO data type Axis Properties AXIS SERVO o aix Dynamics Gains Output Limits Offset Faut Actions Tag General __ Motion Planner F Units Servo ali Feedback uli Conversion Homing L Hookup Tune X Axis Configuration Sevo Motion Group motion_group Associated Module Module HYD_Motion zy Module Type 1756 HYD02 Channel l1 z Item Description Axis Configuration Selects and displays the intended use of the axis Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The tabs Servo Tune Dynamics Gains Output Limits and Offset are not displayed Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of t
133. L AXIS_CONSUMED BOOL Tag AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE BOOL AXIS_SERVO DINT Tag AXIS_SERVO_DRIVE Motion axis attributes Appendix B Description Hertz The Output Notch Filter Frequency attribute controls the center frequency of the drive s digital notch filter Currently implemented as a 2nd order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output attenuation at the Notch Filter Frequency The programmable notch filter is bypassed if the configured Output Notch Filter Frequency for this filter is set to zero the default This output notch filter is particularly useful in attenuating mechanical resonance phenomena The output filter is particularly useful in high inertia applications where mechanical resonance behavior can severely restrict the maximum bandwidth capability of the servo loop 10V Another common situation when interfacing an external Servo Drive particularly for velocity servo drives is the effect of drive offset Cumulative offsets of the servo module s DAC output and the Servo Drive Input result in a situation where a zero commanded Servo Output value causes the axis to drift If the drift is excessive it can play havoc on the Hookup Diagnostic and Tuning procedures and result in a steady state non zero position error when the servo loop is closed Output offset compensation can be used to
134. Loop Gain Method If you know the desired loop gain in Inches per Minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil A loop gain of 1 IPM mil Pos P gain 16 7 Sec 1 gives stable positioning for most axes However position servo systems typically run much tighter than this The typical value for the Position Proportional Gain is 100 Sec 1 Bandwidth Method If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 Position servo systems typically run with at least a unity gain bandwidth of 16 Hertz The typical value for the Position Proportional Gain is 100 Sec 1 Maximum Bandwidth There are limitations to the maximum bandwidth that can be achieved for the position loop based on the dynamics of the inner velocity and torque loops of the system and the desired damping of the system Z These limitations may be expressed as follows Bandwidth Pos 0 25 1 Z Bandwidth Vel 0 25 1 22 Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz and the position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed Note that the ban
135. Master Slave relationship between a Master Axis MDCC and a Coordinate System Master Driven Coordinated Control Sample projects To access the sample projects take the following steps You can use this instruction only with 1756 L6x controllers 7 You can use this instruction only with 1756 L6x controllers 98 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 Troubleshoot axis motion 1 On the Help menu click Quick Start 2 On the Quick Start window in the left navigation pane expand Controller Projects and click Open Sample Project 3 In the Open Project dialog box click MSG_To_multiple_Controllers acd and click Open Free sample code is also available at http samplecode rockwellautomation com The following are situations that could happen while you are running an axis and how to troubleshoot them Why does my axis accelerate when I stop it While an axis is accelerating you try to stop it The axis keeps accelerating for a short time before it starts to decelerate Example You start a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you start a Motion Axis Stop MAS instruction The axis continues to speed up and then eventually slows to a stop Look For Jog_PB lt Local4 Data 1 0 gt My_Axis_OK MAJ m Motion Axis Jog EN Axis My_Axis Motion Control Manual_Jog ON Direction 0 ER Speed Manual_Jog_Sp
136. Maximum Negative Type the maximum negative position to be used for software overtravel checking in position units The Maximum Negative limit must be less than the Maximum Positive limit Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Position Error Tolerance Specifies how much position error the servo tolerates before issuing a position error fault This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 position units means that a position error fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 position units This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you must change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed Position Lock Tolerance Specifies the maximum position error the servo module accepts to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity For example specifying a lock tolerance of 0 01
137. N 0 ER Manual_Jog_Speed 60 0 Units per sec Manual_Jog_Accel 200 Units per sec2 Manual_Jog_Decel 400e Units per sec2 S Curve Same Deceleration Jog_PB sLocal 4 Data 1 0 gt My_Axis_OK n Motion Axis Jog Ei Axis Axis 1 Use an MAJ instruction to stop the axis Motion Control Jog_2 DN 2 Set the speed of the stopping MAJ to zem Direction 0 wee 3 Use a higher acceleration in the stoppi Speed Jog_2_Speed MAJ ere o0 iP gt Speed Units Units per sec Reason This increases the acceleration jerk Accel Rate Jog_2_Accel The axis can begin to stop sooner at the higher 400 acceleration jerk Accel Units Units per sec2 Decel Rate Jog_2_Decel 4 Use a deceleration that gives you the al eA 40 06 res want without too much jerk Decel Units S per Sec cilii si Profile Curve Important Use the same deceleration in both Accel Jerk 100 0 instructions Otherwise the axis could reverse directions when you go from stopping to Decel Jerk 100 0 stani in 7 Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Rockwell Automation Publication MOTION UM001D EN P November 2015 101 Chapter 4 Program Revision 16 or later Leave bit 0 of the DynamicsConfigurationBits attribute for the axis turned ON Otherwise this corrective action will not work For more information Use the following path Help gt Index gt GSV SSV Objects gt Axis gt Dynamics Configuration Bits Revision 16 and lat
138. N P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Access Description Drive Overcurrent Fault AXIS_SERVO_DRIVE BOOL Tag Set when drive output current exceeds the predefined operating limits for the drive Drive Overtemp Fault AXIS_SERVO_DRIVE BOOL Tag Set when the drive s temperature exceeds the drive shutdown temperature Drive Overvoltage Fault AXIS_SERVO_DRIVE BOOL Tag Set when drive DC bus voltage exceeds the predefined operating limits for the bus Drive Polarity AXIS_SERVO_DRIVE DINT GSV 0 Custom Polarity SSV 1 Positive Polarity 2 Negative Polarity Custom Polarity Custom Polarity is used to enable custom polarity configurations using the various polarity parameters defined by the SERCOS Interface standard Positive Negative Polarity Positive and Negative Polarity bit attribute determines the overall polarity of the servo loop of the drive The advanced polarity parameters are automatically set based on whether the Drive Polarity is configured as Positive or Negative Proper wiring guarantees that the servo loop is closed with negative feedback However there is no such guarantee that the servo drive has the same sense of forward direction as the user for a given application Negative Polarity inverts the polarity of the command position and actual position data of the servo drive Thus selecting Positive or Negative Drive Polarity makes it possible to configure the
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140. November 2015 217 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Axis Status AXIS_CONSUMED DINT Tag Allows access to all axis status bits in one 32 bit word This tag is the same as the Axis Status AXIS_GENERIC Bits attribute AXIS_SERVO Axis Status AXIS_SERVO_DRIVE AXIS VIRTUAL Servo Action Status Drive Enable Status Shutdown Status Config Update In Process Inhibit Status Axis Status Bits AXIS_CONSUMED DINT GSV Allows access to all axis status bits in one 32 bit word This attribute is the same as the Axis AXIS_GENERIC Status tag AXIS_SERVO Axis Status Bit AXIS_SERVO_DRIVE m Servo Action Status 0 AXIS_ VIRTUAL Drive Enable Status 1 Shutdown Status 2 Config Update In Process 3 Inhibit Status 4 Axis Type AXIS_GENERIC INT GSV The Axis Type attribute is used to establish the intended use of the axis AXIS_SERVO SSV If Then set the AXIS_SERVO_DRIVE attribute to The axis is unused in the application which is a common 0 occurrence when there are an odd number of axes in the system You only want the position information from the feedback 1 interface The axis is intended for full servo operation 2 218 Axis Type is not only used to qualify many operations associated with the axis servo loop it also controls the behavior of the servo module s Axis Status indicators An Axis Type of 1 Feedback Only results in the DRIVE LED being blanked while a value of
141. Output generated by the servo loop With this done the servo loops do not need to generate much control effort hence the Position and or Velocity Error values are significantly reduced When used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward is 100 theoretically In reality however the value may need to be tweaked to accommodate torque loops with non infinite loop gain and other application considerations One thing that may force a smaller Acceleration Feedforward value is that increasing amounts of feedforward tends to exacerbate axis overshoot When necessary the Acceleration Feedforward Gain may be tweaked from the 100 value by running a simple user program that jogs the axis in the positive direction and monitors the Position Error of the axis during the jog Usually Acceleration Feedforward is used in tandem with Velocity Feedforward to achieve near zero following error during the entire motion profile To fine tune the Acceleration Feedforward Gain the Velocity Feedforward Gain must first be optimized using th
142. SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE REAL REAL REAL DINT 2 Ss SINT DINT GSV SSV GSV SSV GSV SSV MSG GSV GSV GSV Motion axis attributes Appendix B Description Position Units The Axis Object provides configurable software travel limits via the Maximum Positive and Negative Travel attributes If the axis is configured for software overtravel limit checking by setting the Soft Overtravel Bit and the axis passes outside these maximum travel limits a Software Overtravel Fault is issued When software overtravel checking is enabled values for the maximum travel in the Maximum Positive and Maximum Negative Travel attributes need to be established with Maximum Positive Travel greater than Maximum Negative Travel These values are specified in the configured Position Units of the axis Soft Travel limits are checked if the Soft Travel Limit enable attribute is true This controller attribute is replicated in the motion module Position Units The Axis Object provides configurable software travel limits via the Maximum Positive and Negative Travel attributes If the axis is configured for software overtravel limit checking by setting the Soft Overtravel Bit and the axis passes outside
143. SUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE Motion axis attributes Appendix B Rockwell Automation Publication MOTION UM001D EN P November 2015 DINT Tag Important To use this attribute choose it as one of the attributes for Real Time Axis GSV Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 vs me ei Reserved 0 Guard Limited Speed Output Fault 15 Guard Internal Fault 1 Guard Limited Speed Monitor Fault 16 Guard Configuration Fault 2 Guard Max Speed Monitor Fault 17 Guard Gate Drive Fault 3 Guard Max Accel Monitor Fault 18 Guard Reset Fault 4 Guard Direction Monitor Fault 19 Guard Feedback 1 Fault 5 Guard Door Monitor Input Fault 20 Guard Feedback 2 Fault 6 Guard Door Monitor Fault 21 Guard Feedback Speed Compare 7 Guard Door Control Output Fault 22 Fault Guard Feedback Position 8 Guard Lock Monitor Input Fault 2B Compare Fault Guard Stop Input Fault 9 Guard Lock Monitor Fault 24 Guard Stop Output Fault 10 Guard Enabling Switch Monitor 25 Input Fault Guard Stop Decel Fault Guard Enabling Switch Monitor 26 Fault Guard Stop Standstill Fault Guard Feedback 1 Voltage Monitor 27 Fault Guard Stop Motion Fault B Guard Feedback 2 Voltage Monitor 28 Fault Guard Limited Speed Input Fault 14 Reserved 29 31 BOOL Tag Set whenever the slave axis is locked to the master axis in a gearing relationship according to th
144. S_VIRTUAL AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE REAL REAL REAL REAL REAL GSV SSV GSV Pw w ra GSV w t GSV w ra GSV SSV Motion axis attributes Appendix B Description Position Units Sec This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Important To use this attribute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Actual Acceleration in Position Units Sec Actual Acceleration is the current instantaneously measured acceleration of an axis in the configured axis Position Units per second per second It is calculated as the current increment to the actual velocity per base update interval Actual Acceleration is a signed value the sign or depends on which direction the axis is currently accelerating Actual Acceleration is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on actual velocity is 1 feedback counts per base update period per base update period Important To use this attr
145. TION UM001D EN P November 2015 Attribute Velocity Proportional Gain continued Velocity Scaling Motion axis attributes Appendix B Axis Type Data Type Access Description AXIS_SERVO REAL GSV SSV AXIS_SERVO_DRIVE The standard RA SERCOS drive s digital velocity loop provides damping without the requirement for an analog tachometer The Velocity Error is multiplied by the Velocity Proportional Gain to produce a Torque Command that ultimately attempts to correct for the velocity error creating the damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability The velocity loop also allows higher effective position loop gain values to be used however too much Velocity Proportional Gain leads to high frequency instability and resonance effects Note that units for Velocity Proportional Gain are identical to that of the Position Proportional Gain making it easy to perform classic calculations to determine damping and bandwidth If you know the desired unity gain bandwidth of the velocity servo in Hertz use the following formula to calculate the corresponding P gain Vel P Gain Bandwidth Hertz 6 28 In general modern velocity servo systems typically run with a unity gain bandwidth of 40 Hertz The typical value for the Velocity Proportional Gain is 250 Sec Maximum Bandwidth There are limitations to the maxi
146. UAL AXIS_CONSUMED AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL DINT DINT DINT DINT DINT GSV Tag Tag GSV Tag GSV Tag GSV Tag Motion axis attributes Appendix B Description Set of Output Cam Lock Status bits The Output Cam Lock Status bit is set when an Output Cam is armed This is initiated by executing an MAOC instruction with Immediate execution selected when a pending output cam changes to armed or when the axis approaches or passes through the specified axis arm position As soon as this output cam current position moves beyond the cam start or cam stop position the Output Cam Lock bit is cleared This bit is also cleared if the Output Cam is terminated by a MDOC instruction A set of bits that are set when an Output Cam is locked to the Master Axis The bit number corresponds with the execution target number One bit per execution target Aset of bits that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start cam end position The bit number corresponds with the execution target number One bit per execution target The Output Cam Pending Status bit is set if an Output Cam is currently pending the completion of another Output Cam This wou
147. Units s 2 Reset e E Enable Notch Filter Frequency 4 E Enable Low pass Output Filter Manual Adjust is unavailable when Logix Designer application is in Wizard mode and when offline edits to the parameters have not yet been applied Use the Limits tab for offline configuration for an axis of the type AXIS_SERVO configured in the General tab as a Servo drive You can configure the following values e Enable and set maximum positive and negative software travel limits e Configure Position Error Tolerance and Position Lock Tolerance e Set the drive s Output Limit ZP Ais Properties AXIS_SERVO Grn General p Mation Planner Units O E E E E ATSE E Tune Dynamics Gans Output Lmis Ofset FautAdions Tag F Soft Travel Limits Manual Adjust 00 Position Eror Tolerance 0 0 Position Units Position Lock Tolerance 0 0 Position Units Output Limit 10 0 Volts Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A The parameters on this tab can be edited in the following ways e Editon this tab by typing your parameter changes and then clicking OK to save your edits e Edit in the Manual Adjust dialog box click Manual Adjust to open the Manual Adjust dialog box to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become rea
148. User Manual Allen Bradley SERCOS and Analog Motion Configuration and Startup Catalog Numbers 1756 HYD02 1756 MO2AE 1756 MO2AS 1756 M03SE 1756 MO8SE 1756 M16SE 1768 MO4SE 2094 SEO2F M00 S0 2094 SEOQ2F M00 S1 ai wad ia ai as Allen Bradley Rockwell Software Automation Important user information Read this document and the documents listed in the additional resources section about installation configuration and operation of this equipment before you install configure operate or maintain this product Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes laws and standards Activities including installation adjustments putting into service use assembly disassembly and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual
149. VO_DRIVE configured as a Servo drive in the General tab of this dialog box e Enable and set maximum positive and negative software travel limits e Configure Position Error Tolerance and Position Lock Tolerance Pare prope ie AXIS_SERVO_DRIVE jo Loles General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune _ Dynamics _ Gains Output Limits Offset Fault Actions Ta Hard Travel Limits Manual Adjust Soft Travel Limits Set Custom Limits 0 0 0 0 Position Eror Tolerance 0 0 Position Units Position Lock Tolerance 0 01 Position Units Peak Torque Force Limit 0 0 Rated Continuous Torque Force Limit 100 0 Rated The parameters on this tab can be edited in the following ways e Edit on this tab by typing your parameter changes and then click OK to save your edits e Edit in the Manual Adjust dialog box click Manual Adjust to open the Manual Adjust dialog box to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Rockwell Automation Publication MOTION UM001D EN P November 2015 175 Appendix A 176 Axis properties The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When Logix Designer application is o
150. Velocity Offset These values are updated at the base update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Velocity Servo The Velocity Servo configuration provides velocity servo control using the motor mounted feedback device Synchronous input data to the servo loop includes Velocity Command Velocity Offset and Torque Offset These values are updated at the base update rate of the associated motion group The Velocity Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Torque Servo The Torque Servo configuration provides torque servo control using only the motor mounted feedback device for commutation Synchronous input data to the Rockwell Automation Publication MOTION UM001
151. Wiring diagrams Appendix C 2 The following image illustrates the 1756 M02AS module 1756 M02AS module g Imag 3 ji 0UT 0 l _f SE Y General cable C0720 m To servo drive or valve OUTO 4 OUT1 i y ENABLE 0 e s f ENABLE 1 E a ENABLE 0 lle i ENABLE X DAVATI D D h pRVATS X General cable C0721 gt To servo drive valve or pump 0 j10 9 d CHASSIS 25 nl CHASSIS a INCOM fa S l IN_COM Ca peri 1 aH ch T i X gt General cable C0720 a To home limit switch 0 e ot 1 r j REG24V 0 S 17 REG24V 1 A E sey ie i REUEN l x General cable C0720 To registration sensor 120 19 40K fee Gall OK CHASSIS 24 e2ai CHASSIS _ CLOCK 0 asi CLOCK 1 CLOCK 0 e5 G27 CLOCK 1 a DATA 0 3S Gaal DATA 1 ae KE General cable C0722 To Synchronous Serial DATA 0 eS S DATA 1 J Interface SSI SSI COM Ime Szal SSI COM CHASSIS eS 35 CHASSIS pos n 7 i J x A General cable C0720 To E stop relay coil This example shows the wiring for Axis 1 Wire Axis 0 the same way Rockwell Automation Publication MOTION UM001D EN P November 2015 301 Appendix C Wiring diagrams Wiring from AB 842A encoder without reset to 1756 M02AS RTB The following image illustrates wiring from AB 8
152. X_Uninhibit_Cmd 1 Uninhibit the axis My_Axis_X_Uninhibit_Cmd SSV Set System alue Class Name AXIS Instance Name My_Axis_X Attribute Name InhibitAxis Source Zero j Uninhibit this axis The uninhibit command turns on Uninhibit the axis 1 Wait for the inhibit process to finish All of these have happened e The axis is uninhibited e All uninhibited axes are ready e The connections to the motion module are running again e Fora SERCOS ring the SERCOS ring has phased up again My_Axis_X InhibitStatus My_Axis_X_OK ey Test an axis with Motion Motion Direct Commands let you issue motion commands while you are online Direct Commands without having to write or execute an application program This axis is OK to run Motion Direct Commands are particularly useful when you are commissioning or debugging a motion application During commissioning you can configure an axis and monitor the behavior using Trends in the Controller Organizer Use of Motion Direct Commands can fine tune the system with or without load to optimize its performance When in the testing and or debugging cycle you can issue Motion Direct Commands to establish or reestablish conditions such as Home Often during initial development or enhancement to mature applications you must test the system in small manageable areas The tasks include the following e Home to establish initial conditions e Incrementally Move t
153. _SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO AXIS_SERVO_DRIVE If this bit is e ON The Positive Overtravel input is active BOOL Tag OFF The Positive Overtravel input is inactive If this bit is e ON The axis moved or tried to move past the Maximum Positive travel limit BOOL Tag e OFF The axis moved back within the Maximum Positive travel limit This fault can only happen when the drive is enabled and you configure the axis for Soft Travel Limits If the Soft Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the soft overtravel limit using a motion instruction results in an instruction error As soon as the axis is moved back within the specified soft overtravel limits the corresponding soft overtravel fault bit is automatically cleared However the soft overtravel fault stays through any attempt to clear it while the axis position is still beyond the specified travel limits while the axis is enabled BOOL Tag Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condit
154. _SERVO_DRIVE Tag Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Integrator Error in Position Units mSec Sec Velocity Integrator Error is the running sum of the Velocity Error in the configured axis Position Units per Second for the specified axis For an axis with an active velocity servo loop the velocity integrator error is used along with other error terms to drive the motor to the condition where the velocity feedback is equal to the velocity command Velocity Limit Bipolar AXIS_SERVO_DRIVE REAL GSV Position Units sec SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Velocity Limit Negative AXIS_SERVO_DRIVE REAL GSV Position Units sec SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Velocity Limit Positive AXIS_SERVO_DRIVE REAL GSV Position Units sec SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Velocity Limit Status AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the commanded velocity to the velocity servo loop input is greater than the configured Velocity Limit Rockw
155. a Datat ig Data Data _ f Chassis Encoder wiring shownis Chassis with remote reset and count UP with CCW shat rotation Rockwell Automation Publication MOTION UM001D EN P November 2015 303 Appendix C Wiring diagrams 1756 HYD02 application The following image illustrates a 1 axis loop with a differential LDT input example 24V Power Supply PC with RSLogix 5000 oe IMPORTANT This A Servo or Proportional module s analog output Tt XXL Amplifier i ControlLogix 1756 HYD02 P require an external controller nr to drive the I H Pistonaype Hydraulic Ginder ut and LDT 15Vdc Power Supply for LDTs l Er Earth Ground 304 Rockwell Automation Publication MOTION UM001D EN P November 2015 Wiring diagrams Appendix C 1756 HYD02 module The following image illustrates the 1756 HYD02 module ETE sad General cable C0720 To valve dri lifi QUT 0 OUT 1 neral cal o valve driver amplifier ENABLE 0 ENABLE 1 A ENABLE 0 ENABLE 1 To hydraulic control unit or DRVFLT 0 DRVFLT 1 To valve or pump CHASSIS CHASSIS IN_COM IN_COM General cableco7z home limit HOME 0 HOME 1 General cableCO720 switch REG24V 0 REG24V 1 To reaistrat N To registration REGSV 0 REGSV 1 General able 0720 senso 0K 0K ___ CHASSIS CHASSIS pi INT 0 INT
156. a a a a ia 83 Definition of let czctuancnwadaccukuatananea a ents 83 Choos d profile ssassn aa ap aasa a a ted cette 83 Use of Time for the easiest programming of jerk ees 84 Velocity Profile Eitect sts cseccks tet RA ERER 85 Jerk Rate Calculati miissen R E 86 Rockwell Automation Publication MOTION UM001D EN P November 2015 Home an axis Axis properties Table of contents PEO espera dase sta crea tnt ase aoa ase a ia 90 Enterbasic LOD IC rasa tain tsssyenaconeyp tbat ttenseaneengee aa Aa aaa 94 Example Motion control prog tains ssisssstscacsssansnsessostasadasensasscesnnnacecostesdtuot 95 Download a program and run the logiC ssscssisssstusiscsdectvanscensvdssndenisaticetiiesees 96 Choose a motion instruction ssssssssssesesssssseseeseessssseseteteessssstsetereenessessrteeeerersesseree 96 Sample PROTECTS sinini a pE AEE EEGA 98 Troubleshoot axis MOtiOn sssssssssssssssessssstsesssseesesssstteesssteressssteeessstrersssstrersssereesss 99 Why does my axis accelerate when I stop it sssssssssssessssessessssesressssserees 99 Why does my axis overshoot its target speed seecsssssecsssssteessssnen 102 Why is there a delay when I stop and then restart a jog seessssseeen 105 Why does my axis overshoot its position and reverse direction 107 Chapter 5 Introduction for Home an Ais195 2 5 5c bees case tes areca et santa cedaeee cea 111 Guidelines for Oat yassaccdctasasuctgsartveedacsotttsuad ddnesasstedvanas npediudecrenielon
157. a device with another device that has the following characteristics e Same catalog number e Same or higher Major Revision e Minor Revision as follows e Ifthe Major Revision is the same the Minor Revision must be the same or higher e Ifthe Major Revision is higher the Minor Revision can be any number Disable Keying Indicates that the keying attributes are not considered when attempting to communicate with a device With Disable Keying communication can occur with a device other than the type specified in the project ATTENTION Be extremely cautious when using Disable Keying if used incorrectly this option can lead to personal injury or death property damage or economic loss We strongly recommend that you do not use Disable Keying If you use Disable Keying you must take full responsibility for understanding whether the device being used can fulfill the functional requirements of the application Exact Match Indicates that all keying attributes must match to establish communication If any attribute does not match precisely communication with the device does not occur Carefully consider the implications of each keying option when selecting one Important Changing Electronic Keying parameters online interrupts connections to the device and any devices that are connected through the device Connections from other controllers can also be broken If an 1 0 connection to a device is interrupted the result can be
158. a jog MCD Yes that is in progress Motion Change Dynamics Define a Master Slave relationship between two motion axes and MDAC No select which type of move instructions Master Driven Axis Control Change the command or actual position of an axis MRP Yes Motion Redefine Position Calculate a Cam Profile based on an array of cam points MCCP No Motion Calculate Cam Profile Start electronic camming between 2 axes MAPC No Motion Axis Position Cam Start electronic camming as a function of time MATC No Motion Axis Time Cam 74 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion Axis Shutdown Reset Commission and tune Chapter 3 Calculate the slave value slope and derivative of the slope fora cam MCSV No profile and master value Motion Calculate Slave Values Initiate action on all axes MGS Yes Motion Group Stop Motion Group Shutdown Motion Group Shutdown Reset Motion Group Strobe Position Arm and disarm special event checking MAW Yes functions such as registration and watch Motion Arm Watch Position Motion Disarm Watch Position Motion Arm Registration Motion Disarm Registration Motion Arm Output Cam Motion Disarm Output Cam Tune an axis and run diagnostic tests for No your control system These tests include servo gains and dynamic limits of an axis Motion Apply Axis Tuning e Encoder hookup test Motion Run Axis Tuning polarities Motion Apply Hookup Diagnostic Motion Run Hookup Diagnostic Control m
159. abled state and the Hard Overtravel Checking bit is set in the Fault Configuration Bits attribute If the Hard Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the hard overtravel limit switch using a motion instruction results in an instruction error To recover from this fault the axis must be moved back within normal operation limits of the equipment and the limit switch closed This fault condition is latched and requires execution of an Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear Any attempt to clear the fault while the overtravel limit switch is still open and the drive is enabled is unsuccessful Set when the magnitude of the axis position error is less than or equal to the configured Position Lock Tolerance value for the associated physical axis Rockwell Automation Publication MOTION UM001D EN P November 2015 261 Appendix B Attribute Pos Overtravel Input Status Pos Soft Overtravel Fault Position Cam Lock Status Position Cam Pending Status Position Cam Status Position Command Position Data Scaling AXIS_SERVO_DRIVE INT GSV Position Data Scaling AXIS_SERVO_DRIVE INT GSV Exp AXIS_SERVO_DRIVE DINT GSV Position Data Scaling Factor 262 Motion axis attributes Axis Type Data Type access Description AXIS_SERVO AXIS
160. ack device wiring You can see these on an oscilloscope t ws LLP LAL f f f To troubleshoot the loss of channel quadrature look for physical misalignment of the feedback transducer components excessive capacitance or other delays on the encoder signals Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Feedback Noise Fault AXIS_SERVO SINT GSV Fault Action Action AXIS_SERVO_DRIVE SSV Shutdown Disable Drive i Stop Motion Status Only 240 This controller attribute is also replicated in the motion module Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Backlash Compensation AXIS_SERVO REAL AXIS_SERVO_DRIVE Description 0 100 GSV SSV It is not unusual for an axis to have enough static friction sticktion that even with a significant position error it won t move Integral gain can be used to generate enough output to the drive to correct the error but this approach may not be responsive enough for the application An alternative is to use Backlash Compensation to break sticktion in the presence of a non zero position error This is done by adding or subtracting a fixed output level called Backlash Compensation to the Servo Output value based
161. act Bit 1 when an absolute home occurred see chapter 5 guidelines for homing along with the data listed below Bit 0 when an absolute home did not occur along with the data listed below Conditions that cause the AbsoluteReferenceStatus bit to reset back to 0 e Completing an MotionRedefinePosition MRP instruction U3K amp K6K e Completing an MAH and specifying non abs homing type e Replacing motor e Successful execution of a non absolute MAH U3K amp K6K e Offline changing rotary to linear and vice versa and then downloading over the current configuration U3K e Changing Motor Abs Feedback device e Power cycle to an axis with a single turn feedback device configured as a linear axis U3K e Power cycle to a single turn rotary axis with a Drive Resolution not equal to the Unwind U3K amp K6K e 20 fault Motor Encoder State Error Motor encoder encountered an illegal state transition U3K e E32 fault S C Frequency Exceeded Maximum frequency if hardware exceeded U3K e 73 Sercos Fault Backplane Comm Power Rail Backplane CAN communication failed Typically a hardware failure or bent backplane pins K6K e 76 Drive Hard Fault CAN bit where DPI or Backplane CAN initialization failed Typically a hardware failure or bent backplane pins K6K e Power cycle while auxiliary powered devices are producing excessive regenerative energy Example a fan or pump powered from the same supply powering a
162. ae eiai sA irin i 173 Position Error Tolerance s sss sssseeeosssssssssssssssssssoosoteetooorsooosssnsssnsssseeesorerooe 174 Position Lock I oletanee aceite seaia nica aa 174 Output TR cea caer et rec tec beta cero acta 174 Manual Ai fu St acsasessscovavescasssecocseneicadeibauce levee belenet cataaarilaegcaicee 175 Lirit tab AXIS SERVO DRIVE aar N 175 Hard Travel Limits tact ie ha es occa eee eae Seca td cles 176 Soft Travel Limits enoar aa E ERE ERR 176 Mazim m Positive ct iies vendita ee eens 176 Maximum Negative jaarcsiiacundewnainn eau aiicaumemaaaaa 176 Position Error Tolerance lt ijccinsccsatesaitedoatinieeiesnsnemaiauseuieanee 177 Position Lock Tolerance isia canomaanodientusinadautensuentmmasies 177 Peak Torg Force Limitasirinioi naaa 177 Continuous Torque Force Minit ainda dnt ctiddiccnaitiniaestanhctetiays 177 Mapual PN iS Ea tasc icone ceahycei ante aei aa a 178 Rockwell Automation Publication MOTION UM001D EN P November 2015 9 Table of contents Ser custom limits nenna a A RO aa E 178 Attri DUTE S acien a A aR ER A IS RS 179 Offsettab AXIS SERV Oami a a Aii 180 Friction Deadband Compensation and Backlash Compensation 181 Backlash Compensation Window ais cuda wknd eu anien ie aiaalie 182 Backlash Compensation and Backlash Reversal Offset sssssssecssees 182 Stabilization WindowW gissicicatiessdicieedtatendactididadiodalenadnianmasinide 183 Velocity Offsets taa hades Ro ages Ree ae le ede a eal rao
163. aitnaesead nears anata abalone aed reno a NINE 18 Chapter 1 Introduction for Configure SERCOS Motion issssscssssseecssssssesssssseeessssnee 21 Create a controller project for Configure SERCOS Motion 21 Set time synchronization for Configure SERCOS Motion 24 Add a SERCOS motion module ssvssssstscvisscisessscersasdevsnnchocsuststloaseeabaatensteseasbancotiee 25 Electronic Keyan sccssscscatsctvsvectnvstacscd sn cace dea tonaidnssaco enw ennvsvcdacvuatlls 26 Modify properties for a SERCOS motion module eecsssessssseseeseeessneeeeesees 27 More informationssssssninen miadan iiaia a 29 Add a SERCOS interface drive modu eit ac sas pant vanced ieee 29 Modify properties for a SERCOS interface drive module esecsseeseeees 31 Add a motion group for Configure SERCOS Motion essences 33 Sethe Base Update Period iaeriirieroaii e ARE ERA EEER 34 Add amaS n A A e A Aa S E EAA 36 Get A AS Li EON ss fuga deta van tnpop n aieia a 37 Configure an axis for Configure SERCOS Motion ssssssssssrssssressssrsssersrsereess 38 Set the homing sequence for Configure SERCOS Motion 4 Chapter 2 Introduction for Configure Analog Motion w ecssscssssssecssssseesesssseeeesssn 43 Create a controller project for Configure Analog Motion 43 Set time synchronization for Configure Analog Motion 46 Add aia analog module sssnriniessemineiiniin ennnen 47 Modify properties for an analog module nss ssssssssesrsssssrssssresssrtesssrrsssereesereesssres 48 Add a hydra
164. alid If using single turn or multi turn Absolute SSI Feedback transducers see the Homing tab information for important details concerning Absolute feedback transducer s marker reference T gt Axis Properties AXIS_SERVO Sa _ Dynamics Gans Oupt __tmts_ Offset_ FautActons Tag General Motion Planner Units Sewo Feedback Conversion Homing Hookup Tune Feedback Type LDT Linear Displacement Transducer X LDT Type PWM zj Rechodations 1 Calculated Values __ Conversion Constant 1080 00 Calibration Constant 9 0 us in bd __ Minimum Servo Update Period 349 000000 Length 36 0 CA A Scaling 1 0 Position Units in Enable Absolute Feedback Position Units Absolute Feedback Offset 0 0 Description Feedback Type is set to LDT Linear Displacement Transducer This field selects the type of LDT to use to provide feedback to the Hydraulic module The available types are PWM Start Stop Rising or Start Stop Falling Use this field to set the number of repetitions to use to acquire a measurement from an LDT This is a number that is engraved on the LDT by the manufacturer It specifies the characteristics of the individual LDT Each LDT has its own calibration constant therefore if you change the LDT you must change the Calibration constant Defines the stroke of travel of the hydraulic cylinder The length value is used with the number of recirculations to determine the m
165. an axis sssssssssesessresssseesstsesssereesertesssrenesereesereess 66 Set the fault action for an axis ssssssssesssssssseeeesesssssstereesssseeeereresssseeeessssssssnteresssseeee 67 Nay FDR E b a A AE E EE EEA E EE 67 When to inhibit an ax Ses needs each ceca cater ahia 67 Example ah ata E Oo Oca heat acid ena ane tae 68 Example Zeinen eS E an ee oat sds 68 Before VOU DESI snssaceon tasivnncennntaunianediaesenigaaningen nudnbiagrauiies 68 Example Inhibit an axis siainen iais 70 Example Uninhibit an asia cacti heals ata 71 Test an axis with Motion Direct Comma nds ssssssssessessessesseesseseesssssessessees 72 Access the Motion Direct Commands for a motion group seeeo 73 Access the Motion Direct Commands for an axis ccsscssssssessesessesseeseeee 73 Choose CO Ta AUNT Cl et ccce A s acedececiceoseerhceh Des cain a cadens Beak Dense decee 74 Motion Direct Command dialog box ssiss svicscescusescsnsutisenshunasiessnncieartadeanesrs 76 Motion Group Shutdown sect ates sata ceca tha caepnctel ace Ne act 77 Motion Direct Command error process ssesssssssssssssccseescssneseesnecensneeeesnes 78 Motion Direct Command verification csssssssssessessesssssesseeseesesssssessessees 78 Motion Direct Command execution error ssessssssescssssssessessessessesseeseess 80 What if the software goes offline or the controller changes modes 80 Can two workstations give Motion Direct Commands sceesssseees 80 Chapter 4 Dia HR ACE UH yin ena a
166. analog motion control Follow these instructions to create a controller project 1 Open the Studio 5000 software Rockwell Software Studio 5000 Create Open Explore New Project Existing Project Help Sample Project Release Notes From Import From Sample Project From Upload About Recent Projects 2 Inthe Studio 5000 launcher under Create click New Project Rockwell Automation Publication MOTION UM001D EN P November 2015 43 Chapter 2 Configure analog motion 3 On the New Project dialog box choose a controller CompactLogix 5370 Controller 4 ControlLogix 5570 Controller 1756 L71 ControlLogix 5570 Controller 1756 172 ControlLogix 5570 Controller 1756 173 ControlLogix 5570 Controller 1756 174 ControlLogix 5570 Controller 1756 L75 ControlLogix 5570 Controller t GuardLogix 5570 Safety Controller t RSLogix Emulate 5000 Controller Name 5 l Location CAUsers lt User Name gt Documents X 4 Inthe Name box type a name for the controller project and then click Next 1756 L75 ControlLogix 5570 Controller TEA Revision 28 Chassis 1756 A4 4 Slot ControlLogix Chassis Slot Security Authonty No Protection Use only the selected Security Authority for authentication and authorization Secure With Logical Name lt Controller Name gt Permission Set Description Redundancy 5 Inthe Revision list select the revision number
167. aneous Minor Fault ata Types a E 1 0 Configuration 2094 AC09 M02 Internal See 1756 Backplane 1756 10 d Configured fa 3 1756 L62 My_Controller Serial Number Owned B 4 1756 M08SE My_SERCOS_Ring Product Name 2094 AC09 M02 Module Identity SERCOS Network 1 2094 AC09 M02 My_Kinetix_6000_Drive_1 El 2 2094 AM01 My_Drive_Y Refresh Status Running Cancel When a Kinetix 6000 drive is designated in the Associated Module box there is an additional option for the Node value It is the node associated with the drive plus 128 with Auxiliary after the number The range is 129 to 234 When the Auxiliary Node assignment is chosen the axis configuration is changed to Feedback Only on the General tab and an asterisk appears next to General This also places an asterisk on the Aux Feedback tab and you must click that tab and choose values On the Drive Motor tab the Loop Configuration is changed to Aux Feedback Only Rockwell Automation Publication MOTION UM001D EN P November 2015 123 Appendix A Axis properties General tab AXIS VIRTUAL The following image is an example of the General tab for an AXIS_VIRTUAL 7 Data Type X Avis Properties AXIS VIRTUAL o Ge General Motion Planner Units Conversion Homing Dynamics Taa Motion Group motion_group Update Period 4 Motion Group You can select the Motion Group to which you want to associate the axis An axis assigned to a
168. anual adjust for Offset tab Opens the Offset tab of the Manual Adjust dialog box for online editing of the Friction Deadband Compensation Backlash Compensation Velocity Offset Torque Offset and Output Offset parameters Manual Adjust AxisO x Dynamics Gains Output Limits Offset Friction Compensation Friction Compensation 10 0 Window 0 0 Position Units Backlash Compensation Reversal Offset 0 0 Position Units Stabilization Window 0 0 Position Units Velocity Offset foo Position Units s Torque Force Offset Joo E x Manual Adjust is unavailable when Logix Designer application is in Wizard mode and when offline edits to the parameters have not yet been saved or applied Fault Actions tab ei pi ae Actions tab to specify the actions that are taken in response to the ollowing faults AXIS_SERVO e Drive Fault e Feedback Noise Fault e Feedback Loss Fault e Position Error Fault Rockwell Automation Publication MOTION UM001D EN P November 2015 187 Appendix A Axis properties e Soft Overtravel Fault X Avis Properties AXIS_SERVO eiee _General _ _ Motion Planner Unts Servo Feedback Conversion Homing Hookup Tune Dynamics Gans Output limis Ofset FautAcions Ta Drive Fault Disable Drive x Feedback Noise Disable Drive M Feedback Disable Drive z IDANGER Modifying Fault Action Posit
169. aoa 183 Torgue CSC becca ita A Ses r a Bia cee tl ea ad tie 183 Output Offset snan cass ake i deta eee etn ao a ra a 183 Manual Ach fr 24sec cect cose cacao caso AAE ARAE 184 Offset tab AXIS SERVO DRIVE nnn 184 Backlash CompensatiOn ssssssssssssesesssssreesssereeesssereeessoteressereressereressssreres 185 Backlash Compensation Window tegciiet setup iad neenca ener 185 Backlash Compensation and Backlash Reversal Offset ssssssecssees 186 Stabilization Window pave ieee airniinie diane aistanneanestedeaeinds 186 Velocity Offset oraa nen Sait Batista E tea ate catered 186 Torgue Force OPES aces lcocrsat ict Gite evo heels salagee Lea alee aot SE Ooo 187 Manual adjust for Offset tab is scccssscettasieiecsdetasebvcuashonstigetansintiaconrssaisesiaiesey 187 Fault Actions tab AXIS_SERVO ssssssesssseeeesssssssesesssssseeeeressssssteressssseneererrsssse 187 Drive Fault minerrsme miehen an a AA a T 189 Feedback Noise inam s aa Wc anaes a Si 189 Feedb ck Toke eects taszak eet siat e Aan i ii 189 POSttiOn ErrOrnnaene e annan n a en rA 189 S ft Oyertrayelsnsinin gena ann n 189 Fault Actions tab AXIS SERVO_DRIVE cccssssssssessessessessssssssssssssssssesee 190 Drive Enable Inputs onna eiis 191 Dre hea a e a a 191 Motor Thermal araa a a lead A R REA 192 Feedback IN O1sGkitasiisisnacniterienbciscisisdtdanuats aian ie ian 192 Feedbackane asinen a RETENE 192 POSItIO ME EL O iirineiiiiiniiretrit t ee AKER R RERNE AAK 192 Hard Oyertravelhinsenmi
170. are Shutdown Disable Drive Stop Motion and Status Only Feedback Noise Use the Feedback Noise field to specify the fault action to be taken when excessive feedback noise is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Feedback Loss Use the Feedback Loss field to specify the fault action to be taken when feedback loss condition is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Position Error Use the Position Error box to specify the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo in the General tab of this dialog box The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Soft Overtravel Use the Soft Overtravel field to specify the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured in the Limits tab of this dialog box that is configured as Servo in the Rockwell Automation Publication MOTION UM001D EN P November 2015 189 Appendix A Axis properties Fault Actions tab AXIS_SERVO_ DRIVE 190 General tab of this dialog box The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Use the Fault Actions tab to specify the actions that are taken in response to the followi
171. are subject to wear over their lifetime Therefore when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw and so on may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved Ifa value of zero is applied to the Backlash Reversal Offset the feature is unavailable When it is enabled by a nonzero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position Stabilization Window The Backlash Stabilization Window controls the Backlash Stabilization feature in the servo control loop Configuring a suitable value for the Backlash Stabilization Window eliminates gearbox buzz without sacrificing any servo performance In general this value should be set to the measured backlash distance This feature is unavailable when a Backlash Stabilization Window value is zero Velocity Offset Provides a dynamic velocity correction to the output of the position servo loop in position units per second Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Torque Force Offset Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output M
172. ash Reversal Error 209 Backlash Stabilization Window 209 Drive Fault Actions 209 Advanced Stop Action Attributes 209 Brake Engage Delay 209 Brake Release Delay 209 Resistive Brake Contact Delay 209 Drive Power Attributes Bus Regulator ID 209 Power Supply ID 209 PWM Frequency Select 209 Drive Warning Bit Attributes 209 Cooling Error Warning 209 Drive Overtemperature Warning 209 Motor Overtemperature Warning 209 Overload Warning 209 Module Fault Bit Attributes 209 Module Hardware Fault 209 Timer Event Fault 209 Motor and Feedback Configuration Aux Feedback Ratio 209 Feedback Configuration 209 Feedback Polarity 209 328 Feedback Interpolation 209 Feedback Resolution 209 Feedback Type 209 Feedback Units 209 Motor Data 209 Motor ID 209 SERCOS Error Code 209 Servo Drive Configuration Attributes Advanced Scaling Attributes 209 Data Reference 209 Linear Scaling Unit 209 Scaling Type 209 Scaling Unit 209 Advanced Servo Configuration Attributes 209 Drive ID 209 Drive Polarity 209 Advanced Polarity Attributes 209 Custom Polarity 209 Negative Polarity 209 Positive Polarity 209 Drive Resolution 209 Drive Travel Range Limit 209 Drive Units 209 Fault Configuration Bits 209 Drive Enable Input Checking 209 Drive Enable Input Fault Handling 209 Hard Overtravel Checking 209 Soft Overtravel Checkin 209 Fractional Unwind 209 Linear Ball Screw WITHOUT Aux Feedback Device 209 Linear Ball Screw Ball Screw Combination WITH
