Installation Instructions
Contents
1. Parameter Name Location File Location Possible Values Re Home Default Limit Source Nn 1 0 MO s 1 0 Team Panel 1 Backplane 0 Yes Backplane Synchronized Move Source Nn 1 1 MO s 1 1 Team Panel 1 Backplane 0 No Backplane MO s 1 2 Nn 1 2 through through Reserved Nm 1 5 ML s 1 5 0 Series Major Rev Minor Rev 00 Series Major Discrete Bit Status Nn 1 6 Blend Move Profile Segment 10 Rev Minor Word 1 Definition Nn 1 7 MO s 1 6 MO s 1 7 Reserved 01 Reserved 11 No Rev 7 0m 6 0 Inhibit Informational Codes Nn 1 8 MO s 1 8 Yes 1 No 0 No No Inhibit Minor Fault Codes Nn 1 9 MO s 1 9 Yes 1 No 0 No No Inhibit Major Fault Codes Nn 1 10 MO s 1 10 Yes 1 No 0 No No Reserved Nn 1 11 MO s 1 11 0 Inhibit Actual Position Nn 1 12 MO s 1 12 Yes 1 No 0 No No Inhibit Following Error Nn 1 13 MO s 1 13 Yes 1 No 0 No No Inhibit Current Speed Nn 1 14 MO s 1 14 Yes 1 No 0 No No Reserved Nn 1 15 MO s 1 15 0 Word 2 Bit Parameters Source N File Destination M Parameter Name Location File Location Possible Values Re Home Default 0011 3 Fits per CIT coarse time 4 8 msec MO s 2 0 0100 4Fits per CIT coarse time 6 4 msec Nn 2 0 through through 0101 5 Fits per CIT coarse time 8 0 msec Fits per CIT Nn 2 3 MO s 2 3 0100 6 Fits per CIT coarse time 9 6 msec Yes 0011 MO s 2 4 Nn 2 4 through through Reserved Nn 2 15 MO s 2 15 0 Reserved Nn 3 MO s 3 0 Configu2. Source N File Location pestination M Parameter Name note 1 File Location Possible Values Re home Default note 2 DAC Enable Nn 0 0 MO s 0 0 Yes 1 No 0 No Yes Invert DAC Nn 0 1 MO s 0 1 Yes 1 No 0 No No Reverse Feedback Nn 0 2 MO s 0 2 Yes 1 No 0 No No Reserved Nn 0 3 MO0 s 0 3 0 Nn 0 5 MO0 s 0 4 Open 00 FE 01 VFF 10 FE 01 Loop Type Nn 0 4 MO s 0 5 Reserved 11 No 5 0 4 1 Velocity Time Base Nn 0 6 MO s 0 6 Minutes 1 Seconds 0 No Minutes Overtravels Used Nn 0 7 MO s 0 7 Yes 1 No 0 No No Reserved Nn 0 8 MO0 s 0 8 0 Home Type Nn 0 10 M0 s 0 10 Homing Without a Limit Switch or Yes Nn 0 9 MO0 s 0 9 Marker 00 Homing to a marker Home to 01 Homing to a Limit Switch 10 Marker Homing to a Limit Switch and 10 0 971 Marker 11 Final Move to Which Marker Nn 0 11 MO s 0 11 Marker Nearest Start Position 0 1 Yes Marker Rev then Nearest Marker 1 Nearest Start Position Final Move to Marker Nn 0 12 MO s 0 12 Yes 1 No 0 Yes Yes Enable Incremental Position command Nn 0 13 MO s 0 13 Yes 1 No 0 No 0 Blend Move Profile Nn 0 14 MO s 0 14 Yes 1 No 0 No No Mode Flag Nn 0 15 MO s 0 15 Configure 1 Command 0 No Command 1 Nn Source N file number containing the module configuration data 2 s Slot number for the SLC Servo Module to be downloaded Word 1 Bit Parameters Source N File Destination M
3. Understanding the Theory of Motion Control The major components of a motion control system are Machine mechanics Velocity loop Position loop Machine Mechanics Machine mechanics are the combined gearing ball screws and mechanical linkages that convert the motor s rotary motion into the axis motion that you want Velocity Loop Velocity loop is a feedback control loop in which the controlled parameter is encoder velocity A tachometer is usually used for the feedback device Command input from the controller to the drive is a DC voltage that is proportional to encoder speed e g 1V equals 5 rpm and 5V equals 5000 rpm Using the tachometer as feedback a drive maintains the speed of the encoder at the commanded speed within its output capabilities A typical drive contains adjustments to do the following Scale the input command voltage to the motor speed Zero the motor speed for a zero input command Set the maximum current torque to the motor Control the response of the velocity loop Refer to the drive manual for instructions on setting these adjustments Position Loop Position loop is a feedback control loop in which the controlled parameter is mechanical position The position loop compares position feedback with the position command to modify the velocity output signal to correct for any position error Encoders are position measuring devices that provide the SLC Servo Module with precise actual axis
4. s Slot number for the SLC Servo Module Word 3 Discrete Bit Status Specifications Bit Specifications Location Description Absolute Move In Progress s 3 0 Absolute move is in progress Incremental Move In I s 3 1 Incremental move is in progress Progress Speed Move In Progress s 3 2 Speed move is in progress Monitor Move In Progress s 3 3 Monitor move is in progress Blend Move In Progress I s 3 4 This bit is set when the corresponding move is in progress Reserved I s 3 5 through I s 3 12 Blend Move Profile I s 3 13 This bit is set while the SLC Servo Module verifies whether the blend move Configuration In Progress profile specification provided by the M file that was just received is achievable Configuration Failed and Configuration Successful are both cleared while this bit is set Servo Configuration In I s 3 14 This bit is set while the SLC Servo Module verifies whether the SLC Servo Progress Module configuration provided by the M file that was just received contains parameters that are compatible with one another Configuration Failed and Configuration Successful are both cleared while this bit ts set Synchronized Move Ready I s 3 15 This bit is set when a synchronized move is planned and ready for execution s Slot number far the SLC Servo Module SLC Servo Module Informational messages and fault codes detected and reported by the SLC Servo Module are described in this section Processor
5. 15V 24V Power Supply 24V 24V RET AC Line Elactrical Cabinet Ground Bus 1746 HT CH A Lo A B SHLD CH BHi CH B Lo Z SHLD CHZHi CH Z Lo I hg Power Supply Drive En Drive Fault Reset Estop Reset Sample wiring diagram for the 1746 HSRV and the Ultra 3000 servo controller ULTRA 3000 Interface cable 2090 U3CC D44xx 2090 UXNPxxx nnSnn F H N MP Y series motor with hi res or y U JF s encoder option 2090 UXNFBxx Snn IMPORTANT NOTES 1 Notice velocity command signal to Ultra drive is String In Es swapped to maintain proper phasing stop PB O T JN Strin g Out aie oo 2 If motor direction is not correct swap Velocity cmd with Velocity Cmd also swap all of channel A with channel B then swap Channel B FastUO o ji Hi with Channel B Lo 3 For better noise immunity wire the Motor and FL1 ee LOT Drive Thermals to a separate control relay CR and wire the associated contacts into the Estop H4V circuit FL2 Qo 4 Set Digital Output Parameters in Ultrware to Relay Ready 24V 5 Set Digital Input Parameters in Ultraware to Input 1 Drive Enable ITT FI3 Input 2 Fault Reset RET 6 Set Encoder Parameters in Ultraware to FO 7 8 02 Output Signal Buffered Divider 1 Max Output Freq 500kHz Marker Gating Gated with A and B Setting Up Your SLC Servo Module Before performing the procedures given i
6. point data for actual position following error and speed from the module discrete input words Note SLC Servo Module is located in Slot 1 Troubleshooting Troubleshooting LED The RUN FDBK U PWR and CONFIG INV LED indicators on the SLC Indicators General Condition The RUN LED is not green The FDBK U PWR LED is red The CONFIG INV LED is red Servo Module serve as diagnostic tools for troubleshooting Refer to the table below for general conditions Potential Cause Possible Resolution Indicates a major SLC Servo Module malfunction 1 Check that power is present from the or lack of power from the backplane or the user backplane supplies 2 f power is present replace the SLC Servo Module No user power Check user power supply and connections to termination panel Using default values or invalid data Check fault word code Change parameter Reconfigure parameters are RUN FDBK U PWR CONFIG INV RUN FDBK U PWR CONFIG INV RUN FDBK U PWR CONFIG INV RUN FDBK U PWR CONFIG INV RUN FDBK U PWR CONFIG INV RUN FDBK U PWR CONFIG INV RUN FDBK U PWR CONFIG INV RUN FDBK U PWR CONFIG INV The following table shows the status indicators for the LEDs and what action might need to be taken When the LED status indicators And the action to take is On System 0 K Continue Off Off Off Power is not applied or there is a Off catastrophic Off failure Off Hardware fai
7. position at all times Based on motion statements the SLC Servo Module computes an axis position and compares it to the actual axis position Following error is the difference between the commanded axis position and the actual axis position Axis gain or position loop gain sets the response on the position loop and scales the following error to the velocity command output drive input Your SLC Servo Module is a single axis motion control that resides in a 1746 SLC rack With a drive and servo motor an SLC Servo Module can control the position of one axis with encoder feedback You can place multiple SLC Servo Modules in one SLC Rack to control an entire machine Powering Up the SLC Servo Module The SLC Servo Module requires power from the SLC Rack backplane and the termination panel for proper operation You must power up the SLC Rack with the SLC Servo Module in the rack To power up the SLC Servo Module 1 Verify that your power supply connections for 5V DC 15V DC and 24V DC are properly connected to the termination panel 2 Verify that your cable between the termination panel and the SLC Servo Module is plugged in at both ends and the connectors are securely in place 3 Apply power to the termination panel and SLC Rack power at the same time The SLC Servo Module s green RUN LED is lit after a short delay for diagnostics 4 If the SLC Servo Module s RUN LED is Then ON Module is OK continue configurati
8. the termination panel 1746 HCA Cable Documentation 1465 12 SLC Servo Control Module User Manual Refer to the SLC Servo Control Module User Manual for more information about the the following for the SLC Servo Control System Selecting encoders power supplies and drives e Installing the control module termination panel and handheld pendant e Wiring fast I O E stop power supplies encoders and drives e Integrating the axis Recovering from an error message 1746 HT Termination Panel Encoder which supports encoder feedback for one axis Drive connections to analog drive e External power connections for 5V 15V and 24V power from user power supply Figure 3 T 1746 HT Termination Panel ENCODER CH A HI a CHA LO On zo 205 METUO Szoozc a ooooococO m z 5 o 2 m D zs o m SHL EXT POWER fm um h mel x nl a rt ooo 292mm 11 25 in TTA T aH 70mm ABUHTA 2 75 in Installation of the 1746 HSRV Hardware Configuration Important Grounding the SLC Servo Module Control Module Before you install the rest of the system you must ground the SLC Servo Module All of the shields and signal commons normally floating are tied to earth ground at a single point Use the EGND terminal on the termination panel for this purpose IMPORTANT Do not connect shields to earth ground at both ends to avoid causing circuit loops that are sus
9. with the appropriate changes for the SLC Servo Module locations for the system 6 Using the data monitor change the values in the configuration files to match the default specifications for the SLC Servo Module except for the Encoder Lines and Counts Per Position Configuring the SLC Servo Module You configure the SLC Servo Module using M files that reside on the SLC Servo Module Refer to the SLC 500 Reference Manual publication 1747 6 15 M0 and MI data file section for the M file interface and addressing convention information M files reside on the module and are referenced by the ladder logic the same way as an integer file that resides on the module There are two M files MO and M1 associated with this and any specialty module The SLC Servo Module only uses the MO file that is used to transfer the configuration information from the SLC Ladder to the SLC Servo Module Refer to Figure 7 1 for a functional block diagram of the data flow The application program uses a copy file instruction to transfer the data from a source integer or float file to the MO file in the slot that you want in the SLC Servo Module A copy file instruction associated with the M files works as an immediate output instruction Therefore the normal ladder program execution stops when it encounters the copy instruction with the M file Ladder program execution does not resume until the SLC processor has transferred the information to the MO file of the SLC Ser
10. 0000 0000 0000 0000 0 s 6 0 s 7 FLOAT 0 0 to 1 0 0 s 8 0 s 9 0 0 to physical limit 0 s 10 0 s 11 FLOAT axis travel limit to axis travel limit s Slot number for the SLC Servo Module The SLC Servo Module responds differently depending on which command has not completed if any when the Incremental Move is initiated as shown in the table below If you initiate this command Absolute Move Incremental Move Speed Move None no comman d If the SLC Servo Module is configured with the rollover position the move commanded And initiate an incremental move before the first command is finished the Servo Module Adds the absolute and incremental moves together and stops when the moves are complete Adds the incremental moves together and stops when the moves are complete Blends the speed move to the incremental move and stops when the incremental move is complete Moves the distance of the incremental move and stops when the move is complete can cause multiple rollovers The following information applies to the Absolute Incremental move The speed specified for the move is the absolute maximum for the move If the speed specified is greater than the Maximum Axis Speed the speed for the move is limited to the Maximum Axis Speed The axis has to be homed to perform an absolute move If an error occurs while executing the move the SLC processor is notified The Absolute Incremental move ends
11. 5 except as noted earlier an error is reported to the SLC processor As each block command is executed the SLC Servo Module informs the SLC processor in a closed loop fashion using the SLC Servo Module to SLC processor discrete status bits The discrete commands are classified into Incremental Position commands and simple move commands that are discussed in this section and into Position Initialization commands and On line Recovering from Estop If the Estop string is opened during a move the move aborts You can initiate another move once the Estop Reset is issued and the module is out of Estop This can be done by setting changing either the command bit oAcceleration Speed Endpoint or profile number If these bits were set while in Estop they must transition after the Estop resets to start a new move If command parameter preparation requires more than one program scan set up the accompanying parameters before setting the command bit Simple Move Commands All simple moves are mutually exclusive The simple move commands are the bsolute Incremental Speed Monitor and Run Blend Move Profile commands The currently executing move is considered complete when a new move is commanded by the SLC processor A new move occurs when a change happens to any one of the following Command bit 9o Acceleration parameter Velocity Unit Per Timebase speed parameter Position endpoint parameter Blend Profile number For exam
12. 746 A10 10 Slot Rack X Filter AIO hd D cS COUNTER E R6 CONTROL 2 V O Rack Not Installed v E N7 INTEGER Read IO Config 746 HS Single Axis Motion Control DI F8 FLOAT 3 je aes Netinsieled 1746 HSCE High Speed Counter Module E N8 INTEGER Powe 1746 HSCE High Speed Counter Class 1 D F10 1746 HSCE2 High Speed Counter Class 4 D N12 1746 HSRV_ Motion Control Module El N15 Description 1746 HSTP1 Stepper Controller Module E M17 0 1747 L542B 5 04 CPU 32K Mem 05401 17464A4 4 nput 100 120 VAC D F20 1746 HSRY Motion Control Module 17464148 8Input 100 120 VAC 1 1746 OB8 D F21 1746scA8I 8 Inputlsolated 120 VAC DC D F2 B 1746 OB8 8 Output TRANS SRC 10 50 VDC 74B4A18 1 amp nput100 120 VAC D nma 4 746488 S Input SINK 24 VDC B 1746 IV16 l1 amp Input SOURCE 24 VDC 1 746sc IB8I I 8 Input Isolated 24 48 VDC d 7464818 16 nput SINK 24 VDC 7 7464832 32 Input SINK 24 VDC 7464C18 16 nput SINK 48 VDC 7464G16 16 nput TTL SOURCE 5 VDC H746 IH16 16 nput TRANS SINK 125VDC 746 4 4nput 200 240 VAC 746 M8 8 nput 200 240 VAC asco nem Hie alas recht erratis 220 vice MAINZ For Help press F1 0 0000 APP READ An alternate method will use the sample program from Allen Bradley This program contains many of the steps for setting up the module as found in chapter 7 of publicat
13. SLC Motion 1746 HSRV Integration Installation Guide The SLC Servo Control Module is compatible with the SLC family It is designed to be used with an SLC 5 03 FRN 5 0 and later processor You can program and commission the system using RSLogix 500 AI 500 or APS 5 0 or Later Once the SLC Processor is initiated block execution is independent of the scan time of the processor Blended motion allows for complicated move profiles consisting of two to 32 segments The blended move profiles are stored in the SLC Servo Control Module s internal memory as a series of absolute moves Since the sequence of moves is stored in internal memory it can be executed more than once Other move or homing operations can be performed between blended move profiles 1746 HSRV Motion Module Each SLC Servo Control Module requires 12 input words and 12 output words You don t need to do any off line programming The motion profile or sequence is determined in the RSLogix 500 AI 500 or APS version 5 0 or higher software that you use to program the SLC processor You can command the following actions Absolute moves Incremental moves Speed moves Monitor moves Hold moves Unhold moves Blend moves Emergency stop operations Homing operations Preset operations Clear faults Alternate home moves You can configure and program up to 16 separate blend motion profiles to command from 2 to 32 segments of absolute move comma
14. Status Informational Message or Fault Code If Informational Message or Fault Code is inhibited no values are reported and I s 4 returns a 0 The table below contains typical input data for words 4 11 For additional information on decimal values refer to the Troubleshooting chapter Status Block Location Format Possible Values Description Parameters Informational USHORT 0 to 65 535 Message Or Fault Code Reserved STDSHORT 32 767 to 32 767 IEEE Actual Position I s 6 I s 7 Float axis travel limit to The currentactual position of the axis travel limit axis if inhibited returns D Following Error I s 8 I s 9 Float axis travel limit to The current following error of the axis travel limit axis if inhibited returns D Current Speed Is 10 Es 11 Float physical limit to physical The current speed of the axis if limit inhibited returns 0 s Slot number for the SLC Servo Module Floating Point Values Three floating point value data items are shown below We recommend that you incorporate the following rung in the ladder program to convert the integer data from the module to floating point data for comparison or display purposes Figure 9 3 Copy Command for Integer Data to Floating Point Data Conversion This program rung is very useful to see the position COPY FILE followi amp d Source sl1 6 ollowing error amp spee Dod 2480 from the motion axis Length 3 Copy floating
15. a words for the HSRV may be found in the User Manual chapter 8 This is the Chapter on Programming the SLC Processor to run the SLC servo module RSLogix 500 BLEND SAMPLE RSS File Edit View Search Comms Tools Window Help D G S X B5 8 c sro35 a amp I EIS OFFLINE Ini No Forces H NoEdits H Forces Disabled f Driver TCP 2 BLEND SAMPLERSS Ey Project Help B Controller Controller Properties Processor Status AU 1O Configuration BE Channel Configuration E Multipoint Monitor Program Files B svso SYS1 4j LAD 2 MAIN LAD3 HSRV amp LAD 4 HACK HSRV o Data Files Cross Reference D 00 OUTPUT B it INPUT g H O JEME lt gt 40 lt gt a aes User Bit Timer Counter bl Compute l Input Output Compare EBL STATUS BINARY TIMER COUNTER CONTROL INTEGER FLOAT INTEGER E3E2E2 E2 E2 E2 2 2 E2 7zmzzogm GoZm Verify has completed no errors found 30019 APP Additional logic may be added for status and feedback such as position velocity and following error status information This data may be found in the appendix A Input Output Quick Reference READ Communicating Between the SLC Processor and the SLC Servo Module Communication between the SLC processor a
16. ceptible to radiated and coupled noise Figure 4 2 Typical Grounding and Shielding for the SLC Servo Module System Termination panel User supplied shielded cable 1746 HCA cable 7 Drive CMD E Backplane ne Twisted Roo Drive Side Side pair aet lr I Channel A ls is __ xx J i a gt rani k Axis ierra in ldem ur in Pu I Encoder p Li LL XXL z x M T Shielded LJ Lr a MOX i oe a twisted n pair x3 e Ps a Grae Optional 2 E T Overall EGND INT Earth ground cable shield Us ernal power through backplane RET see ATTENTION 5V zs 15V RET User side power supply If you do not use the relay shown in Figure 5 8 ATTENTION yo y gure verify that your replacement relay has a coil resistance greater than or equal to 650 ohms Figure 5 6 Estop Circuitry Diagram for a One Axis System Estop Control Module Reset Estop Estop Request Contacts Status Control Module 25 Fin D Shell Connector Termination Panel CR1 2 CR1 3 5252 To Customer Drive Enable Circut Refer to Figure 4 1 for Shield Connections String Plict Cr 2 1 Estop Resat P B Cable Length Must Customer Supplled Not Exceed 10 m 32 feet When wiring the multiple power sources for the HSRV be sure to follow the following diagram for reference Also reference the 1746 6 1 2 HSRV User Manual Figure 5 10 Wiring a 45V 15V and a 24V Power Supply 5V 5V COMM 15V 15V COMM
17. if any one of the following occurs The move reaches its destination The SLC processor cancels the move The Cancel Move bit is used to cancel the absolute or incremental component of the move Setting the Cancel Move bit does not affect an incremental position command component i e the specified incremental position command continues unless it is set to zero An Estop occurs The SLC processor sends another move from the mutually exclusive move set including a move of the same type with different o Acceleration Ramp Speed or Position Increment A new absolute move can also be initiated by simply changing the acceleration speed or position and keeping all other discrete bits the same Planning an Absolute Incremental Move Below shows a typical ladder program block diagram that initiates an absolute incremental move from the SLC processor Other moves are initiated similarly by setting appropriate values in the data tables and copying the data to the appropriate module output words Absolute Incremental Move Command Block Diagram r coP Copy File Source SFA3 0 Dest 0 1 6 Length amp EQU Equal Souree A Source B r cap Copy File Source N31 0 Dest 80 14 Length 2 For example an absolute move is initiated if the float data table is And the integer data table is w te TT Bit Specifications Axis Ready Estop State Information Message Minor Fault Major Faul
18. ion 1746 6 1 2 July 2000 HSRV Sample RSS This program contains some basic starting testing ladder logic for the HSRV module Ladder files 3 amp 5 contain this logic for the 1746 HSRV The file 3 is shown above File 3 contains the ladder diagram for the configuration and control of the HSRV module Pi RSLogieS00 BLEND SAMPLERSS rE File Edit View Search Comms Tools Window Help D oa S elo sT93 5 2 amp II RIS S OFFLINE No Forces E EJ g H O JEME lt gt 40 lt gt a abs pl No Edits H Forces Disabled E Driver TCP 2 User Bit A Timer Counter Input Output Compare Compute l Sy Project H Help amp Controller i Controller Properties Processor Status JU IO Configuration BE Channel Configuration E Multipoint Monitor Program Files syso SYS 1 4 LAD 2 MAIN LAD3 HSRV A LAD 4 HACK HSRV Eg Data Files B Cross Reference Bi 00 OUTPUT B it input D 52 STATUS D B3 BINARY D T4 TIMER E C5 COUNTER E R6 CONTROL INTEGER 30 1746 HSRV Il p 31 1746 HSRV B3 7 3 1746 IV16 Verify has completed no errors found 3 0000 APP READ One key ladder file that is detailed for the HSRV module is ladder file 3 The above diagra
19. lure Off On Off Hardware failure On Off Off Power up or RAM failure On On On Configuration not loaded Off On On Feedback fault broken wire quadrature On fault or loss of user power Configuration not loaded and loss of user power e 3 Error Messages and Diagnosis Apply power 1 Troubleshoot 2 Repair the hardware that failed 1 Troubleshoot 2 Repair the hardware that failed 1 Verify power supply connections for 24 15 5 and encoder feedback signals 2 Troubleshoot 3 Repair power up problem or contact Allen Bradley for RAM failure 1 Check your program configuration 2 Repair your program configuration 1 Troubleshoot 2 Repair the feedback wire or the reason for the loss of user power 1 Check your program configuration 2 Repair your program configuration 3 Repair the reason for loss of user power The user manual provides a numerical listing of informational messages minor fault messages and major fault messages accompanied by potential causes and possible resolutions Additional information may be found at http support rockwellautomation com this is the support web site Search for HSRV under the Knowledgebase selection A sample program and also troubleshooting tips may be found here The user manual may be downloaded from http www ab com manuals gmc use SLC Products for further searching
20. m points to this file and the configuration rungs These rungs configure the HSRV This is where all the setup parameters are loaded into the HSRV module Note This must be done on every power up sequence The 1746 HSRV does not have any memory retention on power cycles Reference chapter 7 of the Publication 1746 6 1 2 July 2000 RSLogix 500 BLEND SAMPLE RSS File Edit View Search Comms Tools Window Help D S Slo e sT93 5 a amp 9I EIS OFFLINE Ini No Forces E E g oH TT JEM lt gt 40 gt ae ones Hl NoEdits e Forces Disabled f Driver TCP 2 User Bit A Timer Counter A Input Output Compare A Compute Ey Project Help amp Controller Controller Properties Processor Status JU IO Configuration BE Channel Configuration i Multipoint Monitor Eg Program Files 1746 HSRV syso SYS 1 4j LAD 2 MAIN LAD3 HSRV amp LAD 4 HACK HSRV o Data Files Cross Reference Bi 00 OUTPUT B it input STATUS BINARY TIMER COUNTER CONTROL INTEGER FLOAT INTEGER 3 1746 HSRV O1 D s2 D 83 nn B cs Bi R6 Bu B ra B ng To navigate to the error cursor on the error 3 0010 APP READ This example of ladder logic from the sample program shows discrete bits and also copy module for sending data to the HSRV module This bits and dat
21. n this chapter follow the installation procedure supplied with the drive that will be interfaced to the SLC Servo Module This chapter provides information to help you setup and configure the SLC processor and the SLC Servo Module and includes the following topics refer to publication 1746 6 1 2 for further information Understanding the theory of motion control Powering up the SLC Servo Module Communicating between the SLC processor and the SLC Servo Module Entering encoder lines and computing counts Initializing DAC output voltage for drive symmetry Setting initial loop type Defining positive axis movement for the SLC Servo Module Coarse calibrating drive input scaling to SLC Servo Module DAC output voltage Fine calibrating of the DAC output voltage scaling Computing excess following error limit Selecting loop type Selecting axis acceleration rate Determining velocity and acceleration feedforward for zero following error loop type only Setting axis and home specific parameters Understanding programming conventions Configuring your SLC processor Understanding your SLC Servo Module interface Configuring your SLC Servo Module Before programming your SLC Servo Module Downloading your configuration Understanding configuration errors Configuring the MO file data tables Configuring the MO file floating point data tables Understanding configuration parameters Homing options
22. nd the SLC Servo Module occurs asynchronously through 12 input and 12 output words The SLC Servo Module requires that an input is present from one to two coarse iterations before it is guaranteed to be recognized SLC Servo Module ladder logic rungs contain timers that can provide the proper timing The preferred method is to build handshake logic into the SLC Servo Module ladder program A handshake occurs when the SLC processor requests a change and tests for an appropriate change in the SLC Servo Module status word before continuing The SLC Servo Module can deny requests from the SLC processor because the SLC Servo Module is not in the correct state to grant the request Some SLC Servo Module inputs are only recognized on the input transition If the SLC Servo Module is not in the correct state to grant a request when the input transition occurs the input request is denied Unless you toggle the input again the SLC Servo Module ignores the request Before Programming the SLC Servo Module Before programming your SLC Servo Module 1 Power up the SLC Servo Module to initialize the default configuration 2 Verify that the SLC Servo Module is in an Estop state 3 Copy the MO file with the output word 0 mode bit 15 set to 1 4 Verify that the SLC Servo Module is in the configuration mode 5 Using the programming device for the SLC processor RSLogix AI500 or APS Software enter the program example found in Appendix C of this manual
23. nds Three LED indicators are available allowing you to quickly identify and troubleshoot faults More 1746 HSRV features include Analog velocity command with programmable limits to interface with servo drives Three 3 fast inputs and one 1 fast output 32 bit range for absolute positioning and blended motion profiles for complex moves Interfaces directly with 5 or 15V encoders Typical SLC Servo Control Figure shows a typical SLC Servo Control System configuration System Configuration This configuration includes e One SLC 500 modular rack SLC 5 03 FRN 5 or later e One SLC Servo Control Module e One 1746 HCA cable e One termination panel e Wiring for a servo system Figure 1 Typical SLC Servo Control System Configuration SLC 500 Modular Rack SLC Servo 1746 HCA Control Module 1 ft Connection for the required user side power supply 1746 HT Termination Panel HO Fast l O AB845H y Encoder Amplifier Ordering the SLC Servo Control System Where to Find More Information Table B lists the catalog numbers you use to order the components of the SLC Servo Control System Table B Ordering the SLC Servo Control System Component Catalog Number What You Receive Control module 1746 HSRV Control module User Manual Termination panel Termination panel 1746 HT Mounting brackets Termination Panel Installation Data Sheet Cable that connects the control module to
24. omed after power up and any time a feedback fault is detected by the SLC Servo Module This bit is set when the axis is being homed This bit is set when a Retract Position operation is in progress This bit is set when the actual position is within the home tolerance of the home position Itis not set if the actual position crosses the home position during the homing sequence This could happen if the axis has already been homed since power up This bit is set when the axis has attempted to move beyond the negative overtravel limit This bit is set when the axis has attempted to move beyond the positive overtravel limit This bitis set when the blend move profile or axis configuration information just received by the SLC Servo Module using the MO file transfer mechanism contained errors This bitis cleared while the SLC Servo Module verifies whether the M file content demonstrates inter parameter compatibility and if the configuration process was successful This bitis set when the blend move profile or axis configuration information just received by the SLC Servo Module using the MO file transfer mechanism is free of errors This bit is cleared while the SLC Servo Module verifies whether or not the M file content demonstrates inter parameter compatibility and if the configuration process failed This bit is set after a successful power up of the SLC Servo Module s Slot number far the SLC Servo Module Bit Specifications In Po
25. on OFF Go to step 1 The SLC processor indicates a slot fault at the SLC Servo Module location Configuring the SLC Processor The SLC processor must be configured to accept the SLC Servo Module as an I O device Configure your processor by using the AI500 APS or RSLogix 500 software running on a personal computer Using RSLOGIX 500 start a new project Select the correct processor based on application requirements Edit I O configuration for rack s and necessary I O per application requirement This is also when the 1746 HSRV motion module is selected and placed into the correct slot Program example from 1746 HSRV sample RSLogix 500 BLEND SAMPLE RSS File Edit View Search Comms Tools Window Help DG E amp x amp i c sraas 2 amp SI gr amp amp OFFUNE El No Forces E EJ g H TT JEM lt gt 40 gt a aes pl No Edits Forces Disabled Driver TCP 2 User Bit A Timer Counter A Input Output Compare A Compute gt BLEND SAMPLE RSS ox amp C3 Project aS Help 03 Controller 1 Controller Properties Processor Status AU IO Configuration BE Channel Configuration aad i Multipoint Monitor Stakes Program Files SYS0 B svs1 x ISR Mf LAD 2 MAIN Jip To nnti LAD 3 HSRV SBR File Number amp LAD 4 HACK HSRV Data Files B Cross Reference Ei 00 OUTPUT D n INPUT 1 0 Configuration B x obs pRacks Current Cards Available DI T4 TIMER 1 1
26. ple if an Absolute Move command is executing and the module receives a Speed Move command the Absolute Move command is considered finished and the currently executing move command is blended into the new Speed Move command This means that the execution and blending of moves is totally under SLC Ladder Logic Control The units for simple moves are The position for each move block is in programming units for example inches millimeters The speed for each move block is in programming units for example inches per minute millimeters per second The acceleration or deceleration specified 1s in the percentage 0 0 1 0 of the maximum acceleration specified Using Simple Move Commands The simple move commands discussed in this section are Absolute Incremental command Speed command Monitor command Run Blend Move Profile command Using the Absolute Incremental Move Command The absolute move command generates a move equal to the difference between the specified target position and the current position causing a positive or negative move depending on the current axis position Absolute and incremental move parameters for word 4 bit 0 1 appear in the table below Block Command Parameters Absolute Move OR Incremental Move More Bit Specifications Acceleration Ramp Speed Position Decrement Location1 Possible Values 0 s 4 X000 0000 0000 0001 absolute X000 0000 0000 0010 incremental 0 s 5 BITS
27. ring the MO File floating Point Data Table The table below contains configuration data for the MO file floating point data table MO word 4 to word 43 Word 4 or Multi Word Parameters Source N File Destination M Parameter Name Location File Location Possible Values Re Home Default Encoder Lines Lines Rev Fn 0 MO s 4 s 5 1 to 8000 Yes 1000 0 Counts per Position Unit Fn 1 MO s 6 s 7 1 0 to 16909320 0 Yes 4000 0 Negative Overtravel Limit to axis Positive Overtravel Limit travel Position Units Fn 2 MO s 8 s 9 limit No 100 0 Negative Overtravel Limit axis travel limit to Positive Overtravel Position Units Fn 3 MO s 10 s 11 limit No 100 0 Rollover Position Fn 4 MO s 12 s 13 0 0 to axis travel limit No 0 0 Negative Overtravel Limit to Positive Home Position Position Units Fn 5 MO s 14 s 15 Overtravel Limit Yes 0 0 Home Calibration Position Units Fn 6 MO s 16 s 17 axis travel limit to axis travel limit Yes 0 0 Speed Direction of Move Off the Limit Switch Position Units Time Fn 7 MO s 18 s 19 physical lilmit to physical limit Yes 20 0 Speed Direction of Move to the Marker Position Units Time Fn 8 MO s 20 s 21 _ physical limit to physical limit Yes 20 0 Reversal Error Value Position Units Fn 9 MO s 22 s 23 0 0 to axis travel limit Yes 0 0 Output Voltage at Max Speed Volts Fn 10 MO s 24 s 25 0 0 to 10 0 No 10 0 Outp
28. sition Move Complete Axis Stopped Axis Held Accelerating Decelerating Reserved FIN 1 State FIN 2 State FIN 3 State FOUT State Reserved Word 2 Discrete Bit Status Specifications SLC Servo Module Description I s 2 0 This bit is set when the actual position for the axis is within the in position band of the end position of the currently executing move The in position band must be greater than or equal to the systems standing following error but smaller than the magnitude of the position move If the in position band is not set to a large enough value the in position bit is not set for the move If the in position band is set to a value that is too large the in position bit could turn on sooner than you want The move complete bit is set when an interpolated move is no longer being interpolated The IMC Classic product line called this the NOSETTLE point s 2 2 A 1 in this bit indicates the axis is at rest This bit is set when the axis is being held by the Hold Move bit This bit is set when an interpolated move is accelerating This bit is set when an interpolated move is decelerating These bits reflect the current state of the corresponding fast input FIN 1 These bits reflect the current state of the corresponding fast input FIN 2 These bits reflect the current state of the corresponding fast input FIN 3 This bit reflects the current state of the fast output FOUT s 2 12 through I s 2 15
29. t Fault FIFO Full Reserved Axis Needs Homed Homing Retract Position At Home Overtravel Overtravel Configuration Failed Configuration Successful Word 1 Discrete Bit Status Specifications l s 1 0 s 1 1 5 1 2 l s 1 3 ls 1 4 5 1 5 I s 1 6 through I s 1 7 I s 1 8 I s 1 9 l s 1 10 I s 1 11 s 1 12 s 1 13 s 1 14 s 1 15 e o a o e s Bit 0 signals that the motion control has powered up successfully Other 1 0 bits are not valid unless this bit is set This bit is set when the SLC Servo Module is in Estop The bit is cleared when the operator or SLC Ladder Logic has performed an Estop reset This bit if uninhibited is set when the SLC Servo Module has an informational message to be conveyed to the SLC processor The bit is cleared using either the Clear Fault or Clear All Faults bit This bit if uninhibited is set when a minor fault is detected by the SLC Servo Module The bit is cleared using either the Clear Fault or Clear All Faults bit This bit if uninhibited is set when a major fault is detected by the SLC Servo Module The bit is cleared using either the Clear Fault or Clear All Faults bit This bit is set when the 16 element fault FIFO resident in the SLC Servo Module is full of faults This could occur when faults get reported but not cleared Faults can be cleared using either the Clear Fault or Clear All Faults bit This bit is set until the axis is h
30. types of data that are included are Discrete parameters Floating point parameters You can download to the module using two copy file instructions to the MO file of the SLC Servo Module The first copy file instruction copies discrete information The second copy file instruction copies floating point information Depending on the values specified in the configuration the module accepts the data or generates configuration errors through module input status words that are described in the next section Discrete Block Commands from the SLC Processor The discrete block commands are sent from the SLC processor to the SLC Servo Module using discrete I O It contains two words of bit information and a variable number of integer and or floating point values Words 0 and 1 contain the SLC processor to SLC Servo Module discrete bit commands Words 2 and 3 contain the Incremental Position command Words 4 through 11 contain command blocks that control motion and or motion related activities The SLC Servo Module responds to the new block command every time it differs from the one previously received If command word 4 or word 5 is not zero the SLC Servo Module reads each subsequent word to verify a change The Plan Synchronized Move bit can be set in conjunction with a move in the simple move command set To issue a discrete block command set only 1 bit in words 4 and 5 If the SLC Servo Module finds more than one bit set in words 4 and
31. ut Voltage at Max Speed Volts Fn 11 MO s 26 s 27 10 0 to 0 0 No 10 0 Maximum Axis Speed Position Units Time Fn 12 MO s 28 s 29 0 0 to physical limit No 3000 0 Time to Maximum Axis Speed Seconds Fn 13 MO s 30 s 31 0 0 to physical limit No 1 0 Velocity Feedforward Constant Fn 14 MO s 32 8 33 0 0 to 1 0 No 0 0 Acceleration Feedforward Constant Fn 15 MO s 34 s 35 0 0 to 1 0 No 0 0 Home Tolerance Position Units Fn 16 MO s 36 s 37 0 0 to axis travel limit No 0 1 Excess FE Limit Position Units Fn 17 MO s 38 s 39 0 0 to axis travel limit No 3 0 In position Band Position Units Fn 18 MO s 40 s 41 0 0 to axis travel limit No 0 1 Axis Gain Position Units per Minute per One Thousandth of the Position Unit Fn 19 MO s 42 s 43 0 0 to 10 0 No 1 0 Programming Conventions The SLC Servo Module accepts and generates different types of data Binary data that is compatible with the binary or integer files for the SLC processor Integer data that is compatible with the SLC processor integer files Floating point data that is compatible with the SLC processor floating point files As the module interfaces to floating point files it is only compatible with the SLC 5 03 FRN 5 0 and above processors Refer to the SLC 500 Reference Manual publication 1747 6 15 for the floating point file information Downloading Your Configuration When you download your configuration using the MO file for the module that you want the
32. vo Module NOTE Repeatedly executing the copy file instruction when you download the configuration increases the ladder scan time Module Configuration Unit parameters For program example the discrete configurations are in file N7 and the multiword floating point parameters are in file F8 Figure 7 2 Typical Ladder Program 0001 In the ladder above the floating point file F8 0 and integer file N7 0 contain the configuration that you want for the SLC Servo Module in slot 1 They are copied once to the M0 file for slot 1 when requested The configuration parameters are described later in this chapter When an error is generated the following events occur e CONFIG INV LED is lit Errors are reported in word I 1 4 in decimal format CONFIG INVALID Bit I 1 1 14 I 1 30 is set Configuration Errors The CONFIG INV LED on the SLC Servo Module turns on before or after power up to indicate an invalid configuration The configuration error input bit 14 in configuration mode input status word 1 is set and input status word 4 of the module reports the errors detected if any one of the following occurs There is no configuration file The configuration is invalid Refer to the Troubleshooting chapter for a list of those configuration errors Configuring the MO File Data Tables The following tables contain configuration data for MO word 0 word 1 and 2 Word 0 Bit Parameters
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