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AXIS_SERVO_DRIVE

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1. Torque Offset e Acc gt Aidt gt FF Velocity Gain Offset Output e Offset Output amp Vel Filter Friction Servo o gt adt FF BW Comp Polarity l Gain Position P l Command Velocity Coarse Position Command Velocity l x Error Error Low Torque Fine Pos P Vel P Output Output 16 Bit P p p e gt interpolator z gt Gain z z gt Gain P Pass gt Scaling 2 j Limit gt Dac t gt Servo Filter Drive Position s Command Velocity ervo Feedback arput Error Error Position Accum a Fos Accum gt et Feedback ulator ain ulator aah Position Velocity Integrator Integrator Error Error SA ee iti Servo Config Position Lon 5 l Motor Pass Filter A Encoder Polarity didt Position i Feedback A Enie v Coarse rr am input osition l lt Accum e Encoder fe e t nace ulator Counter Watch T Event Watch 1 l lt 4 Event Handler 1 1 Watch i l Position l Chz Homing Marker Event Marker Input 4 Event j Marker e Handler Latch T Registration 1 Event Regist aa An P Event e Regist ke Registration Handler j Input l Th
2. Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float Publication LOGIX UM002A EN P February 2006 E 6 Axis Data Types AXIS_SERVO Publication LOGIX UM002A EN P February 2006 Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelSt
3. Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float ModuleFaults DINT Hex ControlSyncFault BOOL Decimal ModuleSyncFault BOOL Decimal TimerEventFault BOOL Decimal ModuleHardwareFault BOOL Decimal SERCOSRingFault BOOL Decimal AttributeErrorCode INT Hex AttributeError D INT Hex PositionCommand REAL Float PositionFeedback REAL Float Axis Data Types E 11 Member Data Type Style AuxPositionFeedback REAL Float PositionError REAL Float PositionIntegratorError REAL Float VelocityCommand REAL Float VelocityFeedback REAL Float
4. Phase J Phase a 2 m 2 Inhibited Inhibited Publication LOGIX UM002A EN P February 2006 6 4 Inhibit an Axis Do you have 1394 drives on a SERCOS ring 1394 drives adel Inhibit the axes in any order Yes B No SERCOS ring Yes Publication LOGIX UM002A EN P February 2006 Inhibit all of the axes to the right of the one that you want to inhibit It s OK to inhibit them at the same time NOT inhibited NOT inhibited inhibited inhibited inhibited inhibited NOT inhibited NOT inhibited oo Inhibit an Axis 6 5 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 _ ee 2 Use a one shot instruction to trigger the inhibit Your condition to inhibit Your condition to All axes are off Give the command to inhibit the the axis is on uninhibit the axis is off VA axis My_Axis_X_Inhibt My_Axis_X_Uninhibitt All_Axes_Off S el One Shot Rising Storage Bit My_4 4is_X_Inhibit_SB Output Bit My_Axis_X_Inhibit_Cmd 3 Inhibit the axis The inhibit command turns on My_A amp xis_X_Inhibit_Cmd SSY Set System Yalue Class Name AXIS Instance Name My_Axis_X
5. DRIVE OK State off Description The module is not operating Interpret Module Lights LEDs 7 3 Recommended Action e Apply chassis power e Verify the module is completely inserted in chassis and backplane Flashing green The module has passed internal diagnostics but it is not communicating axis data over the backplane None if you have not configured the module If you have configured the module check the slot number in the 1756 MOZ2AS Properties dialog box Steady green One of the following None e Module is exchanging axis data e The module is in the normal operating state Flashing red One of the following If an NVS update is in progress complete the NVS update e A major recoverable failure has occurred If an NVS update is not in progress e Acommunication fault timer fault or non volatile memory storage NVS update is e Check the Servo Fault word for the source of the error in progress e Clear the servo fault condition via Motion Axis Fault e The OK contact has opened Reset instruction e Resume normal operation e If the flashing persists reconfigure the module Steady red One of the following e A potential non recoverable fault has occurred e The OK contact has opened Reboot the module If the solid red persists replace the module Publication LOGIX UM002A EN P February 2006 7 4 Interpret Module Lights LEDs FDB
6. Motor Feedback y Channel Hardware Motor Feedback Feedback Position Aux Feedback Yy Channel Hardware 4 ulator Publication LOGIX UM002A EN P February 2006 ra Feedback e Aux Position Facar 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 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 coarse 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 Torque Offset e Servo Loop Block Diagrams B 7 Dual Feedback
7. S Curve profile Merge Speed Programmed Jog_PB lt Local4 Data O gt My_Axis_OK c Motion Axis Jog __ KEN Axis My_Axis Motion Control F DN gt Direction The MAJ instruction that stops the axis has a lower acceleration rate than the instruction that starts the axis Decel Units Units per sec2 Profile Curve S Curve profile Merge Disabled Merge Speed Programmed lt lt Less Publication LOGIX UM002A EN P February 2006 8 4 Troubleshoot Axis Motion Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e An S Curve profile has to get acceleration to 0 before the axis can slow down e If you reduce the acceleration it takes longer to get acceleration to 0 e In the meantime the axis continues past it s 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 speed goes past its target The axis slows down as soon as you start the The stopping instruction reduces the acceleration of the axis It stopping instruction The lower acceleration doesn t now takes longer to bring the acceleration rate to 0 The axis change the response of the axis continues past its target speed until acceleration equals 0 Publication LOGIX UM002A EN P Februa
8. The Coordinate System bit will be set after an MCSD or MGSD is executed and all associated axes have stopped A MCSR or a MGSR will reset the coordinate system and clear the bit Coordinated moves cannot be initiated while this bit is set Stopping Status BOOL Tag The stopping bit is set when a MCS instruction is executed The bit will remain set until all coordinated motion is stopped The bit is cleared when all coordinated motion has stopped Transform Source Status DINT Tag The transform source status bit is set when the coordinate system is used in an MCT instruction as the source system When the coordinate system is no longer used as a source system the bit will be cleared Transform Target Status DINT Tag The transform target status bit is set when the coordinate system is used in an MCT instruction as the target system When the coordinate system is no longer used as a target system the bit will be cleared Publication LOGIX UM002A EN P February 2006 5 24 Create and Configure a Coordinate System Group Axis and Coordinate The following diagram shows the relationship between existing System Relationships Device Motion Group Axis objects and the Coordinate System object ys p Currently only one Motion Group instance is supported per controller The arrow labeled all coordinate groups would on
9. Attribute Drive Fault Action Axis Type AXIS_SERVO Data Type Access Description SINT GSV SSV Axis Attributes D 31 Fault Action Value Shutdown i sti Disable Drive 1 Stop Motion 2 Status Only 3 Publication LOGIX UM002A EN P February 2006 D 32 Axis Attributes Attribute Axis Type Data Type Access Description Drive Fault Bits AXIS_SERVO_DRIVE DINT GSV Lets you access all the drive fault bits in one 32 bit word This attribute is the same as the Drive Fault tag Tay o o Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault Pos Hard Overtravel Fault 2 Neg Hard Overtravel Fault 3 Mot Feedback Fault 4 Mot Feedback Noise Fault 5 Aux Feedback Fault 6 Aux Feedback Noise Fault 7 Reserved 8 Drive Enable Input Fault g Common Bus Fault 10 Precharge Overload Fault 11 Reserved 12 Ground Short Fault 13 Drive Hard Fault 14 Overspeed Fault 15 Overload Fault 16 Drive Overtemp Fault 17 Motor Overtemp Fault 18 Drive Cooling Fault 19 Drive Control Voltage Fault 20 Feedback Fault 21 Commutation Fault 22 Drive Overcurrent Fault 23 Drive Overvoltage Fault 24 Drive Undervoltage Fault 25 Power Phase Loss Fault 26 Position Error Fault 27 SERCOS Fault 28 Overtravel Fault 29 Reserved 30 Manufacturer Specific Fault 31 Do you want any of these faults to give the controller a major fault e YES Set th
10. Compatible Keying 6 Node number of the drive on the SERCOS ring J Open Module Properties C 7 Can Publication LOGIX UM002A EN P February 2006 Start 1 5 Set Up Each SERCOS Set the data rate and cycle time for each SERCOS interface module in our project Interface Module ea gd 1 CompactLogix controller ControlLogix controller Controller My_Controller Controller My_Controller Tasks Tasks Motion Groups Motion Groups EI Trends EI Trends Data Types 9 Data Types 3 6 1 0 Configuration S 1 0 Configuration S E 1768 Bus 1756 Backplane 1756 47 Simi 1 1768 M045E My_SERCOS_Module Simi M1 1756 MO8SE My_SERCOS_Module SERCOS Network x SERCOS Network N ii Cross Reference Ctrl E A Generat Connection SERCOS Interface SERCOS Interface Info Module Info Backplane E Module Properties Local 1 1756 MO8SE 15 1 Auto Detect v Mb Cycle Time Transmit Power High v Transition To Phase 4 Status Offline Cancel Appl Help Baud Rate of Drives Number of Drives on the Ring Type of Drives Cycle Time 4 Mb 1or2 Kinetix 6000 0 5 ms NOT Kinetix 6000 1ms 3or4 p Ims 5 8 p 2ms 9 16 gt Canido 8 Mb 1 4 Kinetix 6000 0 5 ms NOT Kinetix 6000 1 ms 5 8 p ms 9 16 p 2ms Publication LOGIX UM002A EN P February 2006 1 6 Start Add the Motion Group Add a motion group t
11. Custom Gain Attributes X Rane Vane ints Side Sd VelocityDroop 0 0 Position Units s REAL Close Cancel Help At this dialog box you can edit the VelocityDroop attribute Publication LOGIX UM002A EN P February 2006 C 58 Axis Properties Attribute Output Tab AXIS_SERVO Publication LOGIX UM002A EN P February 2006 When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them The following attribute value can be monitored and edited in this dialog box Table 3 E 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 non zero value eliminates servo hunting due to load stick friction effects This parameter only has effect if VelocitylntegralGain is not zero Its value ranges from 0
12. Fault Ax Mode active Position foo Revs Offset joo Revs Sequence Maker o Normally Open Cle Active Home Sequence Group Direction Forward Bi directional Speed 0 25 Revs s Return Speed 0 25 Revs s Cancel ppl Publication LOGIX UM002A EN P February 2006 1 12 Start Check the Wiring of Each Use the hookup tests to check the wiring of a drive Drive This Test Does This Notes Test marker Checks that the drive gets the marker You must manually move the pulse axis for this test Test feedback Checks the polarity of the feedback You must manually move the axis for this test Testcommand Checks the polarity of the drive and feedback 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 way of the axis e Do not change the polarity after you do the tests Otherwise you may cause an axis runaway condition 1 controller a download 2 RUN REM PROG 3 drive 4 Controller My_Controller E Tasks Motion Groups E Sa My_Motion_Group f Motion Direct Commands Cross Reference Ctrl E gt My_Axis_ Ungrouped Axes Print gt E Trends 9 1 0 Configuration N 5 e Axis Properties My_Axis_X 6 Type how far you want the axis to move during the tests Publication LOGIX UM002A EN P February 2006
13. Index 13 Notes Publication LOGIX UM002A EN P February 2006 14 Index Notes Publication LOGIX UM002A EN P February 2006 How Are We Doing PANE Your comments on our technical publications will help us serve you better in the future Thank you for taking the time to provide us feedback wy You can complete this form and mail or fax it back to us or email us at RADocumentComments ra rockwell com Pub Title Type Motion Modules in Logix5000 Control Systems Cat No Pub No LOGIX UMO002A EN P Pub Date February 2006 PartNo 957988 76 Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Overall Usefulness 1 2 3 How can we make this publication more useful for you 2 3 Can we add more information to help you Completeness all necessary information procedure step illustration feature is provided a example guideline other explanation definition Technical Accuracy 1 2 3 Can we be more accurate all provided information l is correct text illustration Clarity 1 2 3 How can we make things clearer all provided information is easy to understand Other Comments You can add additional comments on the back of this form Your Name Your Title Function Would you like us to contact you regarding your comments Location Phone ___No there is no need to contact me Yes please call me Yes
14. Motion Planner Units Feedback Only x My_Motion_Group x fa Axis Configuration Motion Group r Associated Module Module My_Kinetix_6000_Drive_1 Ba Module Type 2094 4C09 M02 Node 129 Auxiliary E Controller My_Controller Tasks E Motion Groups EI Trends 3 Data Types amp 1 0 Configuration 1756 Backplane 1756 410 fa 3 1756 L62 My_Controller A El as SERCOS Network E A 4 1756 M085E My_SERCOS_Ring fia 1 2094 AC09 M02 My _Kinetix_6000_Drive_1 Bl 2 2094 AM01 My_Drive_ Ta Ml Module Properties My_SERCOS Ring 2094 AC09 M02 1 1 General Connection Associated Axes Power Identification r Status Vendor Allen Bradley Major Fault Product Type RA Miscellaneous Minor Fault Internal State Configured Owned Module Identity Product Code 2094 4C09 M02 4 Serial Number 00000000 Product Name 2094 4C09 M02 Publication LOGIX UM002A EN P February 2006 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 Axis Properties C 5 chosen the axis configuration is changed to Feedback Only on the General Tab and the spat appears next to General e Axis Properties mysercos4axis Bel X
15. e Consumed Displays the data type associated with the current tag Publication LOGIX UM002A EN P February 2006 C 92 Axis Properties Data Type Scope Style Publication LOGIX UM002A EN P February 2006 Displays the axis data type of the current tag Displays the scope of the current tag The scope is either controller scope or program scope based on one of the existing programs in the controller 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 Appendix D Axis Attributes Introduction Use this chapter to get configuration status and fault information about an axis The controller store information about an axis as attributes of the axis For See Page How to Access Attributes D 1 Axis Attributes D 2 How to Access Attributes The Access column shows how to access the attribute Example Use a Get System Value GSV instruction to get the value Use a Set System Value SSV instruction to set or change the value Attribute Axis Type Acceleration Feedforward Gain Accel Status Tag Actual Acceleration N 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 Publication LOGIX UM002A EN P February 2006 D 2 Axis Attributes Axis Attributes This table describes each attribute of
16. s 425 4445 8204 oo 8 eB eo 6 6 Chapter 7 Introduction abe ec oktce an spadch iy deudp hoe Se ee op else yah 7 1 1756 M02AF Module vey naw neciae aa ew RA es 7 1 1756 M02AS Module aaa N NPG Ata Os eR HERES ES 7 3 1756 HYD02 Module 5 5 51a Goatees hose 8 Gedy a 7 6 SERCOS interface Module amp ie eh 9 adeitive in eek eve ek a eek 8 7 9 Chapter 8 TAUOCUCHOR srein yas res UR Ky aR ee 8 1 Why does my axis accelerate when I stop it 8 1 Why does my axis overshoot its target speed 8 3 Why is there a delay when I stop and then restart a jog 8 6 Why does my axis reverse direction when I stop and start it 8 8 Appendix A Introduction ese panic Rem Aes een andes SAB cdkey se mh ek A 1 1756 M02AF Module nonna auaa A 2 Ultra 100 S nes Drive mese imworro A 3 Ultra 200 Series Drive nanana aaae A 3 UNAS OOO TOI Ci 5a tg ee niae tne E a Eei ei A 5 1394 Servo Drive in Torque Mode only A 7 1756 M02AS Module 4 5 25 6000 20 G0543 00 e004 N28 A 9 1756 HYD02 Application Example A 10 1756 HYD02 Module xo oes arh cd cnet Gah het ee ee A 11 EDES hr tp ar tet ecg a a hoe ee Aen Mea Rae ewe eee aed A 12 Temposonic GH Feedback Device A 13 24V Registration SENSOF 25 4 4 one Con s RORY Sekt ee eee A 14 5V Registration Sensor n a ar tabnoe ieee area tes A 14 Home Limit Switch Input etch ka Be eee Sates 2S A 15 OK CONICS Sik oe kali ee habe
17. Axis Properties C 55 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 Note 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 Note 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
18. Conversion Homing Hookup Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Feedback Only x Motion Group mymationgroup 7 a New Group r Associated Module Module my2094dry zZ Module Type 2094 AC05 M01 Node 129 Auxiliary bd Cancel Apply Help This also places a spat on the Aux Feedback Tab and you must go there and select the appropriate values On the Drive Motor Tab the Loop Configuration is changed to Aux Feedback Only Publication LOGIX UM002A EN P February 2006 C 6 Axis Properties General Tab The AXIS_VIRTUAL General Tab is shown below AXIS_VIRTUAL se Axis Properties myvirtualaxis Ioj x General Motion Planner Units Conversion Homing Dynamics Tag Motion Group mymotiongroup f Nev Group Cancel Apply Help 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 Motions Groups branch Publication LOGIX UM002A EN P February 2006 Axis Properties C 7 General Tab The AXIS_GENERIC General Tab is shown below AXIS_GENERIC e Axis Properties mygenericax
19. If Drive Enable Input Checking is not active then no such checking of the Drive Enable Input occurs Click on the checkbox to activate the Drive Enable Input Fault When active a fault detected on the external drive notifies the motion module via Drive Fault Input Publication LOGIX UM002A EN P February 2006 C 22 Axis Properties Real Time Axis Information Attribute 1 Attribute 2 Select up to two axis attributes whose status are transmitted along with the actual position data to the Logix processor The values of the selected attributes can be accessed via the standard GSV or Get Attribute List service Note The servo status data update time is precisely the coarse update period If a GSV is done to one of these servo status attributes without the 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 Change Catalog button The Change Catalog button accesses the motor database and provides for selecting a new motor catalog number There are three boxes that can be used for refine the selection process Change Catalog Number x Catalog Number MPL A330P M OK Cancel Help Filters Voltage Family Feedback Type 230 0 a H a SRM Catalog Number Lists the available catalog numbers from the Motor Database based on any selection criteria from the Filters fields Publication LOGIX UM002A EN P Febr
20. Position Gain Publication LOGIX UM002A EN P February 2006 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 appropriate output scaling factor either the Velocity Scaling factor or Torque Scaling factor in the Output tab of this dialog Your selection of External Drive Configuration type either Torque or Velocity in the Servo tab of this dialog 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 CPM 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 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 ulti
21. 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 Automation SA NV Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Headquarters for Dodge and Reliance Electric Products Americas Rockwell Automation 6040 Ponders Court Greenville SC 29615 4617 USA Tel 1 864 297 4800 Fax 1 864 281 2433 Europe Middle East Africa Rockwell Automation Herman Heinrich Gossen Strasse 3 50858 K ln Germany Tel 49 0 2234 379410 Fax 49 0 2234 3794164 Asia Pacific Rockwell Automation 55 Newton Road 11 01 02 Revenue House Singapore 307987 Tel 65 6356 9077 Fax 65 6356 9011 Publication LOGIX UM002A EN P February 2006 PN 957988 76 Supersedes Publication 1756 UMO06G EN P May 2005 Copyright 2006 Rockwell Automation Inc All rights reserved Printed in the U S A Allen Bradle y Motion Modules in Logix5000 Control Systems User Manual
22. Test Feedback _I est Command amp Fi eedback D Start 1 13 Tune Each Axis Use the Tune tab to tune an axis ATTENTION 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 7 controller lt download RUN REM PROG 4 Controller My_Controller Tasks 38 Motion Groups My_Motion_Group Motion Direct Commands gt My_Axis_ H E Ungrouped Axe Print gt H E Trends Data Types Properties N 1 0 Configuration Cross Reference Ctrl E Axis Properties My_Axis_X 6 Type the limit of movement for the axis during the tuning procedure Travel Limit fi 0 Revs Speed 10 0 Revs s 7 Type the maximum speed for your equipment a DANGER This tuning procedure may cause axis motion with the controller lin program mode Torque Force Rated Direction Fofward Unidirectional v amping Factor 0 8 Tune J Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feedforward J Acceleration Feedforward D Publication LOGIX UM002A EN P February 2006
23. The only fields that are editable on the Tag screen are the Name and Description fields These are the same fields as on the New Tag screen and the Coordinate System Properties Tag Tab Once you have created your Coordinate System in the New Tag window you must then configure it If you did not use the Wizard screens available from the Configure button on the New Tag screen you can make your configuration selections from the Coordinate System Properties screen You can also use the Coordinate System Properties screens to edit an existing Coordinate System tag These have a series of Tabs that access a specific dialog for configuring the different facets of the Coordinate System Make the appropriate entries for each of the fields An asterisk appears on the Tab to indicate changes have been made but not implemented Press the Apply button at the bottom of each dialog to save your selections TIP When you configure your Coordinate System some fields may be unavailable greyed out because of choices you made in the New Tag window In the Controller Organizer right click on the coordinate system to edit and select Coordinate System Properties from the drop down menu Eep myservolaxis i ip myvirtualaxis EI Ungrouped Axes Monitor Coordinate System Tag E Trends 8 6 Data Types Fault Help oe User Defined Clear Coordinate System Faults Ga Strings Ge Predefined A Cut Module Defined
24. This tag is the same as the Module Fault Bits attribute Module Fault Bit Control Sync Fault 0 Module Sync Fault 1 Timer Event Fault Module Hardware Fault SERCOS Ring Fault Inter Module Sync Fault ol gt wy N These faults have module scope instead of axis scope e These faults show up in all the axes that are connected to the motion module e The motion planner updates these fault bits every coarse 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 Module AXIS_SERVO BOOL Tag If this bit is set the motion module has a hardware problem that in Hardware Fault AXIS SERVO DRIVE general is going to require replacement of the module Module Sync AXIS_SERVO BOOL Tag If this bit is set the motion module lost communication with the Fault AXIS SERVO DRIVE 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 Mot Feedback AXIS_SERVO_DRIVE BOOL Tag Set for the A Quad B feedback device when one of these happens Fault 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 both high or both low Under
25. To servo drive valve or pump To home limit switch General cable C0720 To registration sensor General cable C0720 0UT 0 j2Q 1 I 0UT 1 N 0UT 0 4S 0UT 1 ENABLE O e Os ENABLE 1 N ENABLE 0 fs ENABLE 1 DRVFLT 0 10 eq DRVFLT 1 CHASSIS 12 Ory CHASSIS INCOM u Gia IN_COM A HOME 0 16Q Ors HOME 1 REG24V 0 e amp 17 REG24V 1 N REG5V 0 if amp 19 REG5V 1 0K 220 zaf OK CHASSIS 24Q 2231 CHASSIS gt CLOCK 0 Gesi CLOCK 1 CLOCK 0 28Q CLOCK 1 DATA O 3 Oz DATA 1 DATA 0 s2 Gail DATA 1 SSICOM lfa Oss SSI COM CHASSIS CHASSIS y i Notes General cable C0722 E gt To Synchronous Serial Interface SSI To E stop relay coil General cable C0720 43394 This example shows the wiring for Axis 1 Wire Axis 0 the same way Publication LOGIX UM002A EN P February 2006 A 10 Wiring Diagrams 1756 HYD02 Application This example uses a 1 axis loop with a differential LDT input Example 24V Power Supply C PC with RSLogix 5000 Drive Output ControlLogix Servo or IMPORTANT This Proportional module s analog Amplifier output require an controller OUT OUT CHASSIS INT amp INT
26. VelocityError REAL Float VelocitylntegratorError REAL Float AccelerationCommand REAL Float AccelerationFeedback REAL Float MarkerDistance REAL Float VelocityOffset REAL Float TorqueOffset REAL Float TorqueCommand REAL Float TorqueFeedback REAL Float PosDynamicTorqueLimit REAL Float NegDynamicTorqueLimit REAL Float MotorCapacity REAL Float DriveCapacity REAL Float PowerCapacity REAL Float BusRegulatorCapacity REAL Float MotorElectricalAngle REAL Float TorqueLimitSource DINT Hex DCBusVoltage DINT Decimal DriveStatus DINT Hex Processstatus BOOL Decimal BusReadyStatus BOOL Decimal HomelnputStatus BOOL Decimal Reg1InputStatus BOOL Decimal Reg2InputStatus BOOL Decimal PosOvertravellnputStatus BOOL Decimal NegOvertravellnputStatus BOOL Decimal EnablelnputStatus BOOL Decimal AccelLimitStatus BOOL Decimal AbsoluteReferenceStatus BOOL Decimal VelocityLockStatus BOOL Decimal VelocityStandstillStatus BOOL Decimal VelocityThresholdStatus BOOL Decimal Publication LOGIX UM002A EN P February 2006 E 12 Axis Data Types Publication LOGIX UM002A EN P February 2006 Member Data Type Style TorqueThresholdStatus BOOL Decimal TorqueLimitStatus BOOL Decimal VelocityLimitStatus BOOL Decimal PositionLockStatus BOOL Decimal PowerLimitStatus BOOL Decimal LowVelocityThresholdStatus BOOL Decimal HighVelocityThresholdStatus BOOL Decimal DriveFault DINT Hex PosSof
27. ai Set Custom Stop Action Drive Thermal Disable Drive x Motor Thermal Disable Dive x Feedback Noise Disable Dive x Feedback Disable Dive x Position Error Disable Dive x Hard Overtravel Disable Dive x Soft Overtravel Disable Dive k Avis Properties My_Axis_X Cancel Apply Help Publication LOGIX UM002A EN P February 2006 Chapter 5 Create and Configure a Coordinate System Introduction A coordinate system lets you interpolate circular or linear moves using coordinate points Set up the coordinate in either 1 2 or 3 dimensions Controller My_Controller 5 H 8 Tasks s Coordinate System Properties My_Coordinate_System S Motion Groups General i i My_Motion_Group Units Dynamics Tag My_Axis_X Motion Group My_Motion_Group bd RI My_Axis_ E KEA My Coordinate_System it SES z Ungrouped Axes Dimension 2 Axis Name Coordination Mode 0 Coordinate EW x1 IMy_Axis_X ellos _ My_Axis_ The Coordinate System tag is used to set the attribute values to be used by the Multi Axis Coordinated Motion instructions in your motion applications The Coordinate System tag must exist before you can run any of the Multi Axis Coordinated Motion instructions This is where you introduce the COORDINATE_SYSTEM data type associate the Coordinate System to a Motion Group associate the axes to the Coordinate System set the dimension and d
28. clicking on the Apply button You must re download the edited program to the controller before it can be run 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 Friction Compensation is used to break sticktion in the presence of a non zero position error This is done by adding or subtracting a percentage output level called Friction Compensation to the Servo Output value The Friction Compensation value should be just less than the value that would break the sticktion A larger value can cause the axis to dither that is move rapidly back and forth about the commanded position To address the issue of dither when applying Friction Compensation and hunting from the integral gain a Friction 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 Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error re
29. is 0 acceleration 40 The axis slows down as soon as you start the The axis continues to speed up until the S Curve profile brings stopping instruction the acceleration rate to 0 Corrective action If you want the axis to slow down right away use a trapezoidal profile Publication LOGIX UM002A EN P February 2006 Troubleshoot Axis Motion 8 3 Why does my axis overshoot its target speed Example Look for 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 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 Jog_PB lt Local4 Data O gt My_Axis_OK J mu Motion Axis Jog EN Axis My_Axis Motion Control Jog_1 DNS Direction 0 Speed Jog_1_Speed 60 0 P gt Speed Units Units per sec The MAJ instruction that starts Accel Rate Jog_1_Accel the axis has a higher acceleration 20 0 rate than the instruction that cceUnits Units per sec2 stops the axis Decel Rate 1_Decel 2006 Decel Units Units per sec2 Profile S Curve Merge Disabled
30. 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 Tuning Torque AXIS_SERVO REAL AXIS_SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 GSV SSV 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 Attribute Tuning Travel Limit Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Data Type REAL Access GSV SSV Axis Attributes D 101 Description Position Units The Tuning Travel Limit attribute limits the travel of the axis during the tuning procedrue If the axis can t complete t
31. or MASR Motion Axis Shutdown Reset instruction to clear Publication LOGIX UM002A EN P February 2006 D 30 Axis Attributes Attribute Axis Type Data Type Access Description Drive Fault AXIS_SERVO_DRIVE DINT Tag Lets you access all the drive fault bits in one 32 bit word This tag is the same as the Drive Fault Bits attribute Tago oOo o OBwoo Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault Pos Hard Overtravel Fault 2 Neg Hard Overtravel Fault 3 Mot Feedback Fault 4 Mot Feedback Noise Fault 5 Aux Feedback Fault 6 Aux Feedback Noise Fault 7 Reserved 8 Drive Enable Input Fault g Common Bus Fault 10 Precharge Overload Fault 11 Reserved 12 Ground Short Fault 13 Drive Hard Fault 14 Overspeed Fault 15 Overload Fault 16 Drive Overtemp Fault 17 Motor Overtemp Fault 18 Drive Cooling Fault 19 Drive Control Voltage Fault 20 Feedback Fault 21 Commutation Fault 22 Drive Overcurrent Fault 23 Drive Overvoltage Fault 24 Drive Undervoltage Fault 25 Power Phase Loss Fault 26 Position Error Fault 27 SERCOS Fault 28 Overtravel Fault 29 Reserved 30 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 Publication LOGIX UM002A EN P February 2006
32. 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 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 has 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 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 i
33. 1 14 Start Get Axis Information You can get information about an axis in several ways Use the Axis Properties window to configure the axis ff RSLogix 5000 My_Controller in Inhibit_Axis ACD 1 756 L60MO3SE MainProgram Inhibit_Axes SEF Ef File Edit view Search Logic Communications Tools Mindow Help ox alsa S see wae 630 55 fe wI aal omine D FUN p von Ea a A No Forces b F oK A No Edits pe 4 Hf totic atl gt Bl 1 gt Favorites KE X Tinericourter K Inpuoutmut Compute na 3 6 Controller My_Controller a Esl E Controller Tags 3 Controller Fault Handler A 3 Power Up Handler My_Axis_X_Uninhibit_Cmd SSV E H E Tasks 7 rt silat Value ra A ass Name H a an paris G Instance Name My_Axis_X om Ly w Attribute Name InhibitAxis sa My_Axis_ Source Zero gt mMy_Axis_ 0 9 Ungrouped Axes g Type AXIS_SERVO_DRIVE Description E My_Axis_X InhibitStatus My_Axis_X SefvoActionStatus My_Axis_X_OK ul E i My_Axis X __ h ani wa vi e Use a Get System Value GSV instruction or Set System Value SSV Use the Quick View pane to see the state instruction to read or change the configuration at run time and faults of an axis Use the tag of the axis for status and faults Publication LOGIX UM002A EN P February 2006 Start 1 15 Program Motion Control The controller gives you a set of moti
34. 3 RPS 1 2 Revs Per Second The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS2 0 0333 Rated Revs Per Second2 Note If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also does not reflect the true performance of the system Enable Low pass Output Filter Low pass Output Filter Bandwidth Axis Properties C 61 Select this to enable the servo s low pass digital output filter De select this to disable this filter Note During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Ou
35. 4 Naming a Coordinate System 5 2 Entering Tag Information 5 2 Parameters 5 3 Alias For 5 4 Data Type 5 4 Description 5 3 Name 5 3 Scope 5 4 Style 5 4 Tag Type 5 3 Alias 5 4 Base 5 3 0 OK contact wire A 15 OK contacts wire diagram A 15 registration sensor wiring diagram A 14 RSLogix 5000 programming software Motion Instructions 2 1 S SERCOS interface drive add to controller 1 4 SERCOS interface module choose 1 3 setup 1 5 Specifications P 1 1756 HYD02 Motion Module P 1 1756 MO2AE Motion Module P 1 1756 M02AS Motion Module P 1 1756 MO03SE 1756 MO8SE amp 1756 M16SE Motion Module P 1 T Troubleshooting 7 1 1756 HYDO2 Module LED 7 6 DRIVE Indicator 7 8 1756 M02AE LED 7 1 DRIVE LED indicator 7 2 1756 MO02AS LED 7 3 FDBK Indicator 7 4 1756 MO8SE LED SERCOS interface LED 7 9 1756 M16SE LED SERCOS interface LED 7 9 SERCOS interface LED Indicators 7 9 tune Index 11 axis 1 13 WwW Wiring connections A 10 Connecting LDTs to the 1756 HYD02 module A 10 A 12 Example diagram of 1756 HYD02 wiring A 11 wiring connections home limit switch input A 15 OK contacts A 15 Wiring diagrams 1394 drive A 7 registration sensor A 14 Servo module RTB A 2 Ultra 100 drive A 3 Ultra 200 drive A 3 Ultra3000 Drive A 5 wiring diagrams A 1 home limit switch A 15 OK contacts A 15 Publication LOGIX UM002A EN P February 2006 12 Index Notes Publication LOGIX UM002A EN P February 2006
36. AX1 RELAY AX1 10 AX1 AXIS 1 CN1 Publication LOGIX UM002A EN P February 2006 Wiring Diagrams A 7 1394 Servo Drive in Torque Mode only Servo Module RTB h 0UT 1 RED Ouro l S S Hori f Bk ENABLE 0 HENABLE 1 WHT ENABLE 0 ENBET BLK R DRVELT 1 RED DRVFLT 0 U chassis BLK CHASSIS f IN_COM INCOM Drones HOME 0 1 Dpegoay 1 H REG2AV0 PREGSV1 aed o z 8 LOK 1756 MO2AE 1394CCAExx cassis PCHNSSS ir H CHA0 O aH CHAO focHAl BLK CHB O ht RED F pote S Hezi BK RED OK To fault gt ok BLK OK string 5V DC 5V DC RED Field Power 5C0M_ BLK Supply 1394 Servo Drive 24V DC 24V DC W2l oay pc Field Power 24V COM e w Supply 13215 ye 24V ENABLE COM WHT_ ENABLE 1 BLK ENABLE 1 B27 NA DR OK 1 RED DRVFLT 1 TB2 19 hee BLK IN_COM TB2 18 DROK E m 4 1394CCAExx A Axis 1 AQB1 I e The wiring diagram illustrates Axis 1 wiring only Other configurations are possible e The 1394CCAExx cable is wired to connect to torque command reference input pins e The xx in the cable number is the length of the cable e An external 5V
37. Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required 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 Refer to 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 Publication LOGIX UM002A EN P February 2006 Velocity Polarity Publication LOGIX UM002A EN P February 2006 D 104 Axis Attributes Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for AXIS SE
38. E stop relay coil 43394 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 Publication LOGIX UM002A EN P February 2006 A 12 Wiring Diagrams LDTs Temposonics Il RPM or DPM Ground 12V de Interrogate Output Pulse 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 one LDT for your application Balluff BTL type 24V Connections Interrogate 24V Ground Pulse Output Pulse Output Interrogate No shield connections on these examples This table lists the LDT connections Table 1 1 LDT Connections for Fabricating Your Own LDT Cable 15V Connections Interrogate 15V 15V Ground Interrogate Pulse Output Pulse Output 43473 Function 1756 HYD02 RTB Wiring Numbers below Temposonics II Balluff represent terminal numbers RPM or DPM BTL type Channel 0 Channel 1 24V de 15V de Interrogate 26 25 9 Yellow 1 Yellow 1 Yellow Interrogate 28 27 10 Green 3 Pink 3 Pink Power Supply N A 5 Red 12V 7 Brown 24V 7 Brown 15V 8 White 15V Ground 34 33 1 White 6 Blue
39. If this bit is AXIS_GENERIC e ON The axis is in the Shutdown state AXIS_SERVO e OFF The axis isn t in the Shutdown state AXIS_SERVO_DRIVE AXIS_VIRTUAL Soft Overtravel AXIS_SERVO SINT GSV Fault Action Value Fault Action AXIS_SERVO_DRIVE SSV Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 SSI Clock AXIS_SERVO SINT GSV 0 208 kHz Frequency 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 SSI Code Type AXIS_SERVO SINT GSV 0 Binary 1 Gray This attribute provides for setting the whether the SSI device is using Binary or Gray code This attribute is only active if the Transducer Type is set to SSI SSI Data Length AXIS_SERVO SINT GSV 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 Publication LOGIX UM002A EN P February 2006 Axis Attributes D 89 Attribute Axis Type Data Type Access Description Start Actual AXIS_CONSUMED REAL GSV Start Actual Position in Position Units Position AXIS_ GENERIC Tag Whenever a new motion planner instruction starts for an axis for example using a MAM instruction the value of the axis command AXIS_SERVO position and actual position is stored at the precise instant the motion AXIS_SERVO_DRIVE begins These values are stored as the Start Command Position and AXIS VIRTUAL Start Ac
40. Interpolation Factor a Cancel Apply Help Note The Axis Configuration selection made on the General tab and the Loop Configuration selection made on the Drive tab determine which sections of this dialog box Motor and Auxiliary Feedback are enabled 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 either read only or editable Per The units used to measure the cycles Publication LOGIX UM002A EN P February 2006 Axis Properties C 27 Interpolation Factor This field displays a fixed read only value for each feedback type This value is used to compute the resolution of the feedback device Aux Feedback Tab The o aa Tab is aa a the Drive tab s Loop Configuration field is set to Aux Feedback Only Aux Position Servo AXIS_SERVO_DRIVE Dual Position Servo Dual Command Servo or Aux Dual Command Servo Use this tab to configure motor and auxiliary feedback device Gf any parameters for an axis of the type AXIS_SERVO_DRIVE e Axis Properties Axis1 iof x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion F