173. ated Values Conversion Constant 1080 00 Minimum Servo Update Period 349 000000 Absolute Feedback Offset 0 0 3 In the Feedback Type box choose the feedback type 4 Inthe Calibration Constant box choose the value and click Calculate The minimum servo update period for the configured feedback appears Calculated Values Conversion Constant 1080 00 Minimum Servo Update Period 349 000000 54 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure analog motion Chapter 2 5 If necessary return to the Module Properties dialog box and modify the settings on the Associated Axis tab Add a motion group for Follow these instructions to add a motion group Configure Analog Motion Important Only one motion group can be created for each project 1 In the Controller Organizer right click Motion Groups and choose New Motion Group 3 E 5 Controller Motion_Control Gi Tasks amp lotion Groups G Add On Instr Data Types rs 2 On the New Tag dialog box in the Name box type a name for the motion group New Tag Name Motion _Group_1 Create v Description Type Base Akas For Data Type MOTION_GROUP Parameter Scope fI Motion_Control Ettemal Read Wite 3 Open MOTION_GROUP Configuration 3 optional In the Description box type a description 4 Click Create Rockwell Automation Publication MOTION UM001D EN P Nove
174. ated with a Kinetix 7000 drive The integer range is 16384 representing the analog value of an analog device connected to the Kinetix 7000 drive analog input These inputs are useful for web converting applications with load cell measuring web force on a roller or dancer measuring web force position directly that can be directly connected to the drive controlling the web Rockwell Automation Publication MOTION UM001D EN P November 2015 207 Appendix B Motion axis attributes When an Axis Configuration Fault occurs one or more axis parameters associated with a motion module or device did not successfully update to match the value of the corresponding parameter of the local controller The fact that the configuration of the axis no longer matches the configuration of the local controller is a serious fault and results in the shutdown of the faulted axis The Attribute Error Code is reset to zero by reconfiguration of the motion module Axis Configuration Fault information is passed from the motion module or device to the controller via a 16 bit CIP status word contained in the Set Attribute List service response received by the controller A Set Attribute List service to the motion module can be initiated by a software Set Attribute List service to the controller or by an SSV instruction within the controller s program referencing a servo attribute Various routines that process responses to motion services are responsible for updating t
175. atically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Rockwell Automation Publication MOTION UM001D EN P November 2015 315 Appendix D Servo loop block diagrams Dual Position Servo The following image illustrates Dual Position Servo configuration Servo Config Dual Feedback Velocity Offset Acc didt gt FF Gain Velocity Command O eeh Pos Neg Coarse Fe Torque Pier Filter Torque Fine Offset Bw Limit interpolator g ey Position Accel Torque Command Command Command Coarse Position Velocity Velocity Error Command Error Low Fine Pos P Feedback Vel P Torque Frict Notch Torque Torque interpolator O gt Gain gt Ratio P Gain E H seating gt comp gt Pass Filter gt Limit P Amplifier Position Command Velocity Feedback Position Prot ip Pos front jp ver Feedback sulater Gain sulator on t Position Velocity integrator Integrator Meter Error Error Low Pass Fitter Feedback Polarity Motor Feedback Y Hardware Channel Motor Foedbeck j Position Feedback Position H H Feedback H am Coarse i E Posibon Hardware Aux e Accum Feedback Le ulator Position Feedbock Thi
176. ation Publication MOTION UM001D EN P November 2015 Index Ellipsis button 133 Module 133 Motion Group 133 General Tab AXIS_SERVO_DRIVE Assigned Motion Group 130 Axis Configuration 130 Module 130 Module Type 130 Node 130 Node with a Kinetix 6000 Drive 131 General Tab SERVO_ AXIS Axis Configuration 129 Channel 129 Module 129 Motion Planner Tab Enable Master Position Filter Checkbox 134 Master Delay Compensation Checkbox 134 Master Position Filter Bandwidth 134 Output Cam Execution Targets 134 Program Stop Action 134 Units Tab Average Velocity Timebase 136 Position Units 136 Encoder 209 Noise 209 G General Tab AXIS_ VIRTUAL Assigned MotionGroup 132 Grandmaster 28 home limit switchinput wire 329 Homing 117 hookup tests run 65 Hydraulic Drives setup 56 inhibit axis 71 L Linear displacement transducer LDT Connecting the LDT to the 1756 HYD02 module 325 326 M Motion Apply Axis Tuning 78 101 Motion Apply Hookup Diagnostic 78 101 Motion Arm Output Cam 78 101 Motion Arm Registration 78 101 Motion Arm Watch Position 78 101 Motion Attributes Axis Event Bit Attributes 209 Axis Fault Bit Attributes 209 Axis Status Bit Attributes 209 Commissioning Configuration Attributes Damping Factor 209 Drive Model Time Constant 209 Position Servo Bandwidth 209 Test Increment 209 Tuning Configuration Bits 209 Bi directional Tuning 209 Tune Acceleration Feedforward 209 Tune Fri
177. ay of the axis e Do not change the polarity after you do the tests Otherwise you may cause an unexpected motion 1 Download a program to the controller 2 Place the controller in REM 3 Inthe Controller Organizer double click the axis 4 On the Axis Properties dialog box click the Hookup tab ORE RGSS SWS DE a _General__ Motion Planner _ Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Test Increment 0 0 Position Units Test Marke Drive Polarity Positive x Test Facdbaed Test Command amp Feedback DANGER Executing test with controller in Program or Run Mode may cause axis motion Modifying polarity after executing Test Command amp Feedback test may cause axis runaway condition Important Make sure to follow all the dialogs or the information derived from the test is not saved to the axis configuration 5 Click Test Marker and follow the additional dialog box instructions 6 Click Test Feedback and follow the additional dialog box instructions 7 Click Test Command amp Feedback and follow the additional dialog box instructions 62 Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 Tune a SERCOS axis Follow these instructions to tune an axis ATTENTION When you tune an axis it moves even with the controller in rem
178. bility Setting Acceleration Jerk 100 of Time uses a triangular acceleration profile Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 Accel Decel Jerk in oO Max Accel Max Accel Units sec3 a 00 Max Velocity Max Velocity Accel Decel Jerk in of NA 0 100 NA Maximum Accel Decel Jerk in of 0 1 100 100 Time Calculations are performed when an Axis Move Change Dynamics or an MCS Stop of StopType Move or Jog is initiated Programmable S Curve Accel Decel Time Acceleration Jerk 60 of Time 30 40 30 Rockwell Automation Publication MOTION UM001D EN P November 2015 93 Chapter 4 Program S Curve Accel Decel Time Backward Compatibility Setting Acceleration Jerk 100 of Time Enter basic logi c The controller gives you a set of motion control instructions for your axes e Uses the instructions just like the rest of the Logix5000 instructions You can program motion control in the following programming languages e Ladder diagram LD e Structured text ST e Sequential function chart SFC e Each motion instruction works on one or more axes e Each motion instruction needs a motion control tag The tag uses a MOTION_INSTRUCTION data type The tag stores the status information of the instruction MSO Motion Servo On N5 l Axis Jt No Motion Control Tag Motion control AR ATTENTION Use the tag for the motion control operand of motio
179. can be edited and the program saved You must download the edited program to the controller before it can be run Proportional Position Gain Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to provide a component to the Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability 156 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A To set the gain manually you must first set the output scaling factor the Velocity Scaling factor or Torque Scaling factor in the Output tab of this dialog box Your selection of External Drive Configuration type Torque or Velocity in the Servo tab of this dialog box determines which scaling factor you must configure before manually setting gains If you know the desired loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 The typical value for the Position Proportional Gain is 100 Sec 1 Integral Pos
180. ce 1 You can use this instruction only with 1756 L6x controllers 2 You can use this instruction only with 1756 L6x controllers 76 Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 number This number increases each time you open a new instance of the Motion Direct Commands dialog box The number is cleared when you exit the Logix Designer application Motion Group Shutdown The Motion Group Shutdown button is located to the left of the screen to avoid accidental invoking of this command when you really want to execute the command accessed from the Command tree R gt MRP 1 9 Matinn Aroun 2 ab DANE Failed to Verify Motion Group Shutdown Motion Direct Commands ny Failed to Verify MAJ Speed Ifyou click Motion Group Shutdown and it is successfully executed a Result message is displayed in the results window below the dialog box Since the use of this Motion Group Shutdown is an abrupt means of stopping motion an additional message is displayed in the error text field The message MOTION GROUP SHUTDOWN executed is displayed to alert you that shutdown is complete If the command fails then an error is indicated as per normal operation Clicking Execute verifies the operands and initiates the current Motion Direct Command There is space above Motion Group Shutdown and below the line where status text is displayed when a command is executed Rockwell Aut
181. celeration Servo action is maintained until the axis motion has stopped at which time the axis is turned off that is Drive Enable is not checked and Servo Action is not checked Fast Shutdown The axis is decelerated to a stop using the current configured value for maximum deceleration Once the axis motion is stopped the axis is placed in the shutdown state that is Drive Enable is not checked Servo Action is not checked and the OK contact is opened To recover from this state a Shutdown reset instruction must be executed Fast Stop The axis is decelerated to a stop using the current configured value for maximum deceleration Servo action is maintained after the axis motion has stopped This mode is useful for gravity or loaded systems where servo control is needed at all times Hard Disable The axis is immediately disabled that is Drive Enable is disabled Servo Action is disabled but the OK contact is left closed Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop Hard Shutdown The axis is immediately placed in the shutdown state Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop To recover from this state a Shutdown reset instruction must be executed Master Delay Compensation Enables or disables Master Delay Compensation The default setting is Disabled It must be selected to enable master dela
182. cer failure detection and digital filtering to reduce electrical noise X Avis Properties AXIS SERVO Seo Dynamics Gains _ Output Limits _ Offset ily Fault Actions I Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Feedback Type SSI Synchronous Serial interface x Code Type Binary Gray Data Length 13 H bits Cock Frequency 208 y kHz Enable Absolute Feedback Absolute Feedback Offset 0 0 Position Units Description Feedback Type is set to SSI Synchronous Serial Interface The type of code Binary or Gray used to report SSI output If the module s setting does not match the feedback device the positions jump around erratically as the axis moves The length of output data in a specified number of bits between 8 and 31 The data length for the selected feedback device can be found in its specifications Sets the clock frequency of the SSI device to 208 default or 625 kHz When the higher clock frequency is used the data from the feedback device is more recent but the length of the cable to the transducer must be shorter than with the lower frequency The default is enabled checked If Enable Absolute Feedback is set the servo module adds the Absolute Feedback Offset to the current position of the feedback device to establish the absolute machine reference position Absolute feedback devices retain their position reference even through a power c
183. city Feedback is less than the configured Status Velocity Threshold Velocity Window AXIS_SERVO_DRIVE REAL GSV Position Units sec SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Watch Event Armed AXIS_CONSUMED BOOL Tag Set when a watch event is armed through execution of the MAW Motion Arm Watch Status AXIS_GENERIC instruction Cleared when a watch event occurs or an MDW Motion Disarm Watch AXIS SERVO instruction is executed AXIS_SERVO_DRIVE AXIS_VIRTUAL 292 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Watch Event Status Watch Event Task Watch Position Additional error code information Axis Type Data Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL BOOL DINT REAL MSG event GSV Tag AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Description Set when a watch event occurs Cleared when another MAW Motion Arm Watch instruction or an MDW Motion Disarm Watch instruction is executed Shows which task is triggered when the watch event happens e An instance of 0 means that no event task is configured to be triggered by the watch e The tri
184. ck Noise 200 Hard Overtravel 200 Motor Thermal 200 Position Error 200 Set Custom Stop Action 201 Soft Overtravel 200 Feedback Tab AXIS_ SERVO Feedback Type 137 A Quadrature B Encoder Interface AQB 137 Linear Displacement Transducer LDT 137 Absolute Feedback Offset 137 Calculated Values 137 Calculate Button 137 Conversion Constant 137 Minimum Servo Update Period 137 Calibration Constant 137 Enable Absolute Feedback 137 LDT Type 137 Length 137 Recirculations 137 Scaling 137 Synchronous Serial Interface SSI Absolute Feedback Offset 137 Clock Frequency 137 Code Type 137 Data Length 137 Enable Absolute Feedback 137 Synchronous Serial Interface SSI 137 Gains Tab AXIS_SERVO Differential 166 Integral Position Gain 165 Integrator Hold 168 Manual Tune 168 Proportional Position Gain 165 Proportional Velocity Gain 166 Gains Tab AXIS_SERVO_DRIVE Integral Position Gain 171 Integral Velocity Gain 166 172 Integrator Hold 172 Manual Tune 173 Proportional Position Gain 170 Proportional Velocity Gain 166 171 Set Custom Gains 173 Velocity Feedforward 167 170 Homing Tab SERVO_AXIS and SERVO_AXIS_DRIVE Direction 147 150 Limit Switch 147 150 Mode 147 Offset 147 150 Position 147 150 Return Speed 147 150 Sequence 147 Speed 147 150 Hookup Tab AXIS_SERVO Feedback Polarity 153 Output Polarity 153 Test Feedback 153 Test Increment 153 Test Marker 153 322 Rockwell Automation P
185. ck OK 50 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure analog motion Chapter 2 Adda hyd raulic drive Follow these instructions to add a hydraulic drive module if your configuration includes it module Important For all modules use the firmware revision that goes with the firmware revision of your controller See the release notes for your controller s firmware 1 Inthe Controller Organizer right click the backplane and choose New Module J 1 0 Configuration a SEEEN 0 1756473 Motion_ 2 On the Select Module Type dialog box choose the hydraulic drive module that you want to add s Select Module Type Catalog Module Discovery Favortes Enter Soarch Text for Module Type Clear Filters Hide Filters 2 a Module Type Category Fitters Module Type Vendor Fitters 2i Drive V AenBradey z F Motion z V Advanced Micro Controls Inc AMC Other vI Hardy Process Soktions Programmable Logic Controler gt Molex incoporated 4 m m Catalog Number Description Vendor Category 1756 HYDO2 2 Ac mio Sary 1756 M02AE 2 Ads Analog Encoder Servo Allen Bradey Motion 1756 M02AS 2 Axis Analog SS Servo Allen Bredey Motion 1756 M03SE 3 Avs SERCOS intedace Alen Bradey Motion 1756 M08SE 8 Ads SERCOS interface Alen Bradey Motion 1756 M08SEG 8 Axis Generic SERCOS Interface Alen Bradey Motion 1756 M16SE 16 Axs SERCOS Interface Allen Bradiey Motion 7 of 138 Module Types
186. configure Time attributes of the Controller Time Synchronize Enabl DANGER ff time synchronization is Time Synchronization disabled online active axes in any controller in this chassis or any other ls the system time master synchronized device may experience unexpected motion Safety controllers may O is a synchronized time slave fault f no other time master exists in the O Duplicate CST master detected local chassis CST Mastership disabled No CST master 3 Select the Enable Time Synchronization check box 4 Click OK Without intervention the Grandmaster is PTP and CST master You can use the settings on the Advanced Dialog box to let this module win the arbitration over other processors and communication modules in the chassis See the Integrated Architecture and CIP Sync Configuration Application Technique publication LA AT003 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure SERCOS motion Chapter 1 Add a SERCOS motion Follow these instructions to add a module to your system modu le Important For all modules use the firmware revision that goes with the firmware revision of your controller See the release notes for your controller s firmware 1 Inthe Controller Organizer right click the backplane and choose New Module GIO Configuration G PENET 0 1756 473 Motion_ 6 2 On the Select Module Type dialog box choose the module that you want
187. ct Environmental Compliance Rockwell Automation maintains current product environmental information on its website at http www rockwellautomation com rockwellautomation about us sustainability ethics product environmental compliance page Contact Rockwell Customer Support Telephone 1 440 646 3434 Online Support http www rockwellautomation com support Rockwell Automation Publication MOTION UM001D EN P November 2015 19 Chapter 1 Configure SERCOS motion Use this chapter for procedures on how to configure SERCOS motion control Introduction for Configure SERCOS Motion Follow these instructions to create a controller project Create a controller project for Configure SERCOS 1 Open the Studio 5000 software Motion Rockwell Software Studio 5000 Create Open Explore New Project Existing Project Help From Import Sample Project Release Notes From Sample Project From Upload About Recent Projects 2 Inthe Studio 5000 launcher under Create click New Project Rockwell Automation Publication MOTION UM001D EN P November 2015 21 Chapter 1 22 Configure SERCOS motion 3 On the New Project dialog box choose a controller CompactLogix 5370 Controller 4 ControlLogix 5570 Controller 1756 L71 ControlLogix 5570 Controller 1756 172 ControlLogix 5570 Controller 1756 173 ControlLogix 5570 Controller 1756 174 ControlLogix 5570 Controller 1756 L75 ControlLogix 5570 Cont
188. ction Compensation 209 Tune Output Low Pass Filter 209 Tune Position Error Integrator 209 Tune Torque Offset 209 Tune Velocity Error Integrator 209 Tune Velocity Feedforward 209 Rockwell Automation Publication MOTION UM001D EN P November 2015 325 Index Tuning Direction Reverse 209 Tuning Speed 209 Tuning Torque 209 Tuning Travel Limit 209 Velocity Servo Bandwidth 209 Configuration Attributes Axis Type 209 Motion Conversion Configuration Conversion Constant 209 Motion Dynamics Configuration Maximum Acceleration 209 Maximum Deceleration 209 Maximum Speed 209 Programmed Stop Mode 209 Fast Disable 209 Fast Shutdown 209 Fast Stop 209 Hard Disable 209 Hard Shutdown 209 Motion Homing Configuration Active Homing Active Immediate Home 120 Home Configuration Bits 209 Home Switch Normally Closed 209 Home Mode 209 Home Offset 209 Home Position 209 Home Return Speed 209 Home Sequence and Home Direction 209 Home Speed 209 Passive Homing Passive Home with Marker 126 Passive Home with Switch 126 Passive Home with Switch then Marker 126 Passive Immediate Home 126 Motion Planner Configuration Attributes Master Input Configuration Bits 209 Master Delay Compensation 209 Master Position Filter 209 Master Position Filter Bandwidth 209 Output Cam Execution Targets 209 Motion Unit Configuration Attributes Average Velocity Timebase 209 Position Units 209 Position Unwind 209 Rotary Axis 209 Interface Att
189. cuting the MAAT instruction There are limitations to the maximum bandwidth that can be achieved for the position loop based on the dynamics of the inner velocity and current loops of the servo system and the desired damping of the system Z Exceeding these limits could result in an unstable system These bandwidth limitations may be expressed as follows Max Position Bandwidth Hz 0 25 1 Z2 Velocity Bandwidth Hz For example if the maximum bandwidth of the velocity servo loop is 40 Hz and the damping factor Z is 0 8 the maximum position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed Fixed length string of 32 characters The Position Units attribute can support an ASCII text string of up to 32 characters This string is used by Logix Designer software in the axis configuration dialog boxes to request values for motion related parameters in the specified Position Units Counts per Revolution This controller attribute is replicated in the motion module If the axis is configured as a rotary axis by setting the corresponding Rotary Axis bit Servo Configuration Bit word a value for the Position Unwind attribute is required This is the value used to perform automatic electronic unwind of the rotary axis Electronic unwind allows infinite position range for rotary axes by subtracting the unwind value from the actual and command position every time the axis makes a complete revo
190. d The currently operative maximum negative torque current limit magnitude The value should be the lowest value of all torque current limits in the drive at a given time This limit includes the amplifier peak limit motor peak limit user current limit amplifier thermal limit and the motor thermal limit Represents the number of Output Cam nodes attached to this axis Valid range 0 8 with default of 0 The Output Cam Execution Targets attribute is used to specify the number of Output Cam nodes attached to the axis This attribute can only be set as part of an axis create service and dictates how many Output Cam Nodes are created and associated to that axis Each Output Cam Execution Target requires approximately 5 4k bytes of data table memory to store persistent data With four Output Cam Execution Targets per axis an additional 21 6k bytes of memory is required for each axis The ability to configure the number of Output Cam Execution Targets for an axis reduces the memory required per axis if you do not need Output Cam functionality or only need 1 or 2 Output Cam Execution Targets for an axis Each axis can be configured differently 258 Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Output Cam Lock Status Output Cam Lock Status Output Cam Pending Status Output Cam Status Output Cam Transition Status Axis Type Data Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRT
191. d Interpolated Command Position values are automatically calculated BOOL Tag Set if a Jog motion profile is currently in progress Cleared when the Jog is complete or is superseded by some other motion operation AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO REAL GSV AXIS_SERVO SINT GSV This attribute provides for setting the length of an LDT device This attribute is only active if AXIS_SERVO REAL GSV the Transducer Type is set to LDT AXIS_SERVO SINT GSV 0 m 1 in This attribute provides a selection for the units of the LDT length attribute This attribute is only active if the Transducer Type is set to LDT AXIS_SERVO SINT GSV This attribute provides the number of recirculations This attribute is only active if the Transducer Type is set to LDT and LDT Type is set to PWM AXIS_SERVO REAL GSV AXIS_SERVO SINT GSV AXIS_SERVO SINT GSV This attribute provides for setting a calibration constant for LDT devices This attribute is only active if the Transducer Type is set to LDT 0 m sec 1 Usec in This attribute provides a selection for the units of the LDT calibration constant attribute This attribute is only active if the Transducer Type is set to LDT This attribute provides for setting the scaling factor for LDT devices This attribute is only active if the Transducer Type is set to LDT 0 Position Units m 1 Position Units in This attribute provides a selection for the units of the LDT scaling attribute T
192. d characteristic as the position of a linear axis Set if a Master Offset Move motion profile is currently in progress This bit is cleared when the Master Offset Move is complete or is superseded by some other motion operation Hertz The Master Position Filter Bandwidth attribute controls the activity of the single pole low pass filter that filters the specified master axis position input to the slave s gearing or position camming operation When enabled this filter smooths out the actual position signal from the master axis and thus smooths out the corresponding motion of the slave axis The trade off for smoothness is an increase in lag time between the response of the slave axis to changes in motion of the master If the Master Position Filter is disabled the Master Position Filter Bandwidth does not function Position Units Sec The Maximum Acceleration and Deceleration attribute values are frequently used by motion instructions such as MAJ MAM MCD to determine the acceleration and deceleration rates to apply to the axis These instructions all have the option of specifying acceleration and deceleration as a percent of the Maximum Acceleration and Maximum Deceleration attributes for the axis The Maximum Acceleration and Maximum Deceleration values for the axis are automatically set to 85 of the measured Tune Acceleration and Tune Deceleration by the MAAT Motion Apply Axis Tune instruction If set manually these values sho
193. d for auxiliary feedback devices When performing motor feedback hookup diagnostics on an auxiliary feedback device using the MRHD and MAHD instructions the Feedback Polarity bit is configured for the auxiliary feedback device to insure negative feedback into the servo loop Motor feedback devices must be wired properly for negative feedback since the Feedback Polarity bit is forced to 0 or non inverted Motor Feedback AXIS_SERVO_DRIVE Interpolation Factor DINT GSV Feedback Counts per Cycle The Feedback Interpolation attributes establish how many Feedback Counts there are in one Feedback Cycle The Feedback Interpolation Factor depends on the feedback device and the drive feedback circuitry Quadrature encoder feedback devices and the associated drive feedback interface typically support 4x interpolation so the Interpolation Factor for these devices would be set to 4 Feedback Counts per Cycle Cycles are sometimes called Lines High Resolution Sin Cosine feedback device types can have interpolation factors as high as 2048 Counts per Cycle The product to the Feedback Resolution and the corresponding Feedback Interpolation Factor is the overall resolution of the feedback channel in Feedback Counts per Feedback Unit In our example a Quadrature encoder with a 2000 line rev resolution and 4x interpolation factor would have an overall resolution of 8000 counts rev Motor Feedback AXIS_SERVO_DRIVE Resolution DINT GSV Cycles per Motor Feedback U
194. d of the command position If this occurs decrease the Velocity Feedforward Gain such that the Position Error is again positive Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis Motion axis attributes Appendix B Attribute Axis Type Data Type Access Description Velocity Integral Gain AXIS_SERVO REAL GSV 1 mSeconds Seconds AXIS_SERVO_DRIVE SSV This controller attribute is replicated in the motion module When configured for a torque current loop servo drive every servo update the current Velocity Error is also accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Servo Output or Torque Command that attempts to correct for the velocity error The characteristic of Vel Gain correction however is that any non zero Velocity Error accumulates in time to generate enough force to make the correction This attribute of Vel Gain makes it invaluable in applications where velocity accuracy is critical The higher the Vel Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately Gain control is intrinsically unstable Too much Gain results in axis oscillation and servo instability In certain cases Vel Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case
195. d only and cannot be edited when the controller is online if the controller is set to Run mode or if a Feedback On condition exists When Logix Designer application is offline the following parameters can be edited and the program saved or applied You must download the edited program to the controller before it can be run Soft Travel Limits Enables software overtravel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog box If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog box Software overtravel limits are disabled during the tuning process Maximum Positive Type the maximum positive position to be used for software overtravel checking in position units The Maximum Positive limit must be greater than the Maximum Negative limit Maximum Negative Type the maximum negative position to be used for software overtravel checking in position units The Maximum Negative limit must be less than the Maximum Positive limit Rockwell Automation Publication MOTION UM001D EN P November 2015 173 Appendix A Axis properties 174 Position Error Tolerance Specifies how much position error the servo tolerates before issuing a position error fa
196. d to secure the project Otherwise unauthenticated users must rely on Guest User permissions Tip Guest User permissions are cached within the project The Logix Designer application uses Guest User permissions when the project is opened but not connected to the FactoryTalk Security Authority that secures the project By default all Guest User permissions are denied Guest User permissions are configured in the FactoryTalk Administration Console 10 Select Logical Name lt Controller Name gt or Permission Set to apply specific permissions to the controller Select Logical Name lt Controller Name gt to apply a Logical Name in FactoryTalk Services Platform that has the same name as the controller If there is no existing Logical Name that matches the controller name a new Logical Name is created with the controller s name The new Logical Name inherits permissions from its parent resource See FactoryTalk Help for more information on how networks and devices inherit security permissions Select Permission Set to apply a specific set of permissions to the controller The permission sets in the list are maintained in FactoryTalk Services Platform and identify a set of actions that are allowed or denied for a particular user and computer combination 11 optional In the Description box type a description for the controller Tip The description is limited to 128 bytes Standard ASCII characters consume 1 byte per character allowing f
197. damping of the axis Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Position Error in Position Units Position Error is the difference in configured axis Position Units between the command and actual positions of an axis For an axis with an active servo loop position error is used along with other error terms to drive the motor to the condition where the actual position is equal to the command position Set when the axis position error exceeds the Position Error Tolerance This fault can only occur when the drive is in the enabled state The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Fault Action Shutdown Disable Drive Stop Motion Status Only This controller attribute is replicated in the motion module Position Units The Position Error Tolerance parameter specifies how much position error the servo or drive tolerates before issuing a Position Error Fault Like the position lock tolerance the position error tolerance is interpreted as a quantity For example specifying a position error tolerance of 0 75 Position Units means that a Position Error Fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 Position Units as shown Positio
198. date delay The total position update delay is proportional to the Base Update Period of the motion group and if the master or the slave involves an AXIS_SERVO_DRIVE data type it also includes the delay term that is proportional to the SERCOS Update Period The greater the delay the greater the noise introduced by the extrapolator The Master Delay Compensation feature also has an extrapolation filter to filter the noise introduced by the extrapolation process The time constant of the filter is fixed at 4x the total position update delay independent of the Master Position Filter Bandwidth which again is a function of the Base Update Period and the SERCOS Update Period if a AXIS_SERVO_DRIVE data type The controller uses a 1st order extrapolation algorithm that results in zero tracking error while the master axis is moving at constant velocity If the master axis accelerates or decelerates the tracking error is non zero and proportional to the acceleration or deceleration rate and also proportional to the square of the total position update delay time From a noise and acceleration error perspective minimizing the base update period is vital Some applications do not need zero tracking error between the master and the slave axis In these cases it may be beneficial to disable the Master Delay Compensation feature to eliminate the disturbances the extrapolation algorithm introduces to the slave axis When the Master Delay Compensation featu
199. dback device s signal lines Fault e For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback noise e Feedback noise shown below is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring You can see these on an oscilloscope e To troubleshoot the loss of channel quadrature look for e physical misalignment of the feedback transducer components e excessive capacitance or other delays on the encoder signals e Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault FLOAT GSV Aux Feedback Units per Motor Feedback Unit The Aux Feedback Ratio attribute represents the quantitative relationship between auxiliary feedback device and the motor For a rotary auxiliary feedback device this attribute s value should be the turn ratio between the auxiliary feedback device and the motor shaft For linear auxiliary feedback devices this attribute value would typically represent the feed constant between the motor shaft and the linear actuator The Aux Feedback Ratio attribute is used in calculating range limits and default value calculations during configuration based on the selected motor s specifications The value is also used
200. duced by the LP filter to 12 degrees which is relatively small compared to the 30 to 60 degrees of phase margin that exists for a typical tuned servo system With a typical tuned LP filter BW value of 200 Hz we can expect the high frequency quantization noise in the 1 KHz range to be attenuated roughly by a factor of 5 When the Tune Inertia BW product reaches 4000 or more the LP filter alone is not going to be enough to manage the quantization noise level So the tune algorithm begins to taper the system bandwidth by the ratio of 4000 Tune Inertia Vel Servo BW This holds the quantization noise level at a fixed value independent of the Tune Inertia BW product For example a motor with a Tune Inertia value of 213 and a Vel Servo BW of 41 Hz 8733 Inertia BW product tunes with a Pos P Gain of 46 and a Vel P Gain of 117 and LP Filter BW of 93 This is a good noise free gain set Rockwell Automation Publication MOTION UM001D EN P November 2015 283 Appendix B Attribute Tune Status 284 Motion axis attributes Axis Type Data Type Tune Rise Time AXIS_ SERVO REAL Tune Speed Scaling AXIS_ SERVO REAL AXIS_SERVO AXIS_SERVO_DRIVE Description Seconds The Tune Rise Time attribute returns the axis rise time as measured during the tuning procedure This value is only applicable to axes configured for interface to an external velocity servo drive In this case the Tune Rise Time attribute value is used to calculate the
201. dwidth of the torque loop includes feedback sampling delay and filter time constant Attribute Position Servo Bandwidth Position Units Position Unwind Positive Dynamic Torque Limit Power Capacity faxisType faxisType AXIS_SERVO AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE Data Type REAL STRING DINT REAL REAL Motion axis attributes Appendix B Description Hertz The value for the Position Servo Bandwidth represents the unity gain bandwidth that is to be used to calculate the gains for a subsequent MAAT Motion Apply Axis Tune instruction The unity gain bandwidth is the frequency beyond which the position servo is unable to provide any significant position disturbance correction In general within the constraints of a stable servo system the higher the Position Servo Bandwidth is the better the dynamic performance of the system A maximum value for the Position Servo Bandwidth is generated by the MRAT Motion Run Axis Tune instruction Computing gains based on this maximum value via the MAAT instruction results in dynamic response in keeping with the current value of the Damping Factor described above Alternatively the responsiveness of the system can be softened by reducing the value of the Position Servo Bandwidth before exe
202. e e Servo loop block diagrams Appendix D Auxiliary Position Servo The following image illustrates Auxiliary Position Servo configuration Servo Config Aux Position Servo aa Velocity Offset Poean Curried Casse Ouiput Dapa Law Pans hann eating Fier anwe ew Limh Torque veroeaty Com Command Torsa veion Feedturct Coarse Fine 4 woe LO Posstion Amplitine Velocity Fenetinach The Auxiliary Position Servo configuration provides full position servo control using an auxiliary that is external to the motor feedback device to provide position and velocity feedback This servo configuration is a good choice in applications where positioning accuracy is important The smoothness and stability may be limited however due to the mechanical non linearities external to the motor Note that the motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the base update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programm
203. e 010 rotational scaling torque e Bit3 e 0 preferred scaling e 1 parameter scaling e Bit4 Units e 0 Newton meter Nm e 1 inch pound force Ibf e Bit5 reserved Bit 6 Data reference e 0 atthe motor shaft e 1 atthe load All other bits are reserved This 16 bit unsigned attribute displays the scaling exponent for all torque data in a drive with decimal values ranging from 2 15 to 2 15 1 Bit values are e Bit 14 0 Exponent value e Bit 15 Exponent sign e 0 Positive e 1 Negative This 16 bit unsigned attribute displays the scaling factor for all torque data in a drive with decimal values ranging from 1 to 2 16 1 Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The torque feedback when operating in Torque Mode in terms of rated Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Access Description Torque Limit Bipolar AXIS_SERVO_ DRIVE REAL GSV Rated SSV The Torque Limit attribute provides a method of limiting the maximum command current torque to the motor to a specified level in terms of the motor s continuous current torque rating The output of the servo drive to the motor as a function of position servo error with and without servo torque li
204. e Fault 9 These fault bits are updated every base update period Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Lets you access all servo fault bits in one 32 bit word This attribute is the same as the Servo Fault tag Servo Fault Bit Pos Soft Overtravel Fault 0 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Access Description Neg Soft Overtravel Fault 1 Reserved 2 Reserved 3 Feedback Fault 4 Feedback Noise Fault 5 Reserved 6 Reserved 7 Positive Error Fault 8 Drive Fault 9 These fault bits are updated every base update period Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Rockwell Automation Publication MOTION UM001D EN P November 2015 273 Appendix B Servo Feedback Type 274 Motion axis attributes AXIS_SERVO SINT GSV This attribute provides a selection for the Feedback Type 0 A Quadrature B AQB 1 Synchronous Serial Interface SSI 2 Linear Displacement Transducer LDT A Quadrature B Encoder Interface AQB Servo modules such as the 1756 M02AE provide interface hardware to support incremental quadratur
205. e column and click Sort Column Scope fa Kinematics_Artic Show fan Tags PELL ale Sort Column X Include Tag Members In Sorting Hide Column Toggle Column A o Include Tag Members In Sorting E Begin_Application Center Fl Fanta ia nainte In Logix Designer application you are able to print a variety of reports For example right click Controller Tags MainTask MainProgram axis Add On Instructions or Data Types Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A a Motion_Group On the Print dialog box select the Adobe PDF and click Print Options When printing a Tag Listing be sure to check the Include Special Properties and Advanced List to see the information a Print Options Rockwell Automation Publication MOTION UM001D EN P November 2015 197 Appendix A Axis properties Axis Properties Example hysical_Joint_3 Axis Tag Properties Page 2 Xinematics_Articulated_Independent_3D Controller 1 27 2010 3 50 39 PM C ARSLogix 5000 Projects Samples ENUW18 Rockwell Automation Kinematics_ Articulated Independent_3D ACD Properties Motion Axis tag Physical_Jomt_3 General Motion Group Motion_Group Motion Planner Output Cam Execution Targets 0 Program Stop Action Fast Stop Master Delay Compensation Yes Enable Master Position Fil
206. e count direction is determined from the direction of the edge and the state of the opposite channel Channel A leads channel B for increasing count This is the most commonly used decode mode with incremental encoders since it provides the highest resolution For example suppose this servo axis utilizes a 1000 line encoder in a motor coupled directly to a 5 pitch lead screw 5 turns per inch With a user defined Position Unit of Inches the conversion constant is calculated as shown below K 1000 Lines Rev 4 Counts Line 5 Revs Inch 20 000 Counts Inch ATTENTION If Conversion Constant is changed it invalidates the attributes you can set with Position Unit conversions in Description column To be valid the Conversion Constant must be set to the desired value before setting including defaulting any of the affected attributes Set if any coordinated motion profile is currently active upon the axis It is cleared as soon as Coordinated Motion is complete or stopped Accel Status o Move Pending Status 8 DecelStatus 1 MovePending Queue Full Status 9 Actual Pos Tolerance Status 2 Reserved 10 Command Pos Tolerance Status 3 Reserved 11 Stopping Status 4 Reserved 12 Reserved 5 Coordinate System in a Source CS 13 Move Status 6 Coordinate System in a Target CS 14 Transition Status 7 The Damping Factor attribute value is used in calculating the maximum Position Servo Bandwidth
207. e encoders equipped with standard 5 Volt differential encoder interface signals This interface hardware provides a robust differential encoder input interface to condition each of the encoder signals before being applied to an Encoder to Digital Converter EDC FPGA The EDC decodes the encoder signals and uses a 16 bit bidirectional counter to accumulate feedback counts A regular Timer Event signal applied to the EDC latches the encoder counters for all axes simultaneously This same Timer Event signal also triggers the servo interrupt service routine that performs the servo loop computations One of the first things done by the interrupt service routine is to read the latched encoder counter values from the EDC The change in the encoder counter value from the last timer event is computed and this delta value is added to a 32 bit signed integer position accumulator which represents the Actual Position of the axis The Actual Position value is used as feedback to the position servo loop and as input to the Watch Event Handler The delta position value represents velocity feedback which when configured to do so may be filtered and applied to the inner velocity servo loop Synchronous Serial Interface SSI Some servo modules like the 1756 MO02AS provide an interface to transducers with Synchronous Serial Interface SSI outputs SSI outputs use standard 5V differential signals RS422 to transmit information from the transducer to the controller T
208. e lower the computed Jerk The system has a Jerk priority planner In other words Jerk has a higher priority than acceleration and velocity Therefore you always get the programmed Jerk If a move is velocity limited the move does not reach the programmed acceleration and or velocity Once you reach the velocity limit for the length of the move as the velocity is increased the move requires more and more time to complete Rockwell Automation Publication MOTION UM001D EN P November 2015 89 Chapter 4 Program Decel Jerk is computed similarly to the Accel Jerk described above The only difference is that instead of a v Decel Jerk d v where d the programmed Decel Rate Example Example 1 Start Speed 8 0 in sec Desired Speed 5 0 in sec Desired Decel Rate 2 0 in sec Desired Decel Jerk 1 0 in sec Temporary Speed Desired Decel Rate 2 Desired jerk value in Units Se 2 07 1 0 4 0 in sec k 8 0 5 0 max 5 0 4 0 3 0 5 0 0 6 Because k lt 1 we can enter the desired Decel jerk directly in the faceplate Instruction faceplate Decel jerk in Units Sec 1 0 in sec Example Example 2 Start Speed 13 0 in sec Desired Speed 5 0 in sec Desired Decel Rate 2 0 in sec Desired Decel Jerk 1 0 in sec Temporary Speed Desired Decel Rate Desired jerk value in Units SeP 2 02 1 0 4 0 in sec k 13 0 5 0 max 5 0 4 0 8 0 5 0 1 6 Because k gt 1
209. e output to engage brake 4 Turn off RBM output to disconnect motor from drive 0 Linear 1 Rotary When the Rotary Axis attribute is set true 1 it lets the axis unwind This gives infinite position range by unwinding the axis position whenever the axis moves through a complete physical revolution The number of encoder counts per physical revolution of the axis is specified by the Position Unwind attribute For Linear operation the counts do not roll over They are limited to 2 billion The Rotary Motor Inertia attribute is a float that specifies the unloaded inertia of a rotary motor Appendix B Attribute Rotary Motor Rated Speed Safe Off Mode Active Status SERCOS Error Code SERCOS Fault SERCOS Ring Fault Servo Action Status Servo Fault Servo Fault Bits 272 Motion axis attributes Axis Type AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO AXIS_SERVO Data Type REAL BOOL BOOL BOOL BOOL DINT DINT GSV GSV Tag GSV Tag Tag Tag Tag Tag Gsv Description The Rotary Motor Rated Speed attribute is a float that specifies the nameplate rated speed of a rotary motor For PM motors this is generally specified at rated voltage based on rated current rated torque or rated power For induction motors thi
210. e procedure described above While capturing the peak Position Error during the acceleration phase of the jog profile increase the Acceleration Feedforward Gain until the peak Position Error is as small as possible but still positive If the peak Position Error during the acceleration ramp is negative the actual position of the axis is ahead of the command position during the acceleration ramp If this occurs decrease the Acceleration Feedforward Gain such that the Position Error is again positive To be thorough the same procedure should be done for the deceleration ramp to verify that the peak Position Error during deceleration is acceptable Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis Position Units Sec This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Position Units Sec This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Acceleration Limit Positive Actual Acceleration Actual Position Actual Velocity Analog Input1 Analog Input 2 Axis Type Data Type AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXI
211. e requirements the Motion Analyzer generates an easy to read list of recommended motors drives and other support equipment To access the sample projects take the following steps 1 On the Help menu click Quick Start 2 On the Quick Start window in the left navigation pane expand Controller Projects and click Open Sample Project 3 Inthe Open Project dialog box click MSG_To_multiple_Controllers acd and click Open Free sample code is also available at http samplecode rockwellautomation com These documents contain additional information concerning related Rockwell Automation products You can view or download publications at the Literature Library To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative Resource Motion Coordinate System User Manual publication MOTION UM002 Logix5000 Controller Motion Instructions Reference Manual publication MOTION RM002 Logix5000 Controllers Quick Start publication 1756 05001 Logix5000 Controllers Common Procedures publication 1756 PM001 Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 Logix5000 Controllers Advanced Process Control and Drives Instructions Reference Manual publication 1756 RM006 PhaseManager User Manual publication LOGIX UM001 ControlLogix System User Manual publication 1756 UM001 Description
212. e saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When Logix Designer application is offline the following parameters can be edited and the program saved to disk using the Save command or by clicking Apply You must re download the edited program to the controller before it can be run Velocity Feedforward Velocity Feedforward Gain scales the current command velocity derivative of command position by the Velocity Feedforward Gain and adds it as an offset to the Velocity Command Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however you may need to update the value to accommodate velocity loops with non infinite loop gain and other application considerations Rockwell Automation Publication MOTION UM001D EN P November 2015 161 Appendix A 162 Axis properties Acceleration Feedforward Acceleration Feedforward Gain scales the current Command Acceleratio
213. e specified gear ratio The clutch function of the gearing planner is used to ramp an axis up or down to speed in a gearing process MAG with Clutch selected This bit is cleared during the intervals where the axis is clutching BOOL Tag Set if the axis is a slave that is currently gearing to another axis Cleared when the gearing operation is stopped or is superseded by some other motion operation BOOL Tag When the drive detects an imbalance in the DC bus supply current the Ground Short Fault bit is set indicating that current is flowing through an improper ground connection 243 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Group Instance Hard Overtravel Fault Action Home Configuration Bits Home Direction Home Event Armed Status Home Event Status Home Event Task 244 AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL DINT GSV Instance Number of Group assigned to Axis The Group Instance attribute is used to determine what motion group object instance this axis is assigned to
214. e with the motion module that in general is going to require replacement of the module 252 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Module Sync Fault AXIS_ SERVO AXIS_SERVO_DRIVE Mot Feedback Fault AXIS_SERVO_DRIVE Motor Feedback Noise AXIS_SERVO_DRIVE Fault Motion Status AXIS_ CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis Type Data Type Access Description BOOL Tag If this bit is set the motion module lost communication with the controller and missed several position updates in a row e The motion module can miss up to 4 position updates After that the motion module shuts down e This bit clears when communication is reestablished BOOL Set for the A Quad B feedback device when one of these happens e The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z are at the same level high or low Under normal operation the differential signals are at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear
215. e x DANGER Executing test with controller in Program or Run Mode may cause axis motion Modifying polarity after executing Test Command amp Feedback test may cause axis runaway condition Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Test Increment Specifies the amount of distance traversed by the axis when executing the Command amp Feedback test The default value is set to approximately a quarter of a revolution of the motor in position units Drive Polarity The polarity of the servo loop of the drive set by executing the Command amp Feedback Test e Positive o Negative Proper wiring guarantees that the servo loop is closed with negative feedback However there is no guarantee that the drive has the same sense of forward direction as the user for a given application Negative Polarity inverts the polarity of the command position and actual position data of the drive Thus selecting Positive or Negative Drive Polarity makes it possible to configure the positive direction sense of the drive to agree with that of the user This attribute can be configured automatically using the MRHD and MAHD motion instructions ATTENTION Modifying polarity values automatically input by running the Command
216. ed to perform real time calculations For example the Strobe Actual Positions can be compared between two axis to provide a form of slip compensation in web handling applications Strobe Command Position in Position Units Strobe Actual Position and Strobe Command Position are used to simultaneously store a snap shot of the actual command position and master offset position of an axis when the MGSP Motion Group Strobe Position instruction is executed The values are stored in the configured Position Units of the axis Since the MGSP instruction simultaneously stores the actual and command positions for all axes in the specified group of axes the resultant Strobe Actual Position and Strobe Command Position values can be used to perform real time calculations For example the Strobe Actual Positions can be compared between two axis to provide a form of slip compensation in web handling applications Strobe Master Offset in Master Position Units The Strobe Master Offset is the position offset that was applied to the master side of the position cam when the last Motion Group Strobe Position MGSP instruction was executed The Strobe Master Offset is returned in master position units The Strobe Master Offset shows the same unwind characteristic as the position of a linear axis Set to a value of 7 which means Application Telegram See IDN 15 in IEC 1491 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion
217. edure calculates the Output Filter Bandwidth e OFF The tuning procedure sets the Output Filter Bandwidth to 0 which disables the filter Appendix B Motion axis attributes Attribute Tuning Configuration Bits continued Tuning Speed Tuning Torque Tuning Travel Limit Velocity Command Velocity Data Scaling 286 Axis Type Data Type AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE Rockwell Automation Publication MOTION UM001D EN P November 2015 REAL REAL REAL REAL INT GSV SSV GSV SSV GSV SSV GSV Tag GSV Description Bidirectional Tuning The Bidirectional Tuning bit determines whether the tuning procedure is unidirectional or bidirectional If this bit is set true the tuning motion profile is first initiated in the specified tuning direction and then is repeated in the opposite direction Information returned by the Bidirectional Tuning profile can be used to tune Backlash Compensation and Torque Offset When configured for a hydraulics External Drive Type the bidirectional tuning algorithm also computes the Directional Scaling Ratio Tune Backlash Compensation This tuning configuration is only valid if configured for bidirectional tuning If this bit is e ON The tuning procedure calculates the Backlash Compensation Gain e OFF The Backlash Compensation Gain
218. eed S cure profile in 50 0 P the instruction that Speed Units Units per sec starts the motion Accel Rate Manual_Jog_Accel 20 0 Accel Units Units per sec2 Decel Rate Manual_Jog_Decel 20 0 Decel Units Units per sec2 Profile Curve Accel Jerk Manual_Jog_Accel_Jerk 100 0 Decel Jerk Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Rockwell Automation Publication MOTION UM001D EN P November 2015 99 Chapter 4 Program Cause When you use an S curve profile jerk determines the acceleration and deceleration time of the axis e An S curve profile must get acceleration to 0 before the axis can slow down e The time required depends on the acceleration and speed e Inthe meantime the axis continues to speed up The following trends show how the axis stops with a trapezoidal profile and an S curve profile Stop while accelerating Trapezoidal S curve 100 NBL 8 y 8 i d t 1 fy me oo A l lt The axis slows down as soon as you start the stopping instruction The axis continues to speed up until the S curve profile brings the acceleration rate to 0 100 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 Corrective Action Revision 15 or earlier PB lt Local 4 1 Data 1 0 gt My_Axis_OK Motion Axis Jog EN My_Axis _ Manual_Jog o
219. eg Event 1 Status 3 Reg Event 2 Armed Status E Reg Event 2 Status 5 Home Event Armed Status 6 Home Event Status 7 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Description Axis Event Bits AXIS_CONSUMED DINT Allows access to all event status bits in one 32 bit word This attribute is the same as the AXIS_ GENERIC Axis Event tag AXIS_SERVO Event Status Bit T Watch Event Armed Status 0 Watch Event Status 1 Reg Event 1 Armed Status 2 Reg Event 1 Status 3 Reg Event 2 Armed Status 4 Reg Event 2 Status 5 Home Event Armed Status 6 Home Event Status 7 The axis faults for your axis Type of Fault Physical Axis Fault Module Fault Config Fault This attribute is the same as the Axis Fault Bits attribute Axis Fault AXIS_CONSUMED DINT AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis Fault Bits AXIS_ CONSUMED DINT GSV The axis faults for your axis AXIS_GENERIC Type of Fault AXIS_SERVO Physical Axis Fault AXIS_SERVO_DRIVE AXIS_VIRTUAL Mode Faut Config Fault This attribute is the same as the Axis Fault tag Rockwell Automation Publication MOTION UM001D EN P November 2015 215 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Axis Info Select 1 AXIS_ SERVO DINT GSV There is a group of attributes that do not get updated by defaul
220. egistration sensor SV Sourcing Type Registration Sensor General cable REG5V From th i l rom the motion module c gt 0720 T X INCOM Notes e Use sourcing type registration sensors e Wire the inputs so that they get source current from the sensor e Do not use current sinking sensor configurations because the registration input common IN_ COM is shared with the other 24V servo module inputs 308 Rockwell Automation Publication MOTION UM001D EN P November 2015 Wiring diagrams Appendix C Home limit switch input OK contacts 24V de Field Power Supply General cable From the motion module c gt 0720 K X Notes e The home limit switch inputs to the servo module are designed for 24V dc nominal operation e Wire these inputs for current sourcing operation The following image illustrates OK contacts 24V de Field Power Supply OK Pilot Relay From the motion module gt any al L X pes O 0K OK Pilot a Relay Start 24V ac dc or Contacts Stop Rl 120V ac as MI typical RI Notes e Use the OK relay contacts to connect to an E stop string that controls power to the associated pumps or drives e The OK contacts are rated to drive an external 24V dc pilot relay for example Allen Bradley 700 HA32Z24 whose contacts can be incorporated into the E stop string Rockwell Automation Publication MOTION UM001D EN P November 2015 309
221. egrator Integrator Enor Enor iti Servo Config Position Servo bs Motor Pass Filter T Encoder l Polarity djdt H Position H Feedback Yy Coarse Position 16 bit lt Accum Encoder ieee ulator Counter Watch Event Watch pi Event Handler Watch Position i chz Homing Marker l Event Markor Input Event Marker _ Handler Latch T l l Registration l Event Regist A 4 i ke Regist le Pegistration Handler latch Input This configuration provides full position servo control using an external velocity loop servo drive Note that in this configuration the servo module does not close the velocity loop but rather the drive does Synchronous input data to the servo loop includes Position Command and Velocity Offset Torque Offset is ignored The controller updates these values at the base update period of the motion group The Position Command value is derived directly from the output of the motion planner whereas the Velocity Offset value is derived from the current value of the corresponding attributes Rockwell Automation Publication MOTION UM001D EN P November 2015 313 Appendix D Servo loop block diagrams AXIS_SERVO_ DRIVE Motor Position Servo The following image illustrates Motor Position Servo configuration Servo Config Motor Position Servo Tornua Ditet Vulociny Olfeet Quiput Onpa Low Pane Watch Positos
222. electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z are at the same level high or low Under normal operation the differential signals are at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Aux Feedback AXIS_SERVO_DRIVE Interpolation Factor DINT Feedback Counts per Cycle The Feedback Interpolation attributes establish how many Feedback Counts there are in one Feedback Cycle The Feedback Interpolation Factor depends on the feedback device and the drive feedback circuitry Quadrature encoder feedback devices and the associated drive feedback interface typically support 4x interpolation so the Interpolation Factor for these devices would be set to 4 Feedback Counts per Cycle Cycles are sometimes called Lines High Resolution Sin Cosine feedback device types can have interpolation factors as high as 2048 Counts per Cycle The product of the Feedback Resolution and the corresponding Feedback Interpolation Factor is the overall resolution of the feedback channel in Feedback Counts per Feedback Unit In our example a Quadrature encode
223. eleration and deceleration capabilities of the system In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases Torque AXIS_ SERVO The maximum torque of the tune test This attribute should be set to the desired maximum safe torque level before running the tune test The default value is 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases Direction The direction of the tuning motion profile e Forward Uni directional Initiated in the forward tuning direction only e Forward Bi directional First initiated in the forward tuning direction and then if successful is repeated in the reverse direction Information returned by the Bi directional Tuning profile can be used to tune Backlash Compensat
224. eline To move an axis to the home position use Active homing For a Feedback only device use Passive homing If you have an absolute feedback device consider Absolute homing For single turn equipment consider homing to a marker For multi turn equipment home to a switch or switch and marker If your equipment cannot back up use unidirectional homing Home an axis Homing puts your equipment at a starting point for operation This starting point is called the home position Typically you home your equipment when you reset it for operation For more information about Homing see Motion Axis Attributes on page 199 The following table provides descriptions of homing guidelines Description Active homing turns on the servo loop and moves the axis to the home position Active homing also e Errors if there is any other motion on the axis It does not stop other motion e Uses a trapezoidal profile Passive homing does not move the axis e Use passive homing to calibrate a Feedback only axis to its marker e Ifyou use passive homing on a servo axis turn on the servo loop and use a move instruction to move the axis If the motion axis hardware supports an absolute feedback device Absolute Homing Mode may be used The only valid Home Sequence for Absolute Homing Mode is Immediate In this case the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position
225. ell Automation Publication MOTION UM001D EN P November 2015 289 Appendix B Attribute Velocity Lock Status Velocity Offset Velocity Polarity Velocity Proportional Gain 290 Motion axis attributes Axis Type Data Type Access Description AXIS_ SERVO_ DRIVE BOOL AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV SSV Tag Set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Window of the current velocity command Velocity Offset in Position Units Sec Velocity Offset compensation can be used to give a dynamic velocity correction to the output of the position servo loop Since this value is updated synchronously every Base Update Period the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming AXIS_SERVO_DRIVE This attribute is derived from the Drive Polarity attribute See IDN 42 in IEC 1491 AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV SSV 1 Seconds This controller attribute is replicated in the motion module AXIS_SERVO When configured for a torque current loop servo drive the servo module s digital velocity loop provides damping without the requirement for an analog tachometer The Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Servo Output or Torque Command that ultimately attempts to correct for the velocity error creating the damping effect Thus increasing t
226. elocity by the Velocity Feedforward Gain and adding it as an offset to the Velocity Command generated by the position loop control elements With this done the position loop control elements do not need to generate much of a contribution to the Velocity Command hence the Position Error value is significantly reduced Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations One thing that may force a smaller Velocity Feedforward value is that increasing amounts of feedforward tends to exacerbate axis overshoot If necessary the Velocity Feedforward Gain may be tweaked from the 100 value by running a simple user program that jogs the axis in the positive direction and monitor the Position Error of the axis during the jog Increase the Velocity Feedforward Gain until the Position Error at constant speed is as small as possible but still positive If the Position Error at constant speed is negative the actual position of the axis is ahea
227. ending on the type of drive you are configuring Configure an axis for Configure SERCOS Motion 1 In the Controller Organizer double click the axis 2 On the General tab verify that the assigned motion group and module information is correct Make any needed changes Dynamics Gans Output Lmts Offset Faut Actions Motor Feedback Aux Feedback Conversion __Drve Motor 38 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure SERCOS motion Chapter 1 Click the Units tab and in the Position Units and Average Velocity Timebase boxes enter the values Click the Drive Motor tab Click Change Catalog and on the Change Catalog Number dialog box choose the related motor catalog numbers and click OK SS 8S a AA XD Avis Properties HYD_AXIS Te ens Homing Hookup Tune Dynamics Gains Output Lims Offset Fault Actions Tag General Motion Planner Units Drive Moter Motor Feedback Conversion Laem arenes ran Fiters Voltage Family Feedback Type The following conditions apply for the Integrated Drive Motor IDM Rockwell Automation Publication MOTION UM001D EN P November 2015 39 Chapter 1 40 Configure SERCOS motion e The Amplifier Catalog Number appears dimmed and cannot be edited when the axis is associated to an IDM e The Motor Catalog Number is automatically set to the catalog numbe
228. ends the change to the motion module If you want to wait until the change is done monitor the ConfigUpdatelnProcess bit of the axis If the bit is e ON The controller is changing the attribute e OFF The change is done Rated The Torque limit attribute provides a method for controlling the continuous torque limit imposed by the drive s thermal model of the motor Increasing the Continuous Torque Limit increases the amount of continuous motor torque allowed before the drive folds back the motor current or the drive declares a motor thermal fault Motors equipped with special cooling options can be configured with a Continuous Torque Limit of greater than 100 rated to attain higher continuous torque output from the motor Motors operating in high ambient temperature conditions can be configured with a Continuous Torque Limit of less than 100 rated torque to protect the motor from overheating The Continuous Torque Limit specifies the maximum percentage of the motor s rated current that the drive can command on a continuous or RMS basis For example a Continuous Torque Limit of 150 limits the continuous current delivered to the motor to 1 5 times the continuous current rating of the motor If this bit is set the controller lost communication with the motion module and missed several position updates in a row e The controller can miss up to 4 position updates After that the Control Sync Fault bit is set The motion module
229. ents The Registration Position value is the absolute position of a physical or virtual axis in the position units of that axis at the occurrence of the most recent registration event for that axis The figure below shows how the registration position is latched by the registration input when a registration event occurs The latching mechanism can be implemented in the controller software soft registration or for greater accuracy in physical hardware hard registration iG Encoder Regis tration Position Registration E Input The Registration Latch mechanism is controlled by two Event Control instructions MAR Motion Arm Registration and MDR Motion Disarm Registration The accuracy of the registration position value saved as a result of a registration event is a function of the delay in recognizing the specified transition typically 1 usec for hardware registration and the speed of the axis during this time The uncertainty in the registration position is the distance traveled by the axis during this interval as shown by the equation Uncertainty Axis Speed oe x Delay Second Use the formula given above to calculate the maximum registration position error for the expected axis speed Alternatively you can calculate the maximum axis speed for a specified registration accuracy by re arranging this formula as shown Position Units Desired Accuracy Position Units Maximum Speed Delay Second Lower 32 bits
230. ents a motor a gearbox and a ball screw that may introduce inaccuracies and that are subject to wear over their lifetime Therefore when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw and so on may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved Ifa value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled When it is enabled by a nonzero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Stabilization Window The Backlash Stabilization Window controls the Backlash Stabilization feature in the servo control loop Configuring a suitable value for the Backlash Stabilization Window eliminates gearbox buzz without sacrificing any servo performance In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Velocity Offset Provides a dynamic velocity correction to the output of the position servo loop in position units per second Torque Offset Provides a dynamic torque command correction to the
231. equired to decelerate is greater than the Position error Tolerance an Excessive Position error exception can occur possibly canceling the home operation A delay filter is implemented in the drive to reduce any false nuisance triggers when there is a spike in the torque feedback upon enabling or jogging the motor under load Torque Level homing is very similar to Home Switch homing with the exception that the torque level is used instead of the home switch input This graphic depicts the Position Velocity for Torque Level Homing Torque Level Homing Homing Vel Axis Positior Axis Velocity Return Vel 1 End of Travel Hard Stop 2 Homing Torque Above Threshold TRUE 3 Homing Torque Above Threshold FALSE 4 Home Position Torque Level Marker homing is very similar to Home Switch Marker homing with the exception that the torque level is used instead of the home switch input This graphic depicts the Position Velocity for Torque Level Marker Homing Torque Level Marker Homing Homing Vel Axis Position Axis Velocity 4 Return Vel End of Travel Hard Stop 2 Homing Torque Above Threshold TRUE 3 Homing Torque Above Threshold FALSE and Arm Regestration for Encoder Marker 4 Encoder Marker Detected 5 Home Position Rockwell Automation Publication MOTION UM001D EN P November 2015 Sequence Passive Immediate Home Passive Home with Switch Passive Home with Marker Passive Home with Switc
232. er lets you increase the deceleration jerk of an Motion Action Stop MAS instruction to get a quicker stop If the Jerk Units Are Then Make This Change to the Decel Jerk of Time Reduce the of Time on the Decel Jerk of Maximum Increase the of Maximum on the Decel Jerk Units per sec Increase Units per sec on the Decel Jerk Why does my axis overshoot its target speed While an axis is accelerating you try to stop the axis or change its speed The axis keeps accelerating and goes past its initial target speed Eventually it starts to decelerate Example You start a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you try to stop it with another MAJ instruction The speed of the second instruction is set to 0 The axis continues to speed up and overshoots its initial target speed Eventually it slows to a stop 102 Rockwell Automation Publication MOTION UM001D EN P November 2015 Look For Jog_PB sLocal4 Data 1 0 gt My_Axis_OK The MAJ instruction that stans the axis has a higher acceleration than the instruction that stops the axis S ourve profile Jog_PB sLocal4 Date 1 0 gt My_Axis_OK The M4J instruction that stops the axis has a lower acceleration than the instruction that stans the axis Sure profile Cause Program Chapter 4 Motion Axis Jog My_Axis Manual_Jog 0 Manual_Jog_Speed 60 0 Motion Axis Jog Axis Motion Control Jog_2 Direc
233. er tab has the same fields regardless of the type of axis gt Avis Properties AXIS_SERVO gt eh esa Dynamics Gans Outpt imts Offset Fait Actions Taa General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Output Cam Execution Targets o Program Stop Action Fast Stop x V Master Delay Compensation V Enable Master Position Filter Master Position Filter Bandwidth 9 1 Hertz Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Item Description Output Cam Execution Targets Determines how many Output Cam execution nodes instances are created for an axis The Execution Target parameter for the MAOC MDOC instructions specifies which of the configured execution nodes the instruction affects In addition the number specified in the Axis Properties dialog box specifies the number of instances of Output Cam in which the value of zero means none The value specified for Execution Target in the MAOC instruction references an instance in which a value of zero selects the first instance Program Stop Action Selects how an axis is stopped when the processor undergoes a mode change or when an explicit Motion Group Programmed Stop MGPS instruction is executed You can apply Program Stop Action when an MSG is programmed to Stop type Fast Disable The axis is decelerated to a stop using the current configured value for maximum de
234. ertravel fault protection that uses hardware limit switches to directly stop axis motion at the drive and deactivate power to the system Hard Overtravel Checking Hard overtravel checking is only available for a linear axis Do you want a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault to happen if the axis activates the positive or negative overtravel limit switch inputs e YES Set this bit e NO Clear this bit Drive Fault Checking The motion module provides a dedicated drive fault input for each axis These inputs may be connected to fault outputs on the external drive if provided to notify the servo module of a fault in the drive itself Set the Drive Fault Checking bit if you are using the servo module s drive fault input and then specify the drive fault contact configuration of the amplifier s drive fault output as described below Attribute Fault Configuration Bits continued Feedback Fault Motion axis attributes Appendix B Axis Type Data Type Access Description AXIS_SERVO AXIS_SERVO_DRIVE DINT BOOL GSV SSV Tag Drive Fault Normally Closed The Drive Fault Normally Closed bit attribute controls the sense of the Drive Fault input to the servo module If this bit is set true then during normal fault free operation of the drive the Drive Fault input should be active that is 24 Volts If a drive fault occurs the drive opens its drive fault output contacts and remove
235. ervo cards of a SoftLogix5800 controller aren t synchronized The hardware or vbfirmware of the card causes this fault For example the cable between 2 cards isn t connected GSV Interpolated Actual Position in Position Units Tag Interpolated Actual Position is the interpolation of the actual position based on past axis trajectory history at the time specified by the Interpolated Time attribute Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type access Description Interpolated Command AXIS_CONSUMED REAL GSV Interpolated Command Position in Position Units Position AXIS_ GENERIC Tag Interpolated Command Position is the interpolation of the commanded position based on Interpolation Time Jog Status LDT Calibration Constant LDT Calibration Constant Units LDT Length LDT Length Units LDT Recirculations LDT Scaling LDT Scaling Units LDT Type Linear Motor Mass past axis trajectory history at the time specified by the Interpolated Time attribute AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO DINT GSV SSV CST time to interpolate to Tag Interpolated Time is the 32 bit CST time used to calculate the interpolated positions When this attribute is updated with a CST value the Interpolated Actual Position an
236. es to slow down Eventually it speeds back up to the target speed Look For Jog_PB sLocal4 Data 1 0 gt My_Axis_OK Ad Motion Axis Jog EN Axis My Axis Motion Control Manual_Jog DNES Direction 0 ER Speed Manual_Jog_ Speed 60 0 IP 3 Speed Units Units per sec Accel Rate Manual_Jog_Accel 20 0 Accel Units Units per sec2 Decel Rate Manual_Jog_Decel 20 0 Decel Units Units per sec2 Profile Curve Accel Jerk Manual_Jog_Accel_Jerk 100 0 Decel Jerk Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed The instruction that starts the axis uses an Sture profile za Less Jog_PB lt Local 4 1 Data 1 0 AS Motion Axis Stop EN Axis My_Axis ECON Motion Control Stop_Jog ER Stop Type Jog IP More gt gt C For Stop Type the instruction that stops the axis keeps the S curve profile Suppose you use an Motion Axis Stop MAS instruction with the Stop Type set to Jog In that case the axis keeps the profile of the Motion Axis Jog MAJ instruction that started the axis 106 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 Cause When you use an S curve profile jerk determines the acceleration and deceleration time of the axis An S curve profile has to get acceleration to 0 before the axis can speed up again The following trends show how the axis stops and starts with a trapezoidal
237. eset MASR instruction to clear the fault 253 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Motion Status Bits AXIS_ CONSUMED DINT GSV Allows access to all motion status bits in one 32 bit word This attribute is the same as the AXIS_ GENERIC Motion Status tag AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Motion Status Motion Status 0 Time Cam Status g 1 Position Cam Pending Status Accel Status Move Status Time Cam Pending Status Gearing Lock Status Position Cam Lock Status Reserved Homing Status i Stopping Status 15 Axis Homed Status Position Cam Status 6 Master Offset Move Status 7 Coordinated Motion Status REAL GSV Important To use this attribute choose it as one of the attributes for Real Time Axis Tag Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 The present utilization of motor capacity as a percent of rated capacity Motor Data AXIS_SERVO_DRIVE Struct MSG Struct length data INT The Motor Data attribute is a structure with a length element and an array of bytes that SINT contains important motor configuration information needed by an A B SERCOS drive to 256 operate the motor The length element represents the number of data elements in the data array The meaning of data within the data array is understood only by the drive
238. eter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When Logix Designer application is offline the following parameters can be edited and the program saved to disk using the Save command or by clicking Apply You must re download the edited program to the controller before it can be run Backlash Compensation The percentage of output level added to a positive current Servo Output value or subtracted from a negative current Servo Output value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called sticktion that even with a significant position error the axis refuses to budge Backlash Compensation is used to break sticktion in the presence of a nonzero position error This is done by adding or subtracting a percentage output level called Backlash Compensation to the Servo Output value The Backlash Compensation value should be just less than the value that would break the sticktion A larger value can cause the axis to dither that is move rapidly back and forth about the commanded position Backlash Compensation Window To address the issue of dither when applying Backlash Compensation and hunting from the integral gain a Backlash Compensation Window is applied around the current
239. eversal Offset attribute to the motion planner s command position as it is applied to the associated servo loop Whenever the commanded velocity changes sign a reversal the Logix controller adds or subtracts the Backlash Distance value from the current commanded position This causes the servo to immediately move the motor to the other side of the backlash window and engage the load It is important to note that the application of this directional offset is completely transparent to the user the offset does not have any effect on the value of the Command Position attribute If a value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a non zero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position The Backlash Stabilization Window attribute is used to control the Backlash Stabilization feature in the servo control loop What follows is a description of this feature and the general backlash instability phenomenon Mechanical backlash is a common problem in applications that utilize mechanical gearboxes The problem stems from the fact that until the input gear is turned to the point where its proximal tooth contacts an adjacent tooth of the output gear the reflected inertia of the output is not felt at the motor In other words when the gear teeth a
240. f Microsoft Corporation in the United States and or other countries ControlNet is a trademark of ControlNet International DeviceNet is a trademark of the Open DeviceNet Vendors Association ODVA Ethernet IP is a trademark of ControlNet International under license by ODVA Rockwell Automation Publication MOTION UM001D EN P November 2015 Preface All other trademarks are the property of their respective holders and are hereby acknowledged Warranty This product is warranted in accordance with the product license The product s performance may be affected by system configuration the application being performed operator control maintenance and other related factors Rockwell Automation is not responsible for these intervening factors The instructions in this document do not cover all the details or variations in the equipment procedure or process described nor do they provide directions for meeting every possible contingency during installation operation or maintenance This product s implementation may vary among users This document is current as of the time of release of the product however the accompanying software may have changed since the release Rockwell Automation Inc reserves the right to change any information contained in this document or the software at any time without prior notice It is your responsibility to obtain the most current information available from Rockwell when installing or using this produ
241. f the feedback device a ladder rung using an SSV to set Home_Sequence equal Home to marker with the following parameters Class Name SSI_Axis Attribute_Name Home_Sequence and Value 2 to Marker must be added to the application program cannot be set to Axis Properties and must be reset back to its initial value 0 Immediate or 1 Switch after establishing the rollover The Home Sequence to Marker must be used to allow feedback to travel until the rollover that is pseudo marker is found This must be done without the motor attached to any axis as this could cause up to the Maximum number of turns before pseudo marker is found Type the desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position is set to zero although any value within the software travel limits can be used After the homing sequence is complete the axis is left in this position If the Positioning mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning mode is Rotary then the home position should be less than the unwind distance in position units Type the desired offset if any in position units the axis is to move upon completion of the homing sequence to reach the home position In most cases this value is zero Select the event that causes the Home Position to be set Switch Marker
242. ffline the following parameters can be edited and the program saved to disk using the Save command or by clicking Apply You must re download the edited program to the controller before it can be run Hard Travel Limits Enables a periodic test that monitors the current state of the positive and negative overtravel limit switch inputs when Positioning Mode is set to Linear in the Conversion tab of this dialog box If an axis is configured for hardware overtravel checking and if that axis passes beyond a positive or negative overtravel limit switch a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault is issued The response to this fault is specified by the Hard Overtravel setting in the Fault Actions tab of this dialog box Soft Travel Limits Enables software overtravel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog box If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog box Software overtravel limits are disabled during the tuning process Maximum Positive Type the maximum positive position to be used for software overtravel checking in position units The Maximum Positive limit must be greater than the Maximum Negative limit
243. fied If any operand fails verification a Failed to Verify message appears on the dialog box A detailed error message appears in the error result window describing the fault Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 This allows multiple verification errors to display and provides navigation to the error source That is double clicking the error in the Errors window opens the Motion Direct Command dialog box Motion Direct Commands irtual_1 2 Commands Re MSO Re MSF Re MASD Re MASA Re MDO H ea n MDF ae per sec s ee Units per sec2 h 100 0 Motion Move Units per sec2 Se MAS Trapezoidal Re MAH Re MAJ 100 0 Re MAM il of Time Re MAG Disabled e MCD Te MAP Z DANGER Pressing Execute may cause motion Failed to Verify Motion Group Shutdown Execute Help Motion Direct Commands Virtual_1 2 Failed to Verify MAJ Speed String argument invalid because it is null Complete 1 error s 0 warning s Errors A Search Results i Watch If no errors are detected the status indicates which instruction was executed and that it had no errors Rockwell Automation Publication MOTION UM001D EN P November 2015 79 Chapter 3 80 Commission and tune Motion Direct Command execution error When you select Execute from a Motion Direct Command dialog box and the operand
244. fiers have integral gain of their own and do not tolerate any amount of Pos Gain in the position loop without producing severe oscillations If Pos Gain is necessary for the application the velocity integrator in the drive must be disabled In certain cases Pos Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation Another common case is when performing certain motion When the Integrator Hold Enable attribute is set the servo loop automatically disables the integrator during commanded motion While the Pos Gain if employed is typically established by the automatic servo tuning procedure the Pos Gain value may also be set manually You can compute the Pos Gain based on the current or computed value for the Pos P Gain using the following formula Pos Gain 0 25 0 001 Sec mSec Pos P Gain Assuming a Pos P Gain value of 100 Sec 1 this results in a Pos Gain value of 2 5 0 1 mSec 1 Sec Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Position Integrator Error in Position Units mSec Position Integrator Error is the running sum of the Position Error in the configured axis Position Units for the specified axis For an axis with an active servo
245. for Uses the results of an MRAT instruction to calculate and MAAT No your control system These tests include update the servo gains and dynamic limits of an axis Motion Apply Axis Tuning Motor encoder hookup test 4 P Run a tuning motion profile for an axis MRAT No e Encoder hookup test Motion Run Axis Tuning Se Markentest Use the results of an MRHD instruction to set encoderand MAHD No servo polarities Motion Apply Hookup Diagnostic Run one of the diagnostic tests on an axis MRHD No Motion Run Hookup Diagnostic Control multi axis coordinated motion Start a linear coordinated move for the axes of coordinate MCLM No system Motion Coordinated Linear Move Start a circular move for the axes of coordinate system MCCM No Motion Coordinated Circular Move Change in path dynamics for the active motion on a MCCD No coordinate system Motion Coordinated Change Dynamics Stop the axes of a coordinate system or cancel a transform MCS No Motion Coordinated Stop Shutdown the axes of a coordinate system MCSD No Motion Coordinated Shutdown Start a transform that links two coordinate systems MCT No together This is like bi directional gearing Motion Coordinated Transform Calculate the position of one coordinate system with MCTP No respect to another coordinate system Motion Calculate Transform Position Transition the axes of a coordinate system to the ready MCSR No state and clear the axis faults Motion Coordinated Shutdown Reset Define a
246. for the controller 6 Inthe Chassis list select the type of chassis that holds the controller Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure analog motion Chapter 2 7 Inthe Slot list select the physical slot where the controller is located 8 Inthe Security Authority list select a security option e No Protection All users can view and edit the project e FactoryTalk Security Only users authenticated through FactoryTalk Security can view and edit the project 9 optional Select Use only the selected Security Authority for authentication and authorization to associate this project with a specific Security Authority When this check box is selected users interacting with this project must be authenticated and authorized by the same Security Authority that was used to secure the project Otherwise unauthenticated users must rely on Guest User permissions Tip Guest User permissions are cached within the project The Logix Designer application uses Guest User permissions when the project is opened but not connected to the FactoryTalk Security Authority that secures the project By default all Guest User permissions are denied Guest User permissions are configured in the FactoryTalk Administration Console 10 Select Logical Name lt Controller Name gt or Permission Set to apply specific permissions to the controller Select Logical Name lt Controller Name gt to apply a Logical Name in
247. g_Pushbutton i Motion Axis Stop Axis My Axis x J Motion Control My Anis x MAS Stop Type Jog m m m m Change Decel Yes Decel Rate My Axis x _SetUp ManuallogDecel 100 06 Decel Units Units per sec2 Rockwell Automation Publication MOTION UM001D EN P November 2015 95 Chapter 4 Program If Move_Command on and the axis on My_Axis_X ServoActionStatus on then The MAM instruction moves the axis The axis moves to the position of 10 units at 1 unit s Move_Command My Axis x ServadctionStatus Motion Axis Move Axis My Axis x ij Motion Control My _Axis Move Move Type 0 q mmm Position 10 Speed My Axis x SetUp AutoSpeedCommand 1 0 Speed Units Units per sec More gt gt Download a program and run the logic Follow these instructions to download your program to a controller 1 With the keyswitch place the controller in Program or Remote Program mode 2 From the Communications menu choose Download 3 Confirm that you wish to complete the download procedure 4 Click Download 5 Once the download is complete place the controller in Run Test mode After the project file is downloaded status and compiler messages appear in the status bar Choose a motion instruction Use the following table to choose an instruction and see if it is available as a Motion Direct Command If You Want To Use This Instruction Motion Direct Command Change the state of an axis Enable
248. ge Velocity Timebase for that axis Average velocity is a signed value The sign does not necessarily show the direction that the axis is currently moving It shows the direction the average move is going The axis may be currently moving in the opposite direction The resolution of the Average Velocity variable is determined by the current value of the Averaged Velocity Timebase parameter and the configured Conversion Constant feedback counts per Position Unit for the axis e The greater the Average Velocity Timebase value the better the speed resolution but the slower the response to changes in speed e The minimum Average Velocity Timebase value is the Base Update period of the motion group The Average Velocity resolution in Position Units per second may be calculated using the equation below Feedback Counts Average Velocity Timebase Seconds x K Position Unit For example on an axis with position units of inches and a conversion constant K of 20000 an averaged velocity time base of 0 25 seconds results in an average velocity resolution of Inches Inches 0 012 Second 0 0002 0 25 x 20000 Minute Seconds The Average Velocity Timebase attribute is used to specify the desired time in seconds to be used for calculating the Average Velocity of the axis When the Average Velocity Value is requested the value is computed by taking the total distance traveled by the axis in the amount of time given by the Ave
249. ggering of the task occurs simultaneously with the setting of the Process Complete bit for the instruction that armed the watch event e The controller sets this attribute Do not set it by an external device Watch Position in Position Units Watch Position is the current set point position of an axis in the configured axis Position Units as configured in the last most recently executed MAW Motion Arm Watch instruction for that axis See these manuals for more information about error codes displayed on drives and or multi axis motion control systems Publication Kinetix 2000 Multi Axis Servo Drive User Manual publication 2093 UM001 Kinetix 6000 Multi Axis Drives User Manual publication 2094 UM001 Kinetix 7000 High Power Servo Drive User Manual publication 2099 UM001 Ultra 3000 Digital Servo Drive Installation Instructions publication 2098 IN003 8720 High Performance Drive Installation Instructions publication 8720MC IN001 Rockwell Automation Publication MOTION UM001D EN P November 2015 Description Provides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 2000 drive and system integration for your drive motor combination with a Logix controller Provides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 6000 drive and system integration for your drive motor combination with a Logix controller Pro
250. gstdssisbgn 111 Active NOMINE arri an e N a cde en adored 112 Passive homing einer naia Ra AA 112 Absolute homing ssssnsneninnisinennnimiiienniriniii ass 113 Examiplesenae nanena a a i a i EREE 113 Active homing examples sss ssssesssssssesssssessssresseeeesstsrsssereeettesnstenesereenesrenssreee 113 Passive homing examples sssssssssssessssrssseressstsesssereessttesssrensserteesrenssneresereeses 119 Homed Statuse iann cle et A chee hee Sta 119 Feedback Integtityoi frina EEEE 120 Appendix A Introduction for Axis Properties cco he helen he hate 121 General tab SAN IS SERV Oe acuatitctiin snide aerate s ihe e cele aie 121 General tab AXIS SERVO _DRIVE Lu ccessssssscsscescessessessscssssssssssesseeseeese 122 Node with a Kinetix 6000 drive a cxsa decidir lata ait 123 General tab AXIS_VIRTUAL eesssseeescccesssssssteressssrseeeesssssssseeessssssuseeressssse 124 Motion Groups nener uae aia a a a EiS 124 MOTION_GROUP structure sssssssssssesesseesssesessssseressssecresseesesseeeesssscreesse 124 General tab AXIS_GENERIC ssssssssssssseeeessssssssceresssserereesssssssteresssssesnrerrssssss 126 Motion Plantier tabire ie i E 126 Units EAD shasta foc das vixens caved A EE e E aR 128 Servo tab AXIS SERV Obrnnerianiennaa naa a aa 128 Feedback Tab AXIS_SERVO ss sssssssssesseeessssssssceeessssesesessesssssreeesssssessteeessssss 129 Drive Motor tab AXIS SERVO_DRIVE ccccccsssssssessesssssssssessessessesseess 132 Motor Feedback tab
251. h input was detected and the axis position at which the marker event was detected This value is useful in aligning a home limit switch relative to a feedback marker pulse to provide repeatable homing operation Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Master Input AXIS_ GENERIC DINT GSV Configuration Bits AXIS_ SERVO SSV AXIS_SERVO_DRIVE AXIS_VIRTUAL Bits 0 Master Delay Compensation 1 Master Position Filter Master Delay Compensation By default the Position Camming and Gearing functions when applied to a slave axis perform Master Delay Compensation to compensate for the delay time between reading the master axis command position and applying the associated slave command position to the input of the slave s servo loop When the master axis is running at a fixed speed this compensation technique insures that the slave axis command position accurately tracks the actual position of the master axis in other words Master Delay Compensation allows for zero tracking error when gearing or camming to the actual position of a master axis The Master Delay Compensation algorithm extrapolates the position of the master axis at the predicted time when the command position is applied to the slave s servo loop Because master axis position is measured in discrete feedback counts and is inherently noisy the extrapolation process amplifies that noise according to the total position up
252. h then Marker Home an axis Chapter 5 Passive homing examples The following table provides passive homing examples Description This is the simplest passive homing sequence type When this sequence is performed the controller immediately assigns the Home Position to the current axis actual position This homing sequence produces no axis motion This passive homing sequence is useful when an encoder marker is not available or a proximity switch is being used When this sequence is performed in the Passive Homing Mode an external agent moves the axis until the home switch is detected The position is preset to the Home position plus Offset Value at the moment when the switch is hit The Offset value should be set to 0 if no Home Offset offset is wanted This passive homing sequence is useful for single turn rotary and linear encoder applications When this sequence is performed in the Passive Homing Mode an external agent moves the axis until the marker is detected The position is preset to the Home position plus Offset Value at the moment when the switch is hit The Offset value should be set to 0 if no Home Offset offset is wanted This passive homing sequence is useful for multi turn rotary applications When this sequence is performed in the Passive Homing Mode an external agent moves the axis until the home switch and then the first encoder marker is detected The position is preset to the Home position plus Offset Value at the m
253. hat is when we are not commanding any acceleration or deceleration that would engage the teeth of the gearbox Properly configured with a suitable value for the Backlash Stabilization Window this algorithm entirely eliminates the gearbox buzz without sacrificing any servo performance The Backlash Stabilization parameter determines the width of the window over which backlash stabilization is applied In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Patent Pending Rockwell Automation Publication MOTION UM001D EN P November 2015 219 Appendix B Motion axis attributes Attribute Axis Type Data Type a Description Brake Engage Delay AXIS_SERVO_DRIVE REAL Seconds Time Brake Release Delay AXIS_SERVO_DRIVE REAL Time Bus Ready Status AXIS_SERVO_DRIVE BOOL Bus Regulator Capacity AXIS_SERVO_DRIVE REAL Bus Regulator ID AXIS_SERVO_DRIVE INT 220 The Brake Engage Delay attribute controls the amount of time that the drive continues to apply torque to the motor after the motor brake output is changed to engage the brake This gives time for the motor brake to engage This is the sequence of events associated with engaging the motor brake e Disable axis is initiated via MSF or drive disable fault action e Drive stops tracking command reference Servo Action Status bit clears e Decel to zero speed using configured Stoppi
254. he K 4 gt Home Axis Service to the SERCOS network to axis configured for absolute a MxxSE module perform the absolute home homing i 3 on the specified axis The drive then calculates A e nied aieennbichits Drive receives IDN s clears When this calculation is 3 y the Abs Ref Status bit drive i the difference between the P complete the drive then P a4 mechanical home status bit 13 and reads sets the Abs Ref Status bit ay the absolute position of the gt position and the absolute drive status bit 13 an Stegmann high res position of the Stegmann encoder encoder MxxSE sends an The Logix controller sets acknowledge to the Logix the DN bit and the PC bit of Controller indicating gt the MAH s motion control successful execution of the tag to complete the homing Home Axis Service process Accel Limit Status AXIS_SERVO_DRIVE BOOL Set when the SSS of the commanded acceleration to the velocity servo loop input is greater than the configured Velocity Limit Accel Status AXIS_ CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Set if the axis is currently being commanded to accelerate Use the Accel Status bit and the Decel Status bit to see if the axis is accelerating or decelerating If both bits are off then the axis is moving at a steady speed or is at rest AXIS_VIRTUAL This attribute is derived from the Drive Units attribute See IDN 162 in IEC 1491 Acceleration Da
255. he Controller Organizer under the selected Motion Group sub branch Selecting lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motion Groups branch The Associated Module selection selected on the General tab determines available catalog numbers Module Selects and displays the name of the motion module to which the axis is associated Displays lt none gt if the axis is not associated with any motion module Module Type Displays a module icon and the name of the SERCOS drive to which the axis is associated Displays lt none gt if the axis is not associated with any drive If the associated drive is a Kinetix Safety drive a portion of the module icon is red to signify its safety significance Channel Selects and displays the 1756 M02AE motion module channel 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module Rockwell Automation Publication MOTION UM001D EN P November 2015 121 Appendix A Axis properties General tab The following image is an example of the General tab for an AXIS_SERVO DRIVE Data Type AXIS_SERVO_DRIVE Axis Properties AXIS_SERVO_DRIVE co amp Homing Hookup Tune Dynamics Gains Output Umis Offset Faut Actions Tag General Motion Planner Unts Drive Mator __ Motor Feedback Aux Feedback _ Conversion Axis Configuration Sevo Motion Group m
256. he Rotational Position Scaling attribute may be modified to a value that is integer divisible by the Unwind value The following examples demonstrate how the Drive Resolution value may be used with the Conversion Constant to handle various applications 230 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Access Description Drive Resolution Rotary Gear Head WITHOUT Aux Feedback Device continued Based on a rotary motor selection Drive Resolution would be expressed as Drive Counts per Motor Rev and be applied to the Rotational Position Resolution IDN You would set the Conversion Constant to Drive Counts per user defined Position Unit If it is a 3 1 gearbox and the user s Position Unit is Revs of the gear output shaft the Conversion Constant is 200 000 3 which is irrational But in this case you could simply set the Drive Resolution to 300 000 Drive Counts Motor Rev and the Conversion Constant could then be set to 100 000 Drive Counts Output Shaft Rev This system would work with this configuration without any loss of mechanical precision that is a move of 1 output shaft revolution would move the output shaft 1 revolution Linear Ball Screw WITHOUT Aux Feedback Device Based on a rotary motor selection Drive Resolution would be expressed as Drive Counts per Motor Rev and be applied to the Rotational Position Resolution IDN You would set the Con
257. he Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability The velocity loop also allows higher effective position loop gain values to be used however too much Velocity Proportional Gain leads to high frequency instability and resonance effects Note that units for Velocity Proportional Gain are identical to that of the Position Proportional Gain making it easy to perform classic inches min mil calculations to determine static stiffness or damping Maximum Bandwidth There are limitations to the maximum bandwidth that can be achieved for the velocity loop based on the dynamics of the torque loop of the servo drive and the desired damping of the system Z These limitations may be expressed as follows Bandwidth Velocity 0 25 1 2 Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz Based on this number the corresponding gains for the loop can be computed Note that the bandwidth of the torque loop includes feedback sampling delay and filter time constant The velocity loop in the motion controller is not used when the servo module is configured for a velocity loop servo drive Thus establishing the Velocity Proportional Gain is not required in this case The typical value for the Velocity Proportional Gain is 250 Sec Rockwell Automation Publication MO
258. he command acceleration exceeds this value AccelLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x1015 TorqueLimitBipolar This attribute sets the torque limit symmetrically in both directions When actual torque exceeds this value TorqueLimitStatus of the DriveStatus attribute is set This attribute has a value range of 0 to 1000 VelocityLimitPositive This attribute displays the maximum allowable velocity in the positive direction If the velocity limit is exceeded bit 5 Velocity Command Above Velocity Limit VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x1012 VelocityLimitNegative This attribute displays the maximum allowable velocity in the negative direction If the velocity limit is exceeded bit 5 Velocity Command Above Velocity Limit VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 2 14748x1012 to 0 VelocityThreshold This attribute displays the velocity threshold limit If the motor velocity is less than this limit VelocityThresholdStatus of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x1012 VelocityWindow This attribute displays the limits of the velocity window If the motor s actual velocity differs from the command velocity by an amount less that this limit VelocityLockStatus of the DriveStatus attribute
259. he controller are Program Mode Run Mode Test Mode and Faulted Mode Any mode change into or out of program mode prog gt run prog gt test run gt prog amp test gt prog initiates a programmed stop for every axis owned by that controller Each individual axis can have its own Programmed Stop Mode configuration independent of other axes Fast Stop default 0 When the Programmed Stop Mode attribute is configured for Fast Stop the axis is decelerated to a stop using the current configured value for Maximum Deceleration Servo action is maintained after the axis motion stopped Fast Disable 1 When the Programmed Stop Mode attribute is configured for Fast Disable the axis is decelerated to a stop using the current configured value for Maximum Deceleration Servo action is maintained until the axis motion stopped at which time the axis is disabled that is Drive Enable disabled and Servo Action disabled Hard Disable 2 When configured for Hard Disable the axis is immediately disabled that is Drive Enable disabled Servo Action disabled but the OK contact is left closed Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop Fast Shutdown 3 When configured for Fast Shutdown the axis is decelerated to a stop as with Fast Stop But once the axis motion is stopped the axis is placed in the Shutdown state that is Drive Enable disabled servo action disabled and
260. he feedback device rolls over its count range the absolute position of the axis is invalid If the axis is configured for Rotary operation the servo module is responsible for adjusting the Absolute Feedback Offset dynamically based on the configured Unwind value and the rollover of the absolute feedback device If necessary absolute position may be recovered after power cycle by periodically updating the controller s Absolute Feedback Offset value This can be done by selecting the Absolute Feedback Offset enumeration for one of the Axis Info Select attributes Then An absolute homing procedure happened The bit stays set until one of the following occurs e The drive resets its configuration parameters to default values e The axis does an active or passive home or redefine position MRP also clears Absolute Reference Status The position of the axis is not referenced to the absolute machine reference system established by an absolute homing procedure Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Absolute Reference Status continued Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Description The AbsoluteReferenceStatus bit provides an indication whether the system is absolutely referenced When all conditions are configured correctly the AbsoluteReferenceStatus remains set through a power cycle and the absolute position remains int
261. he signals consist of a Clock generated by the controller and Data generated by the transducer Each transducer with an SSI output provides output data of a specified number of bits of Binary or Gray code data The controller must generate a stream of clock pulses with the correct number of bits and a frequency within the range supported by the transducer The servo module can be configured via the Servo Axis Object to generate any number of clock pulses between 8 and 32 and the frequency can be set to 208kHz or 650kHz The clock signal is maintained in the High state between pulse strings The transducer shifts data out on the Data line MSB first on each rising edge of the clock signal The transducer also maintains the data signal in specified states before and after the data is shifted out These states are checked by the controller to detect missing transducers or broken wires A Field Programmable Gate Array FPGA is used to implement a multi channel SSI Interface on the controller Each channel is functionally equivalent Linear Displacement Transducer LDT Servo modules like the 1756 HYD02 use the Linear Magnetostrictive Displacement Transducer or LDT A Field Programmable Gate Array FPGA is used to implement a multi channel LDT Interface Each channel is functionally equivalent and is capable of interfacing to an LDT device with a maximum count of 240 000 The LDT interface includes transducer failure detection and digital filtering to
262. hese attributes The Set and Get service responses provide a status response with each attribute that was processed That status value is defined by CIP as follows UINT16 Values 0 255 0x00 OxFF Attribute Axis Type Data Type Access Description are reserved to mirror common service status codes Values 256 65535 are available for Attribute Error Code AXIS_ SERVO INT GSV CIP Error code returned by erred set attribute list service to the module AXIS_SERVO_DRIVE Tag object class attribute errors Attribute Error ID AXIS_ SERVO INT GSV Attribute ID associated with non zero Attribute Error Code AXIS_SERVO_DRIVE Tag The Attribute Error ID is used to retain the ID of the servo attribute that returned a non zero attribute error code resulting in an Axis Configuration Fault The Attribute Error ID defaults to zero and after a fault occurs may be reset to zero by reconfiguration of the motion module To quickly see the Attribute Error in Logix Designer application Select the axis in the Controller Organizer Examine the bottom of the Controller Organizer for the Attribute Error 208 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute faxisType faxisType Data Type Description Aux Feedback AXIS_SERVO_DRIVE Configuration Aux Feedback Fault AXIS_SERVO BOOL AXIS_SERVO_DRIVE Set for an auxiliary feedback source when one of these happens The differential
263. his attribute is only active if the Transducer Type is set to LDT 0 PWM 1 Start Stop Rising 2 Start Stop Falling This attribute provides a selection for the LDT Type It provides the following enumerated values PWM Start Stop Rising and Start Stop Falling This attribute is only active if the Transducer Type is set to LDT The Linear Motor Mass attribute is a float that specifies the unloaded moving mass of a linear motor AXIS_SERVO_DRIVE REAL SSV Rockwell Automation Publication MOTION UM001D EN P November 2015 247 Appendix B Motion axis attributes Attribute faxisType faxisType Data Type Description Linear Motor Rated AXIS_SERVO_DRIVE REAL The Linear Motor Rated Speed attribute is a float that specifies the nameplate rated speed of Speed a linear motor For PM motors this is generally specified at rated voltage based on rated Load Inertia Ratio Map Instance Marker Distance 248 AXIS_SERVO_DRIVE AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE REAL DINT REAL current rated force or rated power For induction motors this value is the speed of the motor driven at rated frequency under rated force load This value is synonymous with the term base speed Rated Pos Units per Sec The Motor Inertia value represents the inertia of the motor without any load attached to the motor shaft in Torque Scaling units of Rated Pos Units per Sec The Load Inertia
264. his fault condition is latched and requires execution of a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear Any attempt to clear the fault while the overtravel limit switch is still open and the drive is enabled is unsuccessful If this bit is e ON The Negative Overtravel input is active e OFF The Negative Overtravel input is inactive If this bit is e ON The axis moved or tried to move past the Maximum Negative travel limit e OFF The axis moved back within the Maximum Negative travel limit This fault can only happen when the drive is enabled and you configure the axis for Soft Travel Limits If the Soft Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the soft overtravel limit using a motion instruction results in an instruction error As soon as the axis is moved back within the specified soft overtravel limits the corresponding soft overtravel fault bit is automatically cleared However the soft overtravel fault stays through any attempt to clear it while the axis position is still beyond the specified travel limits while the axis is enabled Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rate
265. ibute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Actual Position in Position Units Actual Position is the current absolute position of an axis in the configured Position Units of that axis as read from the feedback transducer Note however that this value is based on data reported to the controller as part of an ongoing synchronous data transfer process which results in a delay of one base update period Thus the Actual Position value that is obtained is the actual position of the axis one base update period ago Important To use this attribute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Actual Velocity in Position Units Sec Actual Velocity is the current instantaneously measured speed of an axis in the configured axis Position Units per second It is calculated as the current increment to the actual position per base update interval Actual Velocity is a signed value the sign or depends on which direction the axis is currently moving Actual Velocity is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on actual velocity is 1 feedback counts per base update This attribute applies only to an axis associ
266. ic servo tuning procedure in the Tuning tab of this dialog box the Pos I Gain value may also be set manually However it must be stressed that the Torque Scaling factor for the axis must be established for the drive system in the Output tab of this dialog box Once this is done the Pos I Gain can be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 025 0 001 Sec mSec Pos P Gain 2 Assuming a Pos P Gain value of 100 Sec 1 this results in a Pos I Gain value of 2 5 0 1 mSec 1 Sec 1 Proportional Velocity Gain This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects If you know the desired unity gain bandwidth of the velocity servo in Hertz you can use the following formula to calculate the corresponding P gain Vel P Gain Bandwidth Hertz 6 28 The typical value for the Velocity Proportional Gain is 250 mSec 1 Rockwell Automation Publication MOTION UM001D EN P November
267. iguration for interfacing to a torque loop servo drive If the External Drive Type attribute is set to hydraulic servo the object enables certain hydraulic servo application features In general selecting the hydraulic External Drive Type configures the servo loop the same as selecting the velocity servo External Drive Type Rockwell Automation Publication MOTION UM001D EN P November 2015 237 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Fault Configuration Bits AXIS_SERVO DINT GSV AXIS_SERVO_DRIVE SSV 238 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis Type Fault Configuration Bit AXIS_SERVO Soft Overtravel Checking 0 Reserved 1 Drive Fault Checking 2 Drive Fault Normally Closed 3 AXIS_SERVO_DRIVE Soft Overtravel Checking fo Hard Overtravel Checking 1 Reserved 2 Reserved E Drive Enable Input Fault Handling 4 Drive Enable Input Checking ls Change to rotary or Overtravel Checking requires Home range checks Soft Overtravel Checking Soft overtravel checking is only available for a linear axis Do you want a Positive Soft Overtravel Fault or Negative Soft Overtravel Fault to happen if the axis goes outside the configured travel limits e YES Set this bit e NO Clear this bit The Maximum Positive Travel and Maximum Negative Travel attributes set the travel limits This check supplements but does not replace hardware ov
268. imits can be used After the homing sequence is complete the axis is left in this position If the Positioning Mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning Mode is Rotary then the home position should be less than the unwind distance in position units Offset The desired offset if any in position units the axis is to move upon completion of the homing sequence to reach the home position In most cases this value is zero Sequence Select the event that causes the Home Position to be set See the Homing Configurations section for a detailed description of each combination of homing mode sequence and direction Sequence Type Description Immediate Sets the Actual Position to the Home Position Switch Sets the Actual Position to the Home Position when axis motion encounters a home limit switch Marker Sets the Actual Position to the Home Position when axis encounters an encoder marker Switch Marker Sets the Actual Position to the Home position when a marker is encountered after a home switch is encountered Limit Switch If a limit switch is used indicates the normal state of that switch that is before being engaged by the axis during the homing sequence e Normally Open e Normally Closed Direction For active homing sequences except for the Immediate Sequence type select the desired homing direction Description Forward Uni di
269. imum cycle time Number of Drives on the Ring Type of Drives Cycle Time Up to 2 Kinetix 2000 0 5 ms Kinetix 6000 Kinetix 6200 Kinetix 7000 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure SERCOS motion Chapter 1 Baud Rate of Drives Number of Drives on the Ring Type of Drives Cycle Time Tip The Ultra 3000 must be 1 or 2 ms SERCOS cycle time because the position loop update time minimum is 1 ms Kinetix 2000 0 5 ms Kinetix 6000 8 Mbps Up to 4 Kinetix 6200 Kinetix 7000 Up to 8 For more information about configuring the Kinetix 6200 and Kinetix 6500 servo drive systems see the Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drive User Manual publication 2094 UM002 6 Click OK More information For more detailed information on Electronic Keying see Electronic Keying in Logix5000 Control Systems Application Technique publication LOGIX AT001 Add a SERCOS interface Follow these instructions to add a SERCOS interface drive module to the I O configuration of the controller drive module Important For all modules use the firmware revision that goes with the firmware revision of your controller See the release notes for your controller s firmware 1 Inthe Controller Organizer right click SERCOS Network and choose New Module 1 0 Configuration Gd 1756 Backplane 1756 A7 ff 0 1756473 Motion_Control 5 4 1756 M08SE Motion_1 ERCOS Network
270. in the Fault Configuration Bits attribute If the Drive Enable Input Fault Action is set for Stop Command and the axis is stopped as a result of a Drive Enable Input Fault the faulted axis cannot be moved until the fault is cleared Any attempt to move the axis in the faulted state using a motion instruction results in an instruction error If the Drive Enable Fault Action setting is Status Only or Stop Command and an attempt is made to enable the axis typically via MSO or MAH instruction while the Drive Enable Input is active the axis enables in the faulted state indicating a Drive Enable Input Fault When the Drive Enable Fault Action setting is Stop Command instructions that enable the axis and initiate motion MAH MRAT MAHD abort the motion process leaving the instruction with the IP and PC bits clear This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Attempting to clear the fault while the drive enable input is still inactive and the drive is enabled does not work However the drive enable input fault may be cleared with the drive enable input inactive if the drive is disabled If the Drive Enable Input Checking bit is clear then the state of the Drive Enable Input is irrelevant So no fault would be declared in any of the above conditions Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3
271. inimum servo update period Scaling defines the relationship between the LDT unit of measure length field and the unit of measure defined at the Units tab This field is grayed out because it is active when Feedback Type is LDT Rockwell Automation Publication MOTION UM001D EN P November 2015 131 Appendix A Axis properties Item Description Absolute Feedback Offset Enter the amount of offset in position units to be added to the current position of the LDT The LDT is an absolute feedback device To establish a value for the Offset the MAH instruction can be executed with the Home Mode set to Absolute When executed the module computes the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the MAH instruction The actual position of the axis is re referenced during execution of the MAH instruction therefore the servo loop must not be active If the servo loop is active the MAH instruction generates an error When the Enable Absolute Feedback is disabled the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer A homing or redefine position operation is required to establish the absolute machine reference position The Absolute Home Mode is invalid Calculated Values Conversion Constant
272. ins tab AXIS SERVO Use the Gains tab to perform these offline functions for an axis of the type 7 AXIS_SERVO which is configured for Servo operations set on the General tab of this dialog box with Position Loop Configuration e Adjust gain values that are automatically set by the tuning process e Manually configure gains for the velocity and position loops 4D Axis Properties AXIS SERVO tatoes _General_ Motion Planner _ Unis Servo Feedback Conversion Homing Hookup Tune Dynamics Gais Output Lmts Ofset Fauit Actions Tag Position Gains Manual Adjust Proportional 0 0 Vs Integral 0 0 1 ms s Differential 0 0 Velocity Gains Feedforward Gains 08 Velocity 0 0 Acceleration 0 0 Integrator Hold Enabled The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop Click Manual Adjust to edit parameter settings Values with a blue arrow are sent to the controller Click Manual Adjust to modify values when online and the axis is enabled When online and the axis is enabled the gain boxes on this dialog box are dimmed The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Run mode or if a Feedback On condition exists When Logix Designer application is offline the following parameters
273. iod 34 Rockwell Automation Publication MOTION UM001D EN P November 2015 Guideline Number of Axes Save Controller s Time Base Update Period and SERCOS modules Base Update Period and Analog modules Configure SERCOS motion Chapter 1 Description 1756 L6x controller 4 axes ms 1756 L7x controller8 axes ms Leave at least half the controller s time for the scan of all your code If you have SERCOS interface motion modules set the Base Update Period to a multiple of the cycle time of the motion module Example If the cycle time is 2 ms set the Base Update Period to 8 ms 10 ms 12ms and so on If you have analog motion modules set the Base Update Period to e atleast 3 times the servo update period of the motion module e a multiple of the servo update period of the motion module 1 Inthe Controller Organizer double click the motion group 2 Click the Attribute tab C Motion cent Pea eae Thon G a Axis Assignment Attribute Tag Base Update Period Altemate 1 Update 2 0 ms Altemate 2 Update 2 0 General Fault Type Non Major Fault oz Scan Times elapsed time Max Last us us us Rockwell Automation Publication MOTION UM001D EN P November 2015 35 Chapter 1 Configure SERCOS motion 3 Inthe Base Update Period box choose the update period using the guidelines mentioned earlier The valid values range from 0 5 to 32 in 0 5 increments Ti
274. ion Chapter 2 2 On the Module Properties Report dialog box click the Associated Axes tab 3 Click New Axis to create an axis to associate with this module 4 On the New Tag dialog box type a name for the Axis and click Create Sequencing E Open AXIS_SERVO Configuration Open Parameter Connections he 5 Onthe Module Properties Report dialog box in the Channel 0 box choose the new axis to assign it to the module 6 Click the Browse button Rockwell Automation Publication MOTION UM001D EN P November 2015 49 Chapter 2 Configure analog motion 7 On the Axis Properties dialog box in the Module box choose the module to associate with the axis Gains Out Limits Offset Faut Actions Tag General _ Motion Planner Unts Servo Feedback Conversion Homing Hookup Tune he coarae Mon Goss 1756 M02AE 8 Click the Servo tab 9 Inthe External Drive Configuration box choose the drive configuration Extemal Drive Configuration Loop Configuration Velocty F Enable Drive Faut Input Drive Faut Input Normally Open Closed E Enable Direct Drive Ramp Control Drect Drive Ramp Rate Real Time Axis Information fae mse 2 Tip If you configure a torque drive then your drive must be able to be configured for torque Hydraulic can only be selected if it is a hydraulic module 10 Cli
275. ion Error Disable Drive gt A settings may require Programmatically stopping or Soft Overtravel Disable Drive disabling the axis to protect personne machine and property Refer to user manual for additional information When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using Logix Designer application and invoke the Axis Wizard or Axis Properties dialog box the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type e Shutdown Ifa fault action is set to Shutdown then when the associated fault occurs axis servo action is unavailable the servo amplifier output is zeroed and the drive enable output is deactivated Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly and completely as possible e Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs axis servo action is unavailable the servo amplifier output is zeroed and the drive enable
276. ion and Torque Offset Rockwell Automation Publication MOTION UM001D EN P November 2015 149 Appendix A Axis properties 150 e Reverse Uni directional Initiated in the reverse tuning direction only e Reverse Bi directional First initiated in the reverse tuning direction and then if successful is repeated in the forward direction Information returned by the Bi directional Tuning profile can be used to tune Backlash Compensation and Torque Offset Damping Factor Specifies the dynamic response of the servo axis The default is set to 0 8 When gains are tuned using a small damping factor a step response test performed on the axis may generate uncontrolled oscillation The gains generated using a larger damping factor would produce a system step response that has no overshoot and is stable but may be sluggish in response to changes The tuning procedure uses the Damping Factor that is set in this field However when the controller recalculates certain attributes in response to a Motor Catalog Number change on the Motor Feedback tab the controller uses the default Damping Factor value of 0 8 and not another value set in this field Tune Select the gains to be determined by the tuning test e Position Error Integrator Determines whether to calculate a value for the Position Integral Gain e Velocity Feedforward Determines whether to calculate a value for the Velocity Feedforward Gain e Velocity Error I
277. ion is configured with Decel Units units per sec2 field then the Maximum Deceleration is taken from the motion instruction faceplate Maximum Acceleration Jerk The jerk parameters only apply to S curve profile moves using the following instructions e MAJ e MAM e MAS e MCD The Maximum Acceleration Jerk rate of the axis in Position Units second3 defaults to 100 of the maximum acceleration time after tuning The speed and acceleration rate for this calculation are determined during S curve the tuning process MaxAccel Speed Maximum Acceleration Jerk Rockwell Automation Publication MOTION UM001D EN P November 2015 153 Appendix A 154 Axis properties The Maximum Accel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Single axis Motion Instruction has Jerk Units units per sec3 then the maximum acceleration jerk value is derived from the motion instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time This means that the entire S curve move will have Jerk limiting This is the default mode An S curve move with 0 of Time will result in a trapezoidal profile and have 0 Jerk limiting If set manually enter the value in units Position Units second3 units You can also use Calculate to view this value in terms of units of Time Maximum Deceleration Jerk The jerk parameters only apply to S curve pr
278. ion is established by the Start Control and Start Position parameters of the MAPC instruction This bit is cleared when the current position cam profile completes or is superseded by some other motion operation In unidirectional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction BOOL Tag Set if a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MAPC instruction with Pending execution selected This bit is cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is superseded by some other motion operation BOOL Tag Set if a Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation REAL GSV Position Command in Position Units Tag Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Position Command is the current value of the Fine Command Position into the position loop summing junction in configured axis Position Units Within the active servo loop the Position Command value is used to control the pos
279. ion of the MAR Motion Arm Registration instruction Cleared when a registration event occurs or an MDR Motion Disarm Registration instruction is executed for registration input 2 Set when a registration event occurs on registration input 2 Cleared when another MAR Motion Arm Registration instruction or an MDR Motion Disarm Registration instruction is executed for registration input 2 Registration 1 Position in Position Units The following attributes show which task is triggered when the registration event happens e An instance of 0 means that no event task is configured to be triggered by the registration event e The triggering of the task occurs simultaneously with the setting of the Process Complete bit for the instruction that armed the watch event e The controller sets these attributes Do not set them by an external device Rockwell Automation Publication MOTION UM001D EN P November 2015 269 Appendix B Motion axis attributes Attribute Registration 1 Position Registration 2 Position Registration 1 Time Registration 2 Time 270 faxisType faxisType Data Type AXIS_CONSUMED REAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED DINT AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Ca GSV GSV Tag Description Position Units Two registration position attributes are provided to independently store axis position associated with two registration input ev
280. ired homing direction Description Forward Uni The axis jogs in the positive axial direction until a homing event switch or marker is encountered then continues in the directional same direction until axis motion stops after decelerating or moving the Offset distance Forward Bi directional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Reverse Uni directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Reverse Bi directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Speed Type the speed of the jog profile used in the first leg of an active homing sequence The homing speed specified should be less than the maximum speed and greater than zero Torque Level The torque level with units continuous torque that the axis motor must reach to complete the Home to Torque sequence This feature is only available on the Kinetix family of drives Return Speed The speed of the jog profile used in the return leg s of an active homing sequence The home return speed specified
281. is attribute has a value range of 1000 to 0 TorqueThreshold This attribute displays the torque threshold If this limit is exceeded the TorqueThreshold bit of the DriveStatus attribute is set This attribute has a value range of 0 to 1000 Use the Offset tab to make offline adjustments to the following Servo Output values for an axis of the type AXIS_SERVO configured as a Servo drive in the General tab of this dialog box e Backlash Compensation e Velocity Offset e Torque Offset e Output Offset Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Kat yere 1 Axis Properties AXIS SERVO bo bades General _ Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gans Output Limits Offset Faut Actions Tag Friction Deadband Compensation Manual Adjust Friction Compensation 0 0 Manual Adjust Window 0 0 Position Units Backlash Compensation Velocity Offset 0 0 Position Units s Output Offset 0 0 Volts The parameters on this tab can be edited in the following ways e Edit on this tab by typing your parameter changes and then click OK to save your edits e Edit in the Manual Adjust dialog box Click Manual Adjust to open the Manual Adjust dialog box to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The
282. is dialog box the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system in the Output tab Once this is done the Vel I Gain can be computed based on the current or computed value for the Vel P Gain using the following formula Vel I Gain 0 25 0 001 Sec mSec Vel P Gain 2 The typical value for the Velocity Proportional Gain is 15 mSec 2 Integrator Hold If the Integrator Hold parameter is set to e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion e Disabled all active position or velocity integrators are enabled Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Manual Adjust Opens the Gains tab of the Manual Adjust dialog box for online editing Manual Adjust AXIS SERVO Dynamics Gains Output Limits Offset L Position Gains Rese e Proportional 0 0 lels Integral 0 0 gt 1 mss Differential 0 0 Se Velocity Gains Feedforward Gains 0 0 e Velocity 0 0 Slez aje Acceleration 0 0 Set Manual Adjust is unavailable when Logix Designer application is in Wizard mode and when you have not yet saved or applied your offline edits to the parameters Set custom gain
283. is not affected Tune Torque Offset This tuning configuration is only valid if configured for bidirectional tuning If this bit is e ON The tuning procedure calculates the Torque Offset OFF The Torque Offset is not affected Position Units Seconds The Tuning Speed attribute sets the maximum speed of the tuning procedure This attribute should be set to the desired maximum operating speed of the motor before you run the tuning procedure The tuning procedure measures maximum acceleration and deceleration rates based on ramps to and from the Tuning Speed Thus the accuracy of the measured acceleration and deceleration capability is reduced by tuning at a speed other than the desired operating speed of the system The Tuning Torque attribute determines the maximum torque of the tuning procedure This attribute should be set to the desired maximum safe torque level before you run the tuning procedure The default value is 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Note that the extrapolation error increases as the Tuning Torque value decreases Position Units
284. is set This attribute has a value range of 0 to 2 14748x1012 VelocityStandstillWindow This attribute displays the velocity limit for the standstill window If the motor velocity is less than this limit VelocityStandStillStatus of the DriveStatus bit is set This attribute has a value range of 0 to 2 14748x1012 Rockwell Automation Publication MOTION UM001D EN P November 2015 179 Appendix A Axis properties Offset tab AXIS_SERVO 180 Attribute Description AccelerationLimitPositive This attribute limits the maximum acceleration ability of the drive to the programmed value If the command acceleration exceeds this value AccelLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x1015 AccelerationLimitNegative This attribute limits the maximum acceleration ability of the drive to the programmed value If the command acceleration exceeds this value the AccelLimitStatus bit of the DriveStatus attribute is set This attribute has a value range of 2 14748x1015 to 0 TorqueLimitPositive This attribute displays the maximum torque in the positive direction If the torque limit is exceeded the TorqueLimitStatus bit of the DriveStatus attribute is set This attribute has a value range of 0 to 1000 TorqueLimitNegative This attribute displays the maximum torque in the negative direction If the torque limit is exceeded the TorqueLimitStatus bit of the DriveStatus attribute is set Th
285. it Status AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the axis torque command is greater than the configured Torque Limit Rockwell Automation Publication MOTION UM001D EN P November 2015 281 Appendix B Motion axis attributes Attribute Axis Type Torque Offset AXIS_ SERVO AXIS_SERVO_DRIVE Torque Polarity AXIS_SERVO_DRIVE Torque Scaling AXIS_ SERVO AXIS_SERVO_DRIVE Torque Threshold AXIS_SERVO_DRIVE Torque Threshold AXIS_SERVO_DRIVE Status Transform State Status AXIS_ CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Tune Acceleration AXIS_ SERVO AXIS_SERVO_DRIVE Data Type REAL REAL REAL BOOL BOOL REAL GSV SSV Tag GSV GSV SSV GSV SSV Tag Tag GSV Description Torque Offset from 100 to 100 Torque Offset compensation can be used to provide a dynamic torque command correction to the output of the velocity servo loop Since this value is updated synchronously every Base Update Period the Torque Offset can be tied into custom outer control loop algorithms using Function Block programming G10 Configuration It maps directly to the SERCOS IDN It is automatically set based on the current Drive Polarity Settings All command bits are set according to the Command polarity bit value and all feedback bits are set according to the Feedback Polarity bit setting Position Units Per Second This controller attribute is replicated in the motio
286. ition Gain The Integral that is summation of Position Error is multiplied by the Position Loop Integral Gain or Pos I Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automatic servo tuning procedure in the Tuning tab of this dialog box the Pos I Gain value may also be set manually However it must be stressed that the Output Scaling factor for the axis must be established for the drive system Once this is done the Pos I Gain can be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 025 0 001 Sec mSec Pos P Gain 2 Assuming a Pos P Gain value of 100 Sec 1 this results in a Pos I Gain value of 2 5 0 1 mSec 1 Sec 1 Rockwell Automation Publication MOTION UM001D EN P Nove
287. ition Unit Scaling ji Position Units per 10 Aux Rev Position Range 1 0 Position Units Calculate Parameters Calculate Drive Resolution Drive Counts Aux Rev Conversion Constant Drive Counts Position Units Position Unit Scaling Position Unit Scaling defines the relationship between the Position Units defined on the Units tab and the units selected to measure position Per The units used for Position Unit Scaling The options are Motor Inch Motor Millimeter or Motor Rev Position Range Maximum travel limit that your system can go 134 Rockwell Automation Publication MOTION UM001D EN P November 2015 Item Position Unit Unwind Calculate Parameters Calculate Drive Resolution Conversion Constant Axis properties Appendix A Description For Rotary applications the Position Unit Unwind field appears Enter the value for the maximum number of unwinds in position units per unwind cycle The Calculate Parameters shows the values that are to be calculated based upon the values entered for the Position Unit Scaling and Position Range Opens a dialog box that lets you calculate the Drive Resolution and Conversion Constant based upon your input for Position Unit Scaling and Position Range for Linear Positioning mode If you are in Rotary Positioning Mode then it calculates the Drive Resolution Conversion Constant and Position Unwind based upon your inputs for Position Unit Scaling and Position Unit Unwind Recalcu
288. ition of the axis This attribute is derived from the Drive Units attribute See IDN 76 in IEC 1491 This attribute is derived from the Drive Units attribute See IDN 78 in IEC 1491 This attribute is derived from the Drive Units attribute See IDN 77 in IEC 1491 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Position Differential Gain Position Error Position Error Fault Position Error Fault Action Position Error Tolerance AXIS_ SERVO Axis Type Data Type AXIS_SERVO REAL AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE REAL BOOL SINT REAL GSV SSV GSV Tag Tag GSV SSV GSV SSV Description In some External Velocity Servo Drive applications where the level of damping provided by the external drive is insufficient for good position servo loop performance additional damping may be achieved via the Position Loop Differential Gain Assuming a non zero Position Loop Differential Gain value the difference between the current Position Error value and the last Position Error value is computed This value is then multiplied by the Position Loop Differential Gain to produce a component to the Servo Output or Velocity Command that attempts to correct for the change in position error creating a damping effect Increasing this gain value results in greater
289. itionErrorFaultAction PositionErrorTolerance PositionIntegralGain PositionProportionalGain PositionUnwind SoftOvertravelFaultAction TorqueScaling VelocityFeedforwardGain VelocityIntegralGain VelocityProportionalGain VelocityScaling Data Type Access Description GSV Important Use this attribute only for an axis of a 1756 HYD02 or 1756 M02AS module SSV This attribute controls whether the servo module uses the absolute position capability of the SINT powerup feedback device If Absolute Feedback Enable is set to True the servo module adds the Absolute Feedback Offset to the current position of the feedback device to establish the absolute machine reference position Since absolute feedback devices retain their position reference even through a power cycle the machine reference system can be restored at To establish a suitable value for the Absolute Feedback Offset attribute the MAH instruction may be executed with the Home Mode configured for Absolute the only option when Absolute Feedback Enable is True When executed the servo module computes the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the MAH instruction Because the actual position of the axis is re referenced during execution of the MAH instruction the servo loop must not be
290. ity AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Real Time Axis Tag Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 The present utilization of drive capacity as a percent of rated capacity Drive Control Voltage AXIS_SERVO_DRIVE BOOL Tag Set when the power supply voltages associated with the drive circuitry fall outside of Fault acceptable limits Drive Cooling Fault AXIS_SERVO_DRIVE BOOL Tag Set when the ambient temperature surrounding the drive s control circuitry temperature exceeds the drive ambient shut down temperature Rockwell Automation Publication MOTION UM001D EN P November 2015 225 Appendix B Motion axis attributes Attribute Drive Enable Input Fault Drive Enable Input Fault Action Drive Enable Status Drive Fault 226 Axis Type Data Type AXIS_SERVO_DRIVE BOOL Tag SINT GSV SSV AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL BOOL Tag AXIS_SERVO BOOL Tag Description This fault would be declared if one of two possible conditions occur 1 If an attempt is made to enable the axis typically via MSO or MAH instruction while the Drive Enable Input is inactive 2 If the Drive Enable Input transitions from active to inactive while the axis is enabled This fault can only occur when the Drive Enable Input Fault Handling bit is set
291. ive Stop Motion and Status Only Feedback Noise Specifies the fault action to be taken when excessive feedback noise is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Feedback Specifies the fault action to be taken when Feedback Fault is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Position Error Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo in the General tab of this dialog box The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Hard Overtravel Specifies the fault action to be taken when an axis encounters a travel limit switch for an axis configured as Servo in the General tab of this dialog box The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Soft Overtravel Specifies the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured in the Limits tab of this dialog box that is configured as Servo in the General tab of this dialog box The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Phase Loss Specifie
292. izing the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The Velocity Scaling value is typically established by the servo s automatic tuning procedure but these values can be calculated if necessary using the following guidelines If the axis is configured for a velocity external drive in the Servo tab of this dialog box the software velocity loop in the servo module is disabled In this case the Velocity Scaling value can be calculated by the following formula Velocity Scaling 100 Speed 100 For example if this axis is using position units of motor revolutions revs and the drive is scaled such that with an input of 100 for example 10 Volts the motor goes 5 000 RPM or 83 3 RPS the Velocity Scaling attribute value would be calculated as Velocity Scaling 100 83 3 RPS 1 2 Revs Per Second Torque Force Scaling The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can be manually ca
293. ks You can also visit our Support Center at https rockwellautomation custhelp com for software updates support chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple support programs for installation configuration and troubleshooting For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com services online phone Installation assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator available at http www rockwellautomation com locations or contact your local Rockwell Automation representative New product satisfaction return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation repre
294. kwell Automation Publication MOTION UM001D EN P November 2015 193 Appendix A Axis properties Attribute Description StoppingTimeLimit This attribute displays the maximum amount of time that the drive amplifier remains enabled while trying to stop It is useful for very slow velocity rate change settings This attribute has a value range of 0 6553 5 units When servo axis is disabled and the drive decelerates to a minimum speed the drive maintains torque until this time has elapsed This time allows the motor s brake to be set This attribute has a value range of 0 6 5535 BrakeEngageDelayTime When the servo axis is enabled the drive activates the torque to the motor but ignores the command values from the Logix controller until this time has elapsed This time allows the motor s brake to release This attribute has a value of 0 6 5535 BrakeReleaseDelayTime ResistiveBrakeContactDelay The Resistive Brake Contact Delay attribute is used to control an optional external Resistive Brake Module RBM The RBM sits between the drive and the motor and uses an internal contactor to switch the motor between the drive and a resisted load 194 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Tag tab Use this tab to modify the name and description of the axis When you are online all parameters on this tab transition to a read only state and cannot be modified
295. l operation the differential signals are at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Rockwell Automation Publication MOTION UM001D EN P November 2015 239 Appendix B Motion axis attributes Attribute AxisType DataType Access Description Feedback Fault Action AXIS_SERVO SINT GSV Axis Type Fault Configuration Bit i ii a AXIS_SERVO Soft Overtravel Checking 0 Reserved E Drive Fault Checking 12 Drive Fault Normally Closed 3 AXIS_SERVO_DRIVE Soft Overtravel Checking lo Hard Overtravel Checking 1 Reserved 2 Reserved 3 Drive Enable Input Fault Handling 4 Drive Enable Input Checking 5 Feedback Noise Fault AXIS_SERVO BOOL This controller attribute is also replicated in the motion module Set when there is noise on the feedback device s signal lines For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback noise Feedback noise shown below is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedb
296. l publication 2094 UM001 Kinteix 6200 and Kinetix 6500 Safe Speed Monitoring Multi axis Servo Drives Safety Reference Manual publication 2094 RM001 Kinetix 6200 and Kinetix 6500 Safe Torque off Multi axis Servo Drives Safety Reference Manual publication 2094 RM002 8720MC High Performance Drives Installation manual publication 8720MC IN001 8720MC High Performance Drives Integration manual publication 8720MC IN002 Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Product Certifications site Rockwell Automation Publication MOTION UM001D EN P November 2015 Preface Description Describes the necessary tasks to install configure program and operate a CompactLogix system Provides installation instructions for the Analog Encoder AE Servo Module catalog number 1756 MO2AE Provides installation instructions for the ControlLogix SERCOS interface modules catalog number 1756 M03SE 1756 MO08SE 1756 M16SE 1756 MO8SEG Provides installation instructions for the CompactLogix SERCOS interface Module catalog number 1768 M04SE Provides the mounting wiring and connecting procedures for the Ultra3000 drives and standard Rockwell Automation Allen Bradley motors recommended for use with the Ultra3000 drives Provides powerup procedures system integration and troubleshooting tables for the Ultra3000 digital servo drives Provides de
297. l Position in Position Units Whenever a new motion planner instruction starts for an axis for example using an MAM instruction the value of the axis command position and actual position is stored at the precise instant the motion begins These values are stored as the Start Command Position and Start Actual Position respectively in the configured Position Units of the axis Start Positions are useful to correct for any motion occurring between the detection of an event and the action initiated by the event For instance in coil winding applications Start Command Positions can be used in an expression to compensate for overshooting the end of the bobbin before the gearing direction is reversed If you know the position of the coil when the gearing direction was supposed to change and the position at which it actually changed the Start Command Position you can calculate the amount of overshoot and use it to correct the position of the wire guide relative to the bobbin Start Command Position in Position Units Whenever a new motion planner instruction starts for an axis for example using an MAM instruction the value of the axis command position and actual position is stored at the precise instant the motion begins These values are stored as the Start Command Position and Start Actual Position respectively in the configured Position Units of the axis Start Positions are useful to correct for any motion occurring between the detection of
298. lates the resolution based upon the new values entered on this dialog box Recalculates the Conversion Constant based upon the new values entered on this dialog box When you edit the setting for the Conversion Constant or the Drive Resolution and then click OK or Apply you must choose whether to also recalculate the settings for these dependent attributes The following attributes are recalculated On the Dynamics tab e Maximum Velocity e Maximum Acceleration e Maximum Deceleration On the Limits tab e Position Error Tolerance On the Custom Drive Scaling Attributes dialog box e Torque Data Scaling On the Custom Limit Attributes dialog box e Velocity Limit Bipolar e Velocity Limit Positive e Velocity Limit Negative e Acceleration Limit Bipolar e Acceleration Limit Positive e Acceleration Limit Negative When the Conversion tab has Rotary as the value for Position Mode clicking Calculate displays the following dialog box Calculate Position Parameters Position Unit Scaling Position Units per 10 Aux Rev Position Unit Unwind 1 0 Position Units per 10 Unwind Cycle Calculate Parameters Calculate Drive Resolution Drive Counts Aux Rev Conversion Constant Drive Counts Position Units Position Unwind Drive Counts Unwind Cycle Rockwell Automation Publication MOTION UM001D EN P November 2015 135 Appendix A Axis properties Item Description Drive Motor Tab Dive Resolution Type the number of counts per
299. lculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as follows Torque Scaling 100 Rated 3000 RPS2 0 0333 Rated Revs Per Second2 If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also do not reflect the true performance of the system Rockwell Automation Publication MOTION UM001D EN P November 2015 167 Appendix A Axis properties 168 Direction Scaling Ratio The ratio between the extend direction gain and the retract direction gain Tip This field is disabled for the 1756 M02AE module Enable Low Pass Output Filter Select this to enable the servo s low pass digital output filter Clear this to disable this filter During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Low pass Output Filter Bandwidth When Enable Low pass Output Filter is selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the serv
300. ld Rockwell Automation Publication MOTION UM001D EN P November 2015 139 Appendix A Axis properties Homing tab AXIS SERVO Use the Homing tab to configure the attributes related to homing an axis of the type AXIS_SERVO 1 Axis Properties AXIS SERVO_DRIVE i General Motion Planner J Unts i Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Faut Actions Tag w Position 0 0 Position Units Offset 0 0 Position Units Sequence Switch i X Limit Switch Normally Open Closed Active Home Sequence Group Direction Forward Bi direction onal M Speed 0 0 Position Units s Retum Speed 0 0 Position Units s Item Description Mode Select the homing mode Active e Active mode enables the axis at the beginning of the home process e Active homing sequences use the trapezoidal velocity profile For LDT and SSI feedback selections the only valid Home Sequences for Homing Mode are immediate or switch as no physical marker exists for the LDT or SSI feedback devices e For SSI the selections for Home Sequence are based on if Enable Absolute Feedback is checked Passive e The homing redefines the absolute position of the axis on the occurrence of a home switch or encoder marker event e Passive homing is most commonly used to calibrate uncontrolled axes although it can also be used with controlled axes to crea
301. ld be initiated by executing an MAOC instruction with Pending execution selected As soon as this output cam is armed being triggered when the currently executing Output Cam completes the Output Cam Pending bit is cleared This bit is also cleared if the Output Cam is terminated by an MDOC instruction A set of bits that are set when the Output Cam is initiated The bit number corresponds with the execution target number One bit per execution target The Output Cam Status bit is set when an Output Cam is initiated The Output Cam Status bit is reset when the cam position moves beyond the cam start or cam end position in Once execution mode with no Output Cam pending or when the Output Cam is terminated by an MDOC instruction A set of bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target The Output Cam Transition Status bit is set when a transition between the currently armed and the pending Output Cam is in process Therefore each Output Cam controls a subset of Output Bits The Output Cam Transition Status bit is reset when the transition to the pending Output Cam is complete or when the Output Cam is terminated by an MDOC instruction Rockwell Automation Publication MOTION UM001D EN P November 2015 259 Appendix B Attribute Output Limit Motion axis attributes Axis Type Da
302. lution To avoid accumulated error due to round off with irrational conversion constants the unwind value is requested in units feedback counts per axis revolution and must be an integer For example suppose that a given axis is configured as a Rotary Axis with Position Units of Degrees and 10 feedback counts per degree It is desired to unwind the axis position after every revolution In this case the Position Unwind attribute should be set to 3600 since there are 3600 feedback counts 10 360 per revolution of the axis Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The currently operative maximum positive torque current limit magnitude The value should be the lowest value of all torque current limits in the drive at a given time This limit includes the amplifier peak limit motor peak limit user current limit amplifier thermal limit and the motor thermal limit Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 The present utilization of the axis power supply as a percent of rated capacity Rockwell Automation Publication MOTION UM001D EN P November 2015 267 Appendix B Attribute Power Limit Status Motion axis att
303. ly be used by a user to determine if this was the offending axis that is if the instance number matches Bits 0 Abort Process Acknowledge 1 Shutdown Acknowledge 2 Zero DAC Acknowledge 3 Abort Home Acknowledge 4 Abort Event Acknowledge 5 14 Reserved 15 Change Pos Reference Abort Process Acknowledge If this bit is set the tuning or test process was aborted Shutdown Acknowledge If this bit is set the axis was forced into the shutdown state Zero DAC Acknowledge Only for AXIS_SERVO Data Type If this bit is set the DAC output for the axis was set to zero volts Abort Home Acknowledge If this bit is set the active home procedure was aborted Abort Event Acknowledge If this bit is set the active registration or watch position event procedure was aborted Change Pos Reference If this bit is set the Servo loop switched to a new position coordinate system The controller uses this bit when processing new position data from the servo module or drive to account for the offset implied by the shift in the reference point The bit is cleared when the controller acknowledges completion of the reference position change by clearing its Change Cmd Reference bit Operating state of the axis 0 Axis Ready 1 Direct Drive Control 2 Servo Control 3 Axis Faulted 4 Axis Shutdown 5 Axis Inhibited 6 Axis Ungrouped 7 No Module 8 Configuring Rockwell Automation Publication MOTION UM001D EN P
304. ly configured along with the Feedback Polarity Negative bit it insures that when the axis servo loop is closed that it is closed as a negative feedback system and not an unstable positive feedback system This bit can be configured automatically using the MRHD and MAHD motion instructions Rockwell Automation Publication MOTION UM001D EN P November 2015 275 Appendix B Motion axis attributes Description Attribute Axis Type Data Type Servo Status Bits AXIS_SERVO DINT GSsv Allows access to the status bits for your servo loop in one 32 bit word This attribute is the same as the Servo Status tag Servo Status Bit Servo Action Status 0 Drive Enable Status Shutdown Status Process Status Output Limit Status Position Lock Status Home Input Status Reg 1 Input Status Reg 2 Input Status 8 Resevered 9 Resevered 10 Drive Fault Input Status 11 Shutdown Status AXIS_CONSUMED BOOL If this bit is AXIS_GENERIC e ON The axis is in the Shutdown state AXIS_SERVO Allows access to the status bits for your servo loop in one 32 bit word This tag is the same as the Servo Status Bits attribute Servo Status Servo Action Status Drive Enable Status Shutdown Status Process Status Output Limit Status Position Lock Status Home Input Status Reg 1 Input Status Reg 2 Input Status Resevered Resevered Drive Fault Input Status 11 clg Se SY eT a ee e jvj aj wl we e OFF The axis is not in the Shutdown
305. ma nnn iniaa eR A ai 320 Rockwell Automation Publication MOTION UM001D EN P November 2015 Studio 5000 environment What you need Preface This manual is a redesigned manual from publication LOGIX UMO002 A companion manual is available which is Coordinate System User Manual publication MOTION UMO002 This manual is designed to give you the quickest and easiest approach to a SERCOS or Analog control solution If you have any comments or suggestions please see Documentation Feedback on the back cover of this manual The Studio 5000 Automation Engineering amp Design Environment combines engineering and design elements into a common environment The first element is the Studio 5000 Logix Designer application The Logix Designer application is the rebranding of RSLogix 5000 software and will continue to be the product to program Logix5000 controllers for discrete process batch motion safety and drive based solutions Rockwell Software Studio 5000 Create Open xplore New Project Existing Project Help rom Import Sample Project Release Notes Sample Project From Upload About Recent Projects B Pio_Destinstion2L75 A AppFrame_TestwareL75 sampleOnEventStopc The Studio 5000 environment is the foundation for the future of Rockwell Automation engineering design tools and capabilities The Studio 5000 environment is the one place for design engineers to develop all elements of their
306. mand Velocity Offset and Torque Offset The controller updates these values at the base update period of the motion group The Position Command value is derived directly from the output of the motion planner whereas the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes 312 Rockwell Automation Publication MOTION UM001D EN P November 2015 Servo loop block diagrams Appendix D Position servo with velocity servo drive The following image illustrates position servo with velocity servo drive Torque l Offset e Acc gt ddt gt FF Velocity Sain l Offset Output e Offset Output amp oH Filter Friction Servo o gt wat b F BW Comp Polarity l Gain Position Command Velocity l Coarse Position Command Velocity 7 Enor Enor cys low R Torque Fine Pos P Vel P Output Output 16Bit o gt intepolawr o gt gt Gain P Gain Pass Scaling gt limit gt Dac a Seno Position x Command Velocity Sivo Feedback Output Level i Eror Eror Position Accum gt el Accum gt Ye i Feedback ulator are ulator an Position Velocity Int
307. mber 2015 157 Appendix A Axis properties 158 Differential Position Differential Gain helps predict a large overshoot before it happens and attempts to correct it before the overshoot actually occurs Proportional Velocity Gain Velocity Error is multiplied by the Velocity Proportional Gain to provide a component to the Servo Output or Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects If you know the desired unity gain bandwidth of the velocity servo in Hertz you can use the following formula to calculate the corresponding P gain Velocity P Gain Bandwidth Hertz 6 28 The typical value for the Velocity Proportional Gain is 250 Integral Velocity Gain This parameter is enabled for all loop types except Torque loop At every servo update the current Velocity Error is accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Servo Output or Torque Command that attempts to correct for the velocity error The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control i
308. mber 2015 55 Chapter 2 56 Configure analog motion Set the Base Update Period The Base Update Period also known as the Coarse Update Period is how often the motion planner runs The motion planner is the part of the controller that handles position and velocity information for the axes When the motion planner runs it interrupts most other tasks regardless of their priority Example If the Base Update Period is set to 10 ms then every 10 ms the controller stops scanning the code and performing other system overhead tasks and runs the motion planner Motion Planer ans of Your Code System Overhead aud so on Oms 10 ms 20m Om 4 om Use the following guidelines to set the Base Update Period Guideline Description 1756 L6x controller 4 axes ms 1756 L7x controller8 axes ms Number of Axes Leave at least half the controller s time for the scan of all your code Save Controller s Time Base Update Period and SERCOS modules If you have SERCOS interface motion modules set the Base Update Period to a multiple of the cycle time of the motion module Example If the cycle time is 2 ms set the Base Update Period to 8 ms 10 ms 12ms and so on Base Update Period and Analog modules If you have analog motion modules set the Base Update Period to e atleast 3 times the servo update period of the motion module e a multiple of the servo update period of the motion module 1 Inthe Controller Organi
309. me limit switch Uncertainty 0 1 in s x 0 01 s 0 001 in The mechanical uncertainty of the home limit switch also affects the homing accuracy Rockwell Automation Publication MOTION UM001D EN P November 2015 Home an axis Chapter 5 Sequence Description The marker homing sequence is useful for single turn rotary and linear encoder applications because these applications have only one encoder marker for full axis travel Active Bidirectional Home with Marker Active home to marker in forward bidirectional Homing Velocity Axis Position Axis Velocity Return Velocity L Encoder Marker Detected 2 Home Position The following steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker and decelerates to a stop 2 The axis moves back to the marker or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis it moves along the shortest path to the Home Position that is no more than revolution The accuracy of this homing sequence depends on the homing speed and the delay to detect the marker transition Uncertainty Home Speed x delay to detect the marker Example Suppose your Home Speed is 1 in s and it takes 1 us to detect the marker Uncertainty 1 In s x 0 000001 s 0 000001 in Rockwell Automation Publication MOTION UM001D EN P November 2015 115 Chapter 5 Home an axis Sequence Active home to swi
310. ming an axis of the type AXIS_SERVO_DRIVE AXIS_SERVO_ DRIVE Axis Properties AXIS SERVO Sco Dynamics Gans Oupa Lms Ofset Faut Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune w al Position 0 0 Position Units Offset 0 0 Position Units Sequence Switch o Limit Switch Normally Open Closed Active Home Sequence Group Speed 0 0 Position Units s Retum Speed 0 0 Position Units s Item Description Mode Select the homing mode Active e Active enables the axis at the beginning of the home process e The desired homing sequence is selected by specifying whether a home limit switch and or the encoder marker is used for this axis e Active homing sequences use the trapezoidal velocity profile For LDT and SSI feedback selections the only valid Home Sequences for Homing Mode are immediate or switch as no physical marker exists for the LDT or SSI feedback devices 142 Rockwell Automation Publication MOTION UM001D EN P November 2015 Item Sequence Description Passive Passive Absolute Axis properties Appendix A e In this mode homing redefines the absolute position of the axis on the occurrence of a home switch or encoder marker event e Passive homing is most commonly used to calibrate uncontrolled axes although it can also be used with controlled axes to create a custom homing sequence e Passive homing for a given home sequence works
311. miting is shown below Without Servo Output Limiting With Servo Output Limiting Servo Amplifier Output Position Error The torque limit specifies the maximum percentage of the motors rated current that the drive can command as positive or negative torque For example a torque limit of 150 shall limit the current delivered to the motor to 1 5 times the continuous current rating of the motor Torque Limit Negative AXIS_SERVO_DRIVE REAL GSV Rated SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it REAL GSV Rated SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually do not need to change it Torque Limit Positive AXIS_SERVO_DRIVE Torque Limit Source AXIS_SERVO_DRIVE DINT GSV Important To use this attribute choose it as one of the attributes for Real Time Axis Tag Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 This parameter displays the present source if any of any torque limiting for the axis 0 Not Limited 1 Neg Torque Limit 2 Pos Torque Limit 3 Amp Peak Limit 4 Amp I t Limit 5 Bus Regulator Limit 6 Bipolar Torque Limit 7 Motor Peak Limit 8 Motor I t Limit 9 Voltage Limit Torque Lim
312. motor revolution This value applies to all position data Valid values range from 1 to 2432 1 One Least Significant Bit LSB for position data equals 360 RotationalPositionResolution Note that the Drive Resolution is also referred to as Rotational Position Resolution When you save an edited Conversion Constant or a Drive Resolution value a message box opens asking you if you want the controller to automatically recalculate certain attribute settings See Conversion Constant on page 199 for a list of these attributes Drive Resolution is especially helpful for fractional unwind applications or multi turn applications requiring cyclic compensation You can modify the Drive Resolution value so that dividing it by the Unwind Value yields a whole integer value The higher the Drive Resolution setting the finer the resolution Drive Counts per Choose the units you want to use for this drive Choose from Motor Inch Motor Millimeter and Motor Rev default Drive Enable Input Checking Check this box to enable Drive Enable Input Checking When this box is checked the drive regularly monitors the state of the Drive Enable Input This dedicated input enables the drive s power structure and servo loop If cleared no such checking of the Drive Enable Input occurs Drive Enable Input Fault Check this box to activate the Drive Enable Input Fault When active a fault detected on the external drive notifies the motion module via Drive Fault Input
313. mum Deceleration rate without disabling the drive 66 Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 If you want to Then choose Description Write your own application code to Status Only Use this fault action only when the standard fault actions are not appropriate With this fault action you must handle the fault write code to handle the motion faults For Stop Motion or Status Only the drive must stay enabled for the controller to continue to control the axis Selecting Status Only only lets motion continue if the drive itself is still enabled and tracking the command reference Set the fault action for an Use the following steps to set the fault actions for an axis axis 1 Inthe Controller Organizer double click an axis 2 Click the Fault Actions tab We ae XP tis Properties Axis 1 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output_ Limts Offset Fault Actions Tag Tso Jes T Set Custom Stop Action Drive Thermal Disable Drive m Motor Thermal Disable Drive m DANGER Modifying Fault Action Feedback Noise Disable Drive settings may require programmatically stopping or Feedback Disable Drive x disabling the axis to protect 4 personnel machine and property Position Error Disable Drive Refer to user manual for addtional informati
314. mum bandwidth that can be achieved for the velocity loop based on the dynamics of the inner torque loop of the system and the desired damping of the system Z These limitations may be expressed as follows Bandwidth Velocity 0 25 1 2 Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz Based on this number the corresponding gains for the loop can be computed Note that the bandwidth of the torque loop includes feedback sampling delay and filter time constant Position Units Per Second This controller attribute is replicated in the motion module The Velocity Scaling attribute is used to convert the output of the servo loop into equivalent voltage to an external velocity servo drive This normalizes the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The Velocity Scaling value is typically established by servo s automatic tuning procedure but these values can be calculated if necessary using the following guidelines If the axis is using a velocity servo drive the software velocity loop in the servo module is disabled In this case the Velocity Scaling value can be calculated by the following formula Velocity Scaling 100 Speed 100 For example if this axis is using position units of moto
315. n from the 1 0 configuration folder in Logix Designer application for e Kinetix 6000 Advanced Safety Drive S1 e Kinetix 6000 Enhanced Safe Torque Off Drive S0 1 0 Configuration 1756 Backplane 1756 410 fa 0 1756 L63 InterimAdvancedSafetyPFSD f 3 1756 M165E M16 Bs SERCOS Network as 13 2094 SE02F M00 51 2094 4C09 M02 M MySafetyDrive amp 14 2094 SE02F M00 50 2094 4M01 M MySafeOffDrive Node Displays the base node of the associated SERCOS drive This is unavailable when the axis is not associated with any drive 122 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Node with a Kinetix 6000 drive If you use the auxiliary feedback port of a Kinetix 6000 drive as a feedback only axis the drive must have firmware revision 1 80 or later e Axis Properties My_Feedback_Axis Conversion Homing Hookup FaultActions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Feedback Ony v Motion Group My_Motion_Group E E f Associated Module Module My_Kinetix_6000_Drive_1 x Module Type 2094 AC09 M02 Node 129 Auxiliary he Module Properties My_SERCOS_Ring 2094 AC09 M02 1 1 TS Controller My Controller General Connection Associated Axes Power Tasks x Identification Status Motion Groups Vendor Allen Bradley Major Fault Ml Product Type RA Miscell
316. n instruction only once Unintended operation of the control variables may happen if you re use the same motion control tag in other instructions 94 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 Example Motion control program This is an example of ladder logic that homes jogs and moves an axis If Initialize_ Pushbutton on and the axis off My_Axis_X ServoActionStatus off then The MSO instruction turns on the axis Initialize_Pushbutton My _Axis_ ServoaActionStatus E _ __ MSO Motion Servo On Axis My_Axis x E Motion Control My_Axis_x_0n If Home_Pushbutton on and the axis has not been homed My_Axis_X AxisHomedStatus off then The MAH instruction homes the axis Home_Pushbutton My Axis_x AxisHomedStatus E _ _ __ MAH Motion Axis Home Axis My Axis x E Motion Control My Axis Home If Jog_ Pushbutton on and the axis on My_Axis_X ServoActionStatus on then The MAJ instruction jogs the axis forward at 8 units s Jog Pushbutton My Axis x Servo ctionStatus Motion Axis Jog Axis My_Axis_X E Motion Control My Axis Jog Direction My Axis Jog Direction pe Speed My Axis _SetUp ManuallogSpeed 8 06 Speed Units Units per sec If Jog_Pushbutton off then The MAS instruction stops the axis at 100 units s Make sure that Change Decel is Yes Otherwise the axis decelerates at its maximum speed Jo
317. n Error Normal System Position Error Fault Operation Fault 10 05 00 05 1 0 Position Error The self tuning routine sets the position error tolerance to twice the following error at maximum speed based on the measured response of the axis In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed This controller attribute is replicated in the motion module Rockwell Automation Publication MOTION UM001D EN P November 2015 263 Appendix B Motion axis attributes Attribute Axis Type Data Type ie Description Position Feedback AXIS_ SERVO AXIS_SERVO_DRIVE Position Integral Gain AXIS_SERVO AXIS_SERVO_DRIVE Position Integrator AXIS_ SERVO Error AXIS_SERVO_DRIVE Position Lock Status AXIS_ SERVO AXIS_SERVO_DRIVE 264 REAL REAL REAL BOOL Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Position Feedback in Position Units Position Feedback is the current value of the Fine Actual Position into the position loop summing junction in configured axis Position Units Within the servo loop the Po
318. n by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not contribute much to the Servo Output and the Position and or Velocity Error values are significantly reduced Therefore when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward is 100 theoretically In reality however you may need to update the value to accommodate velocity loops with non infinite loop gain and other application considerations Proportional Position Gain Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability To set the gain manually you must first set the Torque scaling in the Output tab of this dialog box If
319. n module The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This normalizes the units of the servo loop s gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios In fact the Torque Scaling value when properly established represents the inertia of the system and is related to the Tune Inertia attribute value by a factor of the Conversion Constant e AXIS_SERVO The Torque Scaling value is typically established by the MAAT instruction as part of the controller s automatic tuning procedure e AXIS_SERVO_DRIVE The Torque Scaling value is typically established by the drive s automatic tuning procedure The value can be manually calculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs and that with 100 rated torque applied to the motor the motor accelerates at a rate of 3000 Revs Sec the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS2 0 0333 Rated Revs Per Second Note that if the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also do not reflect the true performance of the system
320. n switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A e Shutdown Ifa fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the drive enable output is deactivated Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly and completely as possible e Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs it brings the axis to a stop by applying the Stopping Torque for up to the Stopping Time Limit During this period the servo is active but no longer tracking the command reference from Logix Designer Once the axis is stopped or the stopping limit is exceeded the servo and power structure are disabled e Stop Motion Ifa fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault I
321. nable Input Fault 9 Drive Undervoltage Fault 25 Common Bus Fault 10 Power Phase Loss Fault 26 Precharge Overload Fault 11 Position Error Fault 27 Guard Fault Exists 12 SERCOS Fault 28 Ground Short Fault 13 Overtravel Fault 29 Drive Hard Fault 14 Reserved 30 Overspeed Fault 15 Manufacturer Specific Fault 31 Do you want any of these faults to give the controller a major fault e YES Set the General Fault Type of the motion group Major Fault e NO You must write code to handle these faults Fault Action Shutdown Disable Drive Stop Motion Status Only This controller attribute is also replicated in the motion module 227 Rockwell Automation Publication MOTION UM001D EN P November 2015 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Drive Fault Bits AXIS_SERVO_DRIVE DINT GSV Allows access to all drive fault bits in one 32 bit word This attribute is the same as the Drive Fault tag Pos Soft Overtravel Fault Overload Fault Neg Soft Overtravel Fault 1 Drive Overtemp Fault Pos Hard Overtravel Fault 18 Neg Hard Overtravel Fault 19 Mot Feedback Fault 20 Mot Feedback Noise Fault 5 Feedback Fault 21 Aux Feedback Fault 6 Commutation Fault 22 Aux Feedback Noise Fault 7 Drive Overcurrent Fault 23 Drive Enable Input Fault Drive Undervoltage Fault Common Bus Fault 10 Power Phase Loss Fault Precharge Overload Fault 27 GuardFaultExists 28 Ground Short Fault 29 Drive Hard Fault 30 Overspeed Fault 31
322. ncoder A B and Z channels are connected correctly and phased properly for marker detection When the test is initiated you must manually move the axis the distance specified by the Travel Limit for the system to detect the marker If the marker is not detected check the encoder wiring and try again Runs the Feedback Test which checks and if necessary reconfigures the Feedback Polarity setting When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Runs the Output amp Feedback Test which checks and if necessary reconfigures the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Executing and accepting the values automatically saves all changes to Axis Properties It is possible to execute the test but not accept or apply the values Use this tab to configure and initiate axis hookup and marker test sequences for an axis of the type AXIS_SERVO_DRIVE Axis Properties AXIS SERVO_DRIVE n Soe lt General_ Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion _ Homing Hookup Tune I Dynamics Gains Output Limits Offset Fault Actions Tag Test Increment 0 0 Position Units Drive Polarity Positiv
323. ne Deceleration attributes return the measured acceleration and deceleration values for the last run tuning procedure These values are used in the case of an external torque servo drive configuration to calculate the Tune Inertia value of the axis and are also typically used by a subsequent MAAT Motion Apply Axis Tune to determine the tuned values for the Maximum Acceleration and Maximum Deceleration attributes Tune Deceleration Time AXIS_SERVO AXIS_SERVO_DRIVE REAL Sec The Tune Acceleration Time and Tune Deceleration Time attributes return acceleration and deceleration time in seconds for the last run tuning procedure These values are used to calculate the Tune Acceleration and Tune Deceleration attributes REAL GSV MegaCounts Per Sec The Tune Inertia value represents the total inertia for the axis as calculated from the measurements made during the tuning procedure In actuality the units of Tune Inertia are not industry standard inertia units but rather in terms of percent of rated drive output per MegaCounts Sec of feedback input In this sense it represents the input gain of torque servo drive These units represent a more useful description of the inertia of the system as seen by the servo controller The Tune Inertia value is used by the MAAT Motion Apply Axis Tune instruction to calculate the Torque Scaling If the Tune Inertia value exceeds 100 Rated MegaCounts Per Second performance of the digital se
324. ner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fautt Actions Tag ae Maral Adjust Proportional 101 72526 Vs Integral 0 0 1 mss Velocity Gains Feedforward Gains Proportional 260 41666 1s Velocity 0 0 Integral 00 1 ms s Acceleration 0 0 Integrator Hold Enabled The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop The specific design of this nested loop depends upon the Loop Configuration selected in the Drive tab Fora discussion including a diagram of a loop configuration click the following loop configuration types Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A e Motor Position Servo Loop e Auxiliary Position Servo Loop e Dual Position Servo Loop e Motor Dual Command Servo Loop e Auxiliary Dual Command Servo Loop e Velocity Servo Loop e Torque Servo Loop The parameters on this tab can be edited in the following ways e Edit on this tab by typing your parameter changes and then clicking OK to save your edits e Edit in the Manual Adjust dialog box click Manual Adjust to open the Manual Adjust dialog box to this tab and use the spin controls to edit parameter settings Your changes ar
325. ng junction in the configured axis Position Units per Second for the specified axis The Acceleration Command value hence represents the output of the inner velocity control loop Acceleration Command is not to be confused with Command Velocity which represents the rate of change of Command Position input to the position servo loop Attribute Acceleration Feedforward Gain Axis Type Data Type Access AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV SSV Rockwell Automation Publication MOTION UM001D EN P November 2015 205 Motion axis attributes Appendix B Description This controller attribute is also replicated in the motion module AXIS_SERVO When you connect to a torque servo drive use the Acceleration Feedforward Gain to give the Torque Command output necessary to generate the commanded acceleration It does this by scaling the current Command Acceleration by the Acceleration Feedforward Gain and adding it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain lets the following error of the servo system during the acceleration and deceleration phases of motion be reduced to nearly zero This is important in applications such as electronic
326. ng 175 Output Tab Overview AXIS_SERVO_DRIVE Enable Low pass Output Filter 179 Enable Notch Filter 179 Rockwell Automation Publication MOTION UM001D EN P November 2015 323 Index Load Inertia Ratio 178 Low pass Output Filter Bandwidth 179 Manual Tune 180 Motor Inertia 178 Notch Filter 179 Torque Scaling 178 Servo Tab AXIS_SERVO Direct Drive Ramp Rate 136 Drive Fault Input 136 Enable Direct Drive Ramp Control 136 Enable Drive Fault Input 136 External Drive Configuration 136 Hydraulic 136 Torque 136 Velocity 136 Loop Configuration 136 Real Time Axis Information Attribute 1 Attribute2 136 Tag Tab DataType 203 Description 203 Name 203 Scope 204 Style 204 Tag Type 203 Tune Tab AXIS_SERVO AXIS_SERVO_DRIVE Damping Factor 158 Direction 157 Speed 157 Start Tuning 159 Torque AXIS_SERVO 157 Torque Force AXIS_SERVO_DRIVE 157 Travel Limit 157 Tune 158 Block diagrams for a 1756 MO2AE module 331 With a torque servo drive 332 With a velocity servo drive 333 C CIP Sync 28 publication 28 configure configure 42 52 56 coordinate system overview 42 62 CST PTP 28 D data types MOTION_GROUP 132 diagrams Block 331 wiring 315 Direct Commands Supported Commands Motion State 78 101 drive add Analog interface drive 51 add SERCOS interface drive 33 check wiring 65 Editing Axis Properties General Tab AXIS_GENERIC Axis Configuration 133 Channel 133 324 Rockwell Autom
327. ng Torque e Zero speed or Stopping Time Limit is reached e Turn motor brake output off to engage the motor brake e Wait Brake Engage Delay Time e Disable the drive power structure Drive Enable Status bit clears If the axis is shutdown through a fault action or motion instruction the drive power structure is disabled immediately and the motor brake is engaged immediately e Drive stops tracking command reference Servo Action Status bit clears e Disable drive power structure Drive Enable Status bit clears e Turn off brake output to engage brake Seconds The Brake Release Delay attribute controls the amount of time that the drive holds off tracking command reference changes after the brake output is changed to release the brake This gives time for the brake to release This is the sequence of events associated with engaging the brake e Enable axis is initiated via MSO or MAH Drive power structure enabled Drive Enable Status bit sets e Turn motor brake output on to release the brake e Wait Brake Release Delay Time e Track command reference Servo_Action_ Status bit sets The drive does not release the brake unless there is holding torque If the bit is e ON The voltage of the drive s dc bus is high enough for operation e OFF The voltage of the drive s dc bus is too low Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you w
328. ng faults for an axis of the type AXIS_SERVO_DRIVE e Drive Enable Input e Drive Thermal Fault e Motor Thermal Fault e Feedback Noise Fault e Feedback Fault e Position Error Fault e Hard Overtravel Fault e Soft Overtravel Fault e Phase Loss Ass Properties ANS SERVO DRWVE Sra General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limts Offset Faut Actions Tag Disable Drive Set Custom Stop Action Drive Thermal Disable Drive X Motor Thermal Disable Drive 7 DANGER Modifying Fault Action Feedback Noise Disable Drive J settings may require programmatically stopping or Feedback Disable Drive gt disabling the axis to protect personnel machine and property Position Error Disable Drive Z Refer to user manual for additional Disable Drive information Disable Drive Shutdown When a parameter transitions to a read only state any pending changes to P y yP 8 8 parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using the Logix Designer application and invoke the Axis Wizard or Axis Properties dialog box the firmware allows only the first workstation to make any changes to axis attributes The second workstatio
329. nit The Motor and Aux Feedback Resolution attributes are used to provide the A B drive with the resolution of the associated feedback device in cycles per feedback unit These parameters provide the SERCOS drive with critical information needed to compute scaling factors used to convert Drive Counts to Feedback counts Rockwell Automation Publication MOTION UM001D EN P November 2015 255 Appendix B Motion axis attributes Attribute Motor Feedback Type Motor Feedback Units Motor ID 256 Axis Type Data Type Access Description A HEKLE x eaaa TTT AXIS_SERVO_DRIVE INT GSV The Motor and Aux Feedback Type attributes are used to identify the motor mounted or auxiliary feedback device connected to the drive Feedback Type ode Rotary Linear Rotary or Only Only Linear Analog Reference Sin Cos m UVW Unknown Stegmann Endat ROM215 4 ROM215 8 LINCODER Sin Cos with Hall n x TiL with Hall wm o J p AXIS_SERVO_DRIVE INT GSV The Motor Feedback Units attribute establishes the unit of measure that is applied to the Motor Feedback Resolution attribute value The Aux Feedback Units attribute establishes the unit of measure that is applied to the Aux Feedback Resolution attribute value Units appearing in the enumerated list cover linear or rotary english or metric feedback devices 0 revs 1 inches 2 mm AXIS_SERVO_DRIVE INT GSV The Motor ID attribute contains the enumeration of the A B motor catalog number
330. nnel Z loss fault DINT Encoder noise fault DriveFault DINT Drive fault Reserved 08 31 Data Type Description SyncConnFault HardFault DINT Synchronous connection fault DINT Servo hardware fault Reserved 02 31 GroupFault DINT The fault bits for the group GroupOverlapFault lo DINT Group task overlap fault CSTLossFault 01 DINT The controller has lost synchronization with the CST master GroupTaskLoadingFault 02 DINT The group base update period is too low user application tasks are not getting enough time to execute AxisFault DINT The fault bits for the axis PhysicalAxisFault DINT A Servo or Drive fault has occurred ModuleFault ConfigFault 02 DINT A serious fault has occurred with the motion module associated with the selected axis Usually affects all axes associated with the motion module DINT One or more axis attributes associated with a motion module or drive has not been successfully updated to match the value of the corresponding attribute of the local controller Rockwell Automation Publication MOTION UM001D EN P November 2015 125 Appendix A Axis properties General tab AXIS_ GENERIC The following image is an example of the General tab for an AXIS_GENERIC data type XD Axis Properties Generic sess General Motion Planner Units Conversion Homing Dynamics Tag Axis Configuration Servo x Motion Group motion_group ane Associated Module Module mon aas M
331. nous input data to the servo loop includes Position Command Velocity Command and Velocity Offset These values are updated at the base update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Rockwell Automation Publication MOTION UM001D EN P November 2015 Servo loop block diagrams Appendix D Dual Command Feedback Servo The Motor Dual Command Feedback Servo configuration provides full position servo control using the auxiliary feedback device for position feedback and the motor mounted feedback device to provide velocity feedback Unlike the Dual Feedback Servo configuration however command position and command velocity are also applied to the loop to provide smoother feedforward behavior This servo configuration is a good choice in applications where smoothness stability and positioning accuracy are important Note that the motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Command and
332. nstruction errors Important When the MAH instruction is initially executed the In process IP bit is set and the Process Complete PQ bit is cleared The MAH instruction execution may take multiple scans to execute because it requires transmission of multiple messages to the motion module Thus the Done DN bit is not set until after these messages are successfully transmitted The IP bit is cleared and the PC bit is only set if the final axis position the Home position This is a transitional instruction e In relay ladder toggle the rung from cleared to set each time the instruction should execute e In structured text condition the instruction so that it only executes on a transition See Motion axis attributes on page 199 for more information Examples Active homing examples The following are Active Homing examples Rockwell Automation Publication MOTION UM001D EN P November 2015 113 Chapter 5 Home an axis Sequence Active immediate home Active home to switch in forward bidirectional 114 Description This sequence sets the axis position to the Home Position without moving the axis If the axis is not enabled this sequence enables it The feedback is working therefore enabled The switch homing sequence is useful for multi turn rotary and linear applications Ensure that the home switch is encountered in the direction of the home If the axis is ON the home limit switch it can be past
333. ntegrator Determines whether to calculate a value for the Velocity Integral Gain e Acceleration Feedforward Determines whether to calculate a value for the Acceleration Feedforward Gain e Backlash Compensation Determines whether to calculate a value for the Backlash Compensation Gain e Torque Offset Determines whether to calculate a value for the Torque Offset This tuning configuration is only valid if configured for bidirectional tuning e Output Filter Determines whether to calculate a value for the Output Filter Bandwidth Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Start Tuning Once the tune process completes successfully you are prompted to accept the values If the tuning process completes successfully the following attributes are set It is possible to complete the tuning process successfully and not accept apply the value changes therefore the attributes are not set On this tab These attributes are set Gains tab Velocity Feedforward Gain if selected Acceleration Feedforward Gain if selected Position Proportional Gain Position Integral Gain if selected Velocity Proportional Gain Velocity Integral Gain if selected If cleared the values are set to zero Dynamics tab Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk Maximum Deceleration Jerk Output tab Torque Scaling Velocity Scaling
334. nversion Constant Position Units Drive Unit rev inch or mm In general the Drive Resolution value may be left at its default value of 200000 Drive Counts per Drive Unit independent of the resolution of the feedback device s used by the drive This is because the drive has its own set of scale factors that it uses to relate feedback counts to drive counts Drive Travel Range Limit Because the drive s position parameters are ultimately limited to signed 32 bit representation per the SERCOS standard the Drive Resolution parameter impacts the drive s travel range The equation for determining the maximum travel range based on Drive Resolution is as follows Drive Travel Range Limit 2 147 483 647 Drive Resolution Based on a default value of 200 000 Drive Counts per Drive Unit the drive s range limit is 10 737 Drive Units While it is relatively rare for this travel range limitation to present a problem it is a simple matter to lower the Drive Resolution to increase the travel range The downside of doing so is that the position data is then passed with lower resolution that could affect the smoothness of motion Fractional Unwind In some cases however the user may also want to specifically configure Drive Resolution value to handle fractional unwind applications or multi turn absolute applications requiring cyclic compensation In these cases where the Unwind value for a rotary application does not result in an integer value t
335. o Drive Enable Input checking is done hence the state of the input is irrelevant to drive operation The state of the switch is still reported as part of the Drive Status bits attribute AXIS_SERVO Set for a feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z are at the same level high or low Under normal operation the differential signals are at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault AXIS_SERVO_DRIVE Set when an issue with one of the feedback sources associated with the drive axis prevents the drive from receiving accurate or reliable position information from the feedback device Set when one of the feedback sources for the axis cannot send accurate or reliable position information because there is a problem For AXIS_SERVO axis possible problems are e The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z are at the same level high or low Under norma
336. o a physical position 72 Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 e Monitor system dynamics under certain conditions Access the Motion Direct Commands for a motion group To access the Motion Direct Commands for a motion group in the Controller Organizer right click the group m E Controller Demo 9 Tasks Motion Groups Breton cual i 2 FF New Axis i RD axis_y New Coordinate System fa Ungrouped 4 G3 Add On Instructy Monitor Group Tag B a Data Types Fault Help H a ee ees Clear Motion Group Faults Hi oa Strings ue ee ER Add On Defi Cut Ctrl X iL Predefined Copy Ctrl C H Module Defir E Paste need i Trends ON p 5 VO Configuratiot Delete Del 9 S Poea a D Ean Dre Caran woffa 1 1756 L Al 211756 1 Cross Reference Ctrl E Access the Motion Direct Commands for an axis To access the Motion Direct Commands for an axis in the Controller Organizer right click the axis er Organizer onti Controller Demo a ix Tasks 5 6 Motion Groups El amp motion_group E axis Goto Module j fE e Monitor Axis Tag S E Data Types Fault Help E User Def Clear Axis Faults E E Strings G Add On Cot Ctrl X cei Predefin Copy Ctrl C hapa E Paste Ctrl V a vo Configu Delete Del TSEK an ie Comman j ia u 1 Manual Tune Rockwell A
337. o module output to the drive All output from the servo module greater than the Filter Bandwidth setting is filtered and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Manual Adjust Opens the Output tab of the Manual Adjust dialog box for online editing Position Units s 0 0 e Direction Scaling Ratio 1 0 e Forward Reverse Scaling F Enable Low pass Output Filter e Low pass Output Filter Bandwidth 1000 0 Manual Adjust is unavailable when Logix Designer application is in Wizard mode and when you have not yet saved or applied your offline edits to the parameters Output tab Use the Output tab for offline configuration for an axis of the type AXIS_SERVO_DRIVE that is configured in the General tab
338. odule Type lt none gt Item Description Axis Configuration Selects and displays the intended use of the axis Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The Dynamics tab is not available Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motion Groups branch Module Selects and displays the name of the motion module to which the axis is associated Displays lt none gt if the axis is not associated with any motion module Channel Selects and displays the motion module channel 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module Motion Planner tab The Motion Planner tab is where you set and edit the number of Output Cam 126 Execution Targets and the Program Stop Action select and clear the Master Delay Compensation and Enable Master Position Filter and set the bandwidth for Master Position Filter Bandwidth The Motion Plann
339. of CST time The two Registration Time values contain the lower 32 bits of CST time at which their respective registration events occurred Units for this attribute are in microseconds Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Resistive Brake Contact Delay Rotary Axis Rotary Motor Inertia AXIS_SERVO_DRIVE REAL Rockwell Automation Publication MOTION UM001D EN P November 2015 271 Motion axis attributes Appendix B Axis Type Data Type Access Description AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL SINT ssv Can only be set if axis is not enabled Sec This attribute controls an optional external Resistive Brake Module RBM The RBM is between the drive and the motor and uses an internal contactor to switch the motor between the drive and a resistive load The drive s RBM output controls this contactor When the drive s RBM output is energized the RBM contactor is switched from the load resistors to the UVW motor lines connecting the drive to the motor This switching does not occur instantaneously and enabling the power structure too early can cause electrical arcing across the contactor The resistive brake contact delay is the time needed to fully close the contactor across the UVW motor lines To prevent electrical arcing across the contactor the enabling of the drive s power structure is delayed The
340. ofile moves using the following instructions e MAJ e MAM e MAS e MCD The Maximum Deceleration Jerk rate of the axis in Position Units second3 defaults to 100 of the maximum deceleration time after tuning The speed and deceleration rate for the calculation are determined during the tuning process MaxDecel Speed Maximum Deceleration Jerk The Maximum Decel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Single axis motion instruction has Jerk Units units per sec3 then the Max Deceleration Jerk value is derived from the Motion Instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time meaning the entire S curve move will have Jerk limiting which is the default mode An S curve move with 0 of Time will result in a trapezoidal profile and have 0 Jerk limiting If set manually enter the value in units Position Units second3 units You can also use the optional Calculate to view the value in terms of units of Time Calculate button This dialog box lets you set and view the Maximum Acceleration or Deceleration Jerk in Jerk Units of Time Use the slider to select the value unit of Time The numeric value in the Maximum Accel Decel Jerk status box updates as the Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A slider is moved Click OK to accept the new value
341. omation Publication MOTION UM001D EN P November 2015 221 Appendix B Attribute Command Position Command Velocity Common Bus Fault Commutation Fault Config Fault 222 Motion axis attributes Axis Type Data Type Access Description AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE BOOL Tag AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled for the motion Tag group default setting Otherwise you won t see the right value as the axis runs Command Position in Position Units Command Position is the desired or commanded position of a physical axis in the configured Position Units of that axis as generated by the controller in response to any previous motion Position Control instruction Command Position data is transferred by the controller to a physical axis as part of an ongoing synchronous data transfer process which results in a delay of one base update period Thus the Command Position value that is obtained is the command position that is acted upon by the physical servo axis one base update period from now The figure below shows the relationship between Actual Position Command Position and Position Error for an axis with an active servo loop Actual Position is
342. omation Publication MOTION UM001D EN P November 2015 77 Chapter 3 78 Commission and tune Motion Direct Command error process When you execute a Motion Direct Command there are two levels of error detections The first level is verification of the command s operands If a verification error is detected a message Failed to Verify is posted on the dialog box and a message is posted to the error result window The second level is the initial motion direct command s error response return code If an error code is detected an Execution Error message appears on the dialog box Motion Direct Commands irtual_1 2 Commands Incremental 0 0 1 0 of Maximum 100 0 M al of Maximum 5 Motion Move 100 0 amp MAS il of Maximum amp MAH Curve Re MAJ 100 0 Sg MAM 100 0 Re MAG Re MCD Qe MRP zi D DANGER Pressing Execute may cause motion Execution Error Motion Group Shutdown Help Errors Reading ChangeLog Complete 0 error s 4 warning s Motion Direct Commands Virtual_1 2 Execution Error MAM 16 0013 The 4 Errors a Search Results j Watch Regardless of whether an error is detected a message appears in the Error result window describing the results of the executed command Motion Direct Command verification When you select Execute from a Motion Direct Command dialog box the operands are veri
343. oment when the switch is hit The Offset value should be set to 0 if no Home Offset offset is wanted Homed Status The Homed Status bit is set by the MAH instruction upon successful completion of the configured homing sequence This bit indicates that an absolute machine reference position has been established When this bit is set operations that require a machine reference such as Software Overtravel checking can be meaningfully enabled For CIP Drive axis data types the Homed Status bit is cleared under the following condition e MRP instruction For non CIP Drive axis data types the Homed Status bit is cleared under the following conditions e Download e Control power cycle Rockwell Automation Publication MOTION UM001D EN P November 2015 119 Chapter 5 Home an axis e Re connection to Motion Module e Feedback Loss Fault e Shutdown Feedback Integrity This bit when set indicates that the feedback device is accurately reflecting axis position The bit is set at power up assuming that the feedback device passes any power up self test required If during operation a feedback exception occurs that could impact the fidelity of axis position the bit is immediately cleared The bit remains clear until a fault reset is executed by the drive or the drive is power cycled Note that the Feedback Integrity bit behavior applies to absolute and incremental feedback device operation 120 Rockwell Automation Publication MOT
344. on 3 Set the desired attributes and click OK An analog axis will have fewer fault action selections than a SERCOS axis Inhibit an axis Follow these instructions to block the controller from using an axis When to inhibit an axis Use the following information to determine when to inhibit an axis Rockwell Automation Publication MOTION UM001D EN P November 2015 67 Chapter 3 68 Commission and tune Important Inhibiting an axis will take down ALL axes on the motion module or ting The non inhibited axes will then phase back up Un Inhibiting an axis will cause the same thing 5 Controller My_Controller 5 Tasks J ea Motion Groups 3 My_Motion_Group DIO X My_Axis_Y 3 Ungrouped Axes 5 Trends J Data Types EJ 1 0 Configuration You want to block the controller from using an axis because the axis is faulted or not installed a You want to let the controller use the other axes Example 1 If your equipment will need between 8 and 12 axes depending on the application create one project for all 12 axes When you determine how many axes you need inhibit the axes that you do not need Example 2 If two production lines use the same SERCOS ring and one of the lines gets a fault inhibit the axes on that line This lets you run the other line while you take care of the fault Tip If an axis is faulted all axes are still available If there is a hardware issue with one of
345. on Tuning Configuration AXIS_SERVO DINT GSV Bits Bits AXIS_SERVO_DRIVE SSV 0 Tuning Direction Reverse 1 Tune Position Error Integrator Rockwell Automation Publication MOTION UM001D EN P November 2015 285 2 Tune Velocity Error Integrator 3 Tune Velocity Feedforward 4 Tune Acceleration Feedforward 5 Tune Output Low Pass Filter 6 bidirectional Tuning 7 Tune Backlash Compensation 8 Tune Torque Offset Tuning Direction Reverse The Tune Direction Reverse bit determines the direction of the tuning procedure If this bit is set true motion is initiated in the reverse or negative direction Tune Position Error Integrator If this bit is e ON The tuning procedure calculates the Position Integral Gain e OFF The tuning procedure sets the Position Integral Gain to 0 Tune Velocity Error Integrator If this bit is e ON The tuning procedure calculates the Velocity Integral Gain e OFF The tuning procedure sets the Velocity Integral Gain to 0 Tune Velocity Feedforward If this bit is e ON The tuning procedure calculates the Velocity Feedforward Gain e OFF The tuning procedure sets the Velocity Feedforward Gain to 0 Tune Acceleration Feedforward If this bit is e ON The tuning procedure calculates the Acceleration Feedforward Gain e OFF The tuning procedure sets the Acceleration Feedforward Gain to 0 Tune Output Low Pass Filter If this bit is e ON The tuning proc
346. on Planner Unts Sewo Feedback Conversion _ Homing Hookup L Tune Dynamics Gains Outpt limits Offset Fault Actions Tag Velocity Scaling 0 0 Position Units s Manual Adjust 0 Direction Scaling Ratio 1 0 Forward Reverse Scaling V Enable Low pass Output Filter Low pass Output Filter Bandwidth 1000 0 Hertz The parameters on this tab can be edited in one of the following ways e Edit on this tab by typing your parameter changes and then click OK to save your edits e Edit in the Manual Adjust dialog box Click Manual Adjust to open the Manual Adjust dialog box to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When Logix Designer application is offline the following parameters can be edited and the program saved to disk using the Save command or by clicking Apply You must re download the edited program to the controller before it can be run 166 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Velocity Scaling The Velocity Scaling attribute is used to convert the output of the servo loop into equivalent voltage to an external velocity drive This has the effect of normal
347. on Select the configuration of the servo loop e Motor Feedback Only Displayed when Axis Configuration is Feedback only e Aux Feedback Only Displayed when Axis Configuration is Feedback only e Position Servo e Aux Position Servo not applicable to Ultra3000 drives e Dual Position Servo e Dual Command Servo e Aux Dual Command Servo e Velocity Servo e Torque Servo e Dual Command Feedback Servo Rockwell Automation Publication MOTION UM001D EN P November 2015 133 Appendix A Axis properties Change Catalog Number Catalog Number i Cone H 6100 0 M E H 6200 0 M H 6300 0 M Help H 8350 S M H 8500 S M Filters Voltage Family Feedback Type lt all gt v lt all gt X lt all gt x Item Description Catalog Number Lists the available catalog numbers based on the selection criteria from the fields in the Filters area Filters The following three optional fields let you refine your search of the Motor Database Voltage Narrows the search to a voltage rating The default is all Family Narrows the search to a family of motors The default is all Feedback Type Narrows the search to a feedback type The default is all When you click Calculate on the Drive Motor tab for AXIS_SERVO_DRIVE the Calculate Position Parameters dialog box opens When the Conversion tab has Linear as the value for Position Mode clicking Calculate displays the following dialog box Calculate Position Parameters Sx Pos
348. on database file based on the motor selection Motor Overtemp Fault AXIS_SERVO_DRIVE BOOL i Set when the motor s temperature exceeds the motor shutdown temperature Motor Rated Continuous Current Motor Rated Peak Current Motor Thermal Fault Action Move Status Neg Dynamic Torque Limit AXIS_SERVO_DRIVE REAL The Motor Rated Continuous Current attribute is a float that specifies the nameplate AC continuous current rating of the motor This represents the current applied to the motor under full load conditions at rated speed and voltage Any positive number This is a database number and should not be changed AXIS_SERVO_DRIVE REAL GSV The Motor Rated Peak Current attribute is a float that specifies the peak or intermittent current rating of the motor The peak current rating of the motor is often determined by the thermal constraints of the stator winding or the saturation limits of PM motor magnetic material Any positive number This is a database number and should not be changed AXIS_SERVO_DRIVE SINT GSV Fault Action SSV Shutdown Disable Drive Stop Motion Status Only AXIS_CONSUMED BOOL Tag Set if Move motion profile is currently in progress Cleared when the Move is complete or is superseded by some other motion operation AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE REAL Tag The currently operative negative positive torque current limit magnitude It should be the lowest
349. on its current sign The Backlash Compensation value should be just under the value that would break the sticktion A larger value causes the axis to dither Dither is when the axis moves rapidly back and forth centered on the commanded position This controller attribute is replicated in the motion module Backlash Compensation AXIS_SERVO REAL GSV Position Units Window AXIS_SERVO_DRIVE SSV To address the issue of dither when applying Backlash Compensation and hunting from the integral gain a Backlash Compensation Window is applied around the current command position when the axis is not being commanded to move If the actual position is within the Backlash Compensation Window the Backlash Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Backlash Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Backlash Compensation Window attribute the full Backlash Compensation value is applied Of course should the Backlash Compensation Window be set to zero this feature is effectively disabled C ia Guard Config Locked 1 Guard Direction Monitor in Progress Guard Stop Input 3 Guard Door Control Output Guard Stop in Progress Guard Door Monitor In Progress Guard Stop Decel T Guard Lock Monitor Input Guard Stop Standstill Guard Enabling Switch input Guard Stop Output Guard Enabling Switch in Progress
350. on t see the right value as the axis runs See Axis Info Select 1 The present utilization of the axis bus regulator as a percent of rated capacity The Bus Regulator ID attribute contains the enumeration of the A B Bus Regulator or System Shunt catalog numbers associated with the axis If the Bus Regulator ID does not match that of the actual bus regulator or shunt hardware an error is generated during the drive configuration process Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute 2C Connection Instance 2C Map Instance Command Acceleration Axis Type Data Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL SINT SINT REAL GSV GSV GSV Tag Motion axis attributes Appendix B Description Producer Consumed axis s associated C2C connection instance in reference to the C2C map instance When Axis Data Type is specified to be Consumed then this axis is associated to the consumed data by specifying the C2C Map Instance and the C2C Connection Instance This attribute is the connection instance under the 2C map instance which provides the axis data being sent to it from another axis via a C2C connection For all other Axis Data Types if this axis is to be produced then this attribute is set to the c
351. on the drive e Normally Open When a drive fault is detected it opens its drive fault output contacts e Normally Closed When a drive fault is detected it closes its drive fault output contacts Select this check box to set the Direct Drive Ramp Rate in volts per second for when an MDO instruction is executed The Direct Drive Ramp Rate is a slew rate for changing the output voltage when a Direct Drive On MDO instruction is executed A Direct Drive Ramp Rate of 0 disables the output rate limiter letting the Direct Drive On voltage be applied directly Select up to two axis attributes whose statuses are transmitted with for example the actual position data to the Logix processor The values of the selected attributes can be accessed through the standard GSV or Get Attribute List service They can also be accessed using template data The servo status data is updated each base update period If a GSV is done to one of these servo status attributes without having selected this attribute through the Drive Info Select attribute the attribute value is static and does not reflect the true value in the servo module Feedback Tab AXIS SERVO Use the Feedback tab to select the type of Feedback used with your Servo axis Feedback Type A Quadrature B Encoder Interface AQB The 1756 M02AE servo module provides interface hardware to support incremental Description Select the Feedback type for your current configuration Yo
352. onnection instance under the local controller s map instance 1 that is used to send the remote axis data via the C2C connection Producer Consumed axis s associated C2C map instance When the Axis Data Type attribute is specified to be Consumed then this axis is associated to the consumed data by specifying the C2C Map Instance and the C2C Connection Instance For all other Axis Data Types if this axis is to be produced then this attribute is set to 1 to indicate that the connection is off of the local controller s map instance Important To use this attribute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Command Acceleration in Position Units Sec Command Acceleration is the commanded speed of an axis in the configured axis Position Units per second per second as generated by any previous motion instructions It is calculated as the current increment to the command velocity per base update interval Command Acceleration is a signed value the sign or depends on which direction the axis is being commanded to move Command Acceleration is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on command velocity is 0 00001 feedback counts per base update period per base update period Rockwell Aut
353. ontroller Mode is changed then the configured Programmed Stop Mode controls what happens to motion Can two workstations give Motion Direct Commands When Execute is enabled and commands can be executed from a workstation the group is locked This means that another workstation cannot execute commands while this lock is in place The lock is relinquished when all Motion Direct Command dialog boxes for the Motion Group are closed Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 Rockwell Automation Publication MOTION UM001D EN P November 2015 81 Chapter 4 Introduction Program This chapter describes how to program a velocity profile and jerk rate You can use the following motion profiles for various instructions e Trapezoidal profile for linear acceleration and deceleration e S curve profiles for controlled jerk Definition of Jerk Jerk is the rate of change of acceleration or deceleration The jerk parameters only apply to S curve profile moves using the following instructions e MAJ e MCS e MAM e MCCD e MAS e MCCM e MCD e MCLM Example If acceleration changes from 0 to 40 mm s in 0 2 seconds the jerk is 40 mm s 0 mm s 0 2 s 200 mm s Choose a profile Consider cycle time and smoothness when you choose a profile Rockwell Automation Publication MOTION UM001D EN P November 2015 83 Chapter 4 Program If you want Choose this p
354. op Delay 0 This change applies to the Motion Axis Stop MAS instruction It lets you use a higher deceleration jerk to stop an accelerating axis more quickly The controller uses the deceleration jerk of the stopping instruction if it is more than the current acceleration jerk Reduced S curve Velocity Reversals 1 Before revision 16 you could cause an axis to momentarily reverse direction if you decreased the deceleration jerk while the axis was decelerating This typically happened if you tried to restart a jog or move with a lower deceleration rate while the axis was stopping This change prevents the axis from reversing in those situations N Reduced S curve Velocity Overshoots 2 You can cause an axis to overshoot its programmed speed if you decrease the acceleration jerk while the axis is accelerating This change keeps to overshoot to no more than 50 of the programmed speed If this bit is e ON The Enable input is active e OFF The Enable input is inactive 0 torque servo 1 velocity servo 2 hydraulic servo When the application requires the servo module axis to interface with an external velocity servo drive the External Drive Type should be configured for velocity servo This disables the servo module s internal digital velocity loop If the External Drive Type attribute is set to torque servo the servo module s internal digital velocity loop is active This configuration is the required conf
355. or 0 test process successful 1 test in progress 2 test process aborted by user 3 test process time out fault 2 seconds 4 test failed servo fault 5 test failed insufficient test increment More for AXIS_SERVO_DRIVE data type 6 test failed wrong polarity 7 test failed missing signal 8 test failed device comm error 9 test failed feedback config error 10 test failed motor wiring error This attribute returns the status of the last run MRHD Motion Run Hookup Diagnostic instruction that initiates a hookup diagnostic process on the axis Use this attribute to determine when the MRHD initiated operation successfully completed Conditions may occur however that make it impossible to properly perform the operation When that happens the test process is automatically aborted and a test fault reported that is stored in the Test Status output parameter Set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the pending cam profile This bit is also cleared if the time cam profile completes or is superseded by some other motion operation Rockwell Automation Publication MOTION UM001D EN P November 2015 279 Appendix B Attribute Time Cam Status Time
356. or 128 characters Characters in some languages require up to three bytes per character resulting in less than 128 characters 12 optional Select Enable redundancy if this project supports an automatic transfer of project control to a redundant controller in case of primary controller failure 13 Click Finish Rockwell Automation Publication MOTION UM001D EN P November 2015 23 Chapter 1 Configure SERCOS motion Set time synchronization for Configure SERCOS Motion 24 Time Synchronization in ControlLogix is called CIP Sync CIP Sync is a layer of functionality that Rockwell Automation has developed on top of the IEEE 1588 PTP protocol CIP Sync lets you maintain accurate time synchronization of your automation solutions This setting establishes the module to participate in time synchronization In systems with multiple processors all controllers must have time synchronization enabled if they use CSmainT PTP time The 1756 ENxT communication modules win the arbitration over any processor 1 Inthe Controller Organizer double click the controller 2 On the Controller Properties dialog box click the Date Time tab l Controller Properties Motion_Control Lo e Project Redundancy Nonvolatie Memory Memory Securty Aam Log General Major Fauts __ Minor Fauts Date Time Advanced SFC Execution i The Date and Time displayed here is Controller local time not workstation local time Use these fields to
357. osition Units s e 0 0 e Output Offset 0 0 Volts z Hep Manual Adjust is unavailable when Logix Designer application is in Wizard mode and when offline edits to the parameters have not yet been saved or applied Use the Offset tab to make offline adjustments to the following Servo Output values for an axis of the type AXIS_SERVO_DRIVE configured as a Servo drive in the General tab of this dialog box e Backlash Compensation e Velocity Offset e Torque Force Offset General Motion Planner Homing Hookup Tune r Units Drive Motor_ Motor Feedback Aux Feedback Conversion Dynamics Gains Output Limits Offset Fault Actions Tas Friction Compensation na Friction Compensation 0 0 Manual Adjust Window 0 0 Position Units Backlash Compensation Reversal Offset 0 0 Position Units Stabilization Window 0 0 Position Units Velocity Offset 0 0 Position Units s Torque Force Offset 0 0 The parameters on this tab can be edited in the following ways Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A e Editon this tab by typing your parameter changes and then click OK to save your edits e Edit in the Manual Adjust dialog box Click Manual Adjust to open the Manual Adjust dialog box to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any param
358. ote program mode In that mode your code is not in control of the axis ATTENTION Before you tune an axis make sure no one is in the way of the axis The default tuning procedure tunes the proportional gains Typically tune the proportional gains first and see how your equipment runs Tip Where tighter positioning is required Integral gain and feedforward constants can be selected However when used incorrectly these settings can cause axis instability See Tune on page 150 1 Download a program to the controller 2 Place the controller in REM 3 Inthe Controller Organizer double click the axis 4 Click the Tune tab L E gt Axis Properties AXIS_SERVO_DRIVE JE General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion _ Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit 10 0 Position Units Start Tuning Speed 20 0 Position Units s i IDANGER Starting tuning i procedure with controller Torque Force 100 0 Rated in Program or Run Mode causes axis motion Direction Forward Bidirectional Damping Factor 0 8 Tune F Position Error Integrator E Velocity Error integrator Friction Compensation W Velocity Feedforward Acceleration Feedforward V Torque Offset V Output Filter 5 Inthe Travel Limit box type the limit of movement for the axis during the tuning procedure 6 Inthe Speed bo
359. otion_group z al jew Group Associated Module Module lt none gt F Module Type 5 lt none gt Item Description Axis Configuration Selects and displays the intended use of the axis Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The tabs Tune Dynamics Gains Output Limits and Offset are not displayed Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motion Groups branch Module Selects and displays the name of the SERCOS drive to which the axis is associated Displays lt none gt if the axis is not associated with any drive Module Type Displays a module icon and the name of the SERCOS drive to which the axis is associated Displays lt none gt if the axis is not associated with any drive If the associated drive is a Kinetix Safety drive a portion of the module icon is red to signify its safety significance Following is a sample of the module ico
360. output is deactivated e Stop Motion Ifa fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared e Status Only Ifa fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any 188 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate A ATTENTION Selecting the wrong fault action for your application can cause a dangerous condition resulting in unexpected motion damage to the equipment and physical injury or death Keep clear of moving machinery Drive Fault Use the Drive Fault field to specify the fault action to be taken when a drive fault condition is detected for an axis with the Drive Fault Input enabled in the Servo tab of this dialog box that is configured as Servo in the General tab of this dialog box The available actions for this fault
361. p The Axis Schedule button opens the Axis Schedule dialog box where the base and alternate update periods can be scheduled and assigned to axes Since axes used in coordinate system objects cannot be multiplexed only the Base Update Period is used Therefore there is no need to open the Axis Schedule dialog box 4 Inthe General Fault Type list choose Non Major Fault 5 Click OK Add an axis Follow these instructions to add an axis for each of your drives 1 Inthe Controller Organizer right click the motion group and choose New Axis 2 Choose the data type based on the following guidelines e Ifyou use one of the following motion modules choose AXIS_SERVO_DRIVE e 1756 M03SE e 1756 M08SE e 1756 M16SE e 1768 M04SE 36 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure SERCOS motion Chapter 1 e Ifyou want to use a virtual configuration no hardware choose AXIS VIRTUAL 3 On the New Tag dialog box in the Name box type a name for the axis ee Name asa a Description Cancel Hep Usage tee Go Alias For Data Type AXIS_VIRTUAL m Parameter Connection Scope 9 Motion _Control ma mima Read wite z Style Constant Sequencing Open AXIS_VIRTUAL Configuration Open Parameter Connections 4 optional In the Description box type a description for the axis 5 Click Create Get axis information You can get information about an axis in several ways
362. p counts to velocity servo loop counts in a dual servo loop configuration The Aux Feedback Ratio attribute is also used in range limit and default value calculations during configuration based on the selected motor s specifications If the application uses a 3 1 gearbox and a 5 mm pitch ball screw and your Position Unit is cm the Conversion Constant is again rational since we are Load Referenced You set the Conversion Constant to 20 000 Drive Counts cm based on the default Drive Resolution value of 200000 Drive Counts mm This system would work in this configuration without any loss of mechanical precision that is a move of 10 cm would move the actuator 10 cm 232 Rockwell Automation Publication MOTION UM001D EN P November 2015 Drive Scaling Bits AXIS_SERVO_DRIVE DINT GSV Motion axis attributes Appendix B The Drive Scaling Bits attribute configuration is derived directly from the Drive Units attribute Bits 0 Scaling type 0 standard 1 custom 1 Scaling unit 0 rotary 1 linear 2 Linear scaling unit 0 metric 1 english 3 Data Reference 0 motor 1 load Scaling Type The Scaling Type bit attribute is used to enable custom scaling using the position velocity acceleration and torque scaling parameters defined by the SERCOS Interface standard When the bit is clear default these scaling parameters are all set based on the preferred Rockwell Automation SERCOS drive scaling facto
363. p or slows down The acceleration or deceleration is constant for the other 40 Velocity Profile Effects This table summarizes the differences between profiles Rockwell Automation Publication MOTION UM001D EN P November 2015 85 Chapter 4 Program Priority of Control Highest to Lowest Position Trapezoidal Position Jerk Rate Calculation If the instruction uses or changes an S curve profile the controller calculates acceleration deceleration and jerk when you start the instruction The system has a Jerk priority planner In other words Jerk has a higher priority than acceleration and velocity Therefore you always get the programmed Jerk Ifa move is velocity limited the move does not reach the programmed acceleration or velocity Jerk Parameters for MAJ programmed in units of time are converted to engineering units as follows If Start Speed lt MAJ Programmed Speed Programmed Accel Rate 200 Accel Jerk Units Sec A i Programmed Speed of Time Accel Jerk Time If Start Velocity gt MAJ Programmed Speed Programmed Decel Rate Decel Jerk Units Sec E 1 Max Programmed Speed Start Speed Programmed Speed of Time ee Decel Jerk Programmed Speed Velocity Time 86 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 Jerks for programmed moves such as MAM or MCLM instructions in units of
364. programs provides custom outer control loop capability Rockwell Automation Publication MOTION UM001D EN P November 2015 317 Appendix D vne Olen Servo loop block diagrams Auxiliary Dual Command Servo The following image illustrates Auxiliary Dual Command Servo configuration Servo Config Motor Dual Command velnalyy Command Coarse Firm bd interposto Maison Commana Coert Praison Foeobaca Comza Fina gt Drapas Surpur Lom Pass Noten interpoene Bonen F Coomans Possan Feedback Paainon Accum man p 5 oe tom f panen Scaling L Comp pres Filter Postach Parer 318 ulaler The Auxiliary Dual Command Servo configuration provides full position servo control using only the auxiliary mounted feedback device to provide position and velocity feedback Unlike the Auxiliary Position Servo configuration however command position and command velocity are applied to the loop to provide smoother feedforward behavior This servo configuration is a good choice in applications where positioning accuracy and good feedforward performance is important The smoothness and stability may be limited however due to the mechanical non linearities external to the motor Note that the motor mounted feedback device is still required to provide motor position information necessary for commutation Synchro
365. provides a minimum positioning accuracy of 0 01 position units Peak Torque Force Limit The Peak Torque Force Limit specifies the maximum percentage of the motors rated current that the drive can command as positive or negative torque force For example a torque limit of 150 shall limit the current delivered to the motor to 1 5 times the continuous current rating of the motor Continuous Torque Force Limit The Continuous Torque Force Limit specifies the maximum percentage of the motors rated current that the drive can command on a continuous or RMS basis For example a Continuous Torque Force Limit of 150 limits the continuous current delivered to the motor to 1 5 times the continuous current rating of the motor Rockwell Automation Publication MOTION UM001D EN P November 2015 177 Appendix A Axis properties 178 Manual Adjust Opens the Limits tab of the Manual Adjust dialog box for online editing of the Position Error Tolerance Position Lock Tolerance Peak Torque Force Limit and Continuous Torque Force Limit parameters Manual Adjust AXIS SERVO_DRIVE Dynamics Gains Output Lmts offset Position Eror Tolerance 0 0 Position Units Rese e Position Lock Tolerance 0 01 e Position Units PeakTorque Force Limit 0 0 Rated Continuous Torque Force Limit 100 0 Rated Manual Adjust is unavailable when Logix Designer application is in Wizard mode and when offline edits to the
366. put Cam Lock Status 209 Output Cam Pending Status 209 Output Cam Status 209 Output Cam Transition Status 209 Motion Axis Fault Reset 78 101 Motion AxisGear 78 101 Motion AxisHome 78 101 Motion Axis Jog 78 101 Motion Axis Move 78 101 Motion Axis Position Cam 78 101 Motion Axis Shutdown 78 101 Motion Axis Shutdown Reset 78 101 Motion Axis Stop 78 101 Motion Axis Time Cam 78 101 Motion Calculate Cam Profile 78 101 Motion Calculate Slave Values 78 101 Motion Calculate Transform Position 78 Motion Change Dynamics 78 101 motion control addaxis 40 42 coordinate system 42 62 program 42 62 setupanaxis 42 status information 42 62 Motion Coordinated Change Dynamics 78 101 Motion Coordinated Circular Move 78 101 Motion Coordinated Linear Move 78 101 Motion Coordinated Shutdown 78 101 Motion Coordinated Shutdown Reset 78 101 Motion Coordinated Stop 78 101 Motion Coordinated Transform 78 Motion Direct Command Execution Error 85 Motion Direct Command Verification 83 Motion Direct Commands Error Process 83 Transition States 85 Motion Direct Drive Off 78 101 Motion Direct DriveOn 78 101 Motion Disarm Output Cam 78 101 Motion Disarm Registration 78 101 Motion Disarm Watch Position 78 101 Motion Group Shutdown 78 101 Motion Group Shutdown Reset 78 101 Motion Group Stop 78 101 Motion Group Strobe Position 78 101 motion instructions 76 Rockwell Automation Publication MOTION UM001D EN P November 2015 Index
367. r Event Fault Torque Command Torque Data Scaling Torque Data Scaling Exp Torque Data Scaling Factor Torque Feedback 280 Motion axis attributes Axis Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE DINT AXIS_SERVO_DRIVE Data Type BOOL BOOL REAL INT REAL Tag Tag GSV Tag GSV GSV GSV GSV Tag Description Set if a Time Cam motion profile is currently in progress Cleared when the Time Cam is complete or is superseded by some other motion operation If this bit is set there is an issue with the timer event that synchronizes the motion module s servo loop to the master timebase of the chassis that is Coordinated System Time To clear this bit reconfigure the motion module Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The command when operating in Torque Mode in terms of rated This 16 bit attribute displays the scaling method to use on torque values for example Torque Command Value and Bipolar torque limit value with decimal values ranging from 0 to 127 Bit values are e Bits 2 0 Scaling method e 000 percentage scaling e 001 linear scaling force
368. r of the only motor available from the Motion Database for the IDM module when it is associated to the axis e The Catalog Number for the IDM appears dimmed and is read only It is automatically set to the compatible motor from the motion database for each IDM e AnIDM does not support Auxiliary Axis loop configurations When the Axis Configuration box on the General tab is set to Servo the selections for Loop Configuration for the IDM are e Position Servo e Dual Command Servo does not use the Auxiliary Port e Velocity Servo e Torque Servo When the Axis Configuration box on the General tab is set to Feedback Onlly the selection for Loop Configuration for the IDM is Motor Feedback Only e The following are real time attributes for the IDM e Position Command e Position Feedback e Position Error e Position Int Error e Velocity Command e Velocity Feedback e Velocity Error e Velocity Int Error e Accel Command e Accel Feedback e Marker Distance e Torque Command e Torque Feedback e Positive Dynamic Torque Limit e Negative Dynamic Torque Limit e Motor Capacity e Drive Capacity e Power Capacity Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure SERCOS motion Chapter 1 e Bus Regulator Capacity e Motor Electrical Angle e Torque Limit Source e DC Bus Voltage 6 Inthe Drive Resolution box type the resolution and then in the Drive Counts box select the unit
369. r revolutions revs and the servo drive is scaled such that with an input of 100 for example 10 Volts the motor goes 5 000 RPM or 83 3 RPS the Torque Scaling attribute value would be calculated as shown below Velocity Scaling 100 83 3 RPS 1 2 Revs Per Second Rockwell Automation Publication MOTION UM001D EN P November 2015 291 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Velocity Servo AXIS_ SERVO REAL GSV Hertz Bandwidth AXIS_SERVO_DRIVE SSV The value for the Velocity Servo Bandwidth represents the unity gain bandwidth that is to be used to calculate the gains for a subsequent MAAT Motion Apply Axis Tune instruction The unity gain bandwidth is the frequency beyond which the velocity servo is unable to provide any significant position disturbance correction In general within the constraints of a stable servo system the higher the Velocity Servo Bandwidth is the better the dynamic performance of the system A maximum value for the Velocity Servo Bandwidth is generated by the MRAT Motion Run Axis Tune instruction Computing gains based on this maximum value via the MAAT instruction results in dynamic response in keeping with the current value of the Damping Factor described above Alternatively the responsiveness of the system can be softened by reducing the value of the Velocity Servo Bandwidth before executing the MAAT instruction There are practical limitations to
370. r with a 2000 line rev resolution and 4x interpolation factor would have an overall resolution of 8000 counts rev The controller and drive use this for scaling the feedback device counts These attributes are derived from the corresponding Motor and Auxiliary Feedback Unit attributes Bit Feedback type 0 rotary default 1 linear 1 reserved 2 Linear feedback unit 0 metric 1 English 3 Feedback Polarity Aux Only 0 not inverted 1 inverted If the bits are Then Feedback Resolution is scaled to 2 0 i Feedback Cycles per Feedback Rev 1 a Feedback Cycles per Feedback Rev o i Feedback ces per mm 1 Feedback Cycles per inch Feedback Polarity The Feedback Polarity bit attribute can be used to change the sense of direction of the feedback device This bit is only valid for auxiliary feedback devices When performing motor feedback hookup diagnostics on an auxiliary feedback device using the MRHD and MAHD instructions the Feedback Polarity bit is configured for the auxiliary feedback device to insure negative feedback into the servo loop Motor feedback devices must be wired properly for negative feedback since the Feedback Polarity bit is forced to 0 or non inverted Rockwell Automation Publication MOTION UM001D EN P November 2015 209 Appendix B Motion axis attributes Description Attribute Axis Type Data Type Aux Feedback Noise AXIS_SERVO_DRIVE BOOL Tag Set when there is noise on the fee
371. rage Velocity Timebase and dividing this value by the timebase The Average Velocity Timebase value should be large enough to filter out the small changes in velocity that would otherwise result in a noisy velocity value but small enough to track significant changes in axis velocity Typically a value between 0 25 and 0 5 seconds works well for most applications State of the axis configuration state machine The Axis Configuration State attribute is used for debugging to indicate where in the axis configuration state machine this axis presently is Even consumed and virtual axes use this attribute If the attribute is 128 the axis is configured and ready for use Not 128 the axis is not configured Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Access Description Axis Control Bits AXIS_ SERVO DINT GSV Bits AXIS_SERVO_DRIVE 0 Abort Process Request 1 Shutdown Request Rockwell Automation Publication MOTION UM001D EN P November 2015 213 2 Zero DAC Request 3 Abort Home Request 4 Abort Event Request 5 14 Reserved 15 Change Cmd Reference Abort Process If this bit is set any active tuning or test process on the axis is aborted Shutdown Request If this bit is set the axis is forced into the shutdown state For an AXIS_SERVO data type the OK contact opens and the DAC output goes to 0 Zero DAC Request
372. rature Fault occurs This warning bit gives the control program an opportunity to reduce motor loading or increase drive cooling to avoid a future shutdown situation Motor Overtemperature Warning When the over temperature limit of the motor is exceeded the Motor Overtemperature Warning bit is set If the condition persists a Motor Overtemperature Fault occurs This warning bit gives the control program an opportunity to reduce motor loading or increase motor cooling to avoid a future shutdown situation Cooling Error Warning When the ambient temperature limit inside the drive enclosure is exceeded the Cooling Error Warning bit sets If the condition persists a Cooling Error Fault occurs This warning bit gives the control program an opportunity to increase drive cooling to avoid a future shutdown situation Motion axis attributes Appendix B Attribute Dynamics Configuration Bits Enable Input Status External Drive Type Axis Type Data Type Access Description AXIS_CONSUMED AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE DINT GSV SSV i DINT GSV SSV Revision 16 improved how the controller handles changes to an S curve profile Do you want to return to revision 15 or earlier behavior for S curves e NO Leave these bits ON default e YES Turn OFF one or more of these bits To turn off this change Tumo this bi nn nn Reduced S curve St
373. re SERCOS Motion Important Only one motion group can be created for each project 1 Inthe Controller Organizer right click Motion Groups and choose New Motion Group 5 Controller Motion_Control G Tasks O TSE Add On Instru New Motion Group G Data Types Rockwell Automation Publication MOTION UM001D EN P November 2015 33 Chapter 1 Configure SERCOS motion 2 On the New Tag dialog box in the Name box type a name for the motion group New Tag SS Name Motion_Group_1 Dosciption Cancel Hep Usage Type Besse Alias For Data Type MOTION_GROUP Parameter Scope ff Motion _Contro Exttemal PRE Style Constant Open MOTION_GROUP Configuration 3 optional In the Description box type a description 4 Click Create Set the Base Update Period The Base Update Period also known as the Coarse Update Period is how often the motion planner runs The motion planner is the part of the controller that handles position and velocity information for the axes When the motion planner runs it interrupts most other tasks regardless of their priority Example If the Base Update Period is set to 10 ms then every 10 ms the controller stops scanning the code and performing other system overhead tasks and runs the motion planner Motion Planet Sans of Your Code System Overhead and so on Oms 10 ms 20 ms 30 ms 40 om Use the following guidelines to set the Base Update Per
374. re is disabled bit cleared the slave axis appears to be more responsive to movements of the master and run generally smoother than when the Master Delay Compensation feature is enabled bit set However when the master axis is running at a constant velocity the slave lags the master by a tracking error that is proportional to the speed of the master This function does not get applied when the Master is a Virtual Axis Master Delay Compensation even if explicitly enabled is not applied in cases where a slave axis is gearing or camming to the master axis command position Because the controller generates the command position directly there is no intrinsic master position delay to compensate for Master Position Filter The Master Position Filter bit controls the activity of an independent single pole low pass filter that effectively filters the specified master axis position input to the slave s gearing or position camming operation When enabled bit set this filter has the effect of smoothing out the actual position signal from the master axis and thus smoothing out the corresponding motion of the slave axis The trade off for smoothness is an increase in lag time between the response of the slave axis to changes in motion of the master Note that the Master Position Filter also provides filtering to the extrapolation noise introduced by the Master Delay Compensation algorithm if enabled When the Master Position Filter bit is set the
375. re not engaged the system inertia is reduced to the motor inertia If the servo loop is tuned for peak performance with the load applied the axis is at best under damped and at worst unstable in the condition where the gear teeth are not engaged In the worst case scenario the motor axis and the input gear oscillates wildly between the limits imposed by the output gear teeth The net effect is a loud buzzing sound when the axis is at rest If this situation persists the gearbox wears out prematurely To prevent this condition the conventional approach is to de tune the servo so that the axis is stable without the gearbox load applied Unfortunately system performance suffers Due to its non linear discontinuous nature adaptive tuning algorithms generally fall short of addressing the backlash problem However a very effective backlash compensation algorithm can be demonstrated using the Torque Scaling gain The key to this algorithm is the tapered Torque Scaling profile as a function of the position error of the servo loop The reason for the tapered profile as opposed to a step profile is that when the position error exceeds the backlash distance a step profile would create a very large discontinuity in the torque output This repulsing torque tends to slam the axis back against the opposite gear tooth and perpetuate the buzzing effect The tapered Torque Scaling profile is only run when the acceleration command to the servo loop is zero t
376. re that is applied to the Aux Feedback Resolution attribute value Units appearing in the enumerated list cover linear or rotary English or metric feedback devices 0 revs 1 inches 2 mm Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Auxiliary Position Feedback in Position Units Aux Position Feedback is the current value of the position feedback coming from the auxiliary feedback input 211 Appendix B Attribute Average Velocity Average Velocity Timebase Axis Configuration State 212 Motion axis attributes Axis Type Data Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL REAL REAL SINT GSV Tag GSV SSV Description Important To use this attribute make sure Auto Tag Update is Enabled for the motion group default setting Otherwise you won t see the right value as the axis runs Average Velocity in Position Units Seconds Average Velocity is the current speed of an axis in the configured Position Units per second of the axis Unlike the Actual Velocity attribute value it is calculated by averaging the actual velocity of the axis over the configured Avera
377. rectional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Forward Bi directional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Reverse Uni directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Rockwell Automation Publication MOTION UM001D EN P November 2015 141 Appendix A Axis properties Item Description Reverse Bi directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Speed Type the speed of the jog profile used in the first leg of an active homing sequence The homing speed specified should be less than the maximum speed and greater than zero Return Speed The speed of the jog profile used in the return leg s of an active homing sequence The home return speed specified should be less than the maximum speed and greater than zero Homing tab Use the Homing tab to configure the attributes related to ho
378. renien a naa aain 192 V D aa rD S PAA iden AEAEE EATE ES 192 TEA EO E EE EEA E AEE Rea E ES AE 193 Set USEC My stop actio Nosen anenai 193 ADUTE aA a hs avs A A R O 193 Tag tabuorsenigconiiinns nania a os eotuananeuasealbeeg 195 AET aat EE EE EEE EE AS 195 DSS G Cie b os sisi cassas sen sacsssnsateecasanddossiaca Rasanssdana eeevane etsnasansapceonen Sotaaaaceongneeets 195 Tag EY Osc ie iiiaaditear naa n E E RER 195 Data Types syste eta igo d eee tian E E E O EO EEE 195 10 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Wiring diagrams Table of contents SCOPE enmena a aa aa suas a 196 a E AE EE EE E T E E EEEE 196 Monitoring axis tags enssiinin ia ennan hnn 196 Create TS OC neiii nE a i a i aba loca RA Aa 196 Appendix B Introduction for Motion Axis Attributes cccscsssssssesseessesesssssessesessessesseess 199 Accessing an MSG instruction oss aucicssaes scasctcsensssncahatiassassadteectinnaitleasiiacdts 199 Interpreting the Attribute Tables iisisssccdsaicrusseievsescdvavstevsiedbctuvibeanndsunvaeteres 199 Replicated Attributes siriani nnii 200 PAS Atri DUNS cece espa AE EA AE RRG 201 Additional error code information ssscsscsscsscssssssssssssssssseessssscssssssesssesseeseenss 293 Appendix C Introduction for Wiring Diagrams sssssssssssssssesssssessssressettesssreneseetesetersssrenesees 295 1756 M02AE module ss sessssssssssssssssscecesssssssscecesssssseesesessssreeesssssssseece
379. ribute is set through internal communication from the user Task object to the Axis object when the Task trigger attribute is set to select the Home Event Task Instance attribute of the Axis This attribute should not be set directly by an external device This attribute is available to be read externally Get attributes List for diagnostic information Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Home Input Status Home Mode Home Offset Home Position Home Return Speed Home Sequence Home Speed Axis Type AXIS_SERVO AXIS_SERVO_DRIVE AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Data Type BOOL SINT REAL REAL REAL SINT REAL Tag GSV SSV GSV SSV GSV SSV GSV SSV GSV SSV GSV SSV Motion axis attributes Appendix B Description If this bit is e ON The home input is active e OFF The home input is inactive 0 passive 1 active default 2 absolute Position Units When applied to an active or passive Homing Mode using a non immediate Home Sequence the Home Offset is the desired position offset of the axis Home Position from the position a
380. ributes Axis Configuration State 209 Axis Data Type 209 Consumed 209 Feedback 209 Generic 209 Servo 209 Servo Drive 209 Virtual 209 Axis Instance 209 Axis State 209 C2C Connection Instance 209 2C Map Instance 209 Group Instance 209 Home Event Task Instance 209 Map Instance 209 Memory Usage 209 Memory Use 209 Module Channel 209 Module Class Code 209 Registration 1 Event Task Instance 209 Registration 2 Event Task Instance 209 Watch Event Task Instance 209 Module Fault Bit Attribute 209 Motion Status Attributes Actual Acceleration 207 209 Actual Position 209 326 Rockwell Automation Publication MOTION UM001D EN P November 2015 Actual Velocity 209 Average Velocity 209 Command Acceleration 209 Command Position 209 Command Velocity 209 Interpolated Actual Position 209 Interpolated Command Position 209 Interpolation Time 209 Master Offset 209 Motion Status Bits 209 Registration Position 209 Registration Time 209 Start Master Offset 209 Start Position 209 Strobe Master Offset 209 Strobe Position 209 Watch Position 209 Servo Configuration Attributes Absolute Feedback Enable 209 Absolute Feedback Offset 209 Axis Info Select 209 External Drive Type 209 Fault Configuration Bits 209 Drive Fault Checking 209 Drive Fault Normally Closed 209 Hard Overtravel Checking 209 Soft Overtravel Checking 209 LDT Calibration Constant 209 LDT Calibration Constant Units 209 Index LDTLength 209 LDT Length Units
381. ributes Axis Type Data Type Access Description AXIS_SERVO_DRIVE BOOL Tag Power Phase Loss Fault AXIS_SERVO_DRIVE BOOL Tag Power Supply ID Precharge Overload Fault Primary Operation Mode Process Status Programmed Stop Mode 268 AXIS_SERVO_DRIVE INT GSV AXIS_SERVO_DRIVE BOOL Tag AXIS_SERVO_DRIVE INT GSV AXIS_SERVO BOOL Tag AXIS_SERVO_DRIVE AXIS_ GENERIC SINT GSV AXIS_SERVO SSV AXIS_SERVO_DRIVE AXIS_VIRTUAL Set when the magnitude of the actual supplied power is greater than the configured Power Threshold Set when the drive detects that one or more of the three power line phases is lost from the 3 phase power inputs The Power Supply ID attribute contains the enumeration of the A B Power Supply or System Module catalog numbers associated with the axis If the Power Supply ID does not match that of the actual supply hardware an error is generated during the drive configuration process The drive s pre charge resistor gets too hot if you cycle 3 phase power too many times If that happens this bit turns on This attribute is derived from the Servo Loop Configuration attribute See IDN 32 in IEC 1491 Set when there is an axis tuning operation or an axis hookup diagnostic test operation in progress on the axis Determines how an axis stops when there is a critical controller mode change or when an MGS Motion Group Stop instruction executes with its stop mode set to Programmed The modes of t
382. rive to scale in English units The Linear Scaling Unit bit does not apply if the Scaling Unit is set to rotary When interfacing to Rockwell SERCOS drive products the Standard Drive Units based on the Scaling Unit and Linear Scaling Unit bit selections are shown in the following table Standard Drive Units Metric English Rotary Rev Rev Millimeter Data Reference The Data Reference bit determines which side of the mechanical transmission to reference position velocity acceleration and torque data If motor is selected then position velocity acceleration and torque data is referenced to the motor side of the transmission If load is selected then position velocity acceleration and torque data is referenced to the load side of the transmission This is only applicable when using an auxiliary feedback device Rockwell Automation Publication MOTION UM001D EN P November 2015 233 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Drive Status Bits AXIS_SERVO_DRIVE DINT GSV Allows access to all drive status bits in one 32 bit word This attribute is the same as the Drive Status tag Tag Servo Action Status Drive Enable Status Shutdown Status ity Lock Status Process Status ity Standstill Status 7 Bus Ready Status ity Threshold Status 18 Reserved orque Threshold Status 19 Home Input Status lorque Limit Status Reg 1 Input Status Reg 2 Input Status i Pos Overtravel Input S
383. rofile Consideration e Fastest acceleration and deceleration times Trapezoidal Jerk does not limit the acceleration and More flexibility in programming deceleration time subsequent motion e The Acceleration and Deceleration rates control the maximum change in Velocity e Your equipment and load get more stress than with an S curve profile e Jerk is considered infinite and is shown as a vertical line Smoother acceleration and deceleration that S curve Jerk limits the acceleration and deceleration reduces the stress on the equipment and load time More time is needed to accelerate and decelerate than a trapezoidal profile Ifthe instruction uses an S curve profile the controller calculates acceleration deceleration and jerk when you start the instruction Velocity The controller calculates triangular acceleration and deceleration profiles Use of Time for the easiest programming of jerk Use of Time to specify how much of the acceleration or deceleration time has jerk You do not have to calculate actual jerk values 84 Rockwell Automation Publication MOTION UM001D EN P November 2015 Example 100 of Time 60 of Time Program Chapter 4 Profile At 100 of Time the acceleration or deceleration changes the entire time that the axis speeds up or slows down ia S a a es wok oiie H At 60 of Time the acceleration or deceleration changes 60 of the time that the axis speeds u
384. roller t GuardLogix 5570 Safety Controller t RSLogix Emulate 5000 Controller Name 5 l Location CAUsers lt User Name gt Documents X 4 Inthe Name box type a name for the controller project and then click Next 1756 L75 ControlLogix 5570 Controller TEA Revision 28 Chassis 1756 A4 4 Slot ControlLogix Chassis Slot Security Authonty No Protection Use only the selected Security Authority for authentication and authorization Secure With Logical Name lt Controller Name gt Permission Set Description Redundancy 5 Inthe Revision list select the revision number for the controller 6 Inthe Chassis list select the type of chassis that holds the controller Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure SERCOS motion Chapter 1 7 Inthe Slot list select the physical slot where the controller is located 8 Inthe Security Authority list select a security option e No Protection All users can view and edit the project e FactoryTalk Security Only users authenticated through FactoryTalk Security can view and edit the project 9 optional Select Use only the selected Security Authority for authentication and authorization to associate this project with a specific Security Authority When this check box is selected users interacting with this project must be authenticated and authorized by the same Security Authority that was use
385. rs Currently there is no Logix support for custom scaling Scaling Unit The Scaling Unit attribute is used to determine whether the controller scales position velocity and acceleration attributes based on rotary or linear scaling parameters and their associated Drive Units are defined by the SERCOS Interface standard When the bit is clear default the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also cleared which instructs the drive to use the rotary scaling parameters When the bit is set the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also set which instructs the drive to use the linear scaling parameters Linear Scaling Unit When the Scaling Unit is set to linear the Linear Scaling bit attribute is used to determine whether the controller scales position velocity and acceleration attributes based on Metric or English Drive Units as defined by the SERCOS Interface standard When the bit is clear default the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also cleared which instructs the drive to use the Metric scaling parameters When the bit is set the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also set which instructs the d
386. rsion constant used to convert drive units to feedback counts Depending on the feedback type selected this value may be read only or editable The units used to measure the cycles This field displays a fixed constant value for the selected feedback type This value is used to compute the resolution of the feedback device Provides the drive with the resolution of the associated feedback device in cycles Represents the quantitative relationship between the auxiliary feedback device and the motor Click the Conversion tab to access the Axis Properties Conversion dialog box Use the Conversion tab to view and edit the Positioning Mode Conversion Constant and if configured as Rotary the Position Unwind values for an axis of the tag types AXIS_SERVO AXIS_SERVO_DRIVE and AXIS_VIRTUAL The differences in the appearance of the Conversion tab for the AXIS_SERVO and AXIS _SERVO_DRIVE are the default values for Conversion Constant and Position Unwind and the labels for these values 15 gt Axis Properties AXIS SERVO_DRIVE L balks Homing Hookup Tune Dynamics l Gains Output Limits Offset Fault Actions Tag al General Motion Planner Units Drive Motor Motor Feedback Aw Feedback Conversion Positioning Mode Rotay gt Conversion Constant 200000 0 Based on 200000 Courts Are Co int j Position Unwind 200000 pte on idr Cov ok Rev Madi ane bl i ek aaa aa A aa a A ah ARE mere edt mae amiei he aT
387. rvo loop may be compromised due to excessive digitization noise associated with the velocity estimator This noise is amplified by the Torque Scaling gain which is related to Tune Inertia AXIS_ SERVO AXIS_SERVO_DRIVE the Tune Inertia factor and passed on to the torque output of the drive A high Tune Inertia value can thus result in excitation of mechanical resonances and also result in excessive heating of the motor due to high torque ripple The only solution to this problem is to lower the loop bandwidths and optionally apply some output filtering Since the Tune Inertia value represents a measure of the true system inertia this situation can occur when driving a high inertia load relative to the motor that is a high inertia mismatch But it can also occur when working with a drive that is undersized for the motor or with a system having low feedback resolution In general the lower the Tune Inertia the better the performance of the digital servo loops approximates that of an analog servo system The product of the Tune Inertia Rated MCPS and the Velocity Servo BW Hertz can be calculated to directly determine quantization noise levels Based on this product the tuning algorithm can take action to limit high frequency noise injection to the motor For motors with a Tune Inertia BW product of 1000 or more the LP Filter is applied with a Filter BW of 5x the Velocity Servo Bandwidth in Hertz This limits the amount of phase lag intro
388. s 7 Click Calculate 8 On the Calculate Position Parameters dialog box click Calculate review the values and adjust as needed until you have the desired calculated values then click Update and Close Position Unit Scaling 1 0 Position Range 1 0 Calculate Parameters Drive Resolution Conversion Constant Position Units per 10 Motor Rev Position Units foo0000 Drive Counts Motor Rev 1000000 0 Drive Counts Position Units Set the homing sequence for Configure SERCOS Motion For complete information about Homing modes methods and guidelines see Home an Axis on page 111 Follow these instructions to set the homing sequence Rockwell Automation Publication MOTION UM001D EN P November 2015 41 Chapter 1 Configure SERCOS motion 1 Click the Homing tab and in the Mode box choose the homing mode 2 In the Position box type the position units 3 In the Sequence box choose the sequence type 4 Forall sequence types except Intermediate in the Description box choose the active home sequence type and then in the Speed and Return Speed boxes set the homing speeds 5 Click OK to apply the changes 42 Rockwell Automation Publication MOTION UM001D EN P November 2015 Introduction for Configure Analog Motion Create a controller project for Configure Analog Motion Chapter 2 Configure analog motion Use this chapter for step by step procedures on how to configure
389. s Use the Custom Gain Attributes dialog box to edit the VelocityDroop attribute Custom Gain Attributes ea fame vane unis pe 0 0 Position Units s REAL When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Attribute The following attribute value can be monitored and edited in this dialog box Rockwell Automation Publication MOTION UM001D EN P November 2015 165 Appendix A Axis properties Attribute Description VelocityDroop This 32 bit unsigned attribute also referred to as static gain acts as a very slow discharge of the velocity loop integrator VelocityDroop may be used as a component of an external position loop system where setting this parameter to a higher nonzero value eliminates servo hunting due to load stick friction effects This parameter only has effect if VelocityIntegralGain is not zero Its value ranges from 0 to 2 14748x10 12 This value is not applicable for Ultra3000 drives Output tab AXIS_SERVO Use the Output tab for offline configuration for an axis of the type AXIS_SERVO that is configured in the General tab as a Servo drive You can configure the following values e Set the torque scaling value which is used to generate gains e Enable and configure the low pass digital output filter RO Avis Properties AXIS SERVO gt kaje General Moti
390. s Output Filter Bandwidth Low pass Output Filter Bandwidth When Enable Low pass Output Filter is selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting is filtered and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation Rockwell Automation Publication MOTION UM001D EN P November 2015 171 Appendix A Axis properties Limits tab AXIS_SERVO 172 of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Manual Adjust Opens the Output tab of the Manual Adjust dialog box for online editing of Torque Force Scaling the Notch Filter Frequency and the Low pass Output Filter parameters Dynamics Gains Output Limits Offset Torque Force Scaling Rated Position
391. s are verified as valid then the command is executed If the command fails immediately then an Execution Error message appears on the dialog box Regardless of whether an error is detected a detailed message appears in the Error result window describing the immediate results of the executed command Motion Direct Commands irtual_1 4 Axis Vitua 1 FI Absolute 0 0 0 0 Units per sec 100 0 Units per sec2 100 0 Motion Move Re MAS Units per sec2 Re MAH Trapezoidal Re MAJ Accel Jerk 100 0 amp MAM Decel Jerk 100 0 Re MAG Jerk Units of Time Re MCD Qe MRP zi A DANGER Pressing Execute may cause motion Execution Error Motion Group Shutdown Errors Motion Direct Commands Axis_S5_N1 3 Execution Error MAM 16 000b T Motion Direct Commands Axis_S5_N1 3 Execution Error MAM 16 000b T Motion Direct Commands Virtual_1 4 Execution Error MAM 16 0013 Th Close Help Errors E Search Results al Watch The message Execution Error clears on subsequent command execution or if you select a new command The information provided in the error result window after an execution is not cleared provides a history of what has been executed What if the software goes offline or the controller changes modes When the Logix Designer application transitions to Off line and Direction Command instructions continue if the c
392. s configuration provides full position servo control using the auxiliary feedback device for position feedback and the motor mounted feedback device to provide velocity feedback This servo configuration combines the advantages of accurate positioning associated with the auxiliary position servo with the smoothness and stability of the motor position servo configuration Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the base update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability 316 Rockwell Automation Publication MOTION UM001D EN P November 2015 Servo loop block diagrams Appendix D Motor Dual Command Servo The following image illustrates Motor Dual Command Servo configuration Servo Config Motor Dual Command Dupin Output Low Pana Noleh Tongue Fitter Filise ayn Often BW aw Limit Acid ton Vetocity ps Command velocity
393. s intrinsically unstable Too much I Gain results in axis oscillation and servo instability In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other In general where static positioning accuracy is required Position Integral Gain is the better choice The typical value for the Velocity Proportional Gain is 15 mSec 2 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Velocity Feedforward Velocity Feedforward Gain scales the current Command Velocity by the Velocity Feedforward Gain and adds it as an offset to the Velocity Command Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at
394. s required The following steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch 2 The axis keeps moving at the Home Speed until it gets to the marker 3 If the axis is linear it decelerates to a stop unless the home offset is greater than the distance required to decelerate then the home offset is applied If the axis is rotary it adds as many revolutions as necessary so it decelerates and stops at the home position Rockwell Automation Publication MOTION UM001D EN P November 2015 117 Chapter 5 Home an axis Sequence Active Home to Torque 118 Description The Home to Torque Level sequence is a type of homing used when a hard stop is going to be used as the home position as in a linear actuator The occurrence of the hard stop is detected by the drive when the output torque to the motor reaches or exceeds the torque level specified by the user Since the home to torque level sequence relies on the mechanical end of travel for operation Unidirectional homing is not possible Only Forward Bidirectional and Reverse Bidirectional are allowed In Torque Level homing the torque event is the trigger The motion planner decelerates the axis to a stop and reverses direction The torque event is usually some type of hard stop Because of this the physical axis cannot move but the position command is changing This causes the Position error to increase If the distance r
395. s the fault action to be taken when a phase loss situation occurs for an axis configured as Servo on the General tab of this dialog box The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only The default is Shutdown When Status Only is chosen Logix Designer motion commands continue and the drive uses available stored DC bus energy to operate the axes Set custom stop action Opens the Custom Stop Action Attributes dialog box n Custom Stop Action Attributes pees Use this dialog box to monitor and edit the Stop Action related attributes When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using Logix Designer application and invoke the Axis Wizard or Axis Properties dialog box the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Attributes The following attribute or parameter values can be monitored and edited in this dialog box Attribute Description StoppingTorque This attribute displays the amount of torque available to stop the motor This attribute has a value range of 0 1000 Roc
396. s value is the speed of the motor driven at rated frequency under rated torque load This value is synonymous with the term base speed This bit is the status indication of the Kinetix Drive s Safe Off circuitry If this bit is the following state e ON The Drive s Safety monitor circuitry encountered a loss of signal from Enable_1 or Enable_2 e OFF The Drive s Safety monitor circuitry did not fault from Enable_1 or Enable_2 For the Kinetix Drive to pass back this status to the controller via this bit the Drive must have firmware version 1 85 or higher Error code returned by SERCOS module indicating source of drive parameter update failure The SERCOS Error Code value can be used to identify the source of the drive parameter update failure that resulted in the Axis Configuration Fault Set when a requested SERCOS procedure fails to execute properly or the associated drive node detected a SERCOS communication fault If this bit is set there is a problem on the SERCOS ring that is the light is broken or a drive is powered down If this bit is e ON The axis is under servo control e OFF Servo action is disabled Lets you access all servo fault bits in one 32 bit word This tag is the same as the Servo Fault Bits attribute Servo Fault Bit Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault 1 Reserved 2 Reserved 3 Feedback Fault 4 Feedback Noise Fault 5 Reserved 6 Reserved 7 Positive Error Fault 8 Driv
397. sentative for the return procedure Documentation feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete the feedback form publication RA DU002 Rockwell Otomasyon Ticaret A Kar Plaza Is Merkezi E Blok Kat 6 34752 Icerenk y Istanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Auromarion NV Pegasus Park De Kleetlaan 12a 183 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberporr 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Rockwell Automation Publication MOTION UM001D EN P November 2015 Supersedes Publication MOTION UM001C EN P October 2014 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A
398. set as part of an axis create service and is used to control which controller memory the object instance is created in Zero based channel number of the module Oxff indicates unassigned The axis is associated to a channel on a motion module by specifying the Module Channel attribute ASA Object class code of the motion engine in the module for example OxAF for the MO2AE module The ASA class code of the object in the motion module that is supporting motion for example OxAF is the ASA object ID of the Servo Module Axis Object residing in the 1756 MO2AE module Rockwell Automation Publication MOTION UM001D EN P November 2015 251 Appendix B Motion axis attributes Attribute Axis Type Data Type Module Fault AXIS_ CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL BOOL Tag Module Fault Bits AXIS_ CONSUMED AXIS_SERVO AXIS_SERVO_DRIVE DINT GSV Module Faults AXIS_ SERVO AXIS_SERVO_DRIVE DINT Tag Module Hardware Fault AXIS_ SERVO BOOL Tag AXIS_SERVO_DRIVE Description Set when a serious fault occurs with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition Do you want this fault to give the controller a major fault e YES Set the General Fa
399. settings on the Advanced Dialog box to let this module win the arbitration over other processors and communication modules in the chassis See the Integrated Architecture and CIP Sync Configuration Application Technique publication LA AT003 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure analog motion Chapter 2 Add an an alog module Follow these instructions to add an analog module to your system Important For all modules use the firmware revision that goes with the firmware revision of your controller See the release notes for your controller s firmware 1 Inthe Controller Organizer right click the backplane and choose New Module GIO Configuration a PENET 0 1756 473 Motion_ 6 2 On the Select Module Type dialog box choose the module that you want to add Catalog Module Discovery Favortes Ear Search Text for Module Type ray Hide Files a v Module Type Category Fitters cal Module Type Vendor Fitters WZ Analog ElV Aten Bradey E Communication V Advanced Micro Controls Inc AMC v Controler vI Hardy Process Solutions vi Digtal gt Molex incorporated mi m Catalog Number Description Vendor Category aj 124 Single or Dual Resolver interface Advanced Micro Speciatty 1756CFM Configurable Flow Meter Allen Bradiey Speciaty 1756CN2 1756 CortrolNet Bridge Allen Bredey Communication 1756 CN2R 1756 ControlNet Bridge Alen Bradey
400. sition Feedback represents the current position of the axis 1 mSec Sec This controller attribute is replicated in the motion module Position Integral Gain Pos Gain improves the steady state positioning performance of the system By using Position Integral Gain it is possible to achieve accurate axis positioning despite the presence of such disturbances as static friction or gravity Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability Every servo update the current Position Error is accumulated in a variable called the Position Integral Error This value is multiplied by the Position Integral Gain to produce a component to the Velocity Command that attempts to correct for the position error The characteristic of Pos Gain correction however is that any non zero Position Error accumulates in time to generate enough force to make the correction This attribute of Pos Gain makes it invaluable in applications where positioning accuracy or tracking accuracy is critical The higher the Pos Gain value the faster the axis is driven to the zero Position Error condition Unfortunately Pos Gain control is intrinsically unstable Too much Pos Gain results in axis oscillation and servo instability If the axis is configured for an external velocity loop servo drive the Pos Gain should be zero most analog velocity loop servo ampli
401. ssssssesereess 295 NOTES oita aA sles sea E a a a ea 296 Ultra 100 Series Dive narren i a 296 Aa A EEE RE E A EER O EAE ES 296 Ultra 200 Series Drive essssssssseseessssseeecssssesscccesssssssstecessssseeeeeeresssseetrsssssunseeeeessss 297 DRS och ee aa a an n n s 297 1398 CFLAExx cable sessseeesecccesessesescccessssseuseeeesssseececoeessssseeeossssssstreessssee 297 Pinouts for 1398 CFLAExx cable ssssssssssssessssssssesessssssssreressssssssstrrrssssereeee 298 tat FOC Dives vcsn ccsvae desisalasatsouass tesmeetboc tienes watiostacndbs henswlasvian susadeaateleaandeleaues 299 Ultra3000 to 1756 MO2AE interconnect diagram s ssssesscssssseeeessssees 299 2090 U3 AE D44xx cable cccsscssssssssscsssssssssosesssscasssssessesseenssosensessensasese 300 756 MOZAS MoOdUl esau ini Naneanesuanu untae dsadiae ins R 301 Wiring from AB 842A encoder without reset to 1756 M02AS RTB gst Newest IAE ss kaa Sites si se A A a aces tsi shades a aude A A A 302 Wiring for AB 842A encoder with remote reset to 1756 M02AS RTB PORT AEE Pee SMe Ove aCe AA EE AA ADT EERE MEAS Ee Tere HET are 303 1756 HY DOD application example ssccigesinrcsitiecevehcgactie datcseeecenetcdaacettevalle 304 D7 eM OO 2 mod le sssrinin nn aana 305 IN OGES cette A E Stscowene castastec EE 305 EDD Siaseieceseeits a eet ed ee a es eae wat nies ete 306 Temposonic GH feedback device ag cvsics 245 ccopetcrsscnes peter tleenontearcon cteyeteereteshte 307 DAV registration SENSO Esun eaaa naa 3
402. t Axis Info Select 2 AXIS_SERVO_DRIVE SSV e To use one of them you must choose it for Real Time Axis Information for the axis Otherwise its value won t change and you won t see the right value as the axis runs e You can choose up to 2 of these attributes To use a GSV instruction to choose an attribute for Real Time Axis Information set the Axis Info Select 1 or Axis Info Select 2 attribute pas Sev as Sv oave a ie et Cc Position Command Position Command 1 loon Aux Position Feedback Aux Position Feedback 3 ran romente etn ep ey Conana Wei wt wove ey ea Acceleration Command 10 het ed i a A E iat E n 5 Positive Dynamic Torque Limit 16 Negative Dynamic Torque Limit 7 Motor Capacity 18 Drive Capacity 19 x Bus Regulator Capacity 21 Motor Electrical Angle 2 z x oe i aa feuds E a 216 Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Axis Instance Axis Response Bits Axis State Motion axis attributes Appendix B Axis Type Data Type cau Description AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL AXIS_SERVO AXIS_SERVO_DRIVE AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Instance Number assigned to Axis The Axis Instance attribute is used to return the instance number of an axis Major fault records generated for an axis major fault contains only the instance of the offending axis This attribute would then typical
403. t already open in the Controller Organizer double click the hydraulic drive module 52 Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure analog motion Chapter 2 2 On the Module Properties Report dialog box click the Associated Axes tab 3 Click New Axis to create an AXIS_SERVO tag to associate to one of the channels 4 On the New Tag dialog box in the Name box type a name for the axis tag AXIS_SERVO_DRIVE ff Motion _Control Read Write Sequencing E Open AXIS_SERVO_DRIVE Configuration Open Parameter Connections 5 Click Create 6 optional Repeat steps 3 through 5 if an additional axis is required 7 Onthe Module Properties Report dialog box in the Channel 0 box choose an axis Rockwell Automation Publication MOTION UM001D EN P November 2015 53 Chapter 2 Configure analog motion 8 optional In the Channel 1 box choose an axis 9 Inthe Servo Update Period box select the periodic rate at which the module closes the servo loop for an axis 10 Click OK Configure the feedback type 1 Inthe Controller Organizer double click the axis 2 On the Axis Properties dialog box click the Feedback tab aaan Opt f Umts Offset Fat Actions Tes Generat Motion Planner Unts Servo Feedback Conversion Homing Hookup Tune Feedback Type LOT Linear Displacement Transducer x LDT Type Pwm Calcul
404. t is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared e Status Only Ifa fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate ATTENTION Selecting the wrong fault action for your application can cause a dangerous condition Keep clear of moving machinery Drive Enable Input Specifies the fault action to be taken when a Drive Enable Input Fault is detected for an axis configured as Servo in the General tab of this dialog box The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Drive Thermal Specifies the fault action to be taken when a Drive Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog box The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Rockwell Automation Publication MOTION UM001D EN P November 2015 191 Appendix A 192 Axis properties Motor Thermal Specifies the fault action to be taken when a Motor Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog box The available actions for this fault are Shutdown Disable Dr
405. t pure trapezoidal fastest and highest stress e S Curve slowest lowest stress The typical acceleration profile is a trade off between stress and speed Rockwell Automation Publication MOTION UM001D EN P November 2015 91 Chapter 4 92 Program The Jerk is specified by the user in Units sec3 or as a percentage of maximum or it is calculated from the percentage of time Percentage of time is equal to the percentage of ramp time in the acceleration deceleration profile ama EU 200 ja EU ___ 1 Vma EU 3 ja 7 of time dna EU 200 al EU aa Vinax EUS ja of time Backward compatibility The Jerk of 100 of time produces triangular acceleration and deceleration profiles Very small Jerk rates that are less than 5 of time produce acceleration and deceleration profiles close to trapezoidal ones Important Higher values of the of Time result in lower values of Jerk Rate Limits and therefore slower profiles See the following table for reference Trapezoidal Velocity S shaped Velocity Profile with 1 lt Jerk S shaped Velocity Profile with Jerk 100 of Profile lt 100 of Time Time 3 The example labeled Trapezoidal Accel Decel Time uses a rectangular acceleration profile 4 The example labeled Programmable S Curve Accel Decel Time Acceleration Jerk 60 of Time uses a trapezoidal acceleration profile gt The example labeled S Curve Accel Decel Time Backward Compati
406. t to Hard Run mode or if a Feedback On condition exists When Logix Designer application is offline the following parameters can be edited and the program saved to disk using the Save command or by clicking Apply You must re download the edited program to the controller before it can be run Motor Inertia The Motor Inertia value represents the inertia of the motor without any load attached to the motor shaft in Torque Scaling units Load Inertia Ratio The Load Inertia Ratio value represents the ratio of the load inertia to the motor inertia Torque Force Scaling The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as follows Torque Scaling 100 Rated
407. t which the home event occurred The Home Offset is applied at the end of the specified homing sequence before the axis moves to the Home Position In most cases Home Offset is set to zero After an active bidirectional homing sequence completes the axis is left at the specified Home Position If the Home Offset is non zero the axis is then offset from the marker or home switch event point by the Home Offset value If the Home Offset is zero the axis sits right on top of the marker or home switch point Position Units The Home Position is the desired absolute position for the axis after the specified homing sequence completes After an active homing sequence completes the axis is left at the specified Home Position In most cases Home Position is set to zero although any value within the Maximum Positive and Negative Travel limits of the axis if enabled may also be used A description of the Maximum Positive and Negative Travel configuration attributes may be found in the Servo and Drive Axis Object specifications For a rotary axis the Home Position is constrained to be a positive number less than the Position Unwind value divided by the Conversion Constant When configured for absolute Homing Mode the Home Position value is applied directly to the absolute feedback device to establish an absolute position reference for the system Position Units Seconds The Home Return Speed attribute controls the speed of the jog profile
408. ta AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 160 in IEC 1491 Scaling Acceleration Data AXIS_SERVO_DRIVE INT GSV Scaling Exp Acceleration Data AXIS_SERVO_DRIVE DINT GSV Scaling Factor Acceleration Feedback AXIS_ SERVO REAL GSV AXIS_SERVO_DRIVE Ta 204 Rockwell Automation Publication MOTION UM001D EN P November 2015 This attribute is derived from the Drive Units attribute See IDN 161 in IEC 1491 Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Acceleration Feedback in Position Units Sec Acceleration Feedback is the actual velocity of the axis as estimated by the servo module in the configured axis Position Units per Second The Estimated Acceleration is calculated by taking the difference in the Estimated Velocity over the servo update interval Acceleration Feedback is a signed value the sign or depends on which direction the axis is currently moving Acceleration Command AXIS_SERVO GSV Important To use this attribute choose it as one of the attributes for Real Time Axis AXIS_SERVO_ DRIVE Tag Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Acceleration Command in Position Units Sec Acceleration Command is the current acceleration reference to the output summi
409. ta Type AXIS_SERVO REAL Output Limit Status AXIS_ SERVO BOOL AXIS_SERVO AXIS_SERVO_DRIVE Output LP Filter Bandwidth 260 REAL GSV SSV GSV SSV Description 0 0 10 0V This controller attribute is replicated in the motion module The Output Limit attribute provides a method of limiting the maximum servo output voltage of a physical axis to a specified level The servo output for the axis as a function of position servo error with and without servo output limiting is shown below Without Servo Output Limiting With Servo Output Limiting Servo Amplifier Output Position Error The servo output limit may be used as a software current or torque limit if you are using a servo drive in torque current loop mode The percentage of the drive s maximum current that the servo controller commands is equal to the specified servo output limit For example if the drive is capable of 30 Amps of current for a 10 Volt input setting the servo output limit to 5V limits the maximum drive current to 15 Amps The servo output limit may also be used if the drive cannot accept the full 10 Volt range of the servo output In this case the servo output limit value effectively limits the maximum command sent to the amplifier For example if the drive can only accept command signals up to 7 5 Volts set the servo output limit value to 7 5 volts If this bit is e ON The servo output is at or past the Output Limit
410. tails on how to plan for mount install configure and troubleshoot the Kinetix 7000 High Power Servo drive Provides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 6000 drive and system integration for your drive motor combination with a Logix controller Provides information on wiring configuring and troubleshooting the safety functions of your Kinetix 6200 and Kinetix 6500 drives Provides the mounting wiring and connecting procedures for the 8720MC and standard Rockwell Automation Allen Bradley motors recommended for use with the 8720MC drive Provides the startup configuration and troubleshooting procedures for the 8720MC drive Provides general guidelines for installing a Rockwell Automation industrial system Provides declarations of conformity certificates and other certification details 17 Preface Legal Notices 18 Copyright Notice 2015 Rockwell Automation Inc All rights reserved Printed in USA This document and any accompanying Rockwell Software products are copyrighted by Rockwell Automation Inc Any reproduction and or distribution without prior written consent from Rockwell Automation Inc is strictly prohibited Please refer to the license agreement for details End User License Agreement EULA You can view the Rockwell Automation End User License Agreement EULA by opening the License rtf file located in your product s install folder
411. tatus i Neg Overtravel Input Status Enable Input Status Velocity Threshold Status 25 Ca a Absolute Reference Status Drive Status AXIS_SERVO_DRIVE DINT Tag Allows access to all drive status bits in one 32 bit word This tag is the same as the Drive Status Bits attribute ts Ce a CO e Soms 2 mas fe pess 3 venas Batas a eneas fs is 5 iones E E al ae al sip Hat J E g 3 g 2 x r s i f Reg 2 input Status 8 Position Lock Status 2 E CE Enable Input Status 11 Low Velocity Threshold Status 25 Accel Limit Status m High Velocity Threshold Status 26 C 8 234 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Attribute Axis Type Data Type Access Description Drive Status AXIS_SERVO_DRIVE BOOL Tag Tag i Servo Action Status Drive Enable Status Shutdown Status Process Status Bus Ready Status Reserved Home Input Status Reg 1 Input Status Reg 2 Input Status Pos Overtravel Input Status Neg Overtravel Input Status Enable Input Status Accel Limit Status Absolute Reference Status 13 Safe Off Mode Active Status 14 requires Drive firmware revision 1 85 or higher Drive Thermal Fault AXIS_SERVO_DRIVE SINT GSV Fault Action Action SSV Shutdown Disable Drive Stop Motion Status Only Drive Undervoltage AXIS_SERVO_DRIVE BOOL Set when drive DC bus voltage is below the predefined operating limits for the bus Fault Drive Unit
412. tch and marker in forward bidirectional Active home to switch in forward unidirectional Active home to marker in forward unidirectional 116 Description This is the most precise active homing sequence available Active Bidirectional Home with Switch then Marker Homing Velocity Axis Position 3 Return Velocity 1 Home Limit Switch Detected 2 Home Limit Switch Cleared 3 Encoder Marker Dete 4 Home Position The following steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and decelerates to a stop The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch The axis keeps moving at the Home Return Speed until it gets to the marker gt Ww N The axis moves back to the marker or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis it moves along the shortest path to the Home Position that is no more than revolution If the axis is ON the home limit switch at the start of the homing sequence the axis reverses direction and starts the return leg of the homing sequence This active homing sequence is useful when an encoder marker is not available and unidirectional motion is required or proximity switch is being used The following steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit
413. te a custom homing sequence e Passive homing for a given home sequence works similar to the corresponding active homing sequence except that no motion is commanded the controller just waits for the switch and marker events to occur Absolute AXIS_SERVO_DRIVE and AXIS_ SERVO when associated with a 1756 HYD02 LDT feedback or 1756 M02AS SSI feedback module only Absolute homing is only available on Axis_Servo_Drive if the position feedback devices support absolute homing Absolute Homing is not available on a 1756 M02AS module if Enable Absolute Feedback is cleared e The absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device e The only valid Home Sequence for an absolute Homing Mode is immediate In the LDT and SSI cases the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position less any enabled Absolute Feedback Offset to the reported position of the absolute feedback device e Before execution of the absolute homing process using the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled 140 Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Item Description No Physical Marker Pulse Exists For the SSI feedback transducer no physical marker pulse exists However a pseudo
414. ter No Master Position Filter Bandwidth NA Units Position Units Inches Average Velocity Timebase 0 25 Seconds Conversion Positioning Mode Linear Conversion Constant 25400 0 Feedback Counts 1 0 Inches Position Unwind NA Homing Mode Active Position 5 0 Inches Sequence Immediate Dynanucs Maxinmm Speed 200000 0 Inches s gt Max nmm Acceleration 2000000 0 Inches s 2 Maximum Deceleration 2000000 0 Inchefi Maxinmm Acceleration Jerk 60000000 0 Inches s 3 Maximum Deceleration Jerk 584313720 Inch You can also right click a controller communication module and any motion module to print the Module Properties you configured inated Indepaeae ool fi New Module PA Cut Ctrl x Copy Ctrl C vel Paste Ctrl Delete Del Cross Reference Ctri E Properties Alt Enter Cee Module Properties Example ocal Module Properties Listing inematics_Articulated_Independent_3D Local 1 27 2010 3 55 43 PM C RSLogix 5000 Projects Samples ENU v18 Rockwell Automation Kinematics_Articulated_Independent_3D ACD Pagel 1756 Backplane 1756 A17 Local Modules fi Local 0 1756 L63 Kinematics_Articulated_Independent_3D Type 1756 L63 ControlLogix5563 Controller Parent Local Vendor Allen Bradley Vendor ID 1 Slot 0 Electronic Keying Exact Match Revision 18 1 Status Standby Module Fault Offline Inhibit Flag Off 198 Rockwell Automation Publication MOTION UM001D EN P November 2015
415. the HomedStatus bit is cleared under the following conditions e MRP instruction For non CIP Drive axis data types the HomedStatus bit is cleared under the following conditions e Download Control power cycle e Reconnection to Motion Module Feedback Loss Fault Shutdown w e Set if a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation Tag Use the InhibitStatus bit of an axis to see if the axis is inhibited or uninhibited If the bit is e ON The axis is inhibited e OFF The axis is uninhibited The controller changes the InhibitStatus bit only after the following occurs e The axis changes to inhibited or uninhibited e All uninhibited axes are ready e The connections to the motion module are running again GSV To SSV Set the attribute to Block the controller from using the axis This inhibits the axis 1 or any non zero value Let the controller use the axis This uninhibitsthe 0 axis GSV When the Integrator Hold Enable attribute value is configured TRUE the servo loop ssy temporarily disables any enabled integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion When the Integrator Hold Enable attribute value is FALSE all active integrators are enabled 0 disabled 1 enabled Tag If this bit is on the analog s
416. the fault Allows access to all motion status bits in one 32 bit word This tag is the same as the Motion Status Bits attribute DINT Motion Status Bit Motion Status Bit Time Cam Status Accel Status 0 Decel Status 1 Move Status 2 Position Cam Pending Status 10 Time Cam Pending Status 11 Jog Status 3 Gearing Lock Status Gearing Status 4 Homing Status Stopping Status Position Cam Lock Status Reserved Master Offset Move Status 5 6 Axis Homed Status 7 8 Position Cam Status Rockwell Automation Publication MOTION UM001D EN P November 2015 Coordinated Motion Status BOOL Tag Set when there is noise on the feedback device s signal lines e For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback noise Feedback noise shown below is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring You can see these on an oscilloscope rot 4 cHa WPL TL cHB LE LE PLL f f To troubleshoot the loss of channel quadrature look for e physical misalignment of the feedback transducer components e excessive capacitance or other delays on the encoder signals e Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown R
417. the spaces removed For example Absolute Feedback Enable would be AbsoluteFeedbackEnable For each attribute the related axis is listed The data type such as DINT UINT SINT REAL and BOOL GSV Can be read via the GSV instruction SSV Can be written via the SSV instruction Tag Can be created to allocate and reference MSG data Message is only used to access drive attributes for which there is not GSV SSV access To use a MSG instruction to access information from a drive you will need the Attribute and Class IDs See the drive documentation for ID information The meaning of the attribute values such as Position Units Seconds Tag access is supported but value is valid only when Auto Tag Update of the Motion Group Object is enabled Replicated Attributes These are the controller attributes that are replicated in the motion module e AccelerationFeedForwardGain e AxisType e DriveFaultAction e FeedbackFaultAction e FeedbackNoiseFaultAction e FrictionCompensation e MaximumNegativeTravel e MaximumPositiveT ravel e OutputLPFilterBandwidth e OutputLimit e OutputOffset 200 Rockwell Automation Publication MOTION UM001D EN P November 2015 Motion axis attributes Appendix B Axis attributes Axis Type AXIS_SERVO Attribute Absolute Feedback Enable Rockwell Automation Publication MOTION UM001D EN P November 2015 This table describes each attribute of an axis Pos
418. tion 0 Jog_2_Speed 00e Units per sec Jog_2_Accel 10 06 Units per sec2 Jog_2_Decel 200 Units per sec2 Curve 100 0 100 0 of Time Disabled When you use an S curve profile jerk determines the acceleration and deceleration time of the axis e An S curve profile must get acceleration to 0 before the axis can slow down Rockwell Automation Publication MOTION UM001D EN P November 2015 103 Chapter 4 Program e Ifyou reduce the acceleration more time is required to get acceleration to 0 e Inthe meantime the axis continues past its initial target speed The following trends show how the axis stops with a trapezoidal profile and an S curve profile Stop while accelerating and reduce the acceleration rate Trapezoidal S curve its target acceleration The axis slows down as soon as you start the stopping instruction The The stopping instruction reduces the acceleration of the axis It now takes longer to lower acceleration does not change the response of the axis bring the acceleration rate to 0 The axis continues past its target speed until acceleration equals 0 104 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 Corrective Action Use a Motion Axis Stop MAS instruction to stop the axis or configure your instructions like the following Jog_PB lt Local4 Date 1 0 gt My_Axis_OK J Motion Axis Jog EN
419. to SERCOS interface drives e The SERCOS interface module lets you control digital drives by using high speed real time serial communication e SERCOS is the IEC 61491 Serial Real time Communication System protocol over a fiber optic network e The module uses a fiber optic network for all the wiring between the drives and the module 14 Rockwell Automation Publication MOTION UM001D EN P November 2015 Preface Motion Module Description 2094 SEO2F M00 S0 2094 Kinetix 6200 control modules use SERCOS interface to SEO2F M00 S1 communicate with the Logix controller and EtherNet IP to access the safety configuration tool 1756 MO2AE The 1756 M02AE module is a two axis servo module for drives actuators that need a 10V velocity or torque reference Use the 1756 MO2AE module when your equipment has quadrature encoder feedback The module also has the following e Home limit switch inputs e Drive fault inputs e Drive enable outputs e 5V or 24V position registration inputs e 250 us position and velocity loop updates 1756 HYD02 The 1756 HYD02 module is a two axis servo module for hydraulic actuators that need a 10V velocity reference Use the 1756 HYD02 module when your equipment has magnostrictive linear transducer LDT feedback The module is similar to the 1756 MO2AE module with the following exceptions e Feed Forward adjust and single step Auto Tune e Gain ratio between extend direction and retract direction
420. tom PANG sesamining inina naana 165 WAE 1 0 1E SRA A E A 165 Output tab AXIS_SERVO sssssssssssssessssseretsssssretessereesssereressereresseorerssesressssee 166 Velocity Scaling sssiisniianeiai nainn 167 Torgue Force Scalia gs svssssssvecctunssancvasencasasssvteevounsevoctnssicenvvtorabes bieseedansoneeass 167 Direction Scaling Ratio sciancsiinaidinnicuenaauaimnemnaionats 168 Enable Low Pass Output Filtetivds accmcindie ead aon 168 Low pass Output Filter Bandwidth it ccnen tire iedycepanteestematewind 168 Manual PACS sc scsosszecenasosccapusigvezecsbnsvchtan tauren A e a S 169 Output aee A ENO DRE o aA 169 Motor Nerta seii csteadatecaad ren EREA AREENA E cheese 170 Load ich a R Oriini r REEE E RRRA 170 Torgue Forc Scaling siisnsiiiinesennani aeiaai 170 Enable Notch Filter Frequency s sssssssescsssssesesssseecessseeeesssseeeesssssoeesesseeeesss 171 Notch Filter Frequency sssssssesssssssessssseetesseretesssereeesseeesssseoresesseoresssseeresss 171 Enable Low Pass Output Filter sssssssssssssesssssssessssssesessssreeesssoreressssreresssseeres 171 Low pass Output Filter Bandwidth sss ssssssssesssssssesssssseessssesressssereessssereesss 171 Mangal Adj st inrer eirinen e aN 172 E E AXIS SERV O cesses srsess cin ass ceanes ssa doneccseraciee waste 172 Soft T ravel LIMS inarin ian on a nS DY ena Nm OO 173 Maximum Positive ve s s0 cciscdsncatentzass ducveesecaetresricdepaienctanleacn nena dichaneh tase sete enens 173 Maximum Negativen iein i
421. tructions Motion Group Shutdown MGSD 78 101 Passive Homing 126 Motion Group Shutdown Reset MGSR 78 101 Motion Axis Jog MAJ Velocity Profile Effects 90 Motion Group Stop MGS 78 101 Motion Redefine Position 78 101 Motion Group Strobe Position MGSP 78 101 Motion Run Axis Tuning 78 101 Motion Run Hookup Diagnostic 78 101 Motion Servo Off 78 101 Motion ServoOn 78 101 Motion Axis Home MAH 78 101 MOTION GROUP datatype 132 MOTION GROUP structure 132 Motion Move Instructions Motion Axis Gear MAG 78 101 Motion Axis Jog MAJ 78 101 Motion Axis Move MAM 78 101 Rockwell Automation Publication MOTION UM001D EN P November 2015 331 Index 0 OK contact wire 330 S SERCOS Drives setup 42 SERCOS interface drive add to controller 33 Specifications 1756 HYD02 Motion Module 14 1756 M02AE Motion Module 14 1756 M02AS Motion Module 14 1756 M03SE 1756 MO8SE amp 1756 M16SE Motion Module 14 Ww Wiring connections 325 Connecting LDTs to the 1756 HYD02 module 325 326 Example diagram of 1756 HYD02 wiring 326 home limit switch input 329 OKcontacts 330 wiring diagrams 315 332 Rockwell Automation Publication MOTION UM001D EN P November 2015 Rockwell Automation support Rockwell Automation provides technical information on the web to assist you in using its products At hetp www rockwellautomation com support you can find technical and application notes sample code and links to software service pac
422. ture is used by point to point moves to minimize the integrator wind up during motion e Unchecked all active position or velocity integrators enabled e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion Rockwell Automation Publication MOTION UM001D EN P November 2015 159 Appendix A Axis properties Gains Tab AXIS_SERVO_ DRIVE 160 e Disabled all active position or velocity integrators are enabled Manual Adjust Opens the Gains tab of the Manual Adjust dialog box for online editing Dynamics Gains Output Limits Offset Position Gains Proportional 101 72526 e 1 s 0 i iy Integral 0 0 e 1 mss Velocity Gains Feedforward Gains Integral 0 0 He Vmss Acceleration 0 0 sje Proportional 260 41666 le 1 s Velocity 0 0 ale Manual Adjust is unavailable when Logix Designer application is in Wizard mode and when you have not yet saved or applied your offline edits to the parameters Use this tab to perform the following offline functions for an axis of the type AXIS_SERVO_DRIVE e Adjust or tweak gain values that are automatically set by the tuning process in the Tune tab of this dialog box e Manually configure gains for the velocity and position loops ___General Motion Plan
423. ublication MOTION UM001D EN P November 2015 Index Test Output amp Feedback 153 Hookup Tab Overview AXIS_SERVO_DRIVE Drive Polarity 155 Test Feedback 156 Test Increment 155 Test Marker 156 Test Output amp Feedback 156 Limits Tab AXIS_SERVO ManualTune 183 Maximum Negative 181 Maximum Positive 181 Output Limit 182 Position Error Tolerance 181 Soft Travel Limits 181 Limits Tab AXIS_SERVO_DRIVE Continuous Torque Force Limit 185 Hard Travel Limits 184 ManualTune 186 Maximum Negative 184 Maximum Positive 184 Peak Torque Force Limit 185 Position Error Tolerance 185 Position Lock Tolerance 185 Set Custom Limits 186 Soft Travel Limits 184 Motor Feedback Tab AXIS _SERVO_DRIVE 145 Motor Cycles 145 Motor Feedback Type 145 Motor Interpolation Factor 145 Per 145 Offset Tab AXIS_SERVO Backlash Compensation 190 Reversal Offset 190 Stabilization Window 191 Friction Deadband Compensation 190 Friction Compensation 190 Friction Compensation Window 190 Manual Tune 192 Output Offset 191 Torque Offset 191 Velocity Offset 191 Offset Tab AXIS_SERVO_DRIVE Backlash Compensation 194 Reversal Offset 194 Stabilization Window 195 Friction Compensation 193 Friction Compensation Window 194 Manual Tune 195 Torque Offset 195 Velocity Offset 195 Output Tab SERVO_ AXIS Enable Low pass Output Filter 176 Low pass Output Filter Bandwidth 176 Manual Tune 177 Torque Scaling 175 Velocity Scali
424. ue is used to compute the resolution of the feedback device Feedback Resolution Provides the drive with the resolution of the associated feedback device in cycles Aux Feedback tab AXIS SERVO DRIVE The Aux Feedback tab is enabled only if on the Driver tab the Loop Configuration field is set to Aux Feedback Only Aux Position Servo Dual Position Servo Dual Command Servo or Aux Dual Command Servo Use this tab to configure motor and auxiliary feedback device parameters for an axis of the type AXIS_SERVO_DRIVE 4 Axis Properties AXIS_SERVO_DRIVE lo o aca cem _Homing Hookup Tune Dynamics Gains Output Umits Offset Faut Actions Tag General Motion Planner Units Drive Motor I Motor Feedback Aux Feedback Conversion e Feedback Type lt none gt x Cycles 4000 per Rev v Interpolation Factor 1 Feedback Resolution 4000 Feedback Counts per Rev Feedback Ratio 10 Aux Rev Motor Rev Rockwell Automation Publication MOTION UM001D EN P November 2015 137 Appendix A Axis properties Item Feedback Type Cycles Per Interpolation Factor Feedback Resolution Feedback Ratio Conversion tab Item Positioning Mode 138 Description For applications that use auxiliary feedback devices select the type of auxiliary feedback device type These are drive dependent The number of cycles of the auxiliary feedback device This helps the Drive Compute Conve
425. uld typically be set to 85 of the maximum acceleration and maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration and deceleration limits of the drive and motor Position Units Sec The Maximum Acceleration and Deceleration attribute values are frequently used by motion instructions such as MAJ MAM MCD to determine the acceleration and deceleration rates to apply to the axis These instructions all have the option of specifying acceleration and deceleration as a percent of the Maximum Acceleration and Maximum Deceleration attributes for the axis The Maximum Acceleration and Maximum Deceleration values for the axis are automatically set to 85 of the measured Tune Acceleration and Tune Deceleration by the MAAT Motion Apply Axis Tune instruction If set manually these values should typically be set to 85 of the maximum acceleration and maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration and deceleration limits of the drive and motor Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Maximum Negative Travel Maximum Positive Travel Maximum Speed Memory Usage Memory Use Module Channel Module Class Code Axis Type Data Type AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE AXIS_ GENERIC AXIS_SERVO AXIS_
426. ule instead e YES Inhibit the motion module instead e NO Inhibit the individual axes You can inhibit all axes of a module on an individual basis However it is more efficient to inhibit all axes at once by inhibiting the module Important If you inhibit an axis on a drive you inhibit all action on the drive including any half axes Make sure you are aware of all action on a drive before inhibiting the axis Example Suppose your motion module has two axes that you want to inhibit In that case just inhibit the module General Connection SERCOS interface SERCOS Interface info Requested Packet interval RPI V Inhibit Module Z Major Fault On Controller f Connection Fails While in Run Mode If you inhibit all axes on a SERCOS ring the drives phase up to phase 2 This happens whether you inhibit each axis individually or you inhibit the motion module re L mopon Module gt Phase j Phase ae 2 aS PT 2 Eaa a Inhibited Drive Drive Inhibited Example Inhibit an axis 1 Make sure all axes are off This axis is off And this axis is off All axes are off My_Axis_X ServoActionStatus My_Axis_Y ServoActionStatus All Axes_Off y JE 70 Rockwell Automation Publication MOTION UM001D EN P November 2015 Commission and tune Chapter 3 1 Use a one shot instruction to trigger the inhibit Your condition to Your condition to inhibit the axis is on uninhibit the
427. ulic drive module ssssssssssssssesssssssessseeeessssereeesssereeessssreressssreressssreees 51 Modify properties for a hydraulic drive module ssssssssssssssssssssssrsssssssressss 52 Configure the feedback type sssssssssssssssessssesessrsessstesssrerssveressstressreesssereesereese 54 Add a motion group for Configure Analog Motion 55 Set the Base Update Period i502 cea stitial hal eens 56 Add an axis for Configure Analog Motion s sssssssssssssssressrsesssereesettesssereesereeses 57 Rockwell Automation Publication MOTION UM001D EN P November 2015 5 Table of contents Commission and tune Program Get Axis Tniforinati omits oisiaiaiciiiasi astiataidinalvagaatndavcndi ia daaieiadmandianeds 58 Configure an axis for Configure Analog Motion sssssssssssssssssseseessrsesssereesertess 59 Set the homing sequence for Configure Analog Motion cscsses 60 Chapter 3 Introduction for Commission and Tune ccsssssessesssessssssssessessessesseeseescessessesees 61 Download a program to the controller s icxaajclanidonsndiaaconpeidaneiijens 61 Test axis wiring and direction se acccsaassncdsasscecassaessncessazecessaadinctesicasncshaayeeenanusessonnss 61 Tune a SERCOS AHS eR EAER ERR 63 Tu eananalogaxi cecene aain 64 Troubleshoot faults fees cet scx ces acatesGetanant aesantes teat a tia ledaastadaws 64 Manage motion faults siccessasseissoteatibicaieanivisbitetaneceonsdetoxsssipuinlpelioessaalelovassaieiaaings 65 Configure the fault actions for
428. ult This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 position units means that a position error fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 position units This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you must change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed Position Lock Tolerance Specifies the maximum position error the servo module accepts to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units Output limit Provides a method of limiting the maximum servo output voltage of a physical axis to a specified level The servo output for the axis as a function of position servo error with and without servo output limiting is shown below The servo output limit may be used as a software current or torque limit if you are using a drive in
429. ult Type of the motion group Major Fault e NO You must write code to handle these faults Allows access to the module fault bits in one 32 bit word This attribute is the same as the Module Faults tag Module Fault Control Sync Fault Module Sync Fault Timer Event Fault Module Hardware Fault SERCOS Ring Fault Inter Module Sync Fault These faults have module scope instead of axis scope e These faults show up in all axes that are connected to the motion module e The motion planner updates these fault bits every base update period Do you want any of these faults to give the controller a major fault e YES Set the General Fault Type of the motion group Major Fault e NO You must write code to handle these faults Allows access to the module fault bits in one 32 bit word This tag is the same as the Module Fault Bits attribute Module Fault Control Sync Fault Module Sync Fault Timer Event Fault Module Hardware Fault SERCOS Ring Fault Inter Module Sync Fault These faults have module scope instead of axis scope e These faults show up in all axes that are connected to the motion module e The motion planner updates these fault bits every base update period Do you want any of these faults to give the controller a major fault e YES Set the General Fault Type of the motion group Major Fault e NO You must write code to handle these faults If this bit is set there is a hardware issu
430. ulti axis coordinated motion No Motion Coordinated Linear Move i Motion Coordinated Circular Move i system Motion Coordinated Change Dynamics Motion Coordinated Stop Motion Coordinated Shutdown i the axis faults Motion Coordinated Shutdown Reset Rockwell Automation Publication MOTION UM001D EN P November 2015 75 Chapter 3 Commission and tune Start a transform that links two coordinate systems together mcT No Motion Coordinated Transform MDCC Master Driven Coordinated Control MCTP2 Motion Calculate Transform Position Motion Direct Command dialog box You must be online to execute a Motion Direct Command as the Motion Group Shutdown button and Execute button are only enabled when online If you click one action is taken immediately Motion Move Re MAS iia Re MAH Q Re MAM Re MAG Re MCD i Re MBP F A DANGER Executing motion command with controller in Program or Run Mode may cause axis motion Ams State No Module Axis Fault No Faults Motion Group Shutdown Execute Help t In the Command list you can type the mnemonic and the list advances to the closest match or you can scroll down the list to select a command Click the desired command and its dialog box opens At the top of the dialog box in the title bar there is a number at the end of the axis or group that the command is being applied upon This is the Instance referen
431. up 42 52 56 1756 M08SE setup 42 52 56 1756 M16SE setup 42 52 56 A Analog Drives setup 52 Analog interface drive add to controller 51 Attributes replicated 208 axis add to controller 40 42 check wiring 65 getstatus 42 62 inhibit 71 setup 42 Axis Properties Aux Feedback Tab AXIS_SERVO_DRIVE Cycles 145 Feedback Ratio 145 Feedback Type 145 Interpolation Factor 145 Per 145 Conversion Tab Index Conversion Constant 146 Position Unwind 146 Positioning Mode 146 Drive Motor Tab AXIS_SERVO_DRIVE Amplifier Catalog Number 140 Calculate button 140 Calculate Parameters 140 Conversion Constant 140 Drive Resolution 140 Per 140 Position Range 140 Position Unit Scaling 140 Position Unit Unwind 140 Change Catalog Button 140 CatalogNumber 140 Filters 140 Family 140 Feedback Type 140 Voltage 140 Loop Configuration 140 Drive Motor Tab AXIS_SERVO_ DRIVE Motor CatalogNumber 140 Dynamics Tab Calculate Maximum Acceleration Jerk Maximum Deceleration Jerk 163 ManualTune 163 Maximum Acceleration 161 Maximum Acceleration Jerk 161 Maximum Deceleration 161 Maximum Deceleration Jerk 162 Maximum Velocity 160 Fault Actions Tab AXIS_ SERVO Drive Fault 197 Feedback Loss 197 Rockwell Automation Publication MOTION UM001D EN P November 2015 321 Index Feedback Noise 197 Position Error 197 Soft Overtravel 198 Fault Actions Tab AXIS_SERVO_ DRIVE Drive Thermal 199 Feedback 200 Feedba
432. ur options depend on the motion module to which the axis is associated Axis Properties AXIS SERVO eee Dynamics Gains Output Limits Offset Fault Actions Tag 1 1 General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Feedback Type AQB A Quadrature B 7 quadrature encoders equipped with standard 5 Volt differential encoder interface signals The AQB option has no associated attributes to configure Rockwell Automation Publication MOTION UM001D EN P November 2015 129 Appendix A Axis properties Item Item Feedback Type Code Type Data Length Clock Frequency Enable Absolute Feedback 130 Synchronous Serial Interface SSI Linear Displacement Transducer LDT Description The 1756 M02AS servo module provides an interface to transducers with Synchronous Serial Interface SSI outputs SSI outputs use standard 5V differential signals RS422 to transmit information from the transducer to the controller The signals consist of a Clock generated by the controller and Data generated by the transducer The 1756 HYD02 Servo module provides an interface to the Linear Magnetostrictive Displacement Transducer or LDT A Field Programmable Gate Array FPGA is used to implement a multi channel LDT Interface Each channel is functionally equivalent and is capable of interfacing to an LDT device with a maximum count of 240 000 The LDT interface has transdu
433. ute can only be set as part of an axis create service Feedback A feedback only axis associated with feedback only modules like PLS II and CFE supporting quadrature encoder resolver HiperFace and so on Consumed A consumed axis that consumes axis motion data produced by a motion axis on another controller Virtual A virtual axis having full motion planner operation but not associated with any physical device Generic An axis with full motion planner functionality but no integrated configuration support associated with devices such as DriveLogix 1756 DM Servo An axis with full motion planner functionality and integrated configuration support associated with modules closing a servo loop and sending an analog command to an external drive that is 1756 MO2AE 1756 HYD02 and 1756 M02AS modules Servo Drive An axis with full motion planner functionality and integrated configuration support associated with digital drive interface modules sending a digital command to the external drive that is 1756 M03SE 1756 MO8SE and 17556 M16SE SERCOS interface Generic Drive An axis of a SERCOS interface drive that is Extended Pack Profile compliant and on the ring of a 1756 M08SEG module Allows access to all event status bits in one 32 bit word This tag is the same as the Axis Event Bits attribute Event Status Bit Watch Event Armed Status 0 Watch Event Status ti Reg Event 1 Armed Status 2 R
434. utomation Publication MOTION UM001D EN P November 2015 73 Chapter 3 Commission and tune Choose a command Use the following table to choose an instruction and see if it is available as a Motion Direct Command If you want to Motion Direct Command Change the state of an axis Enable the servo drive and activate the axis servo loop MSO Yes Motion Servo On Turn off the servo drive and deactivate the axis servo loop MSF Yes Motion Servo Off Force an axis into the shutdown state and block any instructions that MASD Yes initiate axis motion Motion Axis Shutdown MASR Yes Transition an axis to the ready state If all axes of a servo module are removed from the shutdown state as a result of this instruction the OK relay contacts for only an analog module close Enable the servo drive and set the servo output voltage of an axis MDO Yes Motion Direct Drive On Turn off the servo drive and set the servo output voltage to the output MDF Yes offset voltage Motion Direct Drive Off Clear all motion faults for an axis MAFR Yes Motion Axis Fault Reset If you want to Motion Direct Command Control axis position Stop any motion process on an axis MAS Yes Motion Axis Stop Home an axis MAH Yes Motion Axis Home Jog an axis MAJ Yes Motion Axis Jog Move an axis to a position MAM Yes Motion Axis Move Start electronic gearing between 2 axes MAG Yes Motion Axis Gear Change the speed acceleration or deceleration of a move or
435. ux power to the K6K e Reset drive to defaults using Drive Explorer K6K e Reset drive to defaults using Ultraware U3K e Transitioning from Ring phase 3 or Ring phase 4 if the encoder is not a multi turn or single turn absolute device K6K amp U3K A few conditions that do not cause the AbsoluteReferenceStatus bit to reset to 0 e Feedback Loss even through a power cycle e Changing the unwind value e Battery replacement or low battery if control power remains active e Downloading Program Should stay intact after an upload or download as long the user uploads attribute to the offline image once offline otherwise the offline image does not have the bit set Auxiliary Axis feedback only absolute capabilities K6K U3K Auxiliary axes have the same capabilities for maintaining an absolute reference as the main feedback except the auxiliary axis channel cannot generate a marker from any sine cosine device This would include the SRS SRM feedback devices Types of Absolute devices allowed for AxisType Axis_Servo_Drive e Stegmann Hiperface SRM SKM Encoder e Stegmann Hiperface SRS SKS Encoder e Tamagawa TL5669 Encoder 203 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Absolute Reference Status continued Sercos Absolute Homing Process Flowchart 3 MxxSE module sends the Logix Controller executes SAAE inshiclionionian Logix controller sends the correct IDNs over t
436. value e OFF The servo output is within the Output Limit value Hertz The Output LP Low Pass Filter Bandwidth controls the bandwidth of the drive s low pass digital output filter The programmable low pass output filter is bypassed if the configured Output LP Filter Bandwidth for this filter is set to zero the default This output filter can be used to filter out or reduce high frequency variation of the drive output to the motor The lower the Output LP Filter Bandwidth the greater the attenuation of these high frequency components of the output signal Unfortunately since the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Output LP Filter Bandwidth usually requires lowering the Position or Velocity Proportional Gain of the system to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop This controller attribute is replicated in the motion module Rockwell Automation Publication MOTION UM001D EN P November 2015 Attribute Output Notch Filter Frequency Output Offset Overload Fault Overspeed Fault Physical Axis Fault Pos Dynamic Torque Limit Pos Hard Overtravel Fault Pos Lock Status Axis Type Data Type Access AXIS_SERVO_DRIVE REAL GSV SSV AXIS_SERVO REAL GSV SSV AXIS SERVO_DRIVE BOOL AXIS_SERVO_DRIVE BOO
437. velocity is computed by applying a 1 KHz low pass filter to the change in actual position over the servo update interval Velocity Feedback is a signed value the sign or depends on which direction the axis is currently moving Rockwell Automation Publication MOTION UM001D EN P November 2015 287 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Velocity Feedforward AXIS_SERVO REAL GSV Gain AXIS_SERVO_DRIVE SSV This controller attribute is replicated in the motion module Servo Drives require non zero command input to generate steady state axis acceleration or 288 Rockwell Automation Publication MOTION UM001D EN P November 2015 velocity To provide the non zero output from the Servo Module a non zero position or velocity error needs to be present We call this dynamic error while moving following error Well this non zero following error condition is a situation we are trying to avoid You ideally want zero following the error This could be achieved through use of the position integral gain controls as described above but typically the response time of the integrator action is too slow to be effective An alternative approach with superior dynamic response is to use Velocity and Acceleration Feedforward The Velocity Feedforward Gain attribute is used to provide the Velocity Command output necessary to generate the commanded velocity It does this by scaling the current Command V
438. version Constant to Drive Counts per user defined Position Unit If it is a 5mm pitch ball screw and the user s Position Unit is mm you set the Conversion Constant to 200 000 5 or 40 000 Drive Counts per mm based on the default Drive Resolution value of 200 000 Drive Counts Motor Rev If the pitch is irrational the method for addressing this is the same as described in Rotary Gear Head WITHOUT Aux Feedback Device Rotary Gear Head WITH Aux Feedback Device Based on a rotary motor feedback selection Drive Resolution would be expressed as Drive Counts per Aux Rev and be applied to the Rotational Position Resolution IDN Now that position is based on the auxiliary feedback device according to the Servo Loop Configuration the Data Reference bit of the various Scaling Types should be Load Referenced rather than Motor Referenced The motor feedback would be rotary and resolution expressed in cycles per motor rev The aux feedback device is also rotary and its resolution expressed in cycles per aux rev The Aux Feedback Ratio would be set to the number of aux feedback revs per motor rev and internally applied to IDNs 121 and 122 for the purpose of relating position servo loop counts to velocity servo loop counts in a dual servo loop configuration The Aux Feedback Ratio attribute is also used in range limit and default value calculations during configuration based on the selected motor s specifications If the application uses a 3 1 gearbox and the user
439. vides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 7000 drive and system integration for your drive motor combination with a Logix controller Provides the mounting wiring and connecting procedures for the Ultra3000 and standard Rockwell Automation Allen Bradley motors recommended for use with the Ultra3000 Provides the mounting wiring and connecting procedures for the 8720MC and standard Rockwell Automation Allen Bradley motors recommended for use with the 8720MC 293 Appendix C Wiring diagrams Introduction for Wiring control system Use the diagrams in this appendix to wire the motion control equipment of your Diagrams 1756 MO2AE module The following image illustrates the 1756 M02AE module ro orl ay A i ee n 0UT 0 0U7 1 SY General Cable To servo drive po eal E AN J C0720 0UT 0 DUT 1 J A le QO 35 H pk as ENABLEO f ENABLE NIX EDO 8 ham wa N ENABLEO ENABLE gt General Cable 1 To servo drive i G Sa r GAG C0721 v DRVFET 0 A DRVFLT 1 le INA e pS 3n p ae Se a CHASSIS CHASSIS Y A ia G13 E S j Se hi ahe y INCOM T INCOM ia SZ General Cable To home To J15 4 lt C0720 limit switch HOME 0 HOME 1 EA ad O Ovlt A pp REGzavo REG24V 1 K General Cable To registration jC jig
440. wHtyeLu28GA voerza im Ms voes wuirmo ga m m warvozsca a caav ca neu INPUT2 GRAY28GA e _ warery aca input inpuTs wHIyGRY 2aGA 3 Ultra3000 enka TT inputs mpura PINK 28GA om Uitra3000 CN1 Connector watenk 85A inputs weurs waengzssa fas CNI Connector Axis 0 _ f Wwarvenemep 236A input inputs wehren osca Axis 1 reorikzsca input inpur nep erk 2eGa 7 owarvelxore 286A inure inputs warekors Ga S fa f onc aaa ouu oumu oncyatk2eca day Whare veL zasa oupa oureurs WHratkveL gga M f vemKa ourpura oureura vamezo Iw man f Mis a am i Z J TU y a Rockwell Automation Publication MOTION UM001D EN P November 2015 299 Appendix C Wiring diagrams For more information see Ultra3000 Digital Servo Drives Installation Manual publication 2098 IN003 2090 U3AE D44xx cable The following image illustrates the 2090 U3AE D44xx cable Pint jer Pin 44 a CQ an 7 PANS O CN a a 3 LE lt lt _ y SS J e ore x E Lh AUK PWA AKO a D sub high MO2AE density 44 pin e Trout view shown with 45 black x e 3 e ERANS ee without cover PVC overmold N Q m S Oma SS Aa CRA AXIS 1 CN Aan I w axi 300 Rockwell Automation Publication MOTION UM001D EN P November 2015
441. we have to calculate the Decel jerk to use on the instruction faceplate as Instruction faceplate Decel jerk in Units Sec 1 0 in sec 1 6 1 6 in sec Which revision do you have e 15or earlier of Time is fixed at 100 e 16or later of Time defaults to 100 of time on projects converted from earlier versions For new projects you must enter the Jerk value Profile operand This operand has two profile types e Trapezoidal velocity profile 90 Rockwell Automation Publication MOTION UM001D EN P November 2015 Program Chapter 4 e S Curve velocity profile Trapezoidal velocity profile The trapezoidal velocity profile is the most commonly used profile because it provides the most flexibility in programming subsequent motion and the fastest acceleration and deceleration times The change in velocity per unit time is specified by acceleration and deceleration Jerk is not a factor for trapezoidal profiles Therefore it is considered infinite and is shown as a vertical line in the following graph Trapezoidal Accel Decel Time Curve velocity profile S Curve velocity profiles are most often used when the stress on the mechanical system and load needs to be minimized The acceleration and deceleration time is balanced against the machine stress using two additional parameters acceleration jerk and deceleration jerk Depending on the Jerk settings the acceleration profile can be set to e Almos
442. well Automation Publication MOTION UM001D EN P November 2015 265 Appendix B Motion axis attributes Attribute Axis Type Data Type Access Description Position Proportional AXIS_SERVO REAL GSV 1 Seconds Gain AXIS_SERVO_DRIVE SSV This controller attribute is replicated in the motion module The Position Error is multiplied by the Position Proportional Gain Pos P Gain to produce a 266 Rockwell Automation Publication MOTION UM001D EN P November 2015 component to the Velocity Command that tries to correct for the position error Increasing this gain increases the bandwidth of the position servo loop and results in greater static stiffness of the axis which is a measure of the corrective force that is applied to an axis for a given position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain results in axis oscillation due to servo instability A well tuned system moves and stops quickly and shows little or no ringing during constant velocity or when the axis stops If the response time is poor or the motion sloppy or slow you may need to increase the proportional gain If excessive ringing or overshoot is observed when the motor stops you may need to decrease the proportional gain While the tuning procedure sets the Pos P Gain you can also set it manually You can compute the Pos P Gain based on the desired loop gain or the desired bandwidth of the position servo system
443. x type the maximum speed for your equipment 7 Click Start Tuning 8 Accept the changes to save the data derived from the tune as part of the axis configuration Rockwell Automation Publication MOTION UM001D EN P November 2015 63 Chapter 3 Commission and tune Tune an analog axis Follow these instructions to tune an axis When you tune an axis it moves even with the controller in remote program mode In that mode your code is not in control of the axis Before you tune an axis make sure no one is in the way of the axis The default tuning procedure tunes the proportional gains Typically tune the proportional gains first and see how your equipment runs 1 Download a program to the controller 2 Place the controller in REM 3 In the Controller Organizer double click the axis 4 Click the Tune tab 8 Avis Properties AXIS_SERVO_DRIVE a General Motion Planner Units Drive Motor Motor Feedback Aue Feedback Conversion _ Homing Hookup Tune Dynamics Gains Output Umis Offset Faut Actions Tag Travel Limit 10 0 Position Units Start Tuning Speed 20 0 Position Units s A DANGER Starting tuning procedure with controller Terue Foce 1000 Rated ee Direction Fomad directional Damping Factor 0 8 Tune V Position Eror Integrator T Velocity Eror Integrator V Friction Compensation 7 Velocity Feedforward U Acceleration Feedforward Torque Offset V Output Filter
444. y axes to their markers but can also be used on Servo axes Passive homing is identical to active homing to an encoder marker except that the Home command does not command any axis motion After initiating passive homing the axis must be moved past the encoder marker for the homing sequence to complete properly For closed loop Servo axes this may be accomplished with a MAM or MAJ instruction For physical Feedback Only axes motion cannot be commanded directly by the motion controller and must be accomplished through other means 112 Rockwell Automation Publication MOTION UM001D EN P November 2015 Home an axis Chapter 5 Absolute homing If the motion axis hardware supports an absolute feedback device Absolute Homing Mode may be used The only Home Sequence for an absolute Homing Mode is immediate In this case the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device Before execution of the absolute homing process via the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled To successfully execute a MAH instruction on an axis configured for Active homing mode the targeted axis must be configured as a Servo Axis Type To successfully execute an MAH instruction the targeted axis must be configured as a Servo or Feedback Only axis If any of these conditions are not met the i
445. y compensation Master Delay Compensation balances the delay time between reading the master axis command position and applying the associated slave command position to the slave s servo loop It ensures that the slave axis command position accurately tracks the actual position of the master axis that is zero tracking error If the axis is configured for Feedback only Master Delay Compensation should be disabled Enable Master Position Filter Enables or disables the Master Position Filter The default is disabled It must be selected to enable position filtering Master Position Filter effectively filters the specified master axis position input to the slave axis s gearing or position camming operation The filter smooths out the actual position signal from the master axis and thus smooths out the corresponding motion of the slave axis When this feature is enabled the Master Position Filter Bandwidth field is enabled Master Position Filter Enabled when the Enable Master Position Filter check box is selected This field controls the bandwidth for master position filtering Enter a Bandwidth value in Hz to set the bandwidth for the Master Position Filter Important A value of zero for Master Position Filter Bandwidth effectively disables the master position filtering Rockwell Automation Publication MOTION UM001D EN P November 2015 127 Appendix A Axis properties Units tab Item Position Units Average Velocity Timebase
446. ycle therefore the machine reference system can be restored at powerup Rockwell Automation Publication MOTION UM001D EN P November 2015 Item Absolute Feedback Offset Item Feedback Type LDT Type Recirculations Calibration Constant Length Scaling Enable Absolute Feedback Axis properties Appendix A Description If Absolute feedback is enabled this field becomes active You can enter the amount of offset in position units to be added to the current position of the Feedback device The SSI is an absolute feedback device To establish a value for the Offset the MAH instruction can be executed with the Home Mode set to Absolute When executed the module computes the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the MAH instruction The actual position of the axis is re referenced during execution of the MAH instruction therefore the servo loop must not be active If the servo loop is active the MAH instruction generates an error When the Enable Absolute Feedback is disabled the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer A homing or redefine position operation is required to establish the absolute machine reference position The Absolute Home Mode is inv
447. you know the desired loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 The typical value for the Position Proportional Gain is 100 Sec 1 Integral Position Gain The Integral that is summation of Position Error is multiplied by the Position Loop Integral Gain or Pos I Gain to produce a component to the Velocity Rockwell Automation Publication MOTION UM001D EN P November 2015 Axis properties Appendix A Command that ultimately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automat
448. zer double click the motion group Rockwell Automation Publication MOTION UM001D EN P November 2015 Configure analog motion Chapter 2 2 Click the Attribute tab Altemate 1 Update 2 0 Altemate 2 Update 2 0 ms General Fault Type Non Major Faut v Scan Times elapsed time Max us Last us us 3 Inthe Base Update Period box choose the update period using the guidelines mentioned earlier The valid values range from 0 5 to 32 in 0 5 increments Tip The Axis Schedule button opens the Axis Schedule dialog box where the base and alternate update periods can be scheduled and assigned to axes Since axes used in coordinate system objects cannot be multiplexed only the Base Update Period is used Therefore there is no need to open the Axis Schedule dialog box 4 Inthe General Fault Type list choose Non Major Fault 5 Click OK Add an axis for Configure Follow these instructions to add an axis for each of your drives Analog Motion Rockwell Automation Publication MOTION UM001D EN P November 2015 57 Chapter 2 Configure analog motion 1 Inthe Controller Organizer right click the motion group and choose New Axis 2 Choose the data type based on the following guidelines e Ifyou use one of the following motion modules choose AXIS_SERVO e 1756 M02AE e 1756 HYD02 e 1756 M02AS e Ifyou want to use a virtual configuration no hardware choose AXIS_VIRTUAL 3 On the New

SERCOS and Analog Motion Configuration and Startup User Manual

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