41. M04SE CompactLogix SERCOS interface module Chapter 1 Chapter 7 and Appendix A Added guidelines and updated examples on how to configure homing Chapter 3 Added table on how to choose a motion command Also shows which Chapter 2 commands are available as motion direct commands Consolidated the list of attributes of an axis into a single table The Chapter 4 table e has attributes that are available only as a tag e lists how you access the attribute GSV instruction SSV instruction tag Combined configuration details of a coordinate system and attributes Chapter 5 of a coordinate system into a single chapter Added a chapter on how to handle motion faults Chapter 4 Added wiring diagrams for the 1756 HYD02 module Appendix A Moved details for configuring an axis to an appendix Appendix C Moved the descriptions of axis attributes to an appendix Appendix D Added a list of the members of each axis data type Appendix E For detailed information on how to configure these drives e 1394 SERCOS drive e Ultra3000 Digital servo drive Kinetix 6000 drive e 8720MC High Performance drive e Online help of RSLogix 5000 software e 1394 SERCOS Integration Manual publication 1394 IN024 e Ultra3000 Digital Servo Drives Integration Manual publication 2098 INO05 e Kinetix 6000 Integration Manual publication 2094 IN002 e 8720MC High Performance Drive Integration Manual publication 720MC IN002 Publication LOGIX UM002A EN P February 2
42. MO2AE 00722 CHB J1 10 BouT CHZ 1 11 10UT X CHZ 34 42 10UT Notes e This is an example of one way to wire the drive e See Ultra 100 Series Drive Installation Manual publication number 1398 5 2 for other configurations J1 to 50 pin Terminal Block Ultra 200 Series Kit P N 9109 1391 Digital Servo Drive 24 READY al1 6 or 13 24VCOM OUT 1 22 COMMAND From S X P N 9109 1369 003 1756 MO2AE a OUT 11 23 COMMAND ENABLE 4 Interface F General Cable ENABLE J1 20 ENABLE cabs J Tom 1756 MO2AE co72i DRVFLT 111 25 READY IN_COM CHA J1 2 AQUT X CHA J1 8 AOUT From aa ate CHB BOUT 1756 MO2AE cHB8 11 10 pour CHZ J1 11 10UT X CHZ 14 12 10UT Notes e This is an example of one way to wire the drive e See Ultra 200 Series Drive Installation Manual publication number 1398 5 0 for other configurations Publication LOGIX UM002A EN P February 2006 A 4 Wiring Diagrams Publication LOGIX UM002A EN P February 2006 1398 CFLAExx Cable LO m Individually J acketed pairs 24V BRAKE RESET P 1398 CFLAE gel al 5 0 in l Pinouts for 1398 CFLAExx Cable m ap WHTORG 226A a 79 BRAKE ns WHT YEL 22GA ns 50 BRA
43. Module Fault 1 Config Fault 2 Axis Inhibit Status BOOL Tag If this bit is e ON An axis in the coordinate system is inhibited e OFF None of the axis in the coordinate system are inhibited Publication LOGIX UM002A EN P February 2006 5 20 Create and Configure a Coordinate System Attribute Data Type Access Description Actual Position REAL 8 Tag Array of actual position of each axis associated to this motion coordinate system in Coordinate Units Actual Position Tolerance REAL GSV Coordination Units SSV The Actual Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM and so on specify a Termination Type of Actual Position Axes Configuration Faulted DINT GSV Shows which axes in this coordinate system have a configuration fault Tag If this bit is on Then this axis has a configuration fault 0 0 1 1 2 2 Axes Inhibited Status DINT GSV Shows which axes in this coordinate system are inhibited Tag If this bit is on Then this axis is inhibited 0 0 1 1 2 2 Axes Servo On Status DINT GSV Shows which axes in this coordinate system are on via MSO Tag If this bit is on Then this axis is on 0 0 1 1 2 2 Axes Shutdown Status DINT GSV Shows which axes in this coordinate system are shutdown Tag If this bit is on Then this axis is shutdown 0 0 1 1 2 2 Axis Fault DINT GSV The Axis Fault Bits attribute is a roll up of all of the axes associated to t
44. Motion Group Strobe AXIS_SERVO_DRIVE Position instruction is executed The values are stored in the configured AXIS VIRTUAL 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 for different axes 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 AXIS_CONSUMED REAL GSV Strobe Master Offset in Master Position Units Offset AXIS_ GENERIC Tag 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 AXIS_SERVO Position MGSP instruction was executed The Strobe Master Offset is AXIS_SERVO_DRIVE returned in master position units The Strobe Master Offset will show AXIS VIRTUAL the same unwind characteristic as the position of a linear axis Telegram Type AXIS_SERVO_DRIVE INT GSV ia eee of 7 which means Application Telegram See IDN 15 in Publication LOGIX UM002A EN P February 2006 Axis Attributes D 91 Attribute Axis Type Data Type Access Description Test Direction AXIS_SERVO SINT GSV The direction of axis travel during the last hookup test initiated by a eee AXIS SERVO DRIVE MRHD Motion Run Hookup Test instruction 0 reverse
45. Offset is returned in master position units The Master Offset will show the same unwind characteristic as the position of a linear axis Master Offset AXIS_CONSUMED BOOL Tag Set if a Master Offset Move motion profile is currently in progress This Move Status AXIS GENERIC bit is cleared when the Master Offset Move is complete or is an superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Master Position AXIS_GENERIC REAL GSV Hertz i i AXIS_SERVO SSV idee ws ae Fikerpandwidth E The Master Position Filter Bandwidth attribute controls the activity of AXIS_SERVO_DRIVE the single pole low pass filter that filters the specified master axis AXIS_VIRTUAL position input to the slave s gearing or position camming operation When enabled 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 If the Master Position Filter is disabled the Master Position Filter Bandwidth has no effect Publication LOGIX UM002A EN P February 2006 Attribute Maximum Acceleration Axis Type AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type Access REAL GSV SSV Axis Attributes D 57 Description Position Units Sec The Maximum Acceleration and Deceleration attribu
46. Pending Status 10 Time Cam Pending Status 11 Gearing Lock Status 12 Position Cam Lock Status 13 Reserved 14 Master Offset Move Status 15 Coordinated Motion Status 16 Motor Capacity AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Tag 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 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 contains important motor configuration information SINT needed by an A B SERCOS drive to operate the motor The length element represents the number of valid data elements in the data array 256 The meaning of data within the data array is understood only by the drive The block of data stored in the Motor Data attribute is derived at configuration time from an RSLogix 5000 motion database file Motor Electrical AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Angle Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Degrees The present electrical angle of the motor shaft Publication LOGIX UM002A EN P February 2006 D 64 Axis Attributes Attribute Axis Type Data Type Access Descri
47. Properties C 35 Homing Tab Use this tab to configure the attributes related to homing an axis of the AXIS_VIRTUAL type ANSE VIRTUAL Axis Properties myvirtualaxis General Motion Planner Units Conversion Homing Dynamics Tag Mode Active Position eg Pasition Units Sequence Immediate Cancel Help Only an Active Immediate Homing sequence can be performed for an axis of the type AXIS_VIRTUAL When this sequence is performed the controller immediately enables the servo drive and assigns the Home Position to the current axis actual position and command position This homing sequence produces no axis motion Mode This read only parameter is always set to Active Position Type the desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position 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 Publication LOGIX UM002A EN P February 2006 C 36 Axis Properties Sequence This read only parameter is always set to Immediate Hookup Tab AXIS
48. SINT GSV 0 m sec Constant Units 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 LDT Length AXIS_SERVO REAL GSV This attribute provides for setting the length of an LDT device This attribute is only active if the Transducer Type is set to LDT LDT Length Units 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 LDT AXIS_SERVO SINT GSV This attribute provides the number of recirculations This attribute is Recirculation only active if the Transducer Type is set to LDT and LDT Type is set to PWM LDT Scaling AXIS_SERVO REAL GSV This attribute provides for setting the scaling factor for LDT devices This attribute is only active if the Transducer Type is set to LDT LDT Scaling Units AXIS SERVO SINT GSV 0 Position Units m 1 Position Units in This attribute provides a selection for the units of the LDT scaling attribute This attribute is only active if the Transducer Type is set to LDT Publication LOGIX UM002A EN P February 2006 D 54 Axis Attributes Attribute Axis Type Data Type Access LDT Type AXIS_SERVO SINT GSV Description 0 PWM 1 Start Stop Rising 2 Start Stop Falling This attribute provides a selection for the LDT Type It provides the following enumerated va
49. SSV Bits Axis Attributes D 99 Description w n uning Direction Reverse une Position Error Integrator une Velocity Error Integrator une Velocity Feedforward une Acceleration Feedforward une Output Low Pass Filter idirectional Tuning une Friction Compensation une Torque Offset meanyr OortFwWN O Il ee 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 procedure calculates the Output Filter Bandwidth e OFF The tuning procedure sets th
50. Servo B 10 Dual Feedback Servo B 7 Motor Dual Command Servo B 8 Motor Position Servo B 5 Torque Servo B 11 Velocity Servo B 10 Servo Drive Status Attributes Acceleration Command D 4 Acceleration Feedback D 4 Aux Position Feedback D 12 Bus Regulator Capacity D 23 D 24 DC Bus Voltage D 28 Drive Capacity D 28 Drive Status Bit Attributes D 40 Marker Distance D 54 Motor Capacity D 63 Motor Electrical Degrees D 63 Negative Dynamic Torque Limi D 67 Position Command D 72 Position Error D 73 Position Feedback D 74 Position Integrator Error D 75 Positive Dynamic Torque Limit D 78 Power Capacity D 78 Torque Command D 92 Torque Feedback D 92 Torque Limit Source D 94 Velocity Command D 101 Velocity Error D 101 Velocity Feedback D 102 Velocity Integrator Error D 104 Servo Fault Configuration Servo Fault Actions D 31 D 47 D 48 D 49 D 73 D 88 Servo Gains Acceleration Feedforward Gain 5 17 D 1 D 5 Bandwidth Method D 76 Integrator Hold Enable D 52 Loop Gain Method D 76 Maximum Bandwidth D 76 Position Differential Gain D 72 Position Integral Gain D 74 Position Proportional Gain D 76 Velocity Feedforward Gain D 102 Velocity Integral Gain D 103 Velocity Proportional Gain D 105 Backlash Reversal Error D 21 Backlash Stabilization Window D 22 Directional Scaling Ratio D 28 Maximum Bandwidth D 105 Output LP Filter Bandwidth D 70 Torque Scaling D 95 Velocity Scaling D 107 Servo Limits Direct Dr
51. Shutdown Reset motion instruction e Resume normal operation e Check the drive status e Clear the Drive Fault condition at the drive e Clear the servo fault condition using the Motion Axis Fault Reset instruction e Resume normal operation e Check the configuration for the Drive Fault e f configured to be normally open and there is no voltage this is the normal condition e f configured to be normally closed and 24V dc is applied this is the normal condition SERCOS interface Module 1756 M03SE 1756 M08SE 1756 M16SE SERCOS Phase a SERCOS Ring Status Module Status Interpret Module Lights LEDs 7 9 1768 M04SE SERCOS Phase SERCOS Ring Status Module Status CP OOK If the lights on the module look like this Then do this cP Ring OK Off Off Off e Make sure the module is all the way in the chassis or connected and locked to the other modules e Is this a 1768 M04SE module e No Check the power supply for power e Yes Check the power supply and controller for power Off Off Flashing Red Wait Someone is updating the firmware of the module Flashing Off Flashing e Look for cables that are broken unplugged or in the wrong port Orange Green e Check the drives for faults Solid Orange Flashing Red Flashing e Make sure each drive has its own address Green e Make sure that all of the drives have the same baud rate e Set t
52. 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 Tune Status AXIS_SERVO INT GSV 0 tune process successful AXIS_SERVO_DRIVE 1 tune in progress 2 tune process aborted by user 3 tune process timed out 4 e AXIS_SERVO tune process failed due to servo fault e 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 has 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 Publication LOGIX UM002A EN P February 2006 Attribute Axis Type Data Type Access Tuning AXIS_SERVO DINT GSV Configuration AXIS_SERVO_DRIVE
53. 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 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 Negative Dynamic Torque Limit AXIS_SERVO_DRIVE REAL GSV Tag Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwis
54. 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 drive to scale in English units If the Scaling Unit is set to rotary the Linear Scaling Unit bit has no affect 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 Linear Millimeter Inch 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 Publication LOGIX UM002A EN P February 2006 D 40 Axis Attributes Attribute Axis Type Data Type Access Description is the same as the Drive Status tag Tag Bit Servo Action Status 0 Drive Enable
55. ag based on past axis trajectory history at the time specified by the AXIS_SERVO Interpolated Time attribute AXIS_SERVO_DRIVE AXIS_VIRTUAL Publication LOGIX UM002A EN P February 2006 Axis Attributes D 53 Attribute Axis Type Data Type Access Description Interpolated AXIS_CONSUMED REAL GSV Interpolated Command Position in Position Units Gornmand AXIS GENERIC Tag Interpolated Command Position is the interpolation of the commanded Posit g position based on past axis trajectory history at the time specified by OSION AXIS_SERVO the Interpolated Time attribute AXIS_SERVO_DRIVE AXIS_VIRTUAL Interpolation AXIS_CONSUMED DINT GSV CST time to interpolate to i AXIS_GENERIC T ae Tyme 7 ee Interpolated Time is the 32 bit CST time used to calculate the AXIS_SERVO interpolated positions When this attribute is updated with a valid CST AXIS_SERVO_DRIVE value the Interpolated Actual Position and Interpolated Command AXIS VIRTUAL Position values are automatically calculated Jog Status AXIS_CONSUMED BOOL Tag Set if a Jog motion profile is currently in progress Cleared when the Jog AXIS GENERIC is complete or is superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL LDT Calibration AXIS_SERVO REAL GSV This attribute provides for setting a calibration constant for LDT devices Constant This attribute is only active if the Transducer Type is set to LDT LDT Calibration AXIS_SERVO
56. 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 Maximum Negative Travel AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV SSV 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 appropriate values for the maximum travel in both the Maximum Positive and Maximum Negative Travel attributes need to be established with Maximum Positive Travel always greater than Maximum Negative Travel Both of these values are specified in the configured Position Units of the axis Note The software travel limits are not enabled until the selected homing sequence is completed Publication LOGIX UM002A EN P February 2006 D 58 Axis Attributes Attribute Axis Type Data Type Access Description Maximum AXIS_SERVO REAL GSV Position Units Positive Travel AXIS_SERVO_DRIVE SSV The Axis Object provides configurable software trav
57. and the Low pass Output Filter parameters Notch Filter Frequency Low pass Wutput Filter bandwiath Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Limits Tab AXIS_SERVO Use this tab to make the following offline configurations e enable and set maximum positive and negative software travel limits and e configure both Position Error Tolerance and Position Lock Tolerance and e set the servo drive s Output Limit Publication LOGIX UM002A EN P February 2006 Axis Properties C 67 for an axis of the type AXIS_SERVO configured as a Servo drive in the General tab of this dialog e Axis Properties myservolaxis Of X General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag F Soft Travel Limits Manual Adjust Maximum Positive foo Position Units Maximum Negative foo Position Units Position Error Tolerance joo Position Units Position Lock Tolerance joo Position Units Output Limit 10 0 Volts Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog
58. 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 to Publication LOGIX UM002A EN P February 2006 AXIS_SERVO AXIS_SERVO_DRIVE Value None default None default 0 Position Command Position Command 1 Position Feedback Position Feedback 2 Aux Position Feedback Aux Position Feedback 3 Position Error Position Error 4 Position Integrator Error Position Integrator Error 5 Velocity Command Velocity Command 6 Velocity Feedback Velocity Feedback 7 Velocity Error Velocity Error 8 Velocity Integrator Error Velocity Integrator Error 9 Acceleration Command Acceleration Command 0 Acceleration Feedback Acceleration Feedback 1 Servo Output Level 2 Marker Distance Marker Distance 3 Torque Command 4 Torque Feedback 15 Positive Dynamic Torque 16 Limit Negative Dynamic Torque 7 Limit Motor Capacity 8 Drive Capacity 19 Power Capacity 20 Bus Regulator Capacity 21 Motor Electrical Angle 22 Torque Limit Source 23 DC Bus Voltage 24 Absolute Offset 25 Axis Attributes D 19 Attribute Axis Type Data Type Access Description Axis Instance AXIS_CONSUMED INT GSV Instance Number assigned to Axis AXIS_GENERIC The Axis Instance attribute is used to return the instance number of an AXIS_SERVO axis Major fault records generated for an axis major fault contains only AXIS_SERVO_DRIVE t
59. axes You can inhibit only these types of axes e AXIS_SERVO e AXIS_SERVO_DRIVE e AXIS_GENERIC_DRIVE Publication LOGIX UM002A EN P February 2006 Inhibit an Axis 6 3 To inhibit all of the axes of a motion Do you want to inhibit all of the axes of a motion module module inhibit the module instead e YES Inhibit the motion module instead e NO Inhibit the individual axes It s OK to inhibit all of the axes of a module one by one It s just easier to inhibit the module Example Suppose your motion module has 2 axes and you want to inhibit both of those axes In that case just inhibit the module a My_Controller E Module Properties Local 2 1756 L60MO3SE SERCOS 15 1 as 7 sa Groups General Connection SERCOS Interface SERCOS Interface Info Module Info Backplan L Trends Data Types amp 1 0 Configuration 1756 Backplane 1756 413 fa 1 1756 L60M035E My_Controller Eley SERCOS Network fl 1 2098 DSD 020 SE My_Axis_X fl 2 2098 DSD 020 SE My_Axis_ Requ ested Pack Vv ini Bon I Major Fault On Controller If Connection Fails While in Run Mode f f d Cor no ntrolti Module Fault et Interval RPI ms lg If you inhibit all of the axes on a SERCOS ring the drives phase up to phase 2 This happens whether you inhibit all the axis individually or you inhibit the motion module Inhibited Motion Module Motion Module
60. 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 factors 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 that 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 Continued on next page Attribute Drive Scaling Bits cont Axis Type Axis Attributes D 39 Data Type Access Description 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
61. 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 both of these on an oscilloscope E Ta ona HL PL cue UT LP LL a oe YF OE 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 Feedback Noise AXIS_SERVO SINT GSV Fault Action Value Fault Action AXIS_SERVO_DRIVE SSV Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Friction AXIS_SERVO REAL GSV 0 100 Compensation AXIS_SERVO_DRIVE 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 Friction 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 Friction Co
62. configure the 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 Refer to the Logix Motion Instruction Specification for more information on these hookup diagnostic instructions Publication LOGIX UM002A EN P February 2006 Attribute Drive Resolution Axis Attributes D 35 Axis Type Data Type Access Description AXIS_SERVO_DRIVE DINT GSV 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 specific drive application Furthermore the configured Drive Unit may apply to either 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 Driv
63. ea hehehe oles A 15 Appendix B Introduction sea ce tok ot ae ear ty ae eh ae Shek OEN B 1 Interpreting the Diagrams ie edo ed RE SE Sed B 1 AXIS SERVO peant see etek hong bigs hse Roar dems ga ae Bd Hosen a a B 2 AXIS SERVO DRIVE 4 6 oe has tthe eee eh bide Salle ent B 4 Axis Properties Axis Attributes Axis Data Types Table of Contents 3 Appendix C rodicton ise ian eE Ba Ae Shenk ae a Pes Ns ROL LRA C 1 General Tab AXIS_SERVO 0 00000 00 000s C 1 General Tab AXIS SERVO_DRIVE 0 C 2 General Tab AXIS_VIRTUAL 00000000008 C 6 General Tab AXIS_GENERIC 6 35 5cSeedoehegs eS es C 7 Motion Planner Tab iic 3 s oh Ga0 bee OS Ae e Roan es C 8 Units bp eer meme Me ee aa iiaa C 11 Servo Tab AXIS_SERVO Giyeo ys oo ade Das Pe OW ok BS C 12 Feedback Tab AXIS_SERVO 00 000000005 C 14 Drive Motor Tab AXIS_SERVO_DRIVE C 19 Motor Feedback Tab AXIS _SERVO_DRIVE C 26 Aux Feedback Tab AXIS_SERVO_DRIVE C 27 Conversion Tab 0 65 6 fcc edt ae vec oH a Bae Woe MER doe C 29 Homing Tab AXIS_SERVO and AXIS_SERVO_DRIVE C 30 Homing Tab AXIS_VIRTUAL We aed Soot xn poe Beh tae ee C 35 Hookup Tab AXIS SERVO 06 oil gob sanyo SG 8 gos 8G Sonos a C 36 Hookup Tab Overview AXIS_SERVO_DRIVE C 38 Tune Tab AXIS_SERVO AXIS_SERVO_DRIVE C 40 Dynamics Taiere enat E Cheese eG eens ESR eS i C 43 Gains Tab AXIS SERVO oo 5
64. for interfacing the servo axis to a torque loop servo drive e Hydraulic enables features specific to hydraulic servo applications Publication LOGIX UM002A EN P February 2006 Loop Configuration Enable Drive Fault Input Drive Fault Input Enable Direct Drive Ramp Control Direct Drive Ramp Rate Real Time Axis Information Attribute 1 Attribute 2 Axis Properties C 13 Select the configuration of the servo loop For this release only Position Servo is available Check this 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 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 Clicking on the Enable Direct drive Ramp Control check box lets you 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 to be applied directly Select up to two axis attributes whose status are transmitted along with the actual position data to the Logix p
65. for this instance in bytes AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Memory Use AXIS_CONSUMED INT GSV Controller memory space where instance exists AXIS_GENERIC 105 0x69 1 0 space AXIS_SERVO AXIS_SERVO_DRIVE 106 0x6a Data Table space AXIS_VIRTUAL a PAR RSLogix 5000 software uses this attribute to create axis instances in I O memory for axes that are either to be produced or consumed The Memory Use attribute can only be set as part of an axis create service and is used to control which controller memory the object instance is created in Module Channel AXIS_GENERIC SINT GSV Zero based channel number of the module Oxff indicates unassigned AXIS_SERVO AXIS_SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 The axis is associated to a specific channel on a motion module by specifying the Module Channel attribute Axis Attributes D 59 Attribute Axis Type Data Type Access Description Module Class AXIS_SERVO DINT GSV ASA Object class code of the motion engine in the module for example Code AXIS SERVO DRIVE OxAF for the MO2AE module The ASA class code of the object in the motion module which is supporting motion for example OxAF is the ASA object ID of the Servo Module Axis Object residing in the 1756 MO2AE module Module Fault AXIS_CONSUMED BOOL Tag Set when a serious fault has occurred with the motion module AXIS GENERIC associated with the selected axis Usually a module fault affe
66. 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 Specifies the fault action to be taken when a drive fault condition is detected for an axis with the Drive Fault Input enabled in the Servo tab of this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown and Disable Drive 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 Specifies the fault action to be taken when feedback loss condition is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Publication LOGIX UM002A EN P February 2006 C 86 Axis Properties Position Error Soft Overtravel Fault Actions Tab AXIS SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo Gin the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only 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 d
67. 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 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 IMPORTANT Identifies information that is critical for successful application and understanding of the product ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you to identify a hazard avoid a hazard and recognize the consequences THA Wadi Labels may be located on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be located on or inside the equipment for example a drive or motor to alert people that surfaces may be dangerous temperatures Summary of Changes Introduction This publication has new and updated information To find new and updated information look for change bars as shown next to this paragraph Updated Information This document has these changes Change See Added the 1768
68. is set to e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion e Disabled all active position or velocity integrators are always enabled Manual Adjust Click on this button to access the Gains tab of the Manual Adjust dialog for online editing oo o Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Gains Tab Use this tab to perform the following offline functions AXIS_SERVO_DRIVE e Adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog Publication LOGIX UM002A EN P February 2006 C 52 Axis Properties e Manually configure gains for the velocity and position loops e for an axis of the type AXIS_SERVO_DRIVE e Axis Properties mysercos1laxis General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Manual Adjust Set Custom Gains Position Gains Proportional Integral Velocity Gains Feedforward Gains Proportional 260 41 666 12s Velocity oo Integral ao 1 ms s Acceleration joo
69. is triggered to execute when a Home event occurs AXIS GENERIC An instance value of 0 indicates that no event task has been configured 7 to be triggered by the Home Event AXIS_SERVO AXIS_SERVO_DRIVE This attribute indicates which user Task is triggered when a home event AXIS VIRTUAL occurs The user Task is triggered at the same time that the Process Complete bit is set for the instruction that armed the home event This attribute 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 Home Input AXIS_SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE e ON The home input is active e OFF The home input is inactive Publication LOGIX UM002A EN P February 2006 Axis Attributes D 51 Attribute Axis Type Data Type Access Description Home Mode AXIS_GENERIC SINT GSV 0 passive AXIS_SERVO SSV l 1 active default AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 absolute Home Offset AXIS_GENERIC REAL GSV Position Units AXIS_SERVO SSV T When applied to an active or passive Homing Mode using a AXIS_SERVO_DRIVE non immediate Home Sequence the Home Offset is the desired position AXIS_VIRTUAL offset of the axis Home Position from the posi
70. 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 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 Z2 Bandwidth Vel 0 25 1 Z2 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 bandwidth of the torque loop includes feedback sampling delay and filter time constant Attribute Position Servo Bandwidth Axis Type AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE SSV Axis Attributes D 77 Data Type Access 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
71. 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 considered 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 Attribute Axis Type Feedback Offset GSV SSV Axis Attributes D 3 Data Type Access Description Position Units Important e Use this attribute only for an axis of a 1756 HYDO02 or 1756 M02AS module e 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 power up 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 has not exceeded its range limit If the feedback device rolls over its count range the absolute position of the axis is no longer valid If the axis is configured for Rotary operation the servo module is responsible for adjusting t
72. motion instructions can be made to execute faster when the programmer allows instructions to be queued while a preceding instruction is executing When the MovePendingStatus bit is clear the next coordinated motion instruction can be executed that is setup in the queue Move Status BOOL Tag The move bit is set when coordinated motion is generating motion for any associated axes Once coordinated motion is no longer being commanded the move bit is cleared Move Transition Status Physical Axes Faulted BOOL DINT Tag GSV Tag The move transition bit is set once the blend point between two successive coordinated moves has been reach The bit remains set while the blend of the two moves into one is in process Once the blend is complete the move transition bit is Cleared Shows which axes in this coordinate system have a servo axis fault If this bit is on Then this axis has a servo axis fault 0 0 1 1 2 2 Physical Axis Fault BOOL Tag If the Physical Axis Fault bit is set it indicates that there is one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis Ready Status BOOL Tag The Ready bit is set when all associated axes are enabled It is cleared after an MCSD MGSD or a fault on any of the associated axes Shutdown Status BOOL Tag
73. needed to compute scaling factors used to convert Drive Counts to Feedback counts Publication LOGIX UM002A EN P February 2006 D 12 Axis Attributes Attribute Axis Type Data Type Access Description Aux Feedback AXIS_SERVO_DRIVE INT GSV The Motor and Aux Feedback Type attributes are used to identify the Type motor mounted or auxiliary feedback device connected to the drive Table D 1 Feedback Type Code Rotary Linear Rotary Only Only or Linear lt None gt 0x0000 SRS Ox0001 X SRM Ox0002 X SCS 0x0003 X SCM 0x0004 X SNS 0x0005 X MHG 0x0006 X Resolver 0x0007 X Analog Reference 0x0008 X Sin Cos 0x0009 X TTL 0x000A X UVW 0x000B X Unknown Stegmann 0x000C X Endat 0x000D X RCM215S 4 0x000E X RCM218 6 OxO00F X RCM218 8 Ox0010 X LINCODER 0x0011 X Sin Cos with Hall 0x0012 X Aux Feedback AXIS_SERVO_DRIVE INT GSV The Motor Feedback Units attribute establishes the unit of measure that Units 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 Aux Position AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS_SERVO_DRIVE Tag Real Time Axis Information fo
74. normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive 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 Publication LOGIX UM002A EN P February 2006 Attribute Mot Feedback Noise Fault Axis Attributes D 61 Axis Type Data Type Access Description AXIS_SERVO_DRIVE 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 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 both of these on an oscilloscope oe ona HL PL cue UT LP LL a oe ro Fo oE 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 Res
75. of the drive s dc bus is too low Publication LOGIX UM002A EN P February 2006 D 24 Axis Attributes Attribute Axis Type Data Type Access Description Capacit Tag Real Time Axis Information for the axis Otherwise you won t see the pae 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 Bus Regulator ID AXIS_SERVO_DRIVE INT GSV The Bus Regulator ID attribute contains the enumeration of the specific 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 C2C Connection AXIS_CONSUMED SINT GSV Producer Consumed axis s associated C2C connection instance in Instance AXIS_GENERIC reference to the C2C map instance AXIS_SERVO When Axis Data Type is specified to be Consumed then this axis is AXIS_SERVO_DRIVE associated to the consumed data by specifying both the C2C Map Instance and the C2C Connection Instance This attribute is the AXIS_VIRTUAL nai connection instance under the C2C 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 connection instance under the local controller s map instance 1 that is used to send the remote ax
76. 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 Publication LOGIX UM002A EN P February 2006 C 16 Axis Properties Data Length Clock Frequency Enable Absolute Feedback Absolute Feedback Offset Publication LOGIX UM002A EN P February 2006 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 either 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 This checkbox allows you to either enable checked or disable unchecked the Absolute Feedback feature The default is enabled 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 cycle therefore the machine reference system can be restored at power up 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 d
77. or applied Use this tab to specify the actions that are taken in response to the following faults e Drive Fault e Feedback Noise Fault e Feedback Loss Fault e Position Error Fault e Soft Overtravel Fault Publication LOGIX UM002A EN P February 2006 C 84 Axis Properties for an axis of the type AXIS_SERVO e Axis Properties myseryolaxis Biel X General Motion Planner Units Servo Feedback Conversion Homina Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Drive Fault Disable Dive Feedback Noise Disable Dive Feedback Disable Dive x Position Error Disable Dive x Soft Overtravel Disable Drive z When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type e Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zer
78. 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 Publication LOGIX UM002A EN P February 2006 Axis Attributes D 11 Attribute Axis Type Data Type Access Description Aux Feedback AXIS_SERVO_DRIVE FLOAT GSV Aux Feedback Units per Motor Feedback Unit paulo 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 turns 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 by the drive when running the dual feedback servo loop configuration Aux Feedback AXIS_SERVO_DRIVE DINT GSV Cycles per Aux Feedback Unit Resolution 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
79. please email me at Yes please contact me via Return this form to Rockwell Automation Technical Communications 1 Allen Bradley Dr Mayfield Hts OH 44124 9705 Fax 440 646 3525 Email RADocumentComments ra rockwell com Publication ClG C0521C EN P May 2003 PN957988 76957782 91 Other Comments PLEASE FASTEN HERE DO NOT STAPLE PLEASE FOLD HERE BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE Allen Bradley BELIANCE JB ELECTRIC ie DOGE Rockwell Automation 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES PLEASE REMOVE Allen Bradley CompactLogix ControlLogix Kinetix Logix5000 and Ultra3000 are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Rockwell Automation Rockwell Automation provides technical information on the web to assist you in using its products At http support rockwellautomation com you can find Support technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Sup
80. 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 ahead of the command position If this occurs decrease the Velocity Feedforward Gain such that the Position Error is again positive Note that reasonable maxim
81. position servo 6 dual command servo 7 aux dual command servo 8 velocity servo 9 torque servo 10 dual command feedback servo Attribute Servo Output Level Axis Type AXIS_SERVO Data Type Access REAL GSV Tag Axis Attributes D 87 Description 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 has engaged the surface of the work piece Servo Polarity Bits AXIS_SERVO DINT GSV 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 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 properly configured along with the Feedback P
82. power supply is required to power the encoder driver circuit of the 1394 servo drive Because this connection is shared by all four axis encoder driver circuits only one connection is needed to the 5V field supply Publication LOGIX UM002A EN P February 2006 A 8 Wiring Diagrams Publication LOGIX UM002A EN P February 2006 1394 CFLAExx Cable Individually J acketed Pairs ENABLEDRIVE FAULT AXIS 0 E 7 g 3 0 in J z AXIS 0 1394 CFLAE aa 1756 MO2AE Fem SV ENC PUR AXIS 0 f MO2AE OK oak Pinouts for the 1394 CFLAE sv B yagi RED226A_ iya 45VCO 9 ne BLACK 22GA ne ti DRAIN oo a eee CHANNEL A HIGH 4 va ORANGE 22GA R CHANNELALOW 10 iQ WHTORG 22GA iA CHANNEL B HIGH 5 oi ELLOW 226A ve CHANNEL B LOW 1 X WHINE 226A IA CHANNEL Z HIGH 6 rat GREEN 2268 me CHANNELZLOW 12 ne MHTGAN 226A Os VREF 1 TREFA 5 aar BLUE 22GA a VREF 7 me WHT BLU 22GA ne m MEET ae es a DROK 0 A VIOLET 22GA 77 75 24V EN COM D r ae 24V S x AX ENABLE an WHTIGRY 22GA__ X kri DRAIN tot Se alla papse TO SYSTEM g RDA e FAULT STRING E ne BLACK 2268 x esp EA DRAIN ow Jonk Wiring Diagrams A 9 1756 M02AS Module To servo drive or valve General cable C0720 General cable C0721
83. resolution limit on command velocity is 0 00001 feedback counts per coarse update period per coarse update period Publication LOGIX UM002A EN P February 2006 Attribute Axis Type Data Type Access Command AXIS_CONSUMED REAL GSV Position AXIS_GENERIC Tag AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis Attributes D 25 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 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 coarse update period Thus the Command Position value that is obtained is the command position that is acted upon by the physical servo axis one coarse 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 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
84. selected Motion Group sub branch Selecting lt none gt terminates the Motion Group association and moves the coordinate system to the Ungrouped Axes sub branch of the Motions Groups branch Publication LOGIX UM002A EN P February 2006 5 8 Create and Configure a Coordinate System Publication LOGIX UM002A EN P February 2006 Ellipsis button Opens the Motion Group Properties dialog box for the Assigned Motion Group where you can edit the Motion Group properties If no Motion Group is assigned to this coordinate system this button is disabled grayed out New Group button The New Group button opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Type This read only field displays the type of coordinate system It currently only supports a Cartesian system therefore the field automatically fills with Cartesian and it cannot be edited Dimension Enter the dimension that is the number of axes that this coordinated system is to support The options are 1 2 or 3 in keeping with its support of a maximum of three axes Changes in the Dimension spin box also reflect in the Axis Grid by either expanding or contracting the number of fields available Data is set back to the defaults for any axis that is removed from the Axis Grid due to reducing the Dimension field Axis Grid The Axis Grid is where you associate axes to the Coo
85. speed using configured Stopping 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 either 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 Brake Release AXIS_SERVO_DRIVE REAL Delay Time GSV SSV Sec 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 e 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 Bus Ready Status AXIS_SERVO_DRIVE BOOL Tag If the bit is e ON The voltage of the drive s dc bus is high enough for operation e OFF The voltage
86. that case set up one project for all 12 axes When you install the equipment for a customer inhibit those axes that the customer didn t buy Example 2 Suppose you have 2 production lines that use the same SERCOS ring And suppose one of the lines gets a fault In that case inhibit the axes on that line This lets you run the other line while you take care of the fault Publication LOGIX UM002A EN P February 2006 6 2 Inhibit an Axis Before You Begin Before you inhibit or uninhibit an axis Before you inhibit or uninhibit an axis turn off all of the axes 1 Stop all motion 2 Open the servo loops of all the 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 SERCOS Ring Drive Motor J Controller Motion Module i SERCOS Ring 1 Drive Motor The controller automatically restarts the connections The SERCOS ring also phases back up Inhibit only certain types of
87. 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 are 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 pr
88. the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Velocity Scaling The Velocity Scaling attribute is used to convert the output of the servo loop into equivalent voltage to an external velocity servo drive Publication LOGIX UM002A EN P February 2006 C 60 Axis Properties Torque Scaling Publication LOGIX UM002A EN P February 2006 This has the effect of normalizing the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The Velocity Scaling value is typically established by servo s automatic tuning procedure but these values can be calculated if necessary using the following guidelines If the axis is configured for a velocity external servo drive Gin the Servo tab of this dialog the software velocity loop in the servo module is disabled In this case the Velocity Scaling value can be calculated by the following formula Velocity Scaling 100 Speed 100 For example if this axis is using position units of motor revolutions revs and the servo drive is scaled such that with an input of 100 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
89. 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 executing 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 22 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 the maximum position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed Position Units AX S_CONSUMED STRING MSG AXIS_GENERIC S_SERVO S_SERVO_DRIVE S_VIRTUAL Fixed length string of 32
90. the screen to avoid accidental invoking of this command when you really want to execute the command accessed from the Command tree Clicking on this button causes the Motion Group Shutdown instruction to execute If you click on the Motion Group Shutdown button and it is successfully executed a Result message is displayed in the results window below the dialog Since the use of this button 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 with the intention of giving greater awareness of the execution of this command If the command fails then an error is indicated as per normal operation See Error Conditions later in this chapter There is space above the Motion Group Shutdown button and below the line where status text is displayed when a command is executed Execute Button Clicking the Execute button verifies the operands and initiates the current Motion Direct Command Verification and error messages display as the Publication LOGIX UM002A EN P February 2006 2 8 Test an Axis with Motion Direct Commands Motion Direct Command Whenever a Motion Direct Command is executed there are two levels Error Process of error detection that are presented 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 and an appropriate message i
91. to 2 14748x10412 Note This value is not applicable for Ultra3000 drives Use this dialog for offline configuration of e scaling values which are used to generate gains and e the servo s low pass digital output filter for an axis of the type AXIS_SERVO configured as a Servo drive in the General tab of this dialog Axis Properties C 59 Axis Properties myservolaxis iof x General Motion Planner Units Servo l Feedback Conversion l Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Velocity Scaling fp 0 Z Position Units s Manual Adjust Torque Scaling oo Position Units s 2 Direction Scaling Ratio fi 0 Forward Reverse Scaling IV Enable Low pass Output Filter Low pass Output Filter Bandwidth fi 000 0 Hertz OK Cancel Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline
92. to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication LOGIX UM002A EN P February 2006 C 68 Axis Properties Soft Travel Limits Maximum Positive Maximum Negative Position Error Tolerance Position Lock Tolerance Publication LOGIX UM002A EN P February 2006 Enables software overtravel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog Software overtravel limits are disabled during the tuning process Type the maximum positive position to be used for software overtravel checking in position units Note The Maximum Positive limit must always be greater than the Max
93. 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 both a noise and acceleration error perspective minimizing the coarse update period is vital Some applications don t 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 feature is disabled bit cleared the slave axis will appear to be more responsive to movements of the master and run generally smoother than when Master Delay Compensation feature is enabled bit set However when the master axis is running at a constant velocity the slave will lag the master by a tracking error that is proportional to the speed of the master Note that 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 Since the controller generates the command position directly there is no intrinsic master position delay to compensate for Continued on next page Publication LOGIX UM002A EN P February 2006 D 56 Axis Attributes Attribute Axis Type Data Type Access Description Master Input Master Position Filter Configuration The Master Position Filter bit controls the activ
94. try again Runs the Output amp Feedback Test which checks and if necessary reconfigures both the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Publication LOGIX UM002A EN P February 2006 C 38 Axis Properties Note Executing any test operation automatically saves all changes to axis propetties Hookup Tab Overview Use this tab to configure and initiate axis hookup and marker test AXIS SERVO DRIVE sequences for an axis of the type AXIS_SERVO_DRIVE e Axis Properties sercosaxis1 Of X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Test Increment 10 0 Position Units Test Marker Drive Polarity Positive 4 Test Feedback Test Command amp Feedback DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Command amp Feedback test may cause axis runaway condition Cancel Apply Help 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
95. 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 Publication LOGIX UM002A EN P February 2006 C 56 Axis Properties Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice While the Vel I Gain if employed is typically established by the automatic servo tuning procedure Cin the Tune tab of this dialog box the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for th
96. you can jog or move the axis off the limit 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 Maximum Deceleration rate without disabling the drive Write your own application code Status Only to handle the fault Use this fault action on y when the standard fault actions are not appropriate With this fault action you must 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 Publication LOGIX UM002A EN P February 2006 4 4 Handle Faults Set the Fault Action for an To set the fault actions for an axis Axis 1 Controller My_Controller m e Tasks Motion Groups My_Motion_Group oe Motion Direct Commands gt My_Axis_ N m Ungrouped Axes H E Trends H B Data Types 1 0 Configuration Properties N Cross Reference Ctrl E Print Ek General Motion Planner Units Drive Motor stor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Drive Enable Input
97. 0 01 position units as shown here Provides a method of limiting the maximum servo output voltage of a physical axis to a specified level The servo output for the axis as a function of position servo error both with and without servo output limiting is shown below The servo output limit may be used as a software current or torque limit if you are using a servo drive in torque loop mode The percentage of the drive s maximum current that the servo controller 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 Click on this button to open the Limits tab of the Manual Adjust dialog for online editing of the Position Error Tolerance Position Lock Tolerance and Output Limit parameters Manual Adjust myservolaxis X Dynamics Gains Output Limits Offset Position Error Tolerance 0 0 Position Units Reset e Position Lock Tolerance 10 0 j Position Units Output Limit 10 0 j Volts OK Cancel Apply Help Pub
98. 0 Lines Rev 4 Counts Line 5 Revs Inch 20 000 Counts Inch Caution f Conversion Constant is changed it invalidates all of the settable attributes with Position Unit conversions in Description column To be valid the Conversion Constant must be set to the desired value prior to setting including defaulting any of the affected attributes Coordinated Motion Status AX S_CONSUMED BOOL AXIS_GENERIC S_SERVO S_SERVO_DRIVE S_VIRTUAL Tag Set if any coordinated motion profile is currently active upon the axis It is cleared as soon as Coordinated Motion is complete or stopped Damping Factor S_SERVO REAL S_SERVO_DRIVE GSV SSV The Damping Factor attribute value is used in calculating the maximum Position Servo Bandwidth 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 would produce 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 Publication LOGIX UM002A EN P February 2006 D 28 Attribute DC Bus Voltage Axi
99. 006 Summary of Changes 2 Notes Publication LOGIX UM002A EN P February 2006 Preface Start Test an Axis with Motion Direct Commands Configure Homing Handle Faults Create and Configure a Coordinate System Table of Contents Introduction 9 Yeoh Sac grey tice ce Hh de obaapc dh ah OO Sioa ee dna A ag P 1 Description of The Modules 6 65 6 3 cde wine ew bose are P 1 Additional RESOURCES oats kB en pin Mee oR ste Re P 2 Chapter 1 jntrod cti t asror eea baaa e Rares We eek ab D rent EAR 1 1 Make the Controller the Master Clock 1 2 Add the Motion Modules i4 ieee x KEK VES AGP S 1 3 Add SERCOS interface Drives 0 0 00 00000055 1 4 Set Up Each SERCOS Interface Module 1 5 Add the Motion Groups aucv Mearns dee ceils Aes 1 6 Add Y OUP Ae Ser aT a a PDEs ER EE ee Soe 1 8 Set Up BAC AXIS 5 2 5 ng erg ak byes heg Eie OUR A BASLE n 1 9 Check the Wiring of Each Drive n a oes ws howe ad 1 12 Sti Each ARIS tp wes etch eis ire Vale Oe ak as LOG eS ee aa 1 13 Get Axis IMLoMmmatiCtt 2 e417 8e6e 4 S844 2S eee SEs 1 14 Program Motion COntOl lt 4 FelGny aaties bee Bae ORO 1 15 Whats NextA ia jemi ai san whe Rona ernie ae aaa a 1 17 Chapter 2 WEROCUICH OR tins apts Keeley ea a baton tan opti ats Aas 2 1 Access Motion Direct Commands 0 2 2 Choose a Command 4 5 62 ecw oe aati dl vai a Pope Ace aes 2 4 Motion Direct Command Dialog o oo hee es 2 6 Motion Dire
100. 06 C 30 Axis Properties e Rotary enables the rotary unwind capability of the axis This feature provides infinite position range by unwinding the axis position whenever the axis moves through a complete unwind distance The number of encoder counts per unwind of the axis is specified by the Position Unwind parameter Conversion Constant Type the number of feedback counts per position unit This conversion or K constant allows axis position to be displayed and motion to be programmed in the position units set in the Units tab The conversion constant is used to convert axis position units into feedback counts and vice versa for the AXIS_SERVO type and for the AXIS_SERVO_DRIVE the number of counts per motor revolution as set in the Drive Resolution field of the Drive tab Position Unwind This parameter is not editable for an axis of the data type AXIS_CONSUMED Instead this value is set in and taken from a producing axis in a networked Logix processor For a Rotary axis AXIS_SERVO 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 both the actual and command position every time the axis travels the unwind distance For axes of the type AXIS_LSERVO_DRIVE e when you save an edited Conversion Constant or a Drive Resolution value a message box appears asking you
101. 06 Gay ake Few ooo we C 46 Gains Tab AXIS SERVO_DRIVE 0 C 51 Output Tab AXIS_SERVO aaa hua ecaeeca es C 58 Output Tab Overview AXIS_SERVO_DRIVE C 62 Limits Tab A XIS SERVO 2s 0 pte awd od ee oe dels C 66 Limits Tab AXIS SERVO_DRIVE 0 C 70 Offset Tab AXIS SERVO ois eca gia kaw Gea dw eee ween C 76 Offset Tab AXIS_SERVO_DRIVE 0 C 79 Fault Actions Tab AXIS_SERVO 0000 C 83 Fault Actions Tab AXIS SERVO_DRIVE C 86 Tag ere ce re de tee ty Seno ht GP oe Ae dnt pipet i in poh oa eG Beak C 90 Appendix D TPM EOCIICLIONE s aeo Ged gt fed hos oe PG Ssh ae Beale th oe ak ee D 1 How to Access Attributes nas ok Sk Rae ek Paled oe SEG D 1 AXIS RIO S a say aa 9 odin argo oi Saige a Be Bieta Wah eae ee ERAS D 2 Appendix E Introd c om 3 5 ase eet se te eee ot abel Aa Oe E 1 AX CONSUMED sd thee ea eh es PGS A E 1 AXIS GENERE sre eante ridato he cage eee eG oe E 4 AXIS SERV Oct apa tree dete nd B pala es wae Gudea yn E E te sud E 6 AXIS SERVO DRIVE ereu aoa 200000000000 eee eee E 9 AXIS VIRTUAL Ged pues 6 8 eae ane Ae Se ee ee SS E 13 Publication LOGIX UM002A EN P February 2006 Table of Contents 4 Publication LOGIX UM002A EN P February 2006 Introduction Description of The Modules Motion Module Preface Use this manual to setup and program motion control using these Logix5000 motion modules This table describes
102. 1 forward positive For this Datatype Details AXIS_SERVO This value doesn t 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 AXIS_SERVO_DRIVE This value doesn t 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 Test Increment AXIS_SERVO REAL GSV Position Units AXIS_SERVO_DRIVE SSV 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 motor Test Status AXIS_SERVO INT GSV 0 test process successful AXIS_SERVO_DRIVE 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 erro
103. 1 Hotes sf ENABLE 0 ENABLE 1 ko m ENABLE 0 ENABLE 1 General Cable To servo drive wae Co C0721 DRVELT 0 DRVELT 1 IAS O11 CHASSIS CHASSIS A 14 13 INLCOM G OF IN_COM General Cable To home MS Ol C0720 limit switch HOME 0 HOME 1 A 18 i7 Esso REG24V 0 Oo ov REG24V 1 General Cable To registration LS Ce lt lt lt C0720 sensor REGSV 0 REGSV 1 7222 21 0K 0K 4O Oz CHASSIS CHASSIS I 26 25 CHA 0 CHA 1 28 27 CHA 0 CHA 1 30 29 CHB 0 CHB 1 General Cable To encoder 2O O31 C0722 CHB 0 CHB 1 KIS 33 CHZ 0 CHZ 1 36 G 35 CHZ 0 CHZ 1 General Cable To E stop relay coil C0720 VY Notes This example shows the wiring for Axis 1 Wire Axis 0 the same way Publication LOGIX UM002A EN P February 2006 Wiring Diagrams A 3 Ultra 100 Series Drive Ultra 200 Series Drive J1 to 50 pin Terminal Block Ultra 100 Series Kit P N 9109 1391 Digital Servo Drive 2avoc zavo r yi aoe Field Power Supply L_J1 24 READY 24 VCOM 1 6 24VC0M 1 13 24VCOM 1 22 COMMAND General Cable 0UT J From P N 9109 1369 003 1756 MO2AE m i X OUT 111 23 COMMAND ENABLE ENABLE 411 20 ENABLE ne J sJ1 25 From 1756 MO2AE DRVFLT READY IN_COM CHA 11 2 AQUT X CHA 11 8 AQUT Foti General Cable 4 CHB J1 9 BOUT 1756
104. 2 2 Test an Axis with Motion Direct Commands Access Motion Direct Commands To access the Motion Direct Commands for the motion group right click the group in the Controller Organizer Access the Motion Direct Commands for the Motion Group RSLogix 5000 FredsStructure in Fredstest ACD 1756 L55 Offline fl M RUN FE ok BAT S 1 0 piselineligeyy last a MainT ask 2 MainProgram 3 Unscheduled Programs aa Motion Groups i By myMotionGroup ig MyConsume i MyServodx B E Ungrouped Axe servodrivea Trends Data Types i User Defined Ga Strings pot STRING H Predefined SES 120 Configuration Publication LOGIX UM002A EN P February 2006 r RPI Favorite E S Motion Direct i MearMotanaroupkauts ASIE Re MAFR Motion Mo Re MAS Re MAH Re MAJ Re MAM Re MAG Re MCD Re MAP Motion Gro Bh aT Gu ST Test an Axis with Motion Direct Commands 2 3 Access the Motion Direct Commands for an Axis To access the Motion Direct Commands for an axis right click the axis in the Controller Organizer Rael inielaigien Se MainT ask Si 3 MainProgram A Program Tags i MainRoutine r Unscheduled Programs E 8 Motion Groups l myMotionGroup AD MyConsumedAxis 4 MyServodsis myservodrive2 i myservodrive RD MyServoDrivedxis ADD MyVirtualdxis Ungrouped Axes Gta Gane Eat AMIS Raut ASTE Motion Direct Commands Publicat
105. 2A EN P February 2006 Tag Set when the ambient temperature surrounding the drive s control circuitry temperature exceeds the drive ambient shut down temperature Attribute Drive Enable Input Fault Drive Enable Input Fault Action Axis Attributes D 29 Axis Type Data Type Access Description AXIS_SERVO_DRIVE BOOL AXIS_SERVO_DRIVE SINT Tag GSV SSV This fault would be declared if either 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 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 Note 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 both enable the a
106. 4 Change Catalog Button C 22 Catalog Number C 22 Filters C 23 Family C 23 Feedback Type C 23 Voltage C 23 Drive Enable Input Checking C 21 Drive Enable Input Fault C 21 Drive Resolution C 21 Loop Configuration C 20 Real Time Axis Information C 22 Drive Motor Tab AXIS_SERVO_DRIVE Motor Catalog Number C 20 Dynamics Tab C 43 Manual Tune C 46 Maximum Acceleration C 45 Maximum Deceleration C 45 Maximum Velocity C 45 Fault Actions Tab AXIS_ SERVO C 83 Drive Fault C 85 Feedback Loss C 85 Feedback Noise C 85 Position Error C 86 Soft Overtravel C 86 Fault Actions Tab AXIS_SERVO_DRIVE C 86 Drive Thermal C 88 Feedback C 89 Feedback Noise C 88 Hard Overtravel C 89 Motor Thermal C 88 Position Error C 89 Set Custom Stop Action C 89 Soft Overtravel C 89 Feedback Tab AXIS_SERVO C 14 Feedback Type C 14 Publication LOGIX UM002A EN P February 2006 Publication LOGIX UM002A EN P February 2006 A Quadrature B Encoder Inter face AQB C 14 Linear Displacement Transducer LDT C 15 Absolute Feedback Offset C 18 Calculated Values C 18 Calculate Button C 19 Conversion Constant C 18 Minimum Servo Up date Period C 18 Calibration Constant C 17 Enable Absolute Feedback C 18 LDT Type C 17 Length C 18 Recirculations C 17 Scaling C 18 Synchronous Serial Interface SSI C 14 Absolute Feedback Offset C 16 Clock Frequency C 16 Code Type C 15 Data Length C 16 Enable Absolute Feedback C 16 Gains Tab AXIS_ SERVO Differe
107. 56 MO8SE 1756 M16SE 1756 L60MO03SE 1768 MO04SE 1756 MO2AE AXIS_SERVO 1756 HYD02 1756 M02AS No hardware AXIS_VIRTUAL 2 Add an axis Analog a l ll 8 ss Se alias SERCOS interface Motion Groups A Se rn New Axi AXIS_CONSUMED Hp My Axis Y N ig New CoofA ate System AxIS_SERVO Ungrouped Axes aa 7 AXIS_SERYO_DRIVE a Trends S5 Monitor Group Tag AXIS GENERIC 5 Dota Types Fault Help AXIS_GENERIC_DRIVE E 1 0 Configuration Clear MotionGroup Faults AXIS_VIRTUAL cut Ctrl x No Hardware New Tag B Name My_Axis_ 2 c Description Cancel Help Usage Type Base sA Alias For 5 z Data Type AXIS_SERVO_DRIVE pa Scope f My_Controller hd Style A Open AXIS_SERVO_DRIVE Configuration Publication LOGIX UM002A EN P February 2006 Start 1 9 Set Up Each Axis Action 1 Open the properties for the axis 2 Select the drive for the axis The following steps show how to set up the axis of a SERCOS interface drive The steps are slightly different if you have a different type of drive Details Controller My_Controller H E Tasks H S Motion Groups E Sa My_Motion_Group 1S Motion Direct Commands ag HD My_Axis Y E Cross Reference Ctrl E Ungrouped Axes 23 H E Trends Print gt Data Types 1 0 Configuration Properties N s Axis Properties My_Axis_X Homina Hookup Tune Dynamics Gain
108. 6 Blue 8 White Output Pulse 30 29 8 Purple 2 Gray 2 Gray 32 31 5 Green 5 Green 0 4 and wires of the same function should be a twisted pair within the cable 2 Do not connect to pins 2 3 Publication LOGIX UM002A EN P February 2006 4 60r7 Wiring Diagrams A 13 Temposonic GH Feedback Device Temposonic 1756 HYD02 GH Series Temposonic GH RTB Cable Color Code Yellow i Interrogate or Start tGate or Stop o Gate or Stop Supply V DC ne Supply Com LDT Cmn E E a ee e eee oe oo Chassis Chassis Customer A penada 24 V DC LDT Power Supply Supply Common To Local Ground Bus Temposonic GH Series Temposonic GH Cable Color Code Supply V DC Red or Brown On eee eee kL keen eee Bisi Chassis Chassis Publication LOGIX UM002A EN P February 2006 A 14 Wiring Diagrams 24V Registration Sensor 24V de Field Power 24V Supply Sourcing Type 4 Registration Sensor Supply A k From the motion module gt ne cane X ee ALA 43395 Notes e Use sourcing type registration sensors e Wire the inputs so that they get source current from the sensor e Don t use current sinking sensor configurations because the registration input common IN_ COM is shared with the other 24V servo module inputs 5V Registration Sensor 5V de Field Powe
109. 91 Name C 91 Scope C 92 Style C 92 Tag Type C 91 Tune Tab AXIS_SERVO AXIS_SERVO_DRIVE C 40 Damping Factor C 41 Direction C 41 Speed C 40 Start Tuning C 43 Torque AXIS_SERVO C 41 Torque Force AXIS_SERVO_DRIVE C 40 Travel Limit C 40 Tune C 42 Axis Tag types alias tag 5 2 base tag 5 2 Block diagrams for a 1756 M02AE module B 1 With a torque servo drive B 2 With a velocity servo drive B 3 C Catalog C 22 coarse update period set 1 6 configure SERCOS interface module 1 5 coordinate system overview 1 17 Coordinate System Properties Dynamics Tab 5 12 Manual Adjust 5 13 Reset Button 5 14 Manual Adjust Button 5 13 Position Tolerance Box 5 13 Actual 5 13 Command 5 13 Vector Box 5 12 Maximum Acceleration 5 13 Maximum Deceleration 5 13 Maximum Speed 5 12 Editing 5 6 General Tab 5 7 Axis Grid 5 8 Axis Name 5 9 Publication LOGIX UM002A EN P February 2006 4 Index Coordinate 5 8 Coordination Mode 5 9 Ellipsis Button 5 9 Dimension 5 8 Ellipsis button 5 8 Enable Coordinate System Auto Tag Update 5 9 Motion Group 5 7 New Group button 5 8 Type 5 8 Tag Tab 5 15 Data Type 5 16 Description 5 15 Name 5 15 Scope 5 16 Style 5 16 Tag Type 5 16 Units Tab 5 10 Axis Grid 5 11 Axis Name 5 11 Conversion Ratio 5 11 Conversion Ratio Units 5 11 Coordination Units 5 10 coordinated system time master set 1 2 CST master See coordinated system time master D Diagrams Block B 1 diagrams wiring A 1 Direct Co
110. Allen Bradley Motion Modules in Logix5000 Control Systems 1756 HYD02 1756 L60M03SE 1756 M02AE 1756 M02AS 1756 M03SE 1756 M08SE 1756 M16SE 1768 M04SE User Manual Rockwell Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls Publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable 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 use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of
111. At least 3 times the servo update period of the motion module 2 A multiple of the servo update period of the motion module Publication LOGIX UM002A EN P February 2006 Start 1 7 Action Details 2 Add the motion group 3 6 Controller My_Controller Controller Tags E Controller Fault Handler E Power Up Handler 3 8 Tasks SE MainTask 3 Unscheduled Programs Phases A we Trends ES New Motion Group PA Cut ctrMx Copy Ctrl C E Paste Ctrley New Tag x eS B C Name My_Motion_Group Cancel Help Description Usage normal z Type Base X onnection Alias For z Data Type MOTION_GROUP Ej Scope f My_Controller X Style C 3 Set the coarse update period Read Only Motion Group Wizard My_Mofion Groun Axis Assi fx Read Only Motion Group Wizard My_Motion_Group Attribute x Unassigned in 0 5 increments Auto Tag Update General Fault Type Non Major Fault Scan Times elapsed time Max us Reset Mar Last us nabled Cancel Finish Help Publication LOGIX UM002A EN P February 2006 1 8 Start Add Your Axes Add an axis for each of your drives Action Details 1 Decide which data type to use If you use this motion module for the axis Then use this data type 1756 MO03SE AXIS_SERVO_DRIVE 17
112. Attribute Axis Type Data Type Access Description Axis State AXIS_CONSUMED SINT GSV Operating state of the axis AXIS_GENERIC 0 Axis Ready AXIS_SERVO 1 Direct Drive Control AXIS_SERVO_DRIVE 2 Servo Control AXIS_VIRTUAL 3 Axis Faulted 4 Axis Shutdown 5 Axis Inhibited 6 Axis Ungrouped 7 No Module 8 Configuring Axis Status AXIS_CONSUMED DINT Tag Lets you access all the axis status bits in one 32 bit word This tag is the AXIS GENERIC same as the Axis Status Bits attribute ANS SERVO Axis Status Bit AXIS_SERVO_DRIVE Servo Action Status 0 AXIS_VIRTUAL Drive Enable Status 1 Shutdown Status 2 Config Update In Process 3 Inhibit Status 4 Axis Status Bits AXIS CONSUMED DINT GSV Lets you access all the axis status bits in one 32 bit word This attribute AXIS GENERIC is the same as the Axis Status tag ANS SERVO Axis Status Bit AXIS_SERVO_DRIVE Servo Action Status 0 AXIS_VIRTUAL Drive Enable Status 1 Publication LOGIX UM002A EN P February 2006 Shutdown Status Config Update In Process Inhibit Status e j N Axis Attributes D 21 Attribute Axis Type Data Type Access Description Axis Type AXIS_GENERIC INT GSV AXIS_SERVO SSV AXIS_SERVO_DRIVE Backlash AXIS_SERVO REAL GSV Reversal Offset AXIS_SERVO_DRIVE SSV The Axis Type attribute is used to establish the intended use of the axis If Then set the attribute to the axis is unused in the application which is a 0 common occurrence when there are
113. Attribute Name InhibitAxis Source One 4 Inhibit the axis 4 Wait for the inhibit process to finish All of these have happened e The axis is inhibited e All uninhibited axes are ready e The connections to the motion module are running again e For a SERCOS ring the SERCOS ring has phased up again What you want to do next My_Axis_X InhibitStatus ss NOP Publication LOGIX UM002A EN P February 2006 6 6 Inhibit an Axis 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 EK 2 Use a one shot instruction to trigger the uninhibit Your condition to Your condition to inhibit All axes are off Give the command to uninhibit uninhibit the axis is on the axis is off the axis My_Axis_X_Uninhibit My_Axis_X_Inhibit All_Axes_Off k SR One Shot Rising Storage Bit My_Axi Output Bit My_Axi Uninhibit_SB __Uninhibit_Cmd 3 Uninhibit the axis The uninhibit command turns on Uninhibit this axis My_Axis_X_Uninhibit_Cmd SSY Set System Yalue Class Name AXIS Instance Name My_Axis_X Attribute Name InhibitAxis Source Zero 0 Uninhibit the axis 4 Wait for the inhibit process t
114. Axis Position Cam 2 4 Motion Axis Shutdown 2 4 Motion Axis Shutdown Reset 2 4 Motion Axis Stop 2 4 Motion Axis Time Cam 2 4 Motion Calculate Cam Profile 2 4 Motion Calculate Slave Values 2 4 Motion Change Dynamics 2 4 motion control add axis 1 8 choose a motion module 1 3 coarse update period 1 6 coordinate system 1 17 execution 1 6 overview 1 1 program 1 15 set the coordinated system time master 1 2 set up an axis 1 9 status information 1 17 Motion Coordinated Change Dynamics 2 5 Motion Coordinated Circular Move 2 5 Motion Coordinated Linear Move 2 5 Motion Coordinated Shutdown 2 5 Motion Coordinated Shutdown Reset 2 5 Motion Coordinated Stop 2 5 Motion Direct Commands 2 1 Error Process 2 8 Transition States 2 11 Motion Direct Drive Off 2 4 Motion Direct Drive On 2 4 Motion Disarm Output Cam 2 5 Motion Disarm Registration 2 5 Motion Disarm Watch Position 2 5 motion group set up 1 6 Motion Group Shutdown 2 5 Motion Group Shutdown Reset 2 5 Motion Group Stop 2 5 Motion Group Strobe Position 2 5 Motion Instructions 2 1 Coordinated Motion Instructions Motion Coordinated Change Dynam ics MCCD 2 5 Motion Coordinated Circular Move MCCM 2 5 Publication LOGIX UM002A EN P February 2006 10 Index Motion Coordinated Linear Move MCLM 2 5 Motion Coordinated Shutdown MCSD 2 5 Motion Coordinated Shutdown Re set MCSR 2 5 Motion Coordinated Stop MCS 2 5 Motion Configuration Instructions Motion Apply Axis Tun
115. Axis Type Data Type Access Description Acceleration AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Comand AXIS SERVO DRIVE Tag 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 Command in Position Units Sec2 Acceleration Command is the current acceleration reference to the output summing junction in the configured axis Position Units per Second2 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 Acceleration AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 160 in Data Scaling IEC 1491 Acceleration AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 162 in Data Scaling Exp IEC 1491 Acceleration AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 161 in Data Scaling IEC 1491 Factor Acceleration AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS SERVO DRIVE Tag 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 Fe
116. Copy 8 6 1 0 Configuration frel Paste i J 1 1756 M035E E 1 2094 ACOS fl 2 2098 D5D fly 3 8720MC BC ofl 10 1394 5 fl 121 1756 MN2AF cee Associated Axes SD mysercos2axis Delete Cross Reference Print The Coordinate System Properties General window appears The name of the Coordinate System tag that is being edited appears in the Create and Configure a Coordinate System 5 7 title bar to the right of Coordinate System Properties The General screen is shown below w Coordinate System Properties mycoordsyst Of X General Units Dynamics Tag Motion Group mymotiongroup a New Group Type Cartesian v Dimension 2 a Axis Name Coordination Mode S S IV Enable Coordinate System Auto Tag Update General Tab Use this tab to do the following for a coordinate system e Assign the coordinate system or terminate the assignment of a coordinate system to a Motion Group e Change the number of dimension that is the number of axes e Assign axes to the coordinate system tag e Enable Disable automatic updating of the tag Note RSLogix 5000 supports only one Motion Group tag per controller Motion Group Selects and displays the Motion Group to which the Coordinate System is associated A Coordinate System assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the
117. DR Motion AXIS_SERVO Disarm Registration instruction is executed for registration input 1 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 1 AXIS_CONSUMED BOOL Tag Set when a registration event has occurred on registration input 1 Status AXIS GENERIC Cleared when either another MAR Motion Arm Registration instruction or a MDR Motion Disarm Registration instruction is executed for AXIS_SERVO registration input 1 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 2 AXIS_CONSUMED BOOL Tag Set when a registration checking has been armed for registration input 2 Armed Status AXIS GENERIC through execution of the MAR Motion Arm Registration instruction T Cleared when either a registration event occurs or a MDR Motion AXIS_SERVO Disarm Registration instruction is executed for registration input 2 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 2 AXIS_CONSUMED BOOL Tag Set when a registration event has occurred on registration input 2 Status AXIS GENERIC Cleared when either another MAR Motion Arm Registration instruction or a MDR Motion Disarm Registration instruction is executed for AXIS_SERVO registration input 2 AXIS_SERVO_DRIVE AXIS_VIRTUAL Registration 1 AXIS_CONSUMED REAL Tag Registration 1 Position in Position Units Position AXIS_SERVO_DRIVE AXIS_VIRTUAL Registration 1 AXIS_CONSUMED DINT MSG These attributes show which task is triggered when the registration Event Task AXIS_GENERIC event happens AXIS SERVO e An instance of 0 means that no event tas
118. DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 77 in IEC Scaling Factor 1491 Position AXIS_SERVO REAL GSV In some External Velocity Servo Drive applications where the level of Differential Gain SSV damping provided by the external drive is insufficient for good position Publication LOGIX UM002A EN P February 2006 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 damping of the axis Attribute Position Error Axis Type Data Type Access AXIS_SERVO REAL GSV Axis Attributes D 73 Description 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 AXIS_SERVO_DRIVE Ti E ap 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 serv
119. E BOOL Tag Fault 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 Publication LOGIX UM002A EN P February 2006 D 26 Axis Attributes Attribute Axis Type Data Type Access Description Commutation AXIS_SERVO_DRIVE DINT BOOL Set when the commutation feedback source associated with the drive Fault axis has a problem that prevents the drive from receiving accurate or reliable motor shaft information to perform commutation Config Fault AXIS_CONSUMED BOOL Tag Set when an update operation targeting an axis configuration attribute AXIS GENERIC of an associated motion module has failed Specific information T concerning the Configuration Fault may be found in the Attribute Error AXIS_SERVO Code and Attribute Error ID attributes associated with the motion AXIS_SERVO_DRIVE module PMS NANA 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 Config UpdateIn AXIS_CONSUMED BOOL Tag When you use an SSV instruction to change an attribute the controller Process AXIS SERVO sends the change to the motion module If you want to wait until the change is done monitor the ConfigUpdatelnProcess bit of the axis AXIS_SERVO_DRIVE AXIS_VIRTUAL If the bit is e ON The controller is changing the attribute e OFF The change is don
120. E configured as a Servo drive in the General tab of this dialog e Axis Properties AxisO oi x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag m Friction Compensation aaa Friction Compensation Joo witha Ee Window joo Position Units r Backlash Compensation Reversal Offset fo 0 Position Units Stabilization Window joo Position Units Velocity Offset a0 Position Units s Torque Force Offset Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Friction Compensation The per
121. EAL Float StartMasterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float ServoStatus DINT Hex ProcessStatus BOOL Decimal OutputLimitStatus BOOL Decimal PositionLockStatus BOOL Decimal HomelnputStatus BOOL Decimal Reg1InputStatus BOOL Decimal Reg2InputStatus BOOL Decimal DriveFaultInputStatus BOOL Decimal ServoFault DINT Hex PosSoftOvertravelFault BOOL Decimal Publication LOGIX UM002A EN P February 2006 E 8 Publication LOGIX UM002A EN P February 2006 Axis Data Types Member Data Type Style NegSoftOvertravelFault BOOL Decimal FeedbackFault BOOL Decimal FeedbackNoiseFault BOOL Decimal PositionErrorFault BOOL Decimal DriveFault BOOL Decimal ModuleFaults DINT Hex ControlSyncFault BOOL Decimal ModuleSyncFault BOOL Decimal TimerEventFault BOOL Decimal ModuleHardwareFault BOOL Decimal InterModuleSyncFault BOOL Decimal AttributeErrorCode INT Hex AttributeError D INT Hex PositionCommand REAL Float PositionFeedback REAL Float AuxPositionFeedback REAL Float PositionError REAL Float PositionIntegratorError REAL Float VelocityCommand REAL Float VelocityFeedback REAL Float VelocityError REAL Float VelocitylntegratorError REAL Float AccelerationCommand REAL Float AccelerationFeedback REAL Float ServoO
122. 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 Command amp Feedback Test which checks and if necessary reconfigures both the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Note Executing any test operation automatically saves all changes to axis properties Publication LOGIX UM002A EN P February 2006 C 40 Axis Properties Tune Tab AXIS_ SERVO Use this tab to configure and initiate the axis tuning sequence for an AXIS SERVO DRIVE axis of the types AXIS_SERVO or AXIS_SERVO_DRIVE e Axis Properties sercosaxis1 BE X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit Position Units Start Tuning Speed 20 0 Position Units s DANGER This tuning AN procedure may cause axis Torque Force 1100 0 Rated derala aay eok Direction Forward Bi directional x Damping Factor jae Tune IV Position Error Integrator Velocity Error Integrator I Friction Compensation IV Velocity Feedfor
123. GA AX AX WHT RED 28GA Controller Interface Cable ORANGE 28GA BX BX ORANGE 28GA Cable WHT ORG 28GA BX BX WHT ORG 28GA YELLOW 28GA IX IX YELLOW 28GA WHT YEL 28GA IX IX WHT YEL 28GA GREEN 28GA AM AM GREEN 28GA WHT GRN 28GA AM AM WHT GRN 28GA BLUE 28GA BM BM BLUE 28GA WHT BLU 28GA BM BM WHT BLU 28GA c VIOLET 28GA IM IM VIOLET 28GA WHT VIO 28GA IM IM WHT VIO 28GA GRAY 28GA INPUT 2 INPUT 2 GRAY 28GA WHT GRY 28GA INPUT 3 INPUT 3 WHT GRY 28GA Ultra3000 PINK 28GA INPUT 4 INPUT 4 PINK 28GA Ultra3000 CN1 Connector WHT PNK 28GA INPUT 5 INPUT 5 WHT PNK 28GA CN1 Connector Axis 0 WHT BLK RED 28GA INPUT 6 INPUT 6 WHT BLK RED 28GA Axis 1 RED BLK 28GA INPUT 7 INPUT 7 RED BLK 28GA WHT BLK ORG 28GA INPUT 8 INPUT8 WHT BLK ORG 28GA ORG BLK 28GA OUTPUT 2 OUTPUT 2 ORG BLK 28GA WHT BLK YEL 28GA OUTPUT 3 OUTPUT 3 WHT BLK YEL 28GA YEL BLK 28GA OUTPUT 4 OUTPUT 4 YEL BLK 28GA DRAIN DRAIN For more information see Ultra3000 Digital Servo Drives Installation Manual publication number 2098 IN003 Publication LOGIX UM002A EN P February 2006 A 6 Wiring Diagrams 2090 U3AE D44xx Cable AXIS 0 CN Was RELAY AXO 10 PWR AXO c C4 AUX PWR AXO onnector z AXIS 0 CN1 D sub high a MOZAE density 44 pin view shown with 45 black oe without cover PVC overmold asion AUX PWR AX1 10 PWR
124. GA RED 22GA AUX PWR 5 3 AUXCOM ECOM BLACK 22GA AUX PWR AUX PWR BLACK 22GA AUXCOM ECOM f 2 DRAIN optional optional DRAIN AXIS 0 AXIS 1 ANALOG COMMAND WHT GRN 22GA 0UT 0 f e 1 7 0UT 1 WHT GRN 22GA ANALOG COMMAND ANALOG COMMAND R WHT BLU 22GA OUT 0 4 3 OUT 1 WHT BLU 22GA f ANALOG COMMAND DRAIN CHASSIS 1 11 LSHASSIS DRAIN 10 POWER BROWN 28GA i ENABLE 0 iy 5 tENABLE 1 BROWN 28GA 10 POWER INPUT 1 ENABLE 2 RED 28GA ENABLE 0 4 e 7 cENABLE 1 RED 28GA 2 INPUT 1 ENABLE OUTPUT 1 READY 3 ORANGE 28GA DRVFLT 0 1 o g _DRVFLT 1 ORANGE 28GA 3 OUTPUT 1 READY 10 COM IX YELLOW 28GA INCOM 4 P 13 INCOM IX YELLOW 28GA x 10 COM DRAIN DRAIN 2 AOUT GREEN 28GA CHA 0 56 e 95 CHA 1 GREEN 28GA AOUT AOUT R BLUE 28GA CHA 0 3g O55 97 CHAT R BLUE 28GA R AOUT BOUT VIOLET 28GA CHB 0 49 2g CHB 1 VIOLET 28GA BOUT BOUT GRAY 28GA CHB 0 33 Dy 31 CHB 1 Ix GRAY 28GA Ix BOUT IOUT WHITE 28GA CHZ 0 34 Ox 33 _tcHZ 1 WHITE 28GA IOUT IOUT BLACK 28GA CHZ 0 36 Ox 35 CHZ 1 IX BLACK 28GA x IOUT DRAIN CHASSIS 44 O55 23 CHASSIS DRAIN aA Kandli Of 1756 M02AE SERVO MODULE x BLACK28GA _ ACOM ANALOG GRD ACOM ANALOG GRD BLACK 28GA__ 7 WHT BLK 28GA ANALOG OUT PROG ANALOG OUT PROG WHT BLK 28GA BROWN 28GA ILIMIT ILIMIT BROWN 28GA WHT BRN 28GA EPWR 5 OUT EPWR 5 OUT WHT BRN 28GA 2090 U3AE D44xx RED 28GA AX AX RED 28GA 2090 U3AE D44xx Controller Interface WHT RED 28
125. Handle Faults Choose If Motion Faults Shut Down the Controller Action 1 Choose a General Fault Type 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 Details Do you want any motion fault to cause a major fault and shut down the controller e YES Choose Major Fault e NO Choose Non Major Fault You must write code to handle motion faults 2 Set the General Fault Type 29 Controller My_Controller Tasks Motion Groups 8 pea KD My_Axis_X N a gt My_Axis_ a H E Ungrouped Axes eas J Trends Motion Direct Commands Data Types EJ 1 0 Configuration Cross Reference Ctrl E Print b Properties N Motion Group Properties My_Motion_Group BR Axis Assignment Attribute Tag Coarse Update Period H ms in 0 5 increments Auto Tag Update Enabled bd General Fault Type Non Major Fault Scan Times elapsed time Max fus Last fus OK Cancel Help Publication LOGIX UM002A EN P February 2006 Handle Faults 4 3 Choose the Fault Actions Use the fault actions to set how an axis responds to different types of for an Axis If you want to Then choose Shutdown the axis and let it Shutdown coast to a stop faults The type of faults depends on the type of axis and how you configure it Description Shutdo
126. IVE BOOL Tag Set when the speed of the axis as determined from the feedback has exceeded the overspeed limit which is typically set to 150 of configured velocity limit for the motor Publication LOGIX UM002A EN P February 2006 Axis Attributes D 71 Attribute Axis Type Data Type Access Description Physical Axis AXIS_CONSUMED BOOL Tag If this bit is set the physical axis has one or more faults The specific Fault AXIS GENERIC faults can then be determined through access to the fault attributes of T the associated physical axis AXIS_SERVO AXIS_SERVO_DRIVE Do you want this fault to give the controller a major fault AXIS_VIRTUAL e YES Set the General Fault Type of the motion group Major Fault e NO You must write code to handle these faults Pos Dynamic AXIS_SERVO_DRIVE REAL Tag The currently operative maximum positive torque current limit Torque 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 Pos Hard AXIS_SERVO_DRIVE BOOL Tag Set if the axis moves beyond the current position limits as established Overtravel Fault 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 Overtrav
127. Inertia value exceeds 100 Rated MegaCounts Per Second2 performance of the digital servo 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 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
128. Integrator Hold Enabled 7 x x Cancel Apply Help 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 For a discussion including a diagram of a loop configuration click on the following loop configuration types e Motor Position Servo Loop e Auxiliary Position Servo Loop e Dual Position Servo Loop e Motor Dual Command Servo Loop e Auxiliary Dual Command Servo Loop e Velocity Servo Loop e Torque Servo Loop The parameters on this tab can be edited in either of two ways Publication LOGIX UM002A EN P February 2006 Velocity Feedforward Acceleration Feedforward Axis Properties C 53 e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the fol
129. K Light State Description Off The axis is not used Recommended Action None if you are not using this axis If you are using this axis make sure the module is configured and an axis tag has been associated with the module Flashing green The axis is in the normal servo loop inactive state Steady green The axis is in the normal servo loop active state None The servo axis state can be changed by executing motion instructions None The servo axis state can be changed by executing motion instructions Flashing red The axis servo loop error tolerance has been e Correct the source of the problem exceeded e Clear the servo fault condition using the Motion Axis Fault Reset instruction e Resume normal operation Steady red An axis SSI feedback fault has occurred e Correct the source of the problem by checking the SSI Publication LOGIX UM002A EN P February 2006 device and power connections e Clear the servo fault condition using the Motion Axis Fault Reset instruction e Resume normal operation State Off Flashing green DRIVE Light Description One of the following e The axis is not used e The axis is a position only axis type The axis drive is in the normal disabled state Interpret Module Lights LEDs 7 5 Recommended Action None if the axis is not used or is a position only type Otherwise make sure the module is configured an axis tag has been associated with the modul
130. KE Pa DRAIN Po E eet AO TAN 28GA 21 RESET Wires EE _DRAN_ 1 3 Stripped fo Back E WHT RED 22GA AN 5 24VDC 25 in iA WHT BLK 22GA LA 6 24VCOM 14 pee WHINE se 22 COMMAND id WHT BLU 22GA A 23 COMMAND w DRAIN i Oee nine os 26 24VDC E BROWN 28GA ie aero vo A 20 ENABLE re DRANGE GN ales 25 READY ng YELLOW 28GA ne 13 Acon Bip DRAIN wi Wires Faea L a mot Terminated with R o E r Aur Ferrules aa TOETA aca 8 AOUT OH GRAY GA i 9 BOUT i WHITE28GA le H aE nt 11 IOUT PAN WAN 12 IOUT Mi DRAIN Wiring Diagrams A 5 Ultra3000 Drive Ultra3000 to 1756 MO02AE Interconnect diagram RELAY WHT ORG 22GA WHT ORG 22GA RELAY f 43 RELAY WHT YEL 22GA a RELAY RELAY WHT YEL 22GA RELAY 44 DRAIN user configured user configured DRAIN 10 PWR WHT RED 22GA WHT RED 22GA 10 PWR 30 10 COM Ry wurretac 26h A 10 pwr lio pwR WHT BLACK 22GA 10 COM 28 DRAIN DRAIN a AUX PWR 5 RED 22
131. M002A EN P February 2006 5 12 Create and Configure a Coordinate System Click on the Dynamics Tab to access the Coordinate System Properties Dynamics dialog w Coordinate System Properties mycoordsyst General Units Dynamics Tag m Vector Maximum Speed fo 0 Coordination Units s Maximum Acceleration fo 0 Coordination Units s 2 Maximum Deceleration foo Coordination Units s 2 Pasition Tolerance Actual Joo Coordination Units Command oo Coordination Units Manual Adjust OK Cancel Apply Help Dynamics Tab The Dynamics dialog of the Coordinate System is for entering the Vector values used for Maximum Speed Maximum Acceleration and Maximum Deceleration It is also used for entering the Actual and Command Position Tolerance values Vector Box In the Vector box values are entered for Maximum Speed Maximum Acceleration and Maximum Deceleration and are used by the Coordinated Motion instructions in calculations when their operands are expressed as percent of Maximum The Coordination Units to the right of the edit boxes automatically change when the coordination units are redefined at the Units screen Maximum Speed Enter the value for Maximum Speed to be used by the Coordinated Motion instructions in calculating vector speed when speed is expressed as a percent of maximum Publication LOGIX UM002A EN P February 2006 Dynamics Tab Manual Adjust Create and Configure a Co
132. M002A EN P February 2006 Offset Sequence Limit Switch Axis Properties C 33 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 Gf 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 Table 3 B Sequence Type Description Immediate Sets the Home Position to the present actual position without motion Switch Sets the Home Position when axis motion encounters a home limit switch Marker Sets the Home Position when axis encounters an encoder marker Switch Marker Sets the Home Position when axis first encounters a home limit switch then encounters an encoder marker Note See the section Homing Configurations below for a detailed description of each combination of homing mode sequence and direction If a 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 Publication LOGIX UM002A EN P February 2006 C 34 Axis Properties Direction For active homing sequences except for the Immedia
133. Motion Arm Registration Disarm the servo module registration event checking MDR Yes for 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 Use the results of an MAAT instruction to calculate MAAT No tests for your control system and update the servo gains and dynamic limits of an Motion Apply Axis Tuning These tests include axis e Motor encoder hookup Run a tuning motion profile for an axis MRAT ae No test Motion Run Axis Tuning e Encoder hookup test Use the results of an MRHD instruction to set MAHD No encoder and servo polarities Motion Apply Hookup Diagnostic e Marker test Run one of the diagnostic tests on an axis MRHD No Motion Run Hookup Diagnostic Control multi axis coordinated Start a linear coordinated move for the axes of MCLM No motion coordinate system Motion Coordinated Linear Move Start a circular move for the for the axes of MCCM No coordinate system Motion Coordinated Circular Move Change in path dynamics for the active motion ona MCCD No coordinate system Motion Coordinated Change Dynamics Stop the axes of a coordinate system MCS No Motion Coordinated Stop Shutdown the axes of a coordinate system MCSD No Motion Coordinated Shutdown Transition the axes of a coordinate system to the MCSR No ready state and clear the axis faults Motion Coordin
134. Motion Control Jog_1 ON Direction 0 Speed Jog_1_Speed 60 0 P gt Speed Units Units per sec Accel Rate _1_Accel 20 0 Accel Units Units per sec2 Decel Rate Jog_1_Decel i 20 0 The instruction that Decel Units Unts per sec2 starts the axis uses an Profile S Curve S Curve profile Merge Disabled Merge Speed Programmed lt lt Less Jog_PB lt Local 4 Data 0 gt AS _ Motion Axis Stop EN Axis My_Axis CDN f z t Motion Control Stop_1 ER The instruction that stops the axis keeps the Stop Type Jog iP S Curve profile Suppose you use an MAS More gt gt instruction with the Stop Type set to Jog In that case the axis keeps the profile of the MAJ instruction that started the axis Troubleshoot Axis Motion 8 7 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 profile and an S Curve profile Start while decelerating Trapezoidal S Curve speed goes down until acceleration is 0 The axis speeds back up as soon as you start the jog The axis continues to slow down until the S Curve profile again brings the acceleration rate to 0 Corrective action 1f you want the axis to accel
135. None The servo axis state can be changed by executing motion instructions Flashing red The axis servo loop error tolerance has been e Correct the source of the problem exceeded e Clear the servo fault condition using the Motion Axis Fault Reset instruction e Resume normal operation Steady red An axis LDT feedback fault has occurred y e Correct the source of the problem by checking the LDT and power connections e Clear the servo fault condition using the Motion Axis Fault Reset instruction e Resume normal operation Publication LOGIX UM002A EN P February 2006 7 8 Interpret Module Lights LEDs DRIVE Light State Description Off One of the following e The axis is not used e The axis is a position only axis type Flashing green The axis drive is in the normal disabled state Recommended Action None if the axis is not used or is a position only type Otherwise make sure the module is configured an axis tag has been associated with the module and the axis type is servo None The servo axis state can be changed by executing motion instructions Steady green The axis drive is in the normal enabled state None The servo axis state can be changed by executing motion instructions Flashing red The axis drive output is in the shutdown state Steady red The axis drive is faulted Publication LOGIX UM002A EN P February 2006 e Check for faults that may have generated this state e Execute the
136. 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 Overtemperature Fault occurs This warning bit gives the control program an opportunity to reduce motor loading or increasing 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 increasing 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 Enable Input AXIS_SERVO_DRIVE BOOL Tag If this bit is Status e ON The Enable input is active e OFF The Enable input is inactive Publication LOGIX UM002A EN P February 2006 D 44 Axis Attributes Attribute Axis Type Data Type Access Description External Drive AXIS_SERVO_DRIVE DINT GSV 0 torque serv
137. P scaling gt comp gt Pass Fiter gt Limit gt Amplifier Position Command Velocity Feedback Error Position Pos Pe Vel Feedback P Gain pra P Gain Position Velocity Integrator Integrator Motor Error Error Low Pass Filter x Feedback Polarity Motor Feedback Y Channel Hardware iiia Feecpeck Feedback Position oe H Feedback Coarse H pes y Position Hardware hias Pe P3 Accum e Feedback fe Feedback ulator Position Publication LOGIX UM002A EN P February 2006 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 both 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 coarse update rate of the associated motion group The Position and Velocity Command valu
138. QutputLevel REAL Float MarkerDistance REAL Float VelocityOffset REAL Float TorqueOffset REAL Float Axis Data Types E 9 AXIS_SERVO_DRIVE Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedstatus BOOL Decimal WatchEventStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal Publication LOGIX UM002A EN P February 2006 E 10 Axis Data Types Publication LOGIX UM002A EN P February 2006
139. RVO DRIVE Real Time Axis Information for the axis Otherwise you won t see the Di eei P ag 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 AXIS_SERVO_DRIVE REAL GSV Position Units sec i SSV 3 Bingle This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE REAL GSV Position Units sec i SSV edatia This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE REAL GSV Position Units sec iti SSV positive This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the commanded velocity to the velocity servo Status loop input is greater than
140. SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Torque Threshold Status AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Torque Feedback is less than the configured Torque Threshold Tune Acceleration AXIS_SERVO REAL AXIS_SERVO_DRIVE GSV Position Units Sec2 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 Publication LOGIX UM002A EN P February 2006 D 96 Axis Attributes Attribute Axis Type Data Type Access Description Tune AXIS_SERVO REAL GSV Sec i AXIS_SERVO_DRIVE o P 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 AXIS_SERVO REAL GSV Position Units Sec2 Depel cretion ener The Tune Acceleration and Tune Deceleration attributes return the measured acceleration and deceleration values for the last
141. SERVO Use this tab to configure and initiate axis hookup and marker test sequences for an axis of the type AXIS_SERVO When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Tune Dynamics Gains Output Limits Offset FaultActions Taq General Motion Planner Units Servo Feedback Conversion Homing Hookup Test Increment fo 0 Position Units Test Marker Feedback Polarity Positive Negative Output Polarity Positive Negative Test Gutput amp Feedback DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Output amp Feedback test may cause axis runaway condition cect a tee _ Test Increment Specifies the amount of distance traversed by the axis when executing the Output amp Feedback test The default value is set to approximately a quarter of a revolution of the motor in position units Feedback Polarity The polarity of the encoder feedback this field is automatically set by executing either the Feedback Test or the Output amp Feedback Test e Positive e Negative Note When properly configured this setting insures that axis Actual Position value increases when the axis is moved in the user defined Publication LOGIX UM002A EN P February 2006 Output Polarity
142. Servo Servo Config Dual Feedback Velocity Offset H didt m Acc FF Gain Position Command Coarse Vel DP didt Gain Output Output Low Pass Notch Filter Filter BW Velocity Accel Torque Command Gommand Comune Velocity PosiNeg Torque Limit Position Feedback Coarse Position Error rror Low Fine Pos P Vel P Torque Frict Notch Torque Torque gt interpolator P Gain z P Gain E H gt scaling comp gt pos gt Fiter gt Limit P amplifier Position Command Velocity Feedback Error Error Position Accum gt in Accum gt en Yy Feedback ulator ulator Position Velocity ici Integrator Integrator ote Error Error Low Pass Filter x Feedback Polarity Motor Feedback Vv Hardware Channel Motor Position Feedback e Position Feedback Aux i Feedback i Channel X Hardware Feedback le bese 4 Feedback Position This 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 o
143. Status 1 Shutdown Status 2 Process Status 3 Bus Ready Status 4 Reserved 5 Home Input Status 6 Reg 1 Input Status 7 Reg 2 Input Status 8 Pos Overtravel Input Status 9 Neg Overtravel Input Status 10 Enable Input Status 11 Accel Limit Status 12 Absolute Reference Status 13 Reserved 14 Reserved 15 Velocity Lock Status 16 Velocity Standstill Status 17 Velocity Threshold Status 18 Torque Threshold Status 19 Torque Limit Status 20 Velocity Limit Status 21 Position Lock Status 22 Power Limit Status 23 Reserved 24 Low Velocity Threshold Status 25 High Velocity Threshold Status 26 Publication LOGIX UM002A EN P February 2006 Axis Attributes D 41 Attribute Axis Type Data Type Access Description Drive Status AXIS_SERVO_DRIVE DINT Tag Lets you access all the drive status bits in one 32 bit word This tag is the same as the Drive Status Bits attribute Tag Bit Servo Action Status 0 Drive Enable Status 1 Shutdown Status 2 Process Status 3 Bus Ready Status 4 Reserved 5 Home Input Status 6 Reg 1 Input Status 7 Reg 2 Input Status 8 Pos Overtravel Input Status 9 Neg Overtravel Input Status 10 Enable Input Status 11 Accel Limit Status 12 Absolute Reference Status 13 Reserved 14 Reserved 15 Velocity Lock Status 16 Velocity Standstill Status 17 Velocity Threshold Status 18 Torque Threshold Status 19 Torque Limit Status 20 Velocity Limit Status 21 Posi
144. Test Marker Test Feedback Test Output amp Feedback Axis Properties C 37 positive direction This bit can be configured automatically using the MRHD and MAHD motion instructions Modifying automatically input polarity values by running the Feedback or Output amp Feedback Tests can cause a runaway condition resulting in unexpected motion 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 the Output amp Feedback Test e Positive e Negative Note When properly configured this setting and the Feedback Polarity setting insure that when the axis servo loop is closed it is closed as a negative feedback system and not an unstable positive feedback system This bit can be configured automatically using the MRHD and MAHD motion instructions 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 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
145. This limits the amount of phase lag introduced by the LP filter to 12 degrees which is relatively small compared to the 30 to 60 degrees of phase margin that we have 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 Publication LOGIX UM002A EN P February 2006 D 98 Axis Attributes Attribute Axis Type Data Type Access Description Tune Rise Time AXIS_SERVO REAL GSV Sec 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 Tune Velocity Bandwidth Tune Speed AXIS_SERVO REAL GSV KiloCounts Per Sec sealing
146. UM002A EN P February 2006 Appendix B Servo Loop Block Diagrams This appendix shows the servo loop block diagrams for common motion configurations Introduction Interpreting the Diagrams For See page Interpreting the Diagrams B 1 AXIS_SERVO B 2 AXIS_SERVO_DRIVE B 4 The diagrams use these labels for axes attributes Label AXIS Attribute Acc FF Gain AccelerationFeedforwardGain Friction Comp FrictionCompensation Output Filter BW OutputFilterBandwidth Output Limit OutputLimit Output Offset OutputOffset Output Scaling OutputScaling Pos Gain PositionIntegralGain Pos P Gain PositionProportionalGain Position Error PositionError Position Integrator Error PositionIntegratorError Registration Position RegistrationPosition Servo Output Level ServoOutputLevel Vel FF Gain VelocityFeedforwardGain Vel Gain VelocitylntegralGain Vel P Gain VelocityProportionalGain Velocity Command VelocityCommand Velocity Error VelocityError Velocity Feedback VelocityFeedback Velocity Integrator Error VelocitylntegratorError Watch Position WatchPosition Publication LOGIX UM002A EN P February 2006 B 2 Servo Loop Block Diagrams AXIS_SERVO For See Page Position Servo with Torque Servo Drive B 2 Position Servo with Velocity Servo Drive B 3 Position Servo with Torque Servo Drive
147. VE Set when one of the feedback sources associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable position information from the feedback device Set when one of the feedback sources for the axis can t 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 both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or 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 Feedback Fault Action AXIS_SERVO AXIS_SERVO_DRIVE SINT GSV SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Ony tsi Publication LOGIX UM002A EN P February 2006 D 48 Axis Attributes Attribute Axis Type Data Type Access Description Feedback Noise AXIS_SERVO BOOL Tag Set when there is noise on the feedback device s signal lines Fault e For example simultaneous transitions of the feedback A and B
148. VO_DRIVE REAL GSV Rated i SSV oe l EO Bipolar 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 both with and without servo torque limiting is shown below FA 5 5 Without Servo 3 Output Limiting 3 With Servo J Output Limiting Position Error The torque limit specifies the maximum percentage of the motors rated current that the drive can command as either 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 AXIS_SERVO_DRIVE REAL GSV Rated i SSV l l Negative This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Torque Limit AXIS_SERVO_DRIVE REAL GSV Rated Positive SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Publication LOGIX UM002A EN P February 2006 D 94 Axis Attributes Attribute Axis Type Data Type Access Description Torque Limit AXIS_SERVO_DRIVE DINT GSV Important To use this attribute choose it as one of the attributes
149. a storage e An alias tag allows you to assign your own name to an existing coordinate system tag Publication LOGIX UM002A EN P February 2006 Create and Configure a Coordinate System 5 3 New Tag Parameters The following parameters appear on the New Tag dialog when you are creating a base tag or an alias tag Make entries in the following fields Field Entry Name Type a name for the coordinate system tag The name can have a maximum of 40 characters containing letters numbers and underscores _ Description Type a description for your motion axis for annotation purposes This field is optional Tag Type Click on the radio button for the type of tag to create The only legal choices are Tag and Alias Selecting either Produced or Consumed generates an error when the OK button is pressed Alias For This field only displays when Alias is selected for Tag Type Enter the name of the related Base Tag Data type Enter COORDINATE_SYSTEM Scope A Coordinate System tag can only be created at the controller scope Name Enter a relevant name for the new tag The name can be up to 40 characters and can be composed of letters numbers or underscores Description Enter a description of the tag This is an optional field and is used for annotating the tag Tag Type For a Coordinate System you may choose either Base or Alias for the Tag Type Click on the appropriate radio button for the
150. aches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied If the Friction Compensation Window is set to zero this feature is effectively disabled A non zero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Friction Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Publication LOGIX UM002A EN P February 2006 C 78 Axis Properties Backlash Compensation Reversal Offset Stabilization Window Velocity Offset Torque Offset Output Offset Publication LOGIX UM002A EN P February 2006 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 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
151. ack device Absolute Homing Mode device consider Absolute may be used The only valid Home Sequence for an absolute Homing Mode is Immediate In homing 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 Prior to execution of the absolute homing process via the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled 4 For single turn equipment The marker homing sequence is useful for single turn rotary and linear encoder applications consider homing to a marker because these applications have only one encoder marker for full axis travel 5 For multi turn equipment hometo These homing sequences use a home limit switch to define the home position a switch or switch and marker e You need a home limit switch if the axis moves more than one revolution when it runs Otherwise the controller can t tell which marker pulse to use e For the most precise homing use both the switch and marker 6 If your equipment can t back up With unidirectional homing the axis doesn t reverse direction to move to the Home Position use unidirectional homing For greater accuracy consider using an offset 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 f the Home Offset is less than the decel
152. ag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type LDT Linear Displacement Transducer LDT Type Recirculations 1 m Calculated Values Conversion Constant 1080 00 Calibration Constant 3 0 us in Minimum Servo Update Period 349 000000 Length 36 0 in ti Calculate Scaling f 0 Position Units in M Enable Absolute Feedback Absolute Feedback Offset oo Position Units OK Cancel Help LDT Type 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 Recirculations Use this field to set the number of repetitions to use to acquire a measurement from an LDT Calibration Constant 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 Publication LOGIX UM002A EN P February 2006 C 18 Axis Properties Length Scaling Enable Absolute Feedback Absolute Feedback Offset Calculated Values Publication LOGIX UM002A EN P February 2006 This value defines the stroke of travel of the hydraulic cylinder The length value is used with the number of recirculations to determine the minimum servo update period Scaling defines the relationship between the LDT unit o
153. ain cont The standard RA SERCOS drive s digital velocity loop provides damping Publication LOGIX UM002A EN P February 2006 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 maximum 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
154. alue 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 Publication LOGIX UM002A EN P February 2006 D 74 Axis Attributes Attribute Axis Type Data Type Access Description Position AXIS_SERVO REAL GSV 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 AXIS_SERVO_DRIVE T f feedback P ag 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 Position Feedback represents the current position of the axis Position Integral X S SERVO REAL GSV 1 mSec Sec Gain AXIS_SERVO_DRIVE SSV Publication LOGIX UMO002A EN P February 2006 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 Excess
155. an axis Attribute Axis Type Data Type Access Description Absolute AXIS_SERVO SINT GSV Important Use this attribute only for an axis of a 1756 HYD02 or Feedback Enable SSV 1756 M02AS module Publication LOGIX UM002A EN P February 2006 This attribute controls whether or not the servo module uses the absolute position capability of the 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 power up 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 valid option when Absolute Feedback Enable is True When executed the servo module will compute 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 active If the servo loop is active the MAH instruction errors If Absolute Feedback Enable is set to False the servo
156. an odd number of axes in the system you only want the position information from the 1 feedback interface the axis is intended for full servo operation 2 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 LEDs An Axis Type of 1 Feedback Only results in the DRIVE LED being blanked while a value of 0 Unused blanks both the FDBK and DRIVE LEDs RSLogix 5000 software also uses the current configured value for Axis Type to control the look of many of the dialogs associated with configurating an axis 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 has not physically moved Compensation for mechanical backlash can be achieved by adding a directional off
157. andard 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 Publication LOGIX UM002A EN P February 2006 Axis Properties C 15 Linear Displacement The 1756 HYD02 Servo module provides an interface to the Linear Transducer LDT M gnetostrictive 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 transducer failure detection and digital filtering to reduce electrical noise The Feedback screen changes in appearance depending on the selected Feedback Type When the servo axis is associated with a 1756 M02AS motion module the only Feedback Type available is SSI Synchronous Serial Interface and the Feedback Tab screen looks like the following illustration Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Sewo Feedback Conversion Homing Hookup Feedback Type ssi Synchronous Serial Interface 7 Code Type C Binan Gray Data Length fia bits Clock Frequency 208 y kHz IV Enable Absolute Feedback Absolute Feedback Offset ao Position Units Cancel Apply Help Code Type The type of code either Binary
158. at 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 either the desired loop gain or the desired bandwidth of the position servo system 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 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 Bandwidth Method If you
159. ated Shutdown Reset Publication LOGIX UM002A EN P February 2006 2 6 Test an Axis with Motion Direct Commands Motion Direct Command Dialog You must be online to execute a Motion Direct Command The online dialog has the Motion Group Shutdown and Execute buttons active If you click either of these action is taken immediately Instance Designation Active Command Axis or Group Designation 3 Motion Direct Commands my_virtual_axis 4 e x Command Tree Status Text Display Area Publication LOGIX UM002A EN P February 2006 orward i rapezoidal isabled Action Buttons When the Motion Direct Command dialog is opened focus is given to the Command Tree In the Command list you can either 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 displays At the top of the dialog 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 reference number This number increases by one every time a command is accessed for that axis or group The number is cleared when you execute RSLogix Located at the bottom of the dialog are the following buttons Motion Group Shutdown Execute Close and Help Test an Axis with Motion Direct Commands 2 7 Motion Group Shutdown Button The Motion Group Shutdown button is located to the left of
160. atus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedstatus BOOL Decimal WatchEventStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal Axis Data Types E 7 Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset R
161. aximum Negative Axis Properties C 71 e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Enables a periodic test that monitors the current state of the positive and negative overtravel limit switch inputs when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for hardware overtravel checking and if that axis passes beyond a positive or negative overtravel limit switch a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault is issued The response to this fault is specified by the Hard Overtravel setting in the Fault Actions tab of this dialog Enables software overtravel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for software overtravel limits and if that axis passes beyond these maximu
162. 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 Publication LOGIX UM002A EN P February 2006 Test Marker Test Feedback Test Command amp Feedback Axis Properties C 39 e Negative Note Proper wiring guarantees that the servo loop is closed with negative feedback However there is no guarantee that the servo drive has the same sense of forward direction as the user for a given application Negative Polarity inverts the polarity of both the command position and actual position data of the servo drive Thus selecting either Positive or Negative Drive Polarity makes it possible to configure the positive direction sense of the drive to agree with that of the user This attribute can be configured automatically using the MRHD and MAHD motion instructions Modifying polarity values automatically input by running the Command amp Feedback Test can cause a A runaway condition 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 Runs the
163. b of this dialog e Axis Properties myservolaxis fel x General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Friction Deadband Compensation p Manual Adjust Friction Compensation m oe Window joo Position Units r Backlash Compensation Reversal Offset joo Position Units Stabilization window a0 Position Units Velocity Offset jo Position Units s Torque Offset joo Output Offset 0 0 Volts x Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists Publication LOGIX UM002A EN P February 2006 Friction Deadband Compensation Friction Compensation Friction Compensation Window Axis Properties C 77 When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by
164. cally a value between 0 25 and 0 5 seconds works well for most applications Axis Address AXIS_CONSUMED GSV Used for debugging AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis AXIS_CONSUMED SINT GSV State of the axis configuration state machine oe ee The Axis Configuration State attribute is used for debugging to indicate where in the axis configuration state machine this axis presently is AXIS_SERVO_DRIVE Even consumed and virtual axes will utilize this attribute AXIS_VIRTUAL If the attribute is e 128 the axis is configured and ready for use e Not 128 the axis isn t configured Publication LOGIX UM002A EN P February 2006 Attribute Axis Control Bits Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Axis Attributes D 15 Data Type Access Description DINT GSV Bits 0 Abort Process Request 1 Shutdown Request 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 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 has an affect if the axis is in the Direct Drive State w
165. cceleration or deceleration of a MCD Yes move or a jog that is in progress Motion Change Dynamics Change the command or actual position of an axis MRP Yes Motion Redefine Position Calculate a Cam Profile based on an array of cam MCCP No points 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 MCSV No the slope for a cam profile and master value Motion Calculate Slave Values Publication LOGIX UM002A EN P February 2006 Test an Axis with Motion Direct Commands 2 5 If You Want To And Use This Instruction Motion Direct Command 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 MGSP Yes axes Motion Group Strobe Position Arm and disarm special event Arm the watch position event checking for an axis MAW Yes checking functions such as Motion Arm Watch Position registration and watch position Disarm the watch position event checking for an MDW Yes axis Motion Disarm Watch Position Arm the servo module registration event checking MAR Yes for an axis
166. centage of output level added to a positive current Servo Output value or subtracted from a negative current Servo Output Publication LOGIX UM002A EN P February 2006 Axis Properties C 81 Friction Compensation Window Backlash Compensation Reversal Offset value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called sticktion that even with a significant position error the axis refuses to budge Friction Compensation is used to break sticktion in the presence of a non zero position error This is done by adding or subtracting a percentage output level called Friction Compensation to the Servo Output value The Friction Compensation value should be just less than the value that would break the sticktion A larger value can cause the axis to dither that is move rapidly back and forth about the commanded position To address the issue of dither when applying Friction Compensation and hunting from the integral gain a Friction 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 Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thu
167. 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 this results in a Pos Gain value of 2 5 0 1 mSec Sec Attribute Position Integrator Error Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Data Type Access REAL GSV Tag Axis Attributes D 75 Description 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 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 Position Lock Status AXIS_SERVO AXIS_SERVO_DRIVE BOOL Tag If this bit is e ON The axis position error is less than or equal to
168. characters The Position Units attribute can support an ASCII text string of up to 32 characters This string is used by RSLogix 5000 software in the axis configuration dialogs to request values for motion related parameters in the specified Position Units Position Unwind AX S_CONSUMED DINT GSV AXIS_GENERIC SSV S_SERVO S_SERVO_DRIVE S_VIRTUAL Counts per Revolution 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 both the actual and command position every time the axis makes a complete revolution 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 Publication LOGIX UM002A EN P February 2006 D 78 Axis Attributes Attribute Axis T
169. coder 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 M02AS 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 The 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 either Binary or Gray code data The
170. 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 either 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 Continued on next page Publication LOGIX UM002A EN P February 2006 D 86 Axis Attributes Attribute Axis Type Data Type Access Description Servo Feedback Type cont Servo Loop AXIS_SERVO INT Configuration AXIS_SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 GSV SSV 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
171. count of 240 000 The LDT interface has transducer failure detection and digital filtering to 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 single 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 HYDO02 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 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 Configuration attribute determines the specific 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
172. coverable failure has occurred e Check the servo fault word for the source of the error e A communication fault timer fault or NVS e Clear the fault condition using the motion instructions update is in progress e Resume normal operation e The OK contact has opened e If the flashing persists reconfigure the module Solid red e A potential non recoverable fault has e Reboot the module occurred e The OK contact has opened e f the solid red persists replace the module Publication LOGIX UM002A EN P February 2006 7 2 Interpret Module Lights LEDs State Off FDBK Light Description The axis is not used Recommended Action e None if you are not using this axis e f you are using this axis make sure you configured the module and associated an axis tag with the module Flashing green The axis is in the normal servo loop inactive state None You can change the servo axis state by executing motion instructions Steady green The axis is in the normal servo loop active state None You can change the servo axis state by executing motion instructions Flashing red The axis servo loop error tolerance has been e Correct the source of the problem exceeded e Clear the servo fault using a fault reset instruction e Resume normal operation Solid red An axis encoder feedback fault has occurred e Correct the source of the problem by checking the encoder and power connections e Clear the servo fault u
173. ct Command Error Process 2 8 What If The Software Goes Offline or The Controller Changes MOLES RE a r EOL A ce OO Ct mR ay ve d 2 11 Can 2 Workstations Give Motion Direct Commands 2 11 Chapter 3 I trod com s ss area ty lhe Lech oe erie eed pea ince talent lhe 3 1 Guidelines for Homing 14 dee ha tues hed Ge De eo 3 1 Examples ineo pa ae Aye dae a8 ed RE es Steed 3 2 Chapter 4 TERE GOACCTIOR iese g arid a ae gee ares a E eh ao be 8c R a 4 1 Choose If Motion Faults Shut Down the Controller 4 2 Choose the Fault Actions for an Axis 4 3 Set the Fault Action for an Axis 0 0 0 0 000000005 4 4 Chapter 5 AST RNR EE OTL Ye de oito Se eee eaa deste A ack ERE eins ARED E dees 5 1 Create a Coordinate System o aaa aaa eh A ge 5 2 Editing Coordinate System Properties 5 6 Coordinate System Attributes oona aaaea 5 17 Group Axis and Coordinate System Relationships 5 24 Publication LOGIX UM002A EN P February 2006 Table of Contents 2 Inhibit an Axis Interpret Module Lights LEDs Troubleshoot Axis Motion Wiring Diagrams Servo Loop Block Diagrams Publication LOGIX UM002A EN P February 2006 Chapter 6 LAP OMM CON ia pire ae Wik 4 atk eh ee eA 6 1 When to Inhibit an Axis 348 9a 4e Gp MAG ERY ed he as 6 1 Before You Bests won Pid ne 8b oad See Gand make eee ke 6 2 Example Inhibit an Axis o v4 Bacal haps oan ale aha 6 5 Example Uninhibitan Asis
174. cts all axes associated with the motion module A module fault generally results in AXIS_SERVO the shutdown of all associated axes Reconfiguration of the motion AXIS_SERVO_DRIVE module is required to recover from a module fault condition AXIS_VIRTUAL z Pegi 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 Module Fault Bits AXIS CONSUMED DINT GSV Lets you access the module fault bits in one 32 bit word This attribute is AXIS_SERVO AXIS_SERVO_DRIVE the same as the Module Faults tag Module Fault Bit Control Sync Fault 0 Module Sync Fault 1 Timer Event Fault Module Hardware Fault SERCOS Ring Fault Inter Module Sync Fault ol I wy N These faults have module scope instead of axis scope e These faults show up in all the axes that are connected to the motion module e The motion planner updates these fault bits every coarse 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 Publication LOGIX UM002A EN P February 2006 D 60 Axis Attributes Attribute Module Faults Axis Type Data Type Access Description AXIS_SERVO DINT AXIS_SERVO_DRIVE Tag Lets you access the module fault bits in one 32 bit word
175. d Complete 1 error s 0 warning s Errors If no errors are detected during verification then nothing is displayed Publication LOGIX UM002A EN P February 2006 2 10 Test an Axis with Motion Direct Commands Motion Direct Command Execution Error When you select Execute from a Motion Direct Command dialog and the operands are verified as valid then the command is executed If the command fails immediately then an error message Execution Error is displayed on the dialog Whether or not an error is detected a detailed message is displayed to the Error result window describing the immediate results of the executed command lel ES my vitualaws Complete 0 error s 0 warning s Motion Direct Commands 14 MAJ 16 0000 No Error Motion Direct Commands 14 Execution Error MAM 16 000d Failed to execute command Errors The message Execution Error is cleared on subsequent command execution or if a new command is selected from the command list The information pumped to the Error result window after an execution is not cleared This allows for a history of what has been executed from a given instance of the Motion Direct Command dialog Publication LOGIX UM002A EN P February 2006 What If The Software Goes Offline or The Controller Changes Modes Can 2 Workstations Give Motion Direct Commands Test an Axis with Motion Direct Commands 2 11 If RSLogix 5000 software transitions to off
176. d AXIS_SERVO_DRIVE are the default values for Publication LOGIX UM002A EN P February 2006 Axis Properties C 29 Conversion Constant and Position Unwind and the labels for these values e Axis Properties mysercoslaxis Efe X Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Taa General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Positioning Mode Rotary z i Drive Counts 1 0 Position Units Conversion Constant 200000 0 based on 200000 Counts Motor Rew Me Drive Counts Unwind Position Unwind 200000 based on 200000 Counts Motor Rev OK Cancel Help Conversion Tab Use this tab to view edit the Positioning Mode Conversion Constant and if configured as Rotary the Unwind values for an axis of the tag types AXIS_SERVO AXIS_SERVO_DRIVE and AXIS_VIRTUAL Positioning Mode This parameter is not editable for an axis of the data type AXIS_CONSUMED Instead this value is set in and taken from a producing axis in a networked Logix processor This value can be edited for AXIS_SERVO AXIS_SERVO_DRIVE and AXIS_VIRTUAL The option are e Linear provides a maximum total linear travel of 1 billion feedback counts With this mode the unwind feature is disabled and you can limit the linear travel distance traveled by the axis by specifying the positive and negative travel limits for the axis Publication LOGIX UM002A EN P February 20
177. d when Axis Configuration is Feedback only Publication LOGIX UM002A EN P February 2006 Drive Resolution Drive Enable Input Checking Drive Enable Input Fault Axis Properties C 21 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 Type in the number of counts per motor revolution motor inch or motor millimeter 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 Rotational Position Resolution Note Drive Resolution is also referred to as Rotational Position Resolution When you save an edited Drive Resolution value a message box appears asking you if you want the controller to automatically recalculate certain attribute settings Drive Resolution is especially helpful for either fractional unwind applications or multi turn applications requiring cyclic compensation You can modify the Drive Resolution value so that dividing it by the Unwind Value yields a whole integer value The higher the Drive Resolution setting the finer the resolution To activate Drive Enable Input Checking click on the checkbox When active 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
178. dPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float ModuleFaults DINT Hex ControlSyncFault BOOL Decimal Publication LOGIX UM002A EN P February 2006 E 4 Axis Data Types AXIS_GENERIC Publication LOGIX UM002A EN P February 2006 Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedstatus BOOL Decimal WatchEventStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal Axis Data Types E 5
179. dback 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 coarse update period Thus the Actual Position value that is obtained is the actual position of the axis one coarse update period ago Actual Velocity AXIS CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS GENERIC Tag for the motion group default setting Otherwise you won t see the right a value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Actual Velocity in Position Units Sec AXIS_VIRTUAL 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 coarse 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 coarse update Publication LOGIX UM002A EN P February 2006 D 8 Axis Attributes Attribute Axis Type Data Type Access Attribute Error AXIS_SERVO INT Code AXIS_SERVO_DRIVE GSV Tag Description CIP Error code returned by erred set attribute l
180. dback interface This selection minimizes the display of axis properties tabs and parameters The Tabs for Servo Tune Dynamics Gains Output Limits and Offset are not displayed Publication LOGIX UM002A EN P February 2006 C 2 Axis Properties e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters 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 1756 MO2AE motion module channel either 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module General Tab The General screen shown below is for an AXIS_SERVO DRIVE Data AXIS SERVO DRIVE ba Homina Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Axis Configuration Servo Me Motion Group mymotiongroup 7 B Hew Group Associated Module A Module lt none gt kd Module Type lt none gt Node 0 v Cancel Apply Help Axis Configuration Selects and displays the intended use of the axis Publication LOGIX UM002A EN P February 2006 Axis Properties C 3 e Feedback Only If the axis is to be used only to display position informat
181. ded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Neg Dynamic AXIS_SERVO_DRIVE REAL Tag The currently operative negative positive torque current limit Torque 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 Publication LOGIX UM002A EN P February 2006 Attribute Neg Hard Overtravel Fault Neg Overtravel Input Status Neg Soft Overtravel Fault Axis Type Data Type Access AXIS_SERVO_DRIVE BOOL AXIS_SERVO BOOL AXIS_SERVO_DRIVE AXIS_SERVO BOOL AXIS_SERVO_DRIVE Tag Tag Tag Axis Attributes D 67 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
182. des 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 coarse 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 Servo Loop Block Diagrams B 11 Torque Servo The Torque Servo configuration provides torque servo control using only the motor mounted feedback device for commutation Synchronous input data to the servo loop includes only the Torque Offset This values are updated at the coarse 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 above consisting typically of a po
183. dforward 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 Continued on next page Publication LOGIX UM002A EN P February 2006 D 6 Axis Attributes Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO_DRIVE Feedforward Gain cont 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 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
184. drive the motor to make the actual position equal to the command position Position Error Command Position 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 Command AXIS_CONSUMED REAL GSV Velocity AXIS_GENERIC Tag AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL 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 Velocity in Position Units Sec 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 coarse 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 00001 feedback counts per coarse update Common Bus AXIS_SERVO_DRIV
185. ds on both 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 Publication LOGIX UM002A EN P February 2006 Axis Attributes D 65 Attribute Axis Type Data Type Access Description Motor Feedback AXIS_SERVO_DRIVE DINT GSV Cycles per Motor Feedback Unit Rerolniiey 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 Motor Feedback AXIS_SERVO_DRIVE INT GSV The Motor and Aux Feedback Type attributes are used to identify the Type motor mounted or auxiliar
186. during configuration based on the selected motor s specifications If the application uses a 3 1 gearbox and the user s Position Unit is say Revs of the gearbox output shaft the Conversion Constant is still rational since our scaling is Load Referenced The user simply sets 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 exactly 1 revolution Continued on next page Attribute Drive Resolution cont Axis Type Axis Attributes D 37 Data Type Access Description Linear Ball Screw Ball Screw Combination WITH Aux Feedback Device 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 feedbac
187. e Continuous AXIS_SERVO_DRIVE REAL GSV Rated Torque Lirain 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 either 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 Control Sync AXIS_CONSUMED BOOL Tag If this bit is set the controller lost communication with the motion Fault AXIS SERVO module and missed several position updates in a row AXIS SERVO DRIVE e The controller can miss up to 4 position updates After that the Control Sync Fault bit is set The motion module may fault later or may already be faulted e For a consumed axis this bit means that communica
188. e and the axis type is servo None The servo axis state can be changed by executing motion instructions Steady green The axis drive is in the normal enabled state None The servo axis state can be changed by executing motion instructions Flashing red The axis drive output is in the shutdown state e Check for faults that may have generated this state e Execute the Motion Axis Shutdown Reset instruction e Resume normal operation Steady red The axis drive is faulted e Check the drive status Clear the Drive Fault condition at the drive Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation Check the configuration for the Drive Fault If configured to be normally open and there is no voltage this is the normal condition If configured to be normally closed and 24V dc is applied this is the normal condition Publication LOGIX UM002A EN P February 2006 7 6 Interpret Module Lights LEDs 1756 HYD02 Module OK Light HYDRAULIC AXO AX1 FDBK FDBK DRIVE DRIVE OK State Description Recommended Action Off The module is not operating e Apply chassis power e Verify the module is completely inserted in chassis and backplane Flashing green The module has passed internal diagnostics but itis None if you have not configured the module not communicating axis data over the backplane If you have co
189. e overshoot actually occurs Note This parameter is enabled for all loop types except Torque loop Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Servo Output or Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects 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 Note 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 is intrinsically unstable Too much I Gain results in axis oscillation and servo instability Publication LOGIX UM002A EN P February 2006 C 50 Axis Prope
190. e you won t see the right value as the axis runs See Axis Info Select 1 Rated 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 Publication LOGIX UM002A EN P February 2006 D 68 Axis Attributes Attribute Axis Type Data Type Access Description Output Cam AXIS_CONSUMED DINT GSV Represents the number of Output Cam nodes attached to this axis Valid Execution Targets AXIS_GENERIC range 0 8 with default of 0 AXIS_SERVO The Output Cam Execution Targets attribute is used to specify the AXIS_SERVO_DRIVE number of Output Cam nodes attached to the axis This attribute can AXIS VIRTUAL only be set as part of an axis create service and dictates how many T 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 a specific axis reduces the memory required per axis for users who do not need Output Cam functionality or only need 1 or 2 Output Cam Execution Targets for a specific axis Each ax
191. e Axis Grid of the Units page displays the axis names associated with the Coordinate System the conversion ratio and the units used to measure the conversion ratio Axis Name The Axis Name column contains the names of the axes assigned to the Coordinate System in the General screen These names appear in the order that they were configured into the current coordinate system This column is not editable from this screen Conversion Ratio The Conversion Ratio column defines the relationship of axis position units to coordination units for each axis For example If the position units for an axis is in millimeters and the axis is associated with a coordinate system whose units are in inches then the conversion ratio for this axis coordinate system association is 25 4 1 and can be specified in the appropriate row of the Axis Grid Note The numerator can be entered as a float or an integer The denominator must be entered as an integer only Conversion Ratio Units The Conversion Ratio Units column displays the axis position units to coordination units used The Axis Position units are defined in the Axis Properties Units screen and the coordination units are defined in Coordinated System Properties Units screen These values are dynamically updated when changes are made to either axis position units or coordination units Click on the Apply button to preserve your edits or Cancel to discard your changes Publication LOGIX U
192. e General Fault Type of the motion group Major Fault e NO You must write code to handle these faults Publication LOGIX UM002A EN P February 2006 Attribute Axis Type Data Type Access Drive Fault Input AXIS_SERVO BOOL Status Tag Axis Attributes D 33 Description Digital output from the drive that shows if there is a fault If this bit is e ON The drive is has a fault e OFF The drive doesn t have a fault Drive Hard Fault AXIS_SERVO_DRIVE BOOL Tag Set when the drive detects a serious hardware fault Drive Model Time AX S_SERVO REAL GSV Sec AXIS_SERVO_DRIVE SSV onstan z 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 configured 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 high resolution feedback devices are selected Dri
193. e Limit and Continuous Torque Force Limit parameters Manual Adjust mysercoslaxis X Dynamics Gains Output Limits Offset Position Error Tolerance oo Pasition Units Reset ie Position Lock Tolerance 0 01 Position Units PeakT orque Force Limit 0 0 Rated Continuous Torque Force Limit fi 00 0 a e Rated OK Cancel Apply Help Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Set Custom Limits Click this button to open the Custom Limit Attributes dialog Custom Limits Attributes xi C VeloctyLinaBipoir 00 Postion Untsis REAL fAccelerationLinaBipolar 0 0 Postion Untsis REAL VeloctyLimtPostive 0 0 Postion Untsis REAL VeloctyLintNegative 0 0 Postion Untsis REAL VeloctyThreshoa 0 0 Postion Untsis REAL AccelerationLindPostive 0 0 Postion Untsis REAL REAL AccelerationLimitNegative 0 0 Position Units s Close Cancel Help From this dialog box you can monitor and edit the limit related attributes Publication LOGIX UM002A EN P February 2006 C 74 Axis Properties When RSLogix 5000 software is online the parameters on this tab transition to a read only state When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value W
194. e Motion Status DINT GSV Lets you access the motion status bits for the coordinate system in one 32 bit word Tag Status Bit Accel Status 0 Decel Status 1 Actual Pos Tolerance Status 2 Command Pos Tolerance Status 3 Stopping Status 4 Reserved 5 Move Status 6 Transition Status 7 Move Pending Status 8 Move Pending Queue Full Status 9 Coordinate System Auto SINT GSV The Coordinate System Auto Tag Update attribute configures whether the Actual Tag Update Position attribute is automatically updated each motion task scan This is similar SSV to but separate from the Motion Group s Auto Tag Update attribute 0 auto update disabled 1 auto update enabled default Coordinate System Status DINT GSV Lets you access the status bits for the coordinate system in one 32 bit word Tag Status Bit Shutdown Status 0 Ready Status 1 MotionStatus 2 Axis Inhibit Status 3 Publication LOGIX UM002A EN P February 2006 5 22 Create and Configure a Coordinate System Attribute Data Type Access Description Decel Status BOOL Tag Use the Decel Status bit to determine if the coordinated vectored motion is currently being commanded to decelerate The deceleration bit is set when a coordinated move is in the decelerating phase due to the current coordinated move It is cleared when the coordinated move has been stopped or the coordinated move is complete Maximum Acceleration REAL GSV Coordination Units Sec SSV The Maxi
195. e Output Filter Bandwidth to 0 which disables the filter Continued on next page Publication LOGIX UM002A EN P February 2006 D 100 Axis Attributes Attribute Axis Type Data Type Access Description Tuning Configuration Bits cont Tuning Speed AXIS_SERVO REAL AXIS_SERVO_DRIVE GSV SSV 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 Friction Compensation and Torque Offset When configured for a hydraulics External Drive Type the bidirectional tuning algorithm also computes the Directional Scaling Ratio Tune Friction Compensation This tuning configuration is only valid if configured for bidirectional tuning If this bit is e ON The tuning procedure calculates the Friction Compensation Gain e OFF The Friction Compensation Gain 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 e OFF The Torque Offset is not affected Position Units Sec The Tuning Speed attribute sets the maximum speed of the tuning procedure This attribute should be set to the desired maximum
196. e Resolution Conversion 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 work
197. e 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 Publication LOGIX UM002A EN P February 2006 C 12 Axis Properties 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 Click on the Apply button to accept your changes Servo Tab AXIS SERVO Click on the Servo Tab from the Axis Properties for AXIS_SERVO to access the Servo dialog e Axis Properties myservyolaxis lel X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup External Drive Configuration Torque x Loop Configuration Position Servo x IV Enable Drive Fault Input Drive Fault Input Normally C Open Closed IV Enable Direct Drive Ramp Control Direct Drive Ramp Rate 50 0 Yolts Second Real Time Axis Infomation Position Command 7 Attribute 1 Attribute 2 Position Feedback 7 OK Cancel Help External Drive Configuration 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
198. e 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 1f the Integrator Hold parameter is set to Publication LOGIX UM002A EN P February 2006 e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion e Disabled all active position or velocity integrators are always enabled Axis Properties C 57 Manual Adjust Click on this button to access the Gains tab of the Manual Adjust dialog for online editing Manual Adjust mysercoslaxis Dynamics Gains Output Limits Offset Position Gains Proportional f 01 72526 1 s p3 joo 1 ms s Velocity Gains Proportional 260 41 666 e 1s joo 1 ms s Integral Feedforward Gains Velocity 0 0 Integral Acceleration 0 0 OK Cancel Apply Help Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Set Custom Gains Click on this button to open the Custom Gain Attributes dialog
199. e value Use a Set System Value SSV instruction to set or change the value Attribute Axis Type Actual Position Tolerance Config Fault Clag gt Coordinate Motion Status N Use the tag for the coordinate system to get the value Use the tag for the coordinate system or a GSV instruction to get the value It s easier to use the tag Coordinate System Attributes Attribute Data Type Access Description Accel Status BOOL Tag Use the Accel Status bit to determine if the coordinated vectored motion is currently being commanded to accelerate The acceleration bit is set when a coordinated move is in the accelerating phase due to the current coordinated move It is cleared when the coordinated move has been stopped or the coordinated move is in the decelerating phase Actual Pos Tolerance BOOL Tag Use the Actual Pos Tolerance Status bit to determine when a coordinate move is Status within the Actual Position Tolerance The Actual Position Tolerance Status bit is set for AT term type only The bit is set when interpolation is complete and the actual distance to programmed endpoint is less than the configured AT value The bit remains set after an instruction completes The bit is reset if either a new instruction is started or the axis moves such that the actual distance to programmed endpoint is greater than the configured AT value Publication LOGIX UM002A EN P February 2006 5 18 Create and Configure a C
200. ebruary 2006 D 50 Axis Attributes Attribute Axis Type Data Type Access Description Home AXIS_GENERIC DINT GSV 0 Reserved i i AXIS_SERVO SSV f Configuration 1 Home Switch Normally Closed Bits AXIS_SERVO_DRIVE AXIS_VIRTUAL 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 prior to 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 prior to homing is closed When the switch is engaged by the axis during the homing sequence the switch is opened which constitutes a homing event Home Direction AXIS_GENERIC SINT GSV 0 unidirectional forward AXIS_SERVO V g 2 1 bidirectional forward AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 unidirectional reverse 3 bidirectional reverse Home Event AXIS_CONSUMED BOOL Tag Set when a home event has been armed through execution of the MAH Armed Status AXIS GENERIC Motion Axis Home instruction Cleared when a home event occurs AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Home Event AXIS_CONSUMED BOOL Tag Set when a home event has occurred Cleared when another MAH Status AXIS GENERIC Motion Axis Home instruction is executed AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Home Event Task AXIS_CONSUMED DINT MSG User Event Task that
201. ebruary 2006 D 84 Axis Attributes Attribute Axis Type Data Type Access Description Servo Fault Bits AXIS_SERVO DINT GSV Lets you access all the 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 i Neg Soft Overtravel Fault Reserved Reserved Feedback Fault Feedback Noise Fault Reserved Reserved Position Error Fault co co SS oy A WY N Drive Fault These fault bits are updated every coarse 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 Publication LOGIX UM002A EN P February 2006 Attribute Servo Feedback Type Axis Type AXIS_SERVO Axis Attributes D 85 Data Type Access Description 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 175 6MOZ2AE provide interface hardware to support incremental quadrature 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 En
202. ecimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedstatus BOOL Decimal WatchEventStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal Publication LOGIX UM002A EN P February 2006 E 14 Publication LOGIX UM002A EN P February 2006 Axis Data Types Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float CommandPosit
203. ed 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 MO02AE 1756 HYDO2 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 MO8SEG module Publication LOGIX UM002A EN P February 2006 Attribute Axis Attributes D 17 Axis Type Data Type Access Description Axis Event AXIS_CONSUMED DINT Tag Lets you access all the event status bits in one 32 bit word This tag Is the same as the Axis Event Bits attribute AXIS_GENERIC AXIS_SERVO Event Status Bit AXIS_SERVO_DRIVE Watch Event Armed Status 0 AXIS_VIRTUAL Watch Event Status 1 Reg Event 1 Armed Status 2 Reg Even
204. edback 4 GKAB Y Coarse is wei p put Position 16 bit an hd Accum j Encoder he SE ulator Counter Watch en Watch 4 Event i Handler l Watch Position chz Homing Marker Event Marker pe Event j Marker e I Handler Latch I Registration Regist h ATN lt 4 Event Regist he Registration Handler 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 coarse update period of the motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes Publication LOGIX UM002A EN P February 2006 B 4 Servo Loop Block Diagrams AXIS_SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 For See Page Motor Position Servo B 5 Auxiliary Position Servo B 6 Dual Feedback Servo B 7 Motor Dual Command Servo B 8 Auxiliary Dual Command Servo B 9 Dual Command Feedback Servo B 10 Velocity Servo B 10 Torque Servo B 11 Drive Gains B 11 Servo Loop Block Diagrams B 5 Motor Position Servo Servo Config Motor Posi
205. edback in Position Units Sec2 Acceleration Feedback is the actual velocity of the axis as estimated by the servo module in the configured axis Position Units per Second2 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 Publication LOGIX UM002A EN P February 2006 Axis Attributes D 5 Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE V e a 7 7 a 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 gearing and synchronization where the actual axis position
206. eedbackT ype knne H Cycles 00000 per Rev Interpolation Factor a Feedback Ratio fio ooo Aux Rev Motor Rev Cancel Apply Help Feedback Type For applications that use auxiliary feedback devices select the type of auxiliary feedback device type These are drive dependent Cycles The number of cycles of the auxiliary feedback device This helps the Drive Compute Conversion constant used to convert drive units to feedback counts Depending on the feedback type selected this value may either be read only or editable Per The units used to measure the cycles Publication LOGIX UM002A EN P February 2006 C 28 Axis Properties Interpolation Factor This field displays a fixed constant value for the selected feedback type This value is used to compute the resolution of the feedback device Feedback Ratio Represents the quantitative relationship between the auxiliary feedback device and the motor Click on the Conversion Tab to access the Axis Properties Conversion dialog e Axis Properties myseryolaxis Of X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Positioning Mode z Conversion Constant 000 0 Feedback Counts 1 0 Position Units Position Unwind e000 Feedback Counts Unwind Cancel Apply Help The differences in the appearance of the Conversion Tab screens for the AXIS_SERVO an
207. efine the values later used by the operands of the Multi Axis Motion Instructions The values for Coordination Units Maximum Speed Maximum Acceleration Maximum Deceleration Actual Position Tolerance and Command Position Tolerance are all defined by the information included when the Coordinate System tag is configured This chapter describes how to name configure and edit your Coordinate System tag Publication LOGIX UM002A EN P February 2006 5 2 Create and Configure a Coordinate System Create a Coordinate System To create a coordinate system right click the motion group in the Controller Organizer and select New Coordinate System Motion Groups ciz o h mygenerica New Axis gt tp mysercos2a New Coordinate System tp mysercos3a gt mysercos4a Monitor Group Tag gt myservolax i Fault Help RD myvirtualaxi je Ungrouped Axe Clear MotionGroup Faults i Me The New Tag dialog opens Name Description Tag Type Base C Alias Produced fi consumers C Consumed Data Type COORDINAT E_SYSTEM E Configure Scope My_Controller controller Style z Entering Tag Information A tag allows you to allocate and reference data stored in the controller A tag can be a single element array or a structure With COORDINATE_SYSTEM selected as the Data Type there are only two types of tags that you can create e A base tag allows you to create your own internal dat
208. el 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 Pos Lock Status AXIS_SERVO DINT Tag Set when the magnitude of the axis position error has become less than AXIS SERVO DRIVE or equal to the configured Position Lock Tolerance value for the associated physical axis Pos Overtravel AXIS_SERVO BOOL Tag If this bit is Input Status AXIS_SERVO_DRIVE e ON The Positive Overtravel input is active e OFF The Positive Overtravel input is inactive Pos Soft AXIS_SERVO BOOL Tag If this bit is Overtravel Fault Axis_SERVO_DRIVE e ON The axis moved or tried to move past the Maximum Positive travel limit 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 Comma
209. el 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 appropriate values for the maximum travel in both the Maximum Positive and Maximum Negative Travel attributes need to be established with Maximum Positive Travel always greater than Maximum Negative Travel Both of these values are specified in the configured Position Units of the axis Note The software travel limits are not enabled until the selected homing sequence is completed Maximum Speed AXIS_GENERIC REAL GSV Position Units Sec AXIS_SERVO SSV The value of the Maximum Speed attribute is used by various motion AXIS_SERVO_DRIVE instructions for example MAJ MAM MCD and so on to determine AXIS_VIRTUAL 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 Memory Usage AX S_CONSUMED DINT MSG Amount of memory consumed
210. enerally allows higher values of Friction Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Gearing Lock AXIS_CONSUMED BOOL Tag Set whenever the slave axis is locked to the master axis in a gearing Status AXIS GENERIC relationship according to the specified gear ratio The clutch function of T the gearing planner is used to ramp an axis up or down to speed in a AXIS_SERVO gearing process MAG with Clutch selected This bit is cleared during AXIS_SERVO_DRIVE the intervals where the axis is clutching AXIS_VIRTUAL Gearing Status AXIS_CONSUMED BOOL Tag Set if the axis is a slave that is currently gearing to another axis Cleared AXIS GENERIC when the gearing operation is stopped or is superseded by some other T motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Ground Short AXIS_SERVO_DRIVE BOOL Tag When the drive detects an imbalance in the DC bus supply current the Fault Ground Short Fault bit is set indicating that current is flowing through an improper ground connection Group Instance AXIS_CONSUMED DINT GSV Instance Number of Group assigned to Axis AXIS_GENERIC f i The Group Instance attribute is used to determine what motion group AXIS_SERVO object instance this axis is assigned to AXIS_SERVO_DRIVE AXIS_VIRTUAL Hard Overtrave AXIS_SERVO_DAIVE SINT GSV Fault Action Value Fault Action SSV Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Publication LOGIX UM002A EN P F
211. er 3 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Passive Homing 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 Passive Home with Switch This passive homing sequence is useful for 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 Home Position is assigned to the axis position at the moment that the limit switch is detected If you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value Passive Home with Marker 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 home position is assigned to the axis position at the precise position where the marker was detected If you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value Passive Home with Switch then Marker This passive homing sequence is useful for multi turn rotary applications When th
212. er De select this to dis able this filter Note 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 Pass Output Filter Bandwidth With Enable Low pass Output Filter selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting is filtered out and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Publication LOGIX UM002A EN P February 2006 C 66 Axis Properties Manual Adjust Click on this button to open the Output tab of the Manual Adjust dialog for online editing of Torque Force Scaling the Notch Filter Frequency
213. er Motor Rev and be applied to the Rotational Position Resolution IDN The user would set the Conversion Constant to Drive Counts per user defined Position Unit If it is a 5mm pitch ball screw and the user s Position Unit is say mm the user simply sets 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 ona 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
214. er the associated axis information and select whether or not to update Actual Position values of the Coordinate System automatically during operation This screen has the same fields as the General Tab found under Coordinate System Properties Units Wizard Screen The Units screen is where you determine the units that define the coordinate system At this screen you define the Coordination Units and the Conversion Ratios This screen has the same fields as the Units Tab found under Coordinate System Properties Dynamics Wizard Screen The Dynamics screen is for entering the Vector values used for Maximum Speed Maximum Acceleration and Maximum Deceleration It is also used for entering the Actual and Command Position Tolerance values This screen has the same fields as the Dynamics Tab found under Coordinate System Properties Manual Adjust Button The Manual Adjust button is inactive when creating a Coordinate System tag via the Wizard screens It is active on the Dynamics Tab of the Coordinate System Properties screen It is described in detail in the Editing Coordinate System Properties later in this chapter Tag Wizard Screen The Tag screen lets you rename your Tag edit your description and review the Tag Type Data Type and Scope information Publication LOGIX UM002A EN P February 2006 5 6 Create and Configure a Coordinate System Editing Coordinate System Properties Publication LOGIX UM002A EN P February 2006
215. erate right away use a trapezoidal profile Publication LOGIX UM002A EN P February 2006 8 8 Troubleshoot Axis Motion Why does my axis reverse direction when stop and start it Example Look for Publication LOGIX UM002A EN P February 2006 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 and then reverse direction Eventually the axis changes direction again and moves in the programmed direction 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 continues to slow down and then moves in the opposite direction Eventually goes back to its programmed direction Jog_PB lt Local 4 Data O gt My_Axis_OK A Motion Axis Jog Axis My_Axis Motion Control Jog_1 Direction 0 Speed Jog_1_Speed S Curve profile in the Pee red 600 instruction that starts pe s s per sec if Accel Rate Jog_1_Accel the motion 0 Accel Units Units per sec2 Decel Rate Jog_1_Decel 20 0 Decel Units Units per sec2 Profile S Curve Merge Disabled Stop Typeis set to a specific type Merge Speed Programmed of motion such as Jog or Move Jog_PB lt Locat 4 1 Data O gt The stopping instruction changes the deceleration For example the Change Dece operand of an MAS instruction is set to Vo This means the axis uses it
216. eration distance e The axis simply slows to a stop The axis doesn t reverse direction to move to the Home Position In this case the MAH instruction doesn t 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 Publication LOGIX UM002A EN P February 2006 3 2 Configure Homing Guideline Details 7 Choose a starting direction for Which direction do you want to start the homing sequence in the homing sequence e Positive direction choose a Forward direction e Negative direction choose a Negative direction Examples Active Homing Sequence Description Active immediate home This sequence sets the axis position to the Home Position without moving the axis If feedback isn t enabled this sequence enables feedback Active home to switch in forward The switch homing sequence is useful for multi turn rotary and linear applications bidirectional tian Va Ooty fds velodi Asis P oaio Agum GSE E pi 1 The home im swch is detected 2 The hane imi aa fet ia dearad 2 The home podiom During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and stops 2 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 Offs
217. es D 20 Commissioning Configuration Attributes Damping Factor D 27 Drive Model Time Constant D 33 Position Servo Bandwidth D 77 Test Increment D 91 Tuning Configuration Bits D 99 Bi directional Tuning D 100 Tune Acceleration Feedforward D 99 Tune Friction Compensation D 100 Tune Output Low Pass Filter D 99 Tune Position Error Integrator D 99 Tune Torque Offset D 100 Tune Velocity Error Integrator D 99 Tune Velocity Feedforward D 99 Tuning Direction Reverse D 99 Tuning Speed D 100 Tuning Torque D 100 Tuning Travel Limit D 101 Velocity Servo Bandwidth D 108 Configuration Attributes Axis Type D 21 Motion Conversion Configuration Conversion Constant D 27 Motion Dynamics Configuration Maximum Acceleration D 57 Maximum Deceleration D 57 Maximum Speed D 58 Programmed Stop Mode D 79 Fast Disable D 79 Fast Shutdown D 79 Fast Stop D 79 Hard Disable D 79 Hard Shutdown D 79 Motion Homing Configuration Active Homing Index 5 Active Immediate Home 3 2 Home Configuration Bits D 50 Home Switch Normally Closed D 50 Home Mode D 51 Home Offset D 51 Home Position D 51 Home Return Speed D 51 D 52 Home Sequence and Home Di rection D 50 D 51 Home Speed D 52 Passive Homing Passive Home with Marker 3 5 Passive Home with Switch 3 5 Passive Home with Switch then Marker 3 5 Passive Immediate Home 3 5 Motion Planner Configuration At tributes Master Input Configuration Bits D 55 D 56 Master Delay Compensa tion D 55 Master Posi
218. es 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 Servo Loop Block Diagrams B 9 Velocity Offset Velocity Command Coarse ec Position Command Coarse Acc Auxiliary Dual Command Servo Servo Config Auxiliary Dual Command FF Gain Vel FF Gain Pos P Output Output Low Pass Notch Tooneg Torque Fitter Filter forque Offset BW Bw Limit Accel Torque Velocity Command Command Command Velocity e gt Position Feedback Coarse Gain Pos gt Gain Position Integrator Position le Feedback e Paat Error Low Vel P Torque Frict Notch Torque Torque O gt Gain P Scaling E comp P Pass P Fitter P Limit P amplifier Filter Velocity Feedback Error Vel 1 Accum Gain Y ulator Velocity Integrator Motor Error zk Feedback Polarity Motor Feedback Y Hardware Channel Motor Feedback ja Feedback Posi
219. et MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Publication LOGIX UM002A EN P February 2006 D 62 Axis Attributes Attribute Axis Type Data Type Access Description Motion Status AXIS_CONSUMED DINT Tag Lets you access all the motion status bits in one 32 bit word This tag is AXIS_ GENERIC the same as the Motion Status Bits attribute AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Motion Status Bit Accel Status 0 Decel Status 1 Move Status Jog Status Gearing Status Homing Status Stopping Status Homed Status Position Cam Status oj CO N Dm omy A j N Time Cam Status Position Cam Pending Status 10 Time Cam Pending Status 11 Gearing Lock Status Position Cam Lock Status Reserved Master Offset Move Status Coordinated Motion Status 1 s a a a Oo o A ow N Publication LOGIX UM002A EN P February 2006 Axis Attributes D 63 Attribute Axis Type Data Type Access Description Motion Status AXIS_CONSUMED DINT GSV Lets you access all the motion status bits in one 32 bit word This Bits AXIS GENERIC attribute is the same as the Motion Status tag PRESERVA Motion Status Bit AXIS_SERVO_DRIVE Accel Status 0 AXIS_VIRTUAL Decel Status 1 Move Status 2 Jog Status 3 Gearing Status 4 Homing Status 5 Stopping Status 6 Homed Status 7 Position Cam Status 8 Time Cam Status 9 Position Cam
220. et 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 Any change in value caused by manually changing the spin control is instantaneously sent to the controller Publication LOGIX UM002A EN P February 2006 C 46 Axis Properties Manual Adjust Click on this button to open the Dynamics tab of the Manual Adjust dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Gains Tab AXIS SERVO Use this tab to perform the following offline functions e adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog e manually configure gains for the velocity and position loops Publication LOGIX UM002A EN P February 2006 Axis Properties C 47 for an axis of the type AXIS_SERVO which has been configured for Servo operations set in the General tab of this dialog box with Position Loop Configuration General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Position Gai
221. et position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than 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 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 home 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 Publication LOGIX UM002A EN P February 2006 Sequence Active home to marker in forward bidirectional Configure Homing 3 3 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 Homing Velocity itis Yelody digi Pod ion Reim velodi The encoder marker ipdetected 2 The home position During the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker and stops 2 The axis moves back to the marker or i
222. eter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication LOGIX UM002A EN P February 2006 C 64 Axis Properties Motor Inertia Load Inertia Ratio Torque Scaling Enable Notch Filter Notch Filter Publication LOGIX UM002A EN P February 2006 The Motor Inertia value represents the inertia of the motor without any load attached to the motor shaft in Torque Scaling units The Load Inertia Ratio value represents the ratio of the load inertia to the motor inertia 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 Accelerat
223. eter values are lost and the parameter reverts to the most recently saved parameter value Publication LOGIX UM002A EN P February 2006 C 90 Axis Properties Attributes Tag Tab Publication LOGIX UM002A EN P February 2006 When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them The following attribute or parameter values can be monitored and edited in this dialog box Table 3 G Attribute Description StoppingTorque This attribute displays the amount of torque available to stop the motor This attribute has a value range of 0 to 1000 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 to 6553 5 BrakeEngageDelayTime 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 to 6 5535 When the servo axis is enabled the drive activates the torque to the motor bu
224. even though the axis has not physically moved 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 controls the Backlash Stabilization feature in the servo control loop Properly configured with a suitable value for the Backlash Stabilization Window entirely eliminates the 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 Provides a dynamic velocity correction to the output of the position servo loop in position units per second Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output Corrects the problem of axis drift by adding a fixed voltage value not to exceed 10 Volts to the Servo Output value Input a value to achieve near zero drive velocity when the uncompensated Servo Output value is zero Axis Properties C 79 When interfacing an external Servo Drive especially for velocity servo drives it is necessary to compensate for the effect of drive offset Cumulative offsets of the serv
225. evice To establish an appropriate value for the Offset the MAH instruction can be executed with the Home Mode set to Absolute the only valid option if Enable Absolute Feedback is enabled 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 errors 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 Note If using Single turn or Multi turn Absolute SSI Feedback transducers see the Homing Tab information for important details concerning Absolute feedback tranducer s marker reference Axis Properties G 17 When the servo axis is associated to a 1756 HYD02 motion module then LDT Linear Displacement Transducer is the only option for Feedback Type e Axis Properties myservolaxis Of X Tune Dynamics Gains Output Limits Offset Fault Actions T
226. ew Use this dialog box to make the following offline configurations AXIS_SERVO_DRIVE e set the torque scaling value which is used to generate gains e enable and configure the Notch Filter e enable and configure servo s low pass digital output filter Publication LOGIX UM002A EN P February 2006 Axis Properties C 63 for an axis of the type AXIS_SERVO_DRIVE configured as a Servo drive in the General tab of this dialog e Axis Properties mysercoslaxis Of X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Motor Inertia foo Kg m 2 Manual Adjust Load Inertia Ratio C Load Inertia Motor Inertia Torque Force Scaling foo Rated Position Units s 2 System Acceleration foo Position Unitss 2 at 100 Rat J Enable Notch Filter Frequency Notch Filter Frequency p 0 Hertz J Enable Low pass Output Filter Low pass Wutput Filter Bandwidth foo Hertz Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any param
227. external amplifier to drive the valve tooo RET amp RET CHASSIS Piston type Hydraulic Cylinder and LDT a C 15V de Power Supply for LDTs rh Publication LOGIX UM002A EN P February 2006 Earth Ground 43474 1756 HYD02 Module OUT 0 OUT 0 ENABLE 0O ENABLE 0 DRVFLT 0 CHASSIS IN_COM REG24V 0 REG5V 0 0 CHASSIS INT 0 INT 0 RET O LDT CMN CHASSIS 2 4S e eS m9 20 oO HOME O S 26 29 4S 269 286 RET O 26 sO orl 63 6s 7 Onl IN_COM O18 717 Or9l z S23 S35 O27 29 s O 6S 0UT 1 OUT 1 ENABLE 1 ENABLE 1 DRVFLT 1 General cable C0720 CHASSIS General cable C0721 HOME 1 REG24V 1 REGSV 1 0K CHASSIS INT 1 INT 1 RET 1 RET 1 General cable C0722 LDT CMN CHASSIS General cable C0720 Notes Wiring Diagrams A 11 To valve driver amplifier To hydraulic control unit or To valve or pump General cable C0720 To home limit switch General cable C0720 To registration sensor To LDT To
228. f measure length field and the unit of measure defined at the Units Tab This field is grayed out because it is always active when Feedback Type is LDT 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 an appropriate value for the Offset the MAH instruction can be executed with the Home Mode set to Absolute the only valid option if Enable Absolute Feedback is enabled 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 errors 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 Conversion Constant The Conversion Constant is calculated from the values entered on the Feedback screen when the Calculate button is selected This calculated value must be typed into t
229. f 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 coarse 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 Publication LOGIX UM002A EN P February 2006 Velocity Offset Servo Loop Block Diagrams Motor Dual Command Servo Servo Config Motor Dual Command Acc gt didt gt FF Gain Velocity i Command Output utput Coarse ice bees Notch PosiNeg Vel Torque Filter Filter ia gt FF Offset ny BW Limit Gain Position Command Velocity Pet ae Coarse Position Command Velocity Error Error Low Pos P Vel P Torque Frict Notch Torque Torque O Gain gt z P gt Gain
230. ffective 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 Z2 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 Continued on next page Publication LOGIX UM002A EN P February 2006 D 106 Axis Attributes Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO_DRIVE Proportional G
231. for S rce Tag Real Time Axis 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 e 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 Limit AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the axis torque command is greater than the Status configured Torque Limit Torque Offset AXIS_SERVO REAL GSV Torque Offset from 100 to 100 AXIS_SERVO_DRIVE SSV Torque Offset compensation can be used to provide a dynamic torque command correction to the output of the velocity servo loop Since this Tag value is updated synchronously every Coarse Update Period the Torque Offset can be tied into custom outer control loop algorithms using Function Block programming Torque Polarity AXS SERVO_DRNE INT GSV This attribute is derived from the Drive Polarity attribute See IDN B5in Publication LOGIX UM002A EN P February 2006 Attribute Torque Scaling Axis Attributes D 95 Axis Type Data Type Access Description AXIS_SERVO REAL AXIS_SERVO_DRIVE GSV SSV Position Units Per Second2 The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor Thi
232. forward 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 Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units sec Limit Bipolar SSV cs This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units sec Limit Negative SSV a This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Publication LOGIX UM002A EN P February 2006 Axis Attributes D 7 Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units sec Limit Positive SSV This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automa
233. h Position in Position Units AXIS GENERIC Tag Watch Position is the current set point position of an axis in the T configured axis Position Units as set up in the last most recently AXIS_SERVO executed MAW Motion Arm Watch instruction for that axis AXIS_SERVO_DRIVE AXIS_VIRTUAL Publication LOGIX UM002A EN P February 2006 D 110 Axis Attributes Publication LOGIX UM002A EN P February 2006 Introduction AXIS_CONSUMED Axis Data Types Appendix E When you add an axis to your project RSLogix 5000 software makes a tag for the axis The tag stores status and fault information for the axis The lay out of the tag depends on the type of axis For This Type of Axis See Page AXIS_CONSUMED E 1 AXIS_GENERIC E 4 AXIS_SERVO E 6 AXIS_SERVO_DRIVE E 9 AXIS_VIRTUAL E 13 Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal Publication LOGIX UM002A EN P February 2006 E 2 Axis Data Type
234. hat of the actual supply hardware an error is generated during the drive configuration process Precharge AXIS_SERVO_DRIVE BOOL Tag The drive s precharge resistor gets too hot if you cycle 3 phase power Overload Fault too many times If that happens this bit turns on Primary AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Servo Loop Configuration attribute Operation Mode See IDN 32 in IEC 1491 Process Status AXIS_SERVO BOOL Tag Set when there is an axis tuning operation or an axis hookup diagnostic AXIS_SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 test operation in progress on the axis Attribute Programmed Stop Mode Axis Type Data Type Access AXIS_GENERIC SINT AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL GSV SSV Axis Attributes D 79 Description Determines how a specific axis will stop when the controller has a critical controller mode change or when an MGS Motion Group Stop instruction executes with it s stop mode set to Programmed The modes fo the 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 will initiate 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
235. he 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 Absolute AXIS_SERVO_DRIVE BOOL Reference Status Tag If the bitis Then ON An absolute homing procedure happend The bit stays set until either of these happen e The drive resets its configuration parameters to default values e The axis does an active or passive home or redefine position OFF The position of the axis has not been or is no longer referenced to the absolute machine reference system established by an absolute homing procedure Accel Limit AX Status S_SERVO_DRIVE BOOL Tag Set when the magnitude of the commanded acceleration to the velocity servo loop input is greater than the configured Velocity Limit Accel Status AX S_CONSUMED BOOL AXIS_GENERIC S_SERVO S_SERVO_DRIVE S_VIRTUAL Tag 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 Publication LOGIX UM002A EN P February 2006 D 4 Axis Attributes Attribute
236. he Conversion Constant field on the Conversion tab as it is not automatically updated Minimum Servo Update Period The Minimum Servo Update period is calculated based on the values entered for Recirculations and Length on the Feedback Tab When Axis Properties C 19 these values are changed selecting the Calculate button recalculates the Minimum Servo Update Period based on the new values Calculate Button The Calculate Button becomes active whenever you make changes to the values on the Feedback Tab Clicking on the Calculate Button recalculates the Conversion Constant and Minimum Servo Update Period values however you must then reenter the Conversion Constant value at the Conversion Tab as the values are not updated automatically Drive Motor Tab Use this tab to configure the servo loop for an AXIS_SERVO_DRIVE l AXIS SERVO DRIVE axis and open the Change Catalog dialog box e Axis Properties mysercoslaxis Efe X Homing Hookup Tune Dynamics Gains l Output Limits Ottset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Amplifier Catalog Number Motor Catalog Number an Change Catalog Loop Configuration Dual Command Servo 7 Drive Resolution 200000 Drive Counts per Motor Rev x Calculate IV Drive Enable Input Checking T Drive Enable Input Fault Real Time Axis Infomation Attribute 1 Position Feedback 7 Attribute 2
237. he Data Rate of the SERCOS interface module to Auto Detect e Check the Cycle Time of the SERCOS interface module See Specifications Flashing Red Flashing Flashing Did you configure the module and Green Green Green e NO Use RSLogix 5000 software to configure the module e YES Check the configuration of the module and drives in RSLogix 5000 software Flashing Flashing Flashing Check the configuration of the axes in RSLogix 5000 software Green Green Green Solid Green Solid Green Flashing e Check the configuration of the drives in RSLogix 5000 software Green e Check the motion group drives and axes for faults Solid Green Solid Green Solid Green None the axes are ready Solid Green Solid Green Flashing Red Check the motion group and axes for faults Solid Red Solid Red Solid Red 1 Cycle power to the module 2 If the lights keep turning solid red contact your distributor Rockwell Automation representative or Rockwell Automation support Publication LOGIX UM002A EN P February 2006 7 10 Interpret Module Lights LEDs Notes Publication LOGIX UM002A EN P February 2006 Chapter 8 Troubleshoot Axis Motion Introduction This chapter helps you troubleshoot some situations that could happen while you are running an axis Situation See page Why does my axis accelerate when stop it 8 1 Why does my axis overshoot its target speed 8 3 Why is there a delay when stop and then restart a jog 8 6 Why does m
238. he instance of the offending axis This attribute would then typically be AXIS VIRTUAL used by a user to determine if this was the offending axis that is if the T instance number matches Axis Response AXIS_SERVO DINT GSV Bits Bits AXIS_SERVO_DRIVE 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 has been aborted Shutdown Acknowledge If this bit is set the axis has been 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 has been set to zero volts Abort Home Acknowledge If this bit is set the active home procedure has been aborted Abort Event Acknowledge If this bit is set the active registration or watch position event procedure has been aborted Change Pos Reference If this bit is set the Servo loop has 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 conroller acknowledges completion of the reference position change by clearing its Change Cmd Reference bit Publication LOGIX UM002A EN P February 2006 D 20 Axis Attributes
239. he 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 that the limit would have been exceeded Velocity Command AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV 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 Velocity Command in Position Units Sec 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 Velocity Data Scaling S_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 44 in IEC 1491 Velocity Data Scaling Exp S_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 46 in IEC 1491 Velocity Data Scaling Factor S_SERVO_DRIVE DINT GSV This attribute is derived from the Dr
240. hen multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Attributes The following attribute values can be monitored and edited in this dialog box Table 3 F 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 14748x10 2 AccelerationLimitBipolar This attribute sets the acceleration and deceleration limits for the drive If the command acceleration exceeds this value AccelLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 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 VelocityLimitSta
241. hen 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 Aux Feedback Fault AXIS_SERVO AXIS_SERVO_DRIVE BOOL Tag Set for an auxiliary feedback source 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 both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Publication LOGIX UM002A EN P February 2006 D 10 Axis Attributes Attribute Axis Type Data Type Access Description Aux Feedback AXIS_SERVO_DRIVE DINT GSV Feedback Counts per Cycle Interpolation The Feedback Interpolation attributes establish how many Feedback Counts there are in one Feedback C
242. his 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 no 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 Attribute Feedback Fault Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Axis Attributes D 47 Data Type Access Description BOOL Tag AXIS_SERVO Set for a specific feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive 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_DRI
243. his motion coordinate system A bit being set indicates that one of the associated axes has Tag that fault Type Bit Physical Axis Fault 0 Module Fault 1 Config Fault 2 Axis Inhibit Status BOOL Tag If this bit is Publication LOGIX UM002A EN P February 2006 e ON An axis in the coordinate system is inhibited e OFF None of the axis in the coordinate system are inhibited Create and Configure a Coordinate System 5 21 Attribute Data Type Access Description Command Pos Tolerance BOOL Tag Use the Command Position Tolerance Status bit to determine when a coordinate Status move is within the Command Position Tolerance The Command Position Tolerance Status bit is set for all term types whenever the distance to programmed endpoint is less than the configured CT value The bit will remains set after an instruction completes The bit is reset when a new instruction is started Tol oe f d E SSV The Command Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM and so on specify a Termination Type of Command Position Config Fault BOOL Tag The Configuration Fault bit is set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module Coordinat
244. ialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Use this tab to specify the actions that are taken in response to the following faults 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 Axis Properties C 87 for an axis of the type AXIS_SERVO_DRIVE e Axis Properties mysercos1laxis efel X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Drive Enable Input Disable Drive z Set Custom Stop Action Drive Thermal Disable Drive Motor Thermal Disable Dive H Feedback Noise Disable Dive x Feedback Disable Dive Position Error Disable Dive H Hard Oyvertravel Disable Drive Soft Uvertravel Disable Drive r Cancel Apply Help When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation swi
245. ically 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 Capacity AXIS_SERVO_DRIVE REAL GSV 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 The present utilization of drive capacity as a percent of rated capacity Drive Control Voltage Fault AXIS_SERVO_DRIVE BOOL Tag Set when the power supply voltages associated with the drive circuitry fall outside of acceptable limits Drive Cooling Fault AXIS_SERVO_DRIVE BOOL Publication LOGIX UM00
246. ication LOGIX UM002A EN P February 2006 B 10 Servo Loop Block Diagrams Publication LOGIX UM002A EN P February 2006 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 both 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 and stability are important as well as positioning accuracy 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 Velocity Offset These values are updated at the coarse 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 provi
247. if you want the controller to automatically recalculate certain attribute settings Refer to Conversion Constant and Drive Resolution Attributes e the label indicates the number of counts per motor revolution as set in the Drive Resolution field of the Drive tab Click on Apply to accept your changes Homing Tab AXIS SERVO Use this tab to configure the attributes related to homing an axis of the and AXIS SERVO DRIVE type AXIS_SERVO or AXIS_SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 e Axis Properties mysercoslaxis 10 x General Motion Planner Homing Hookup Tune Mode active Position foo Position Units Offset foo Position Units Sequence SwitchMarker x Limit Switch Normally Open Closed Axis Properties C 31 Units Drive Motor Motor Feedback Aux Feedback Conversion Dynamics Gains Output Limits Offset Fault Actions Tag Active Home Sequence Group Direction Forward Bi directional x Speed ao Position Units s Return Speed joo Position Units s Cancel Apply Help Mode Select the homing mode Active In this mode the desired homing sequence is selected by specifying whether a home limit switch and or the encoder marker is used for this axis Active homing sequences always 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 physica
248. igned Disabled when the axis is not associated with any motion module The Motion Planner Tab is where you set edit the number of Output Cam execution targets the type of stop action to use enable or disable Master Delay Compensation enable or disable Master Position Filter and set the bandwidth for Master Position Filter Bandwidth The Motion Planner tab has the same fields regardless of the type of axis e Axis Properties myseryol axis Mi X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Output Cam Execution Targets 0 Program Stop Action Fast Stop V Master Delay Compensation JV Enable Master Position Filter Master Position Filter Bandwidth o Hertz Cancel Apply Help Output Cam Execution Targets Determines how many Output Cam execution nodes instances are Publication LOGIX UM002A EN P February 2006 created for a specific axis Note that the Execution Target parameter for the MAOC MDOC instructions specify which of the configured execution nodes the instruction is affecting In addition the number Program Stop Action Master Delay Compensation Checkbox Axis Properties c 9 specified in the Axis Properties dialog specifies the number of instances of Output Cam in which the value of zero means none and the value specified for Execution Target in the MAOC instructio
249. imebase value the better the speed resolution but the slower the response to changes in speed e The minimum Average Velocity Timebase value is the Coarse Update period of the motion group The Average Velocity resolution in Position Units per second may be calculated using the equation below 1 Averaged Velocity Timebase Seconds x K ental 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 1 0 0002 Inches _ Inches 0 25 x 20000 Second Minute Publication LOGIX UM002A EN P February 2006 D 14 Axis Attributes Attribute Axis Type Data Type Access Description Average Velocity AXIS_CONSUMED REAL GSV Sec j AXIS_GENERIC SSV SE l Tipgoge The Average Velocity Timebase attribute is used to specify the desired AXIS_SERVO time in seconds to be used for calculating the Average Velocity of the AXIS_SERVO_DRIVE axis When the Average Velocity Value is requested the value is AXIS VIRTUAL computed by taking the total distance traveled by the axis in the amount of time given by the Average 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 which would otherwise result in a noisy velocity value but small enough to track significant changes in axis velocity Typi
250. imits C 73 Soft Travel Limits C 71 Motor Feedback Tab AXIS_SERVO_DRIVE C 26 Motor Cycles C 26 Motor Feedback Type C 26 Motor Interpolation Factor C 27 Per C 26 Offset Tab AXIS_SERVO C 76 Backlash Compensation C 78 Reversal Offset C 78 Stabilization Window C 78 Friction Deadband Compensation C 77 Friction Compensation C 77 Friction Compensation Window C 77 Manual Tune C 79 Output Offset C 78 Torque Offset C 78 Velocity Offset C 78 Offset Tab AXIS_SERVO_DRIVE C 79 Backlash Compensation C 81 Reversal Offset C 81 Stabilization Window C 82 Friction Compensation C 80 Friction Compensation Window C 81 Manual Tune C 82 Torque Offset C 82 Velocity Offset C 82 Output Tab SERVO_AXIS C 58 Enable Low pass Output Filter C 61 Low pass Output Filter Bandwidth C 61 Manual Tune C 62 Torque Scaling C 60 Velocity Scaling C 59 Output Tab Overview AXIS_SERVO_DRIVE C 62 Enable Low pass Output Filter C 65 Enable Notch Filter C 64 Load Inertia Ratio C 64 Low pass Output Filter Bandwidth C 65 Manual Tune C 66 Motor Inertia C 64 Notch Filter C 64 Torque Scaling C 64 Servo Tab AXIS_SERVO C 12 Direct Drive Ramp Rate C 13 Drive Fault Input C 13 Enable Direct Drive Ramp Control C 13 Enable Drive Fault Input C 13 External Drive Configuration C 12 Hydraulic C 12 Torque C 12 Velocity C 12 Loop Configuration C 13 Real Time Axis Information C 13 Attribute 1 Attribute 2 C 13 Tag Tab C 90 Index 3 Data Type C 92 Description C
251. imum Negative limit Type the maximum negative position to be used for software overtravel checking in position units Note The Maximum Negative limit must always be less than the Maximum Positive limit 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 as shown here Note This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed Specifies the maximum position error the servo module accepts in order to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity Output Limit Manual Adjust Axis Properties C 69 For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of
252. imum Speed 5 22 Max Pending Moves 5 22 Motion Status Attributes Actual Acceleration D 1 D 7 Actual Position D 7 Actual Velocity D 7 Average Velocity D 13 Command Acceleration D 24 Command Position D 25 Command Velocity D 25 Interpolated Actual Position D 52 Interpolated Command Position D 53 Interpolation Time D 53 Master Offset D 56 Motion Status Bits D 63 Registration Position D 81 Registration Time D 81 Start Master Offset D 89 Start Position D 89 Strobe Master Offset D 90 Strobe Position D 90 Watch Position D 109 Servo Configuration Attributes Absolute Feedback Enable D 2 Absolute Feedback Offset D 3 Axis Info Select D 18 External Drive Type D 44 Fault Configuration Bits D 45 Drive Fault Checking D 45 Drive Fault Normally Closed D 46 Hard Overtravel Checking D 45 Soft Overtravel Checking D 45 LDT Calibration Constant D 53 LDT Calibration Constant Units D 53 LDT Length D 53 LDT Length Units D 53 LDT Recirculations D 53 LDT Scaling D 53 LDT Scaling Units D 53 LDT Type D 54 Servo Feedback Type D 85 A Quadrature B Encoder Inter face D 85 Linear Displacement Transducer D 86 Synchronous Serial Interfac D 85 Servo Loop Configuration D 86 Servo Polarity Bits D 87 Feedback Polarity Negative D 87 Servo Polarity Negative D 87 SSI Clock Frequency D 88 SSI Code Type D 88 SSI Data Length D 88 Servo Drive Attributes Attribute Error Code D 8 Attribute Error ID D 8 Axis Control Bit Attribu
253. ing e SSI interface consisting of Differential Clock output and Data return signals replaces the differential encoder interface 1756 MO3SE Use a SERCOS interface module to connect the controller to SERCOS interface drives 1756 MO8SE e The SERCOS interface lets you control digital drives using high speed real time 1756 M16SE serial communication 1768 MO4SE 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 Publication LOGIX UM002A EN P February 2006 Preface 2 Additional Resources See these manuals for more information about using motion modules in a Logix5000 control system Publication Publication Number Logix5000 Controllers Quick Start 1756 08001 Logix5000 Controllers Common Procedures 1756 PM001 Logix5000 Controller Motion Instructions Reference Manual 1756 RM007 Logix5000 Controllers General Instructions Reference Manual 1756 RM003 Logix5000 Controllers Process and Drives Instructions 1756 RMO006 Reference Manual PhaseManager User Manual LOGIX UM001 ControlLogix Controller User Manual 1756 UM001 CompactLogix Controllers User Manual 1768 UM001 Analog Encoder AE Servo Module Installation Instructions 1756 IN047 ControlLogix SERCOS interface Module Installation 1756 IN572 Instructions CompactLogix SERCOS interface Module Installation 1768 INO05 I
254. ing MAAT 2 5 Motion Apply Hookup Diagnostic MAHD 2 5 Motion Run Axis Tuning MRAT 2 5 Motion Run Hookup Diagnostic MRHD 2 5 Motion Direct Commands 2 1 Motion Event Instructions Motion Arm Output Cam MAOC 2 5 Motion Arm Registration MAR 2 5 Motion Arm Watch Position MAW 2 5 Motion Disarm Output Cam MDOC 2 5 Motion Disarm Registration MDR 2 5 Motion Disarm Watch Position MDW 2 5 Motion Group Instructions Motion Group Shutdown MGSD 2 5 Motion Group Shutdown Reset MG SR 2 5 Motion Group Stop MGS 2 5 Motion Group Strobe Position MG SP 2 5 Motion Move Instructions Motion Axis Gear MAG 2 4 Motion Axis Home MAH 2 4 Motion Axis Jog MAJ 2 4 Motion Axis Move MAM 2 4 Motion Axis Position Cam MAPC 2 4 Motion Axis Stop MAS 2 4 Motion Axis Time Cam MATC 2 4 Motion Calculate Cam Profile MC CP 2 4 Motion Calculate Slave Values 2 4 Motion Change Dynamics MCD 2 4 Motion Redefine Position MRP 2 4 Motion State Instructions Motion Axis Fault Reset MAFR 2 4 Motion Axis Shutdown MASD 2 4 Publication LOGIX UM002A EN P February 2006 Motion Axis Shutdown Reset MASR 2 4 Motion Direct Drive Off MDF 2 4 Motion Direct Drive On MDO 2 4 Motion Servo Off MSF 2 4 Motion Servo On MSO 2 4 motion instructions overview 1 15 motion planner set period 1 6 Motion Redefine Position 2 4 Motion Run Axis Tuning 2 5 Motion Run Hookup Diagnostic 2 5 Motion Servo Off 2 4 Motion Servo On 2
255. ion 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS2 0 0333 Rated Revs Per Second2 Note If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also do not reflect the true performance of the system Select this to enable the drive s notch filter De select this to disable this filter With Enable Notch Filter selected this value sets the center frequency of the drive s digital notch filter If the Notch Filter value is set to zero the notch filter is disabled Currently implemented as a 2nd order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output attenuation at the Notch Filter frequency This output notch filter is particularly useful in attenuating mechanical resonance phenomena The output filter is particularly useful in high inertia applications where mechanical Enable Low pass Output Filter Low pass Output Filter Bandwidth Axis Properties C 65 resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Note This value is not applicable for Ultra3000 drives Select this to enable the servo s low pass digital output filt
256. ion LOGIX UM002A EN P February 2006 2 4 Test an Axis with Motion Direct Commands Choose a Command Use this table to choose an instruction and see if it is available as a Motion Direct Command If You Want To And Use This Instruction Motion Direct Command Change the state of an axis Enable the servo drive and activate the axis servo MSO Yes loop Motion Servo On Disable the servo drive and deactivate the axis servo MSF Yes loop Motion Servo Off Force an axis into the shutdown state and block any MASD Yes instructions that initiate axis motion Motion Axis Shutdown Transition an axis to the ready state If all of the axes MASR Yes of a servo module are removed from the shutdown Motion Axis Shutdown Reset state as a result of this instruction the OK relay contacts for the module close Enable the servo drive and set the servo output MDO Yes voltage of an axis Motion Direct Drive On Disable the servo drive and set the servo output MDF Yes voltage to the 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 specific position MAM Yes Motion Axis Move Start electronic gearing between 2 axes MAG Yes Motion Axis Gear Change the speed a
257. ion REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float Numerics 1394C Drive module inhibit an axis 6 4 1394 CFLAExx Cable Pinouts A 8 Wiring Diagram A 8 1398 CFLAExx Cable Diagram A 4 Pinouts A 4 1756 HYD02 add to controller 1 3 1756 M02AE add to controller 1 3 1756 M02AE servo module Block diagrams Torque servo drive B 2 Velocity servo drive B 3 Features P 1 Loop and interconnect diagrams B 1 Troubleshooting 7 1 Wiring diagrams 1394 drive A 7 Servo module RTB A 2 Ultra 100 drive A 3 Ultra 200 drive A 3 Ultra3000 drive A 5 1756 M02AS add to controller 1 3 1756 M03SE add to controller 1 3 set up 1 5 1756 M08SE add to controller 1 3 set up 1 5 1756 M16SE add to controller 1 3 set up 1 5 A axis add to controller 1 8 check wiring 1 12 get status 1 17 inhibit 6 1 set up 1 9 tune 1 13 Axis Properties Aux Feedback Tab AXIS_SERVO_DRIVE C 27 Aux Feedback Tab AXIS_SERVO_DRIVE Cycles C 27 Feedback Ratio C 28 Index Feedback Type C 27 Interpolation Factor C 28 Per C 27 Conversion Tab C 29 Conversion Constant C 30 Position Unwind C 30 Positioning Mode C 29 Drive Motor Tab AXIS_SERVO_DRIVE C 19 Amplifier Catalog Number C 19 Attribute 1 Atrribute 2 C 22 Calculate button C 23 Calculate Parameters C 25 Per C 24 Position Range C 24 Position Unit Scaling C 24 Position Unit Unwind C 2
258. ion from the feedback interface This selection minimizes the display of axis properties tabs and parameters The Tabs for Tune Dynamics Gains Output Limits and Offset are not displayed e 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 Motions 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 Node Displays the base node of the associated SERCOS drive Disabled when the axis is not associated with any drive Publication LOGIX UM002A EN P February 2006 C 4 Axis Properties Node with a Kinetix 6000 Drive IMPORTANT Do you want to use the auxiliary feedback port of a Kinetix 6000 drive as a feedback only axis If YES then make sure the drive has firmware revision 1 80 or later e Axis Properties My_Feedback_Axis Fault Actions Tag Motor Feedback Aux Feedback Hookup Drive Motor Conversion Homing General
259. ion to the pending Output Cam is complete or when the Output Cam is terminated by a MDOC instruction Output Limit AXIS_SERVO REAL GSV SSV 0 0 10 0V 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 both with and without servo output limiting is shown below Without Servo Output Limiting With Servo Output Limiting Servo Amplifier Output Pasition 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 Output Limit Status AXIS_SERVO BOOL Tag If this bit is e ON The servo output is at or past the Output Limit value e OFF The servo ou
260. is General Motion Planner Units Conversion Homing Dynamics Tag Axis Configuration Servo h Motion Group mymotiongroup z E New Group Associated Module Module lt none gt bd Module Type lt none gt Channel fo v Cancel Apply Help Axis Configuration Selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The Tab for Dynamics is not available e 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 Motions Groups branch Publication LOGIX UM002A EN P February 2006 C 8 Axis Properties Module Channel Motion Planner Tab 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 Selects and displays the motion module channel either 0 or 1 to which the axis is ass
261. is Attributes Attribute Axis Type Data Type Access Description Stopping Torque AXIS_SERVO_DRIVE REAL GSV Rated SSV This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Strobe Actual AXIS_CONSUMED REAL GSV Strobe Actual Position in Position Units Position AXIS GENERIC Tag Strobe Actual Position and Strobe Command Position are used to T simultaneously store a snap shot of the actual command position and AXIS_SERVO master offset position of an axis when the MGSP Motion Group Strobe AXIS_SERVO_DRIVE Position instruction is executed The values are stored in the configured AXIS VIRTUAL 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 for different axes 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 Command AX S_CONSUMED REAL GSV Strobe Command Position in Position Units Position AXIS_GENERIC Tag Strobe Actual Position and Strobe Command Position are used to simultaneously store a snap shot of the actual command position and AXIS_SERVO master offset position of an axis when the MGSP
262. is can be configured differently Output Cam Lock AXIS_CONSUMED DINT GSV Set of Output Cam Lock Status bits Status eee Tag The Output Cam Lock Status bit is set when an Output Cam has been AXIS_SERVO armed This would be initiated by executing an MAOC instruction with AXIS_SERVO_DRIVE Immediate execution selected when a pending output cam changes to AXIS VIRTUAL armed or when the axis approaches or passes through the specified axis T 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 Output Cam Lock AXIS_CONSUMED DINT Tag A set of bits that are set when an Output Cam is locked to the Master Status AXIS SERVO Axis The bit number corresponds with the execution target number One ag bit per execution target AXIS_SERVO_DRIVE AXIS_VIRTUAL Output Cam AXIS_CONSUMED DINT GSV set ide that are set when an Output Cam is waiting for an armed utput Cam to move beyond its cam start cam end position Bona igi ats pee Tag The bit number corresponds with the execution target number One bit AXIS_SERVO per execution target AXIS_SERVO_DRIVE The Output Cam Pending Status bit is set if an Output Cam is currently AXIS VIRTUAL pending the completion of another Output Cam This would be initiated by executing an MAOC instruction with Pending execution selected As soon as this output cam is a
263. is configuration gives full position servo control using an external torque loop servo drive Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset The controller updates these values at the coarse update period of the 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 Publication LOGIX UM002A EN P February 2006 Torque Servo Loop Block Diagrams B 3 Position Servo with Velocity Servo Drive Offset a l Ace P dat gt FF Velocity Gain Offset ona e Offset Output amp Vel Filter Friction Servo oP dat p FF BW Comp Polarity l Gain Position Command Velocity Coarse Position Command Error Low Velocity Pos P Output Output 16 Bit P A gt interpolator z P Gain z z ass P scaling E Limit PT pac P Servo Filter Drive Position 5 Command Velocity vip l Feedback Output Level Error Position Accum p Pos Feedback ulator Gain Position Integrator Error oF fe re Servo Config Position Servo Motor Encoder Polarity Position i Ch AB Fe
264. is data via the C2C connection C2C Map AXIS_CONSUMED SINT GSV Producer Consumed axis s associated C2C map instance Instance AXIS_GENERIC l P is When the Axis Data Type attribute is specified to be Consumed then AXIS_SERVO this axis is associated to the consumed data by specifying both the C2C AXIS_SERVO_DRIVE Map Instance and the C2C Connection Instance For all other Axis Data AXIS VIRTUAL Types if this axis is to be produced then this attribute is set to 1 one to indicate that the connection is off of the local controller s map instance Command AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled Acceler ti n AXIS_GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Command Acceleration in Position Units Sec2 AXIS_VIRTUAL 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 coarse 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
265. is offline the following parameters can be edited and the program saved to disk using either the Save command or by Publication LOGIX UM002A EN P February 2006 Maximum Velocity Maximum Acceleration Maximum Deceleration Axis Properties C 45 clicking on the Apply button You must re download the edited program to the controller before it can be run 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 Any change in value caused by manually changing the spin control is instantaneously sent to the controller 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 Any change in value caused by manually changing the spin control is instantaneously sent to the controller The maximum deceleration rate of the axis in Position Units second it is initially set to about 85 of the measured tuning deceleration rate by the tuning process If s
266. is 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 home position is assigned to the axis position at the precise position where the marker was detected If you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value Publication LOGIX UM002A EN P February 2006 3 6 Configure Homing Notes Publication LOGIX UM002A EN P February 2006 Chapter 4 Handle Faults Introduction The controller has these types of motion faults Type Description Example Instruction error Caused by a motion instruction A Motion Axis Move MAM e Instruction errors do not impact controller operation instruction with a parameter out of e Look at the error code in the motion control tag to see range why an instruction has an error e Fix instruction errors to optimize execution time and make sure that your code is accurate Fault Caused by a problem with the servo loop e Loss of feedback e You choose whether or not motion faults give the e Actual position exceeding an controller major faults overtravel limit e Can shutdown the controller if you do not correct the fault condition To handle motion faults e Choose If Motion Faults Shut Down the Controller e Choose the Fault Actions for an Axis e Set the Fault Action for an Axis Publication LOGIX UM002A EN P February 2006 4 2
267. ist service to the module When an Axis Configuration Fault occurs one or more axis parameters associated with a motion module or device has not been successfully updated 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 these 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 0xFF are reserved to mirror common service status codes Values 256 65535 are available for object class attribute specific errors Attribute Error ID AX S_SERVO INT AXIS_SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 GSV Tag Attrib
268. ith the drive enabled but no servo action Abort Home Request If this bit is set any active homing procedures are cancelled Abort Event Request If this bit is set any active registration or watch event procedures are cancelled 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 Publication LOGIX UM002A EN P February 2006 D 16 Axis Attributes Attribute Axis Type Data Type Access Description Axis Data Type AXIS_CONSUMED SINT MSG Associated motion axis tag data type AXIS_GENERIC 0 Feedback AXIS_ SERVO 1 Consumed AXIS_SERVO_DRIVE pe 3 Generic AXIS_VIRTUAL 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 attribute 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 which consumes axis motion data produc
269. ity of an independent Bits cont 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 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 Master Offset AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS GENERIC Tag for the motion group default setting Otherwise you won t see the right a value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Master Offset in Master Position Units AXIS_VIRTUAL The Master Offset is the position offset that is currently applied to the master side of the position cam The Master
270. ive Ramp Rate D 28 Friction Compensation D 48 Friction Compensation Window D 49 Maximum Negative Travel D 57 Maximum Positive Travel D 58 Output Limit D 69 Output Offset D 70 Position Error Tolerance D 73 Position Lock Tolerance D 75 Torque Offset D 94 Velocity Offset D 104 Servo Loop Block Diagrams B 2 Position Servo with Torque Servo Drive B 2 Position Servo with Velocity Servo Drive B 3 Servo Status Attributes Acceleration Command D 4 Acceleration Feedback D 4 Attribute Error Code D 8 Attribute Error ID D 8 Aux Position Feedback D 12 Axis Response Bit Attributes Zero DAC Request Acknowl edge D 19 Commissioning Status Attributes Test Direction Forward D 91 Test Status D 91 Tune Acceleration D 95 Tune Acceleration Time D 96 Tune Deceleration D 96 Tune Deceleration Time D 96 Tune Inertia D 97 Tune Rise Time D 98 Tune Speed Scaling D 98 Tune Status D 98 Marker Distance D 54 Position Command D 72 Position Error D 73 Position Feedback D 74 Position Integrator Error D 75 Servo Fault Bit Attributes D 84 Servo Output Level D 87 Servo Status Bit Attributes D 88 Velocity Command D 101 Velocity Error D 101 Velocity Feedbac D 102 Velocity Integrator Error D 104 Status Attributes Output Cam Lock Status D 68 Output Cam Pending Status D 68 Output Cam Status D 68 Output Cam Transition Status D 69 Motion Axis Fault Reset 2 4 Index 9 Motion Axis Gear 2 4 Motion Axis Home 2 4 Motion Axis Jog 2 4 Motion Axis Move 2 4 Motion
271. ive Units attribute See IDN 45 in IEC 1491 Velocity Droop S_SERVO_DRIVE REAL GSV SSV Position Units sec This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Error AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV 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 Velocity Error in Position Units Sec 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 Publication LOGIX UM002A EN P February 2006 D 102 Axis Attributes Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO REAL Feedback AXIS_SERVO_DRIVE GSV 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 Velocity Feedback in Position Units Sec Velocity Feedback is the actual velocity of the axis as estimated by the motion modu
272. ive 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 amplifiers 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
273. k is configured to be ae a triggered by the registration event Registration 2 AXIS_SERVO_DRIVE Dae e The task is triggered at the same time that the Process Complete Event Task AXIS_VIRTUAL Publication LOGIX UM002A EN P February 2006 bit is set for the instruction that armed the watch event e The controller sets these attributes Don t set them by an external device Axis Attributes D 81 Attribute Axis Type Data Type Access Description Registration 1 AXIS_CONSUMED REAL GSV Position Units iti AXIS_GENERIC Ta i Pognon g Two registration position attributes are provided to independently store en AXIS_SERVO axis position associated with two different registration input events The Registration 2 AXIS_SERVO_DRIVE Registration Position value is the absolute position of a physical or Position AXIS VIRTUAL 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 Registration Position 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 sa
274. k units mm per motor rev and internally applied to IDN 123 to relate 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 a 5 mm pitch ball screw and the user s Position Unit is say cm the Conversion Constant is again rational since we are Load Referenced The user sets 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 exactly 10 cm Publication LOGIX UM002A EN P February 2006 D 38 Axis Attributes Attribute Axis Type Data Type Access Description Drive Scaling Bits AXIS_SERVO_DRIVE DINT Publication LOGIX UM002A EN P February 2006 GSV 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
275. l 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 baseunit distances the device rolls over at its maximum turns count which is usually either 1024 or 2048 If you need to establish the rollover of 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 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 Maximum number of turn s before pseudo marker is found Position Type the desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position 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 Publication LOGIX U
276. l marker exists for the LDT or SSI feedback devices Passive In this mode homing redefines the absolute position of the axis on the occurrence of a home switch or encoder marker event Passive homing is most commonly used to calibrate uncontrolled axes although it can also be used with controlled axes to create a custom homing sequence Passive homing for a given home sequence works similar to the corresponding active homing sequence except that no motion is commanded the controller just waits for the switch and marker events to occur Publication LOGIX UM002A EN P February 2006 C 32 Axis Properties e Absolute AXIS_SERVO_DRIVE and AXIS_SERVO when associated with a 1756 HYD02 LDT feedback or 1756 M02AS SSI feedback module only In this mode the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device The only valid Home Sequence for an absolute Homing Mode is immediate 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 Prior to execution of the absolute homing process using the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled IMPORTANT For the SSI feedback transducer no physica
277. le in the configured axis Position Units per second The estimated 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 Velocity AXIS_SERVO REAL Feedforward AXIS_SERVO_DRIVE Gain Publication LOGIX UM002A EN P February 2006 GSV SSV Servo Drives require non zero command input to generate steady state axis acceleration or 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 We ideally want zero following error all the time 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 that has 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 Velocity 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
278. ler My_Controller Tasks 3 Motion Groups CI Trends 5 Data Types E 1 0 Configuration 1756 Backplane 1756 47 E i 1 1768 M045E My_SERCOS_Module E J 1 1756 M085E My_SERCOS_Module a aE A N E Select Module 2 Other A 1394C 5JT05 D 1394 460VAC SERCOS System Module SkwW PS Allen Bradley 1394C 5JT10 D 1394 460VAC SERCOS System Module 10kw PS Allen Bradley 4 2094 AM01 Kinetix 6000 230VAC AM 94 Cont 174 Peak Allen Bradley 2094 AMOZ Kinetix 6000 230VAC AM 154 Cont 304 Peak 2094 AMO03 Kinetix 6000 230VAC AM 244 Cont 49A Peak New Module By Category 5 Description 1394C 5JT22 D 1394 460VAC SERCOS System Module 22kw PS Allen Bradley Kinetix 6000 230VAC IAM 3kW PS 9A Cont 17A Peak Allen Bradley 2094 AC0S MP5S Kinetix 6000 230VAC IAM 3kW PS 5A Cont 10A Peak Allen Bradley 2094 AC09 M02 Kinetix 6000 230VAC IAM 6kW PS 15A Cont 304 Peak Allen Bradley 2094 AC16 M03 Kinetix 6000 230VAC IAM 15kW PS 244 Cont 49A P Allen Bradley 2094 AC32 M0S Kinetix 6000 230VAC IAM 23kW PS 494 Cont 98A P Allen Bradley 2094 AM0S Kinetix 6000 230 AC AM 494 Cont 984 Peak By Vendor a SERCOS Network N Li Vendor Type 2094 4C03 M02 Kinetix 6000 230VAC IAM 6kw PS 154 Cont 304 F Find Allen Bradle Vendor Name Revision fr fi a lectronic Keying
279. lication LOGIX UM002A EN P February 2006 C 70 Axis Properties Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Limits Tab Use this tab to make the following offline configurations AXIS_SERVO_DRIVE e enable and set maximum positive and negative software travel limits and e configure both Position Error Tolerance and Position Lock Tolerance for an axis of the type AXIS_SERVO_DRIVE configured as a Servo drive in the General tab of this dialog e Axis Properties mysercos laxis Of Ed General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag F Hard Travel Limits Manual Adjust T Soft Travel Limits Set Custom Limits Maximum Positive foo Position Units Masmum Negative foo Position Units Position Error Tolerance mmo Position Units Position Lock Tolerance pao Position Units Peak Torque Force Limit foo Rated Continuous Torque Force Limit f 00 0 Rated Cancel Apply Help The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits Publication LOGIX UM002A EN P February 2006 Hard Travel Limits Soft Travel Limits Maximum Positive M
280. line Hard Program mode PROG or Hard Run mode RUN then any executing Direct Command instruction continues execution and the Execute button is disabled Whenever the Execute button 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 stays in place until the workstation executing commands relinquishes the lock Publication LOGIX UM002A EN P February 2006 2 12 Test an Axis with Motion Direct Commands Notes Publication LOGIX UM002A EN P February 2006 Chapter 3 Configure Homing Introduction Homing puts your equipment at a specific starting point for operation This starting point is called the home position Typically you home your equipment when you reset it for operation Guidelines for Homing Guideline Details 1 To move an axis to the home Active homing turns on the servo loop and moves the axis to the home position Active position use Active homing homing also e Stops any other motion e Uses a trapezoidal profile 2 For a Feedback only device use Passive homing doesn t move the axis Passive homing e Use passive homing to calibrate a Feedback only axis to its marker e f you use passive homing on a servo axis turn on the servo loop and use a move instruction to move the axis 3 If you have an absolute feedback If the motion axis hardware supports an absolute feedb
281. llimeters 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 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 the Pos I Gain value may also be set manually Before doing this it Proportional Velocity Gain Integral Velocity Gain
282. lowing parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Velocity 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 the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforward Gain scales the current Command Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system d
283. lues PWM Start Stop Rising and Start Stop Falling This attribute is only active if the Transducer Type is set to LDT Load Inertia Ratio AXIS SERVO_DRIVE REAL GSV SSV 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 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 Map Instance AXIS_GENERIC DINT GSV AXIS_SERVO AXIS_SERVO_DRIVE 1 0 Map Instance Number This is 0 for virtual and cons
284. ly apply if more than one Motion Group instance was supported Coordinate Coordinate Group 1 System 1 System 2 CoordSysListPtr ____ gt B EE oH GroupPtr a __ GroupPtr all coordinate groups p Bt M gt Device Struct poe a CoordSysPtr i AxisPtrArray AxisPtrArray X_Axis Y_Axis Y_Axis Z_Axis Axis 1 Axis 2 Axis 3 _ gt ee CoordSysPtr frre CoordSysPtr CoordSysPtr CoordSysPtr will point to the Coordinate System currently connected to the axis If there is not a Coordinate System connected the pointer will be NULL The intent of the CoordSysPtr in the Axis Object is to provide a quick link to the Coordinate System currently using the axis for Axis Stop and Axis Shutdown processing Publication LOGIX UM002A EN P February 2006 Chapter 6 Introduction When to Inhibit an Axis Inhibit an Axis Use this chapter to block the controller from using an axis Inhibit an axis when E Controller My_Controller Tasks Ea Motion Groups tor My_Motion_Group You want to block the controller from using an gt My _Axis_X axis because the axis is faulted or not installed Hp My Axis Y lt a Ungrouped Axes You want to let the controller use the other axes Trends 20 Data Types 1 0 Configuration Example 1 Suppose you make equipment that has between 8 and 12 axes depending on which options your customer buys In
285. m travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog Software overtravel limits are disabled during the tuning process Type the maximum positive position to be used for software overtravel checking in position units Note The Maximum Positive limit must always be greater than the Maximum Negative limit Type the maximum negative position to be used for software overtravel checking in position units Note The Maximum Negative limit must always be less than the Maximum Positive limit Publication LOGIX UM002A EN P February 2006 C 72 Axis Properties Position Error Tolerance Position Lock Tolerance Peak Torque Force Limit Continuous Torque Force Limit Manual Adjust Publication LOGIX UM002A EN P February 2006 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 as shown here Note This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection i
286. mately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automatic servo tuning procedure in the Tuning tab of this dialog the Pos I Gain value may also be set manually Before doing this it must be stressed that the Output Scaling factor for the axis must be established for the drive system Once this is done the Pos I Gain can Differential Proportional Velocity Gain Integral Velocity Gain Axis Properties C 49 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 Position Differential Gain helps predict a large overshoot before it happens and makes the appropriate attempt to correct it before th
287. may be expressed as follows Bandwidth Velocity 0 25 1 Z2 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 Attribute Velocity Scaling Axis Type AXIS_SERVO Axis Attributes D 107 Data Type Access Description REAL GSV SSV Position Units Per Second The Velocity Scaling attribute is used to convert the output of the servo loop into equivalent voltage to an external velocity servo drive This has the effect of normalizing the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The Velocity Scaling value is typically established by servo s automatic 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 motor revolutions revs and the servo drive is scaled such that with an input of 100 for e
288. me The name can be up to 40 characters and can include letters numbers and underscores _ When you rename a tag the new name replaces the old one in the Controller Organizer after click on the OK or Apply button Description Displays the description of the current tag if any is available You can edit this description The edited description replaces the existing description when you click on either the OK or Apply button Publication LOGIX UM002A EN P February 2006 5 16 Create and Configure a Coordinate System Publication LOGIX UM002A EN P February 2006 Tag Type Indicates the type of the current Coordinate System tag This type may be e Base e Alias The field is not editable and is for informational purposes only Data Type Displays the data type of the current Coordinate System tag which is always COORDINATE_SYSTEM This field cannot be edited and is for informational purposes only Scope Displays the scope of the current Coordinate System tag The scope for a Coordinate System tag can only be controller scope This field is not editable and is for informational purposes only Style Not applicable Create and Configure a Coordinate System 5 17 Coordin ate System Use that attributes of a coordinate system for information about the g coordinate system Attributes How to Access Attributes The Access column shows how to access the attribute Example Use a Get System Value GSV instruction to get th
289. mmand 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 Since master axis position is measured in discrete feedback counts and is inherently noisy the extrapolation process amplifies that noise according to the total position update delay The total position update delay is proportional to the Coarse 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 Coarse Update Period and the SERCOS Update Period if a AXIS_SERVO_DRIVE data type The controller uses a 1 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
290. mmands Accessing From Group 2 2 Supported Commands Motion State 2 4 drive add SERCOS interface drive 1 4 check wiring 1 12 E Editing Axis Properties General Tab AXIS_GENERIC C 7 Axis Configuration C 7 Channel C 8 Ellipsis button C 8 Module C 8 Publication LOGIX UM002A EN P February 2006 Motion Group C 7 General Tab AXIS_SERVO_DRIVE C 2 C 6 Assigned Motion Group C 3 Axis Configuration C 2 Module C 3 Node C 3 Node with a Kinetix 6000 Drive C 4 General Tab SERVO_AXIS C 1 Axis Configuration C 1 Channel C 2 Module C 2 Motion Planner Tab C 8 Enable Master Position Filter Check box C 10 Master Delay Compensation Check box C 9 Master Position Filter Bandwidth C 10 Output Cam Execution Targets C 8 Program Stop Action C 9 Units Tab C 11 Average Velocity Timebase C 11 Position Units C 11 Encoder D 27 Encoder Noise D 10 D 48 D 61 G General Tab AXIS_VIRTUAL C 6 Assigned Motion Group C 6 H home limit switch wire diagram A 15 home limit switch input wire A 15 hookup tests run 1 12 l inhibit axis 6 1 axis of a 1394 drive 6 4 L Linear displacement transducer LDT Connecting the LDT to the 1756 HYD02 module A 10 A 12 M Motion Apply Axis Tuning 2 5 Motion Apply Hookup Diagnostic 2 5 Motion Arm Output Cam 2 5 Motion Arm Registration 2 5 Motion Arm Watch Position 2 5 Motion Attributes Axis Event Bit Attributes D 17 Axis Fault Bit Attributes D 17 Axis Status Bit Attribut
291. mpensation to the Servo Output value based on its current sign The Friction 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 Publication LOGIX UM002A EN P February 2006 Axis Attributes D 49 Attribute Axis Type Data Type Access Description Friction AXIS_SERVO REAL GSV Position Units Compensation AXIS_SERVO_DRIVE SSV Window To address the issue of dither when applying Friction Compensation and hunting from the integral gain a Friction 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 Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied Of course should the Friction Compensation Window be set to zero this feature is effectively disabled A non zero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This g
292. mum Acceleration attribute value is used by motion instructions such as MCLM MCCM and so on to determine the acceleration rate to apply to the coordinate system vector when the acceleration is specified as a percent of the Maximum Maximum Deceleration REAL GSV Coordination Units Sec SSV The Maximum Deceleration attribute value is used by motion instructions such as MCLM MCCM and so on to determine the deceleration rate to apply to the coordinate system vector when the deceleration is specified as a percent of the Maximum Maximum Pending Moves DINT GSV The Maximum Pending Moves attribute is used to determine how many Move Pending queue slots should be created as part of the Coordinate System s create service Limited to a queue of one Maximum Speed REAL GSV Coordination Units Sec SSV The value of the Maximum Speed attribute is used by various motion instructions for example MCLM MCCM and so on to determine the steady state speed of the coordinate system vector when the speed is specified as a percent of the Maximum Module Fault BOOL Tag The Module Fault bit attribute is set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition Modules Faulted DINT GSV Shows
293. mum torque of the tune test This attribute should be set to the desired maximum safe torque level prior to running the tune test The default value is 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system Note In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases The direction of the tuning motion profile The following options are available e Forward Uni directional the tuning motion profile is initiated in the forward tuning direction only e Forward Bi directional the tuning motion profile is 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 Friction Compensation and Torque Offset e Reverse Uni directional the tuning motion profile is initiated in the reverse tuning direction only e Reverse Bi directional the tuning motion profile is 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
294. 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 entire motion profile To fine tune the Acceleration Fee
295. n references a specific instance in which a value of zero selects the first instance Select how a specific axis is stopped when the processor undergoes a mode change or when an explicit Motion Group Programmed Stop MGPS instruction is executed e Fast Disable The axis is decelerated to a stop using the current configured value for maximum deceleration Servo action is maintained until the axis motion has stopped at which time the axis is disabled that is Drive Enable is disabled and Servo Action is disabled e 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 disabled Servo Action is disabled and the OK contact is opened To recover from this state a reset instruction must be executed e 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 e 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 e Hard Shutdown The axis is immediately placed in the shutdow
296. n 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 Specifies the maximum position error the servo module accepts in order to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units as shown here The Peak Torque Force Limit specifies the maximum percentage of the motors rated current that the drive can command as either 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 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 Click on this button to open the Limits tab of the Manual Adjust dialog for online editing of the Position Error Tolerance Position Lock Axis Properties C 73 Tolerance Peak Torque Forc
297. n state Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop To recover from this state a reset instruction must be executed Use this checkbox to Enable Disable Master Delay Compensation Master Delay Compensation is used balance the delay time between reading the master axis command position and applying the associated slave command position to the slave s servo loop This Publication LOGIX UM002A EN P February 2006 C 10 Axis Properties Enable Master Position Filter Checkbox Master Position Filter Bandwidth Publication LOGIX UM002A EN P February 2006 feature ensures that the slave axis command position accurately tracks the actual position of the master axis that is zero tracking error Clicking on this box enables Master Delay Compensation The default setting is Disabled If the axis is configured for Feedback only Master Delay Compensation should be disabled Use this checkbox to Enable Disable Master Position Filter The default is disabled and must be checked to enable position filtering Master Position Filter when enabled effectively filters the specified master axis position input to the slave axis s gearing or position camming operation The filter smoothes out the actual position signal from the master axis and thus smoothes out the corresponding motion of the slave axis When this feature is enabled the Master Position Filter Bandwid
298. n 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 PWM Frequency Select AXIS_SERVO_DRIVE SINT GSV 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 would be more appropriate 0 low frequency default 1 high frequency Publication LOGIX UM002A EN P February 2006 D 80 Axis Attributes Attribute Axis Type Data Type Access Description Reg 1 Input AXIS_SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE e ON Registration 1 input is active e OFF Registration 1 input is inactive Reg 2 Input AXIS_SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE e ON Registration 2 input is active e OFF Registration 2 input is inactive Reg Event 1 AXIS_CONSUMED BOOL Tag Set when a registration checking has been armed for registration input 1 Armed Status AXIS GENERIC through execution of the MAR Motion Arm Registration instruction Cleared when either a registration event occurs or a M
299. nd 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 Publication LOGIX UM002A EN P February 2006 D 72 Axis Attributes Attribute Axis Type Data Type Access Description Position Cam AXIS_CONSUMED BOOL Tag Set whenever the master axis satisfies the starting condition of a Lock Status AXIS GENERIC currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the AXIS_SERVO MAPC instruction This bit is bit is cleared when the current position AXIS_SERVO_DRIVE cam profile completes or is superseded by some other motion AXIS VIRTUAL operation In unidirectional master direction mode the Position Cam T Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction Position Cam AXIS_CONSUMED BOOL Tag Set if a Position Cam motion profile is currently pending the completion Pending Status AXIS GENERIC of a currentl
300. nfigured the module check the slot number in the 1756 HYDO2 Properties dialog box Steady green One of the following None e Module is exchanging axis data e The module is in the normal operating state Flashing red One of the following If an NVS update is in progress complete the NVS update e A major recoverable failure has occurred If an NVS update is not in progress e Acommunication fault timer fault or non volatile memory storage NVS update is e Check the Servo Fault word for the source of the error in progress e Clear the servo fault condition via Motion Axis Fault e The OK contact has opened Reset instruction e Resume normal operation e If the flashing persists reconfigure the module Steady red One of the following e A potential non recoverable fault has Reboot the module occurred The OK contact has opened If the solid red persists replace the module Publication LOGIX UM002A EN P February 2006 State Off FDBK Light Description The axis is not used Interpret Module Lights LEDs 7 7 Recommended Action None if you are not using this axis If you are using this axis make sure the module is configured and an axis tag has been associated with the module Flashing green The axis is in the normal servo loop inactive state None The servo axis state can be changed by executing motion instructions Steady green The axis is in the normal servo loop active state
301. none gt 7 OK Cancel Help Amplifier Catalog Number Select the catalog number of the amplifier to which this axis is connected Publication LOGIX UM002A EN P February 2006 C 20 Axis Properties Catalog Number Select the catalog number of the motor associated with this axis When you change a Motor Catalog Number the controller recalculates the values of the following values using among other values the default Damping Factor of 0 8 Table 3 A On this tab or dialog These attributes are recalculated Motor Feedback tab Motor Feedback Type Motor Feedback Resolution Gains tab Position Proportional Gains Velocity Proportional Gains Dynamics tab Maximum Velocity Maximum Acceleration Maximum Deceleration Limits tab Position Error Tolerance Custom Stop Action Attributes dialog Stopping Torque Custom Limit Attributes dialog Velocity Limit Bipolar Velocity Limit Positive Velocity Limit Negative Acceleration Limit Bipolar Acceleration Limit Positive Acceleration Limit Negative Torque Limit Bipolar Torque Limit Positive Torque Limit Tune Bandwidth dialog Position Loop Bandwidth Velocity Loop Bandwidth Note The Associated Module selection selected on the General tab determines available catalog numbers Loop Configuration Select the configuration of the servo loop e Motor Feedback Only Displayed when Axis Configuration is Feedback only e Aux Feedback Only Displaye
302. ns Manual Adjust Proportional po 17s Integral fo 0 1 ms s Differential oo gt Velocity Gains Proportional fo 0 1 s fo 0 1 ms s Integrator Hold Enabled x Feedforward Gains Velocity oo Acceleration joo Integral Cancel Apply Help The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication LOGIX UM002A EN P February 2006 C 48 Axis Properties Proportional Position Gain Integral
303. nstructions 1394 SERCOS Interface Multi Axis Motion Control System 1394 IN002 Installation Manual 1394 SERCOS Integration Manual 1394 IN024 Ultra3000 Digital Servo Drives Installation Manual 2098 IN003 Ultra3000 Digital Servo Drives Integration Manual 2098 INO05 Kinetix 6000 Installation Manual 2094 IN001 Kinetix 6000 Integration Manual 2094 IN002 8720MC High Performance Drive Installation Manual 8720MC INO01 8720MC High Performance Drive Integration Manual 8720MC INO02 Publication LOGIX UM002A EN P February 2006 Chapter 1 Introduction Start Use this chapter for step by step procedures on how to set up motion control IMPORTANT If you aren t using SERCOS interface drives and modules skip tasks 3 and 4 Task See page 1 Make the Controller the Master Clock 1 2 2 Add the Motion Modules 1 3 3 Add SERCOS interface Drives 1 4 4 Set Up Each SERCOS Interface Module 1 5 5 Add the Motion Group 1 6 6 Add Your Axes 1 8 7 Set Up Each Axis 1 9 8 Check the Wiring of Each Drive 1 12 9 Tune Each Axis 1 13 10 Get Axis Information 1 14 11 Program Motion Control 1 15 12 What s Next 1 17 Publication LOGIX UM002A EN P February 2006 1 2 Start Make the Controller the You must make one module in the chassis the master clock for motion control This module is called the coordinated system time CST Master Clock master The motion modules set their clocks
304. nt Fault AXIS_SERVO BOOL Tag If this bit is set the motion module has a problem with its timer event AXIS_SERVO_DRIVE that synchronizes the module s servo loop to the master timebase of the chassis that is Coordinated System Time To clear this bit reconfigure the motion module Torque Command AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Tag 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 Torque Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 86 in IEC Scaling 1491 Torque Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 94 in IEC Scaling Exp 1491 Torque Data AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 93 in IEC Scaling Factor 1491 Torque Feedback AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Tag 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 Publication LOGIX UM002A EN P February 2006 Axis Attributes D 93 Attribute Axis Type Data Type Access Description Torque Limit AXIS_SER
305. ntial C 49 Integral Position Gain C 48 Integrator Hold C 51 Manual Tune C 51 Proportional Position Gain C 48 Proportional Velocity Gain C 49 Gains Tab AXIS_SERVO_DRIVE C 46 C 51 Acceleration Feedforward C 50 C 53 Integral Position Gain C 54 Integral Velocity Gain C 49 C 55 Integrator Hold C 56 Manual Tune C 57 Proportional Position Gain C 54 Proportional Velocity Gain C 49 C 55 Set Custom Gains C 57 Velocity Feedforward C 50 C 53 Homing Tab AXIS_VIRTUAL C 35 Mode C 35 Position C 35 Sequence C 36 Homing Tab SERVO_AXIS and SERVO_AXIS_DRIVE C 30 Direction C 34 Limit Switch C 33 Mode C 31 Offset C 33 Position C 32 Return Speed C 34 Sequence C 33 Speed C 34 Hookup Tab AXIS_SERVO C 36 Feedback Polarity C 36 Output Polarity C 37 Test Feedback C 37 Test Increment C 36 Test Marker C 37 Test Output amp Feedback C 37 Hookup Tab Overview AXIS_SERVO_DRIVE C 38 Drive Polarity C 38 Test Feedback C 39 Test Increment C 38 Test Marker C 39 Test Output amp Feedback C 39 Limits Tab AXIS_SERVO C 66 Manual Tune C 69 Maximum Negative C 68 Maximum Positive C 68 Output Limit C 69 Position Error Tolerance C 68 Soft Travel Limits C 68 Limits Tab AXIS_SERVO_DRIVE C 70 Continuous Torque Force Limit C 72 Hard Travel Limits C 71 Manual Tune C 72 Maximum Negative C 71 Maximum Positive C 71 Peak Torque Force Limit C 72 Position Error Tolerance C 72 Position Lock Tolerance C 72 Set Custom L
306. o Type SSV 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 configuration for interfacing to a torque loop servo drive If the External Drive Type attribute is set to hydraulic servo the object will enable certain features specific to hydraulic servo applications In general selecting the hydraulic External Drive Type configures the servo loop the same as selecting the velocity servo External Drive Type Publication LOGIX UM002A EN P February 2006 Attribute Axis Type Data Type Access Fault AXIS_SERVO DINT GSV Configuration AXIS_SERVO_DRIVE SSV Bits Axis Attributes D 45 Description Axis Type Fault Configuration Bit AXIS_SERVO Soft OvertravelChecking 0 Reserved 1 Drive Fault Checking 2 Drive Fault Normally Closed 3 AXIS_SERVO_DRIVE Soft Overtravel Checking 0 Hard Overtravel Checking 1 Reserved 2 Reserved 3 Drive Enable Input Fault Handling 4 Drive Enable Input Checking 5 Change to rotary or Overtravel Checking requires Home range checks Soft Overtravel Checking Soft overtravel checking is only available for a linear a
307. o finish All of these have happened Thisaus ison e The axis is uninhibited e All uninhibited axes are ready e The connections to the motion module are running again e For a SERCOS ring the SERCOS ring has phased up again My_Axis_XInhibitStatus My_Axis_X ServoActionStatus My_Axis_ X_OK _ Sa This axis is OK to run Publication LOGIX UM002A EN P February 2006 Chapter 7 Interpret Module Lights LEDs introduction Use this chapter to interpret the lights on the front of your module For This Module See Page 1756 M02AE Module 7 1 1756 M02AS Module 7 3 1756 HYD02 Module 7 6 SERCOS interface Module 7 9 1756 M02AE Module OK Light 2 AXIS SERVO CHO CH1 FDBK DRIVE OK FDBK DRIVE State Description Off The module is not operating Recommended Action e Apply chassis power e Verify the module is completely inserted into the chassis and backplane Flashing green The module has passed internal diagnostics but it is not communicating axis data over the backplane e None if you have not configured the module e f you have configured the module check the slot number in the 1756 MOZ2AE Properties dialog box Steady green e Axis data is being exchanged with the None The module is ready for action module e The module is in the normal operating state Flashing red e A major re
308. o 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 Position Error AXIS_SERVO BOOL Tag Set when the axis position error exceeds the Position Error Tolerance Fault AXIS_SERVO_DRIVE 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 Position Error AXIS_SERVO SINT GSV Fault Action Value Fault Action AXIS_SERVO_DRIVE SSV Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Position Error AXIS_SERVO REAL GSV Position Units Tolerance AXIS_SERVO_DRIVE SSV 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 below Position Error Normal System Position Error Fault Operation Fault 10 05 0 0 0 5 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 v
309. o 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 as well as result in a steady state non zero position error when the servo loop is closed Manual Adjust Click on this button to open the Offset tab of the Manual Adjust dialog for online editing of the Friction Deadband Compensation Backlash Compensation Velocity Offset Torque Offset and Output Offset parameters Manual Adjust myservolaxis X Dynamics Gains Output Limits Ottset Friction Deadband Compensation Friction Compensation 0 0 Reset Window 0 0 l Position Units Backlash Compensation Reversal Offset oo Position Units Stabilization Window Position Units Velocity Offset oo Position Units s Torque Offset oo 4 x Output Offset 0 0 Volts OK Cancel Apply Help Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Offset Tab Use this tab to make offline adjustments to the following Servo Output AXIS_SERVO_ DRIVE values e Friction Compensation e Velocity Offset and e Torque Offset Publication LOGIX UM002A EN P February 2006 C 80 Axis Properties for an axis of the type AXIS_SERVO_DRIV
310. o set up the motion planner Motion Planner Part of the controller that takes care of position and velocity information for your axes Coarse Update Period How often the motion planner runs When the motion planner runs it interrupts all other tasks regardless of their priority Motion Planner Scans of Your Code System Overhead And So On 0 ms 10 ms 20 ms 30 ms 40 ms In this example the coarse update period 10 ms Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner IMPORTANT Add only 1 motion group for the project RSLogix 5000 software doesn t let you add more than 1 motion group Action Details 1 Choose your coarse update The coarse update period is a trade off between updating positions of your axes and period scanning your code Use these guidelines as a rough starting point A How many axes do you have e Less than 11 axes Set the coarse update period to 10 ms e 11 axes or more Set the coarse update period to 1 ms per axis B Leave at least half the controller s time for the scan of all your code C If you have SERCOS interface motion modules set the coarse update period to a multiple of the cycle time of the motion module Example if the cycle time is 2 ms set the coarse update period to 8 ms 10 ms 12 ms and so on D If you have analog motion modules set the coarse update period to 1
311. ode value can be used to identify the source of the drive parameter update failure that resulted in the Axis Configuration Fault The error codes for this attribute are derived from the IEC 1394 SERCOS Interface standard SERCOS Fault AXIS_SERVO_DRIVE BOOL Tag Set when either a requested SERCOS procedure fails to execute properly or the associated drive node has detected a SERCOS communication fault SERCOS Ring AXIS_SERVO_DRIVE BOOL Tag If this bit is set there is a problem on the SERCOS ring that is the light Fault has been broken or a drive has been powered down Servo Action AXIS_CONSUMED BOOL Tag If this bit is Status AXIS_ GENERIC e ON The axis is under servo control AXIS_SERVO e OFF Servo action is disabled AXIS_SERVO_DRIVE AXIS_VIRTUAL Servo Fault AXIS_SERVO DINT Tag Lets you access all the 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 Reserved Reserved Feedback Fault Feedback Noise Fault Reserved Reserved Position Error Fault co co NS o e WY MN Drive Fault These fault bits are updated every coarse 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 Publication LOGIX UM002A EN P F
312. oed and the appropriate 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 Publication LOGIX UM002A EN P February 2006 Drive Fault Feedback Noise Feedback Loss Axis Properties C 85 e Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated e Stop Motion If a fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared e Status Only If a fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate ATTENTION Selecting the wrong fault action
313. off then The MAH instruction homes the axis Home_Pushbutton My Axis AxisHomedStatus ee MAH Motion Axis Home Axis My Axis x E Motion Control My_Axis_X _Home Publication LOGIX UM002A EN P February 2006 1 16 Start If Jog_Pushbutton on and the axis on My_Axis_X ServoActionStatus on then The MAu instruction jogs the axis forward at 8 units s Jog Pushbutton My Axis ServadctionStatus Motion Axis Jog Axis My Axis x E Motion Control My_Axis_X_Jog Direction My_Asis_ _Jog_ Direction pe Speed My Axis x_SetUp ManuallogSpeed 80e Speed Units Units per sec More gt gt If Jog_Pushbutton off then The MAS instruction stops the axis at 100 units s2 Make sure that Change Decel is Yes Otherwise the axis decelerates at its maximum speed Jog_Pushbutton MAS Motion Axis Stop EN Axis My Axis X E DN Motion Control My Axis x MAS ER Stop Type Jog IP3 gt Change Decel Yes PC gt Decel Rate My_Axis_X_SetUp ManuaogDecel 100 06 Decel Units Units per sec2 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_Asis_ ServodctionStatus AM Motion Axis Move EN Axis My Axis x E COND Motion Control My_Axis _x_Move ER Move Type 0 IP gt Position 10 Speed My_Axis gt SetUp AutoS peedCommand 1 0 Speed Unit
314. ofile 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 that 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 Axis Attributes D 23 Attribute Axis Type Data Type Access Description Brake Engage AXIS_SERVO_DRIVE REAL Delay Time GSV SSV Sec 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
315. olarity 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 Servo Status AXIS_SERVO DINT Tag Lets you access 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 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 Resevered gt CO N Dm oY By wr N Resevered Drive Fault Input Status Publication LOGIX UMO002A EN P February 2006 D 88 Axis Attributes Attribute Axis Type Data Type Access Description Servo Status Bits AX S_SERVO DINT GSV Lets you access 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 Resevered co co N OD oy FY wy N a i Resevered R Drive Fault Input Status Shutdown Status AXIS_CONSUMED BOOL Tag
316. olution 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 Active home to switch in forward unidirectional This active homing sequence is useful for when an encoder marker is not available and either unidirectional motion is required or proximity switch is being used During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch 2 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Active home to marker in forward unidirectional Publication LOGIX UM002A EN P February 2006 This active homing sequence is useful for single turn rotary and linear encoder applications when unidirectional motion is required During the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker 2 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Sequence Active home to switch and marker in forward unidirectional Sequence Passive Immediate Home Configure Homing 3 5 Description This active homing sequence is useful for multi turn rotary applications when unidirectional motion is required 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 mark
317. on control instructions for your axes e Uses these instructions just like the rest of the Logix5000 instructions You can program motion control in these See e Logix5000 Controllers Common programming languages Procedures Manual 1756 PM001 ladder diagram LD Logix5000 Controllers Motion structured text ST Instructions Reference Manual f 1756 RM007 sequential function chart SFC e Logix5000 Controllers General e Each motion instruction works on one or more axes Instructions Reference Manual 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 1756 RM003 MSO Motion Servo On Axis it Motion control iy Motion control tag Use the tag for the motion control operand of motion instruction ATTENTION only once Unintended operation of the control variables may happen if you re use of the same motion control tag in other instructions Example Here s an example of a simple ladder diagram 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_ ServadctionStatus SF MSO Motion Servo On Axis My Axis x E Motion Control My_Axis_X_On If Home_Pushbutton on and the axis hasn t been homed My_Axis_X AxisHomedStatus
318. ontrol Jog_1 DN Direction 0 ER Speed Jog_1_Speed 60 0 P Speed Units Units per sec Accel Rate Jog_1_Accel 20 06 Accel Units Units per sec2 Use the same deceleration rate ieee p in both instructions epa o2 S Curve Disabled Programmed Jog_PB lt Local 4 Data O gt a ae In a MAS instruction set Change E a Decel to Yes The axis uses the Stoph pece Decel Rate of the instruction T 0e Decel Unts Units per sec2 Publication LOGIX UM002A EN P February 2006 Appendix A Introduction Wiring Diagrams Use the diagrams in this appendix to wire the motion control equipment of your control system To wire this See page 1756 M02AE Module A 2 Ultra 100 Series Drive A 3 Ultra 200 Series Drive A 3 Ultra3000 Drive A 5 1394 Servo Drive in Torque Mode only A 7 1756 M02AS Module A 9 1756 HYD02 Application Example A 10 1756 HYD02 Module A 11 LDTs A 12 Temposonic GH Feedback Device A 13 24V Registration Sensor A 14 5V Registration Sensor A 14 Home Limit Switch Input A 15 OK Contacts A 15 Publication LOGIX UM002A EN P February 2006 A 2 Wiring Diagrams 1756 M02AE Module 126 1 N 0UT 0 OUT 1 General Cable To servo drive US Os C0720 OUT 0 OUT
319. oordinate System Attribute Data Type Access Description Actual Position REAL 8 Tag Array of actual position of each axis associated to this motion coordinate system in Coordinate Units Actual Position Tolerance REAL GSV Coordination Units SSV The Actual Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM and so on specify a Termination Type of Actual Position Axes Configuration Faulted DINT GSV Shows which axes in this coordinate system have a configuration fault Tag If this bit is on Then this axis has a configuration fault 0 0 1 1 2 2 Axes Inhibited Status DINT GSV Shows which axes in this coordinate system are inhibited Tag If this bit is on Then this axis is inhibited 0 0 1 1 2 2 Axes Servo On Status DINT GSV Shows which axes in this coordinate system are on via MSO Tag If this bit is on Then this axis is on 0 0 1 1 2 2 Axes Shutdown Status DINT GSV Shows which axes in this coordinate system are shutdown Tag If this bit is on Then this axis is shutdown 0 0 1 1 2 2 Axis Fault DINT GSV The Axis Fault Bits attribute is a roll up of all of the axes associated to this motion coordinate system A bit being set indicates that one of the associated axes has Tag that fault Type Bit Physical Axis Fault 0 Module Fault 1 Config Fault 2 Axis Inhibit Status BOOL Tag If this bit is Publication LOGIX UM002A EN P February 2006 e ON An a
320. operties My_Axis_X Homing Hookup Tune Dynamics Gains Output Limits Oset TFaut amp ctons Taq General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion B Select whether this is a rotary or linear axis Positioning Mode x i f Drive Counts 1 0 Revs C Type the number of drive counts Conversion Constant 200000 0 Based on 200000 Counts Motor Rev that equal one unit from Step 3B 2 Position Unwind 200000 Drive Counts Unwind Based on 200000 Counts Motor Rev D If this is a rotary axis type the number of drive counts that you want to unwind after 6 Set up the homing sequence B Select the type of homing sequence that you want 5 Axis Properties My_Axis_X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ac Mode Active Position 0 0 Revs Offset 0 0 Revs Sequence Marker Md itch Normally Ope is p Active Home Sequence Group Direction Forward Bi directional z Speed 0 25 Revs s C Type homing speeds Publication LOGIX UM002A EN P February 2006 Return Speed jo 25 Revs s Start 1 11 Action Details 7 Apply your changes PPly Y g s Axis Properties My_Axis_X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Homing Hookup Tune Dynamics Gains Output Limits Offset
321. or Position Unit Scaling The options are Motor Inch Motor Millimeter or Motor Rev Position Range Maximum travel limit that your system can go Position Unit Unwind For Rotary applications the Position Unit Unwind field displays Enter the value for the maximum number of unwinds in position units per unwind cycle Publication LOGIX UM002A EN P February 2006 Axis Properties 25 Calculate Parameters The Calculate Parameters shows the values that are to be calculated based upon the values entered for the Position Unit Scaling and Position Range Drive Resolution Recalculates the resolution based upon the new values entered on this screen Conversion Constant Recalculates the Conversion Constant based upon the new values entered on this screen When the Conversion screen has Rotary as the value for Position Mode clicking on the Calculate button displays the following screen Upaate Publication LOGIX UM002A EN P February 2006 C 26 Axis Properties Motor Feedback Tab Use this tab to configure motor and auxiliary feedback device Gf any AXIS SERVO DRIVE parameters for an axis of the type AXIS_SERVO_DRIVE e Axis Properties AxisO Ioj x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Feedback Type TTL with Hall Cycles 2000 per Rev X
322. ordinate System 5 13 Maximum Acceleration Enter the value for Maximum Acceleration to be used by the Coordinated Motion instructions to determine the acceleration rate to apply to the coordinate system vector when acceleration is expressed as a percent of maximum Maximum Deceleration Enter the value for Maximum Deceleration to be used by the Coordinated Motion instructions to determine the deceleration rate to apply to the coordinate system vector when deceleration is expressed as a percent of maximum The Maximum Deceleration value must be a non zero value to achieve any motion using the coordinate system Position Tolerance Box In the Position Tolerance Box values are entered for Actual and Command Position Tolerance values See the Logix5000 Motion Instruction Set Reference Manual 1756 RM007 for more information regarding the use of Actual and Command Position Tolerance Actual Enter the value in coordination units for Actual Position to be used by Coordinated Motion instructions when they have a Termination Type of Actual Tolerance Command Enter the value in coordination units for Command Position to be used by Coordinated Motion instructions when they have a Termination Type of Command Tolerance Manual Adjust Button The Manual Adjust button on the Coordinate System Dynamics Tab accesses the Manual Adjust Properties dialog The Manual Adjust button is enabled only when there are no pending edits on the prope
323. otor 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 Motion database file based on the motor selection Motor Overtemp AXIS_SERVO_DRIVE BOOL Tag Set when the motor s temperature exceeds the motor shutdown Fault temperature Motor Thermal AXIS_SERVO_DRIVE SINT GSV Fault Action SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Move Status AXIS_CONSUMED BOOL Tag Set if a Move motion profile is currently in progress Cleared when the AXIS GENERIC Move is complete or is superse
324. ough the axis has not physically moved 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 controls the Backlash Stabilization feature in the servo control loop Properly configured with a suitable value for the Backlash Stabilization Window entirely eliminates the 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 Provides a dynamic velocity correction to the output of the position servo loop in position units per second Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output Click on this button to open the Offset tab of the Manual Adjust dialog for online editing of the Friction Deadband Compensation Backlash Fault Actions Tab AXIS_SERVO Axis Properties 83 Compensation Velocity Offset Torque Offset and Output Offset parameters Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved
325. out to be an integer value the 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 together with the Conversion Constant to handle various applications Continued on next page Publication LOGIX UM002A EN P February 2006 D 36 Axis Attributes Attribute Axis Type Data Type Access Description Drive Resolution cont Publication LOGIX UM002A EN P February 2006 Rotary Gear Head 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 The user 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 say 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 exactly 1 revolution Linear Ball Screw WITHOUT Aux Feedback Device Based on a rotary motor selection Drive Resolution would be expressed as Drive Counts p
326. 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 If a fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate ATTENTION Selecting the wrong fault action for your application can cause a dangerous condition Keep clear of A moving machinery Specifies the fault action to be taken when a Drive Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when a Motor Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only 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 Position Error Hard Overtravel Soft Overtravel Set Custom Stop Action Axis Properties C 89 Specifies the faul
327. owever the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforward Gain scales the current Command Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing position camming and synchronization applications 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 velocity loops with non infinite loop gain and other application considerations Note Acceleration Feedforward Gain is not applicable for applications employing velocity loop servo drives Such systems Axis Properties C 51 would require the acceleration feedforward functionality to be located in the drive itself Integrator Hold 1f the Integrator Hold parameter
328. physical axis Velocity Feedback is less than the configured Velocity Threshold Axis Attributes D 109 Attribute Axis Type Data Type Access Description 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 don t have to change it Watch Event AXIS_CONSUMED BOOL Tag Set when a watch event has been armed through execution of the MAW Armed Status AXIS GENERIC Motion Arm Watch instruction Cleared when either a watch event iG occurs or a MDW Motion Disarm Watch instruction is executed AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Watch Event AXIS_CONSUMED BOOL Tag Set when a watch event has occurred Cleared when either another Status AXIS GENERIC MAW Motion Arm Watch instruction or a MDW Motion Disarm 7 Watch instruction is executed AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Watch Event Task AXIS_CONSUMED DINT MSG Shows which task is triggered when the watch event happens AXIS_GENERIC e An instance of 0 means that no event task is configured to be AXIS SERVO triggered by the watch event AXIS SERVO DRIVE e The task is triggered at the same time that the Process Complete z T bit is set for the instruction that armed the watch event AXIS_VIRTUAL e The controller sets this attribute Don t set it by an external device Watch Position AXIS_CONSUMED REAL GSV Watc
329. port programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3223 Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell 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 United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure www rockwellautomation com Corporate Headquarters Rockwell Automation 777 East Wisconsin Avenue Suite 1400 Milwaukee WI 53202 5302 USA Tel 1 414 212 5200 Fax 1 414 212 5201 Headquarters for Allen Bradley Products Rockwell Software Products and Global Manufacturing Solutions Americas
330. ption Motor Feedback AX IS_SERVO_DRIVE INT GSV The controller and drive use this for scaling the feedback device counts These attributes are derived from the corresponding Motor and Auxiliary Gontiguration Feedback Unit attributes Bit 0 Feedback type e 0 rotary default e 1 linear 1 reserved 2 Linear feedback unit e 0 metric e 1 english 3 Feedback Polarity Aux Only e 0 not inverted e 1 inverted If the bits are Then Feedback Resolution is scaled to 210 0 0 Feedback Cycles per Feedback Rev 1 0 Feedback Cycles per Feedback Rev 0 1 Feedback Cycles per mm 1 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 Motor Feedback AXIS SERVO_DRIVE DINT GSV Feedback Counts per Cycle Interpolation Factor The Feedback Interpolation attributes establish how many Feedback Counts there are in one Feedback Cycle The Feedback Interpolation Factor depen
331. r 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 has 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 Publication LOGIX UM002A EN P February 2006 D 92 Axis Attributes Attribute Axis Type Data Type Access Description Time Cam AXIS_CONSUMED BOOL Tag Set if a Time Cam motion profile is currently pending the completion of a Pending Status AXIS GENERIC currently executing cam profile This would be initiated by executing an i MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the AXIS_SERVO hen th fil initiating th fth AXIS_SERVO_DRIVE pending cam profile This bit is also cleared if the time cam profile AXIS_VIRTUAL completes or is superseded by some other motion operation Time Cam Status AXIS_CONSUMED BOOL Tag Set if a Time Cam motion profile is currently in progress Cleared when AXIS_GENERIC the Time Cam is complete or is superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Timer Eve
332. r 5V Supply Sourcing Type Registration Sensor Supply f General cable REG5V Output From the motion module gt 0720 3 X INCOM Caan 43395 Notes e Use sourcing type registration sensors e Wire the inputs so that they get source current from the sensor e Don t use current sinking sensor configurations because the registration input common IN_ COM is shared with the other 24V servo module inputs Publication LOGIX UM002A EN P February 2006 Wiring Diagrams A 15 Home Limit Switch Input 24V de Field Power Supply i s From the motion module gt m p L 43396 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 OK Contacts 24V de Field Power Supply OK Pilot Relay General cable 0K From the motion module gt C0720 3 4 m C p OK Pilot Relay 24V ac dc Contacts Start Stop CR1 or 120V ac M1 typical 43398 CR1 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 Publication LOGIX UM002A EN P February 2006 A 16 Wiring Diagrams Notes Publication LOGIX
333. r the axis Otherwise you won t see the Publication LOGIX UM002A EN P February 2006 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 Attribute Average Velocity Axis Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type Access REAL GSV Tag Axis Attributes D 13 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 Sec 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 Average Velocity Timebase for that axis Average velocity is a signed value The sign doesn t 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 T
334. rdinate System There are five columns in the Axis Grid that provide information about the axes in relation to the Coordinate System Brackets The Brackets column displays the indices in tag arrays used with the current coordinate system The tag arrays used in multi axis coordinated motion instructions map to axes using these indices Coordinate The text in this column X1 X2 or X3 depending on the entry to the Dimension field is used as a cross reference to the axes in the grid For a Cartesian system the mapping is simple Create and Configure a Coordinate System 5 9 Axis Name The Axis Name column is a list of combo boxes the number is determined by the Dimension field used to assign axes to the coordinate system The pulldown lists display all of the Base Tag axes defined in the project Alias Tag axes do not display in the pull down list They can be axes associated with the motion group axes associated with other coordinated systems or axes from the Ungrouped Axes folder Select an axis from the pulldown list The default is lt none gt It is possible to assign fewer axes to the coordinate system than the Dimension field allows however you will receive a warning when you verify the coordinate system and if left in that state the instruction generates a run time error You can only assign an axis once in a coordinate system Ungrouped axes also generate a runtime error Ellipsis Button The Ellipsis b
335. rence for the system Home Return AXIS_GENERIC REAL GSV Position Units Sec AXIS_SERVO SSV 7 l sheet 7 The Home Return Speed attribute controls the speed of the jog profile AXIS_SERVO_DRIVE used after the first leg of an active bidirectional homing sequence Home Sequence AXIS_GENERIC SINT GSV 0 immediate default AXIS_SERVO SSV 1 switch AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 marker 3 switch then marker 4 torque limit 5 torque limit then marker Publication LOGIX UM002A EN P February 2006 D 52 Axis Attributes Attribute Axis Type Data Type Access Description Home Speed AXIS_GENERIC REAL GSV Position Units Sec AXIS_SERVO SSV The Home Speed attribute controls the speed of the jog profile used in AXIS_SERVO_DRIVE the first leg of an active homing sequence as described in the above discussion of the Home Sequence Type attribute Homed Status AXIS_CONSUMED BOOL Tag Cleared at power up or reconnection Set by the MAH instruction upon AXIS GENERIC successful completion of the configured homing sequence and later te cleared when the axis enters the shutdown state AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Homing Status AXIS_CONSUMED BOOL Tag Set if a Home motion profile is currently in progress Cleared when the AXIS SERVO homing operation is stopped or is superseded by some other motion p operation AXIS_SERVO_DRIVE AXIS_VIRTUAL Inhibit Status AXIS_SERVO BOOL Tag Use the InhibitStatus bi
336. rive 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 that it takes to fully close the contactor across the UVW motor lines In order to prevent electrical arcing across the the contactor the enabling of the drive s power structure is delayed The 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 2 Turn on RBM output to connect motor to drive 3 Wait for Resistive Brake Contact Delay while RBM contacts close 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 N Drive
337. rmed being triggered when the currently executing Output Cam has completed the Output Cam Pending bit is cleared This bit is also cleared if the Output Cam is terminated by a MDOC instruction Output Cam AXIS_CONSUMED DINT GSV A set of bits that are set when the Output Cam has been initiated The Status AXIS_GENERIC Tag bit number corresponds with the execution target number One bit per execution target AXIS_SERVO The Output Cam Status bit is set when an Output Cam has been AXIS_SERVO_DRIVE initiated The Output Cam Status bit is reset when the cam position AXIS VIRTUAL moves beyond the cam start or cam end position in Once execution Publication LOGIX UM002A EN P February 2006 mode with no Output Cam pending or when the Output Cam is terminated by a MDOC instruction Attribute Output Cam Transition Status Axis Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type Access DINT GSV Tag Axis Attributes D 69 Description 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 transit
338. rocessor The values of the selected attributes can be accessed via the standard GSV or Get Attribute List service Note The servo status data update time is precisely the coarse update period If a GSV is done to one of these servo status attributes without having selected this attribute via the Drive Info Select attribute the attribute value is static and does not reflect the true value in the servo module Publication LOGIX UM002A EN P February 2006 C 14 Axis Properties Feedback Tab The Feedback Tab allows you to select the type of Feedback used AXIS_SERVO with your Servo axis e Axis Properties myservolaxis Ioj x Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type ADB A Quadrature B Cancel Help Feedback Type Select the appropriate Feedback for your current configuration Your options are dependent upon the motion module to which the axis is associated A Quadrature B Encoder The 1756 M02AE servo module provides interface hardware to Interface AQB support incremental quadrature encoders equipped with standard 5 Volt differential encoder interface signals The AQB option has no associated attributes to configure Synchronous Serial Interface The 1756 M02AS servo module provides an interface to transducers SSI with Synchronous Serial Interface SSI outputs SSI outputs use st
339. rties Velocity Feedforward Acceleration Feedforward Publication LOGIX UM002A EN P February 2006 In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice The typical value for the Velocity Proportional Gain is 15 mSec 2 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 any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality h
340. rties dialog At this screen you can make changes to the Vector and Position Tolerance values See the explanations for the Vector and Position Publication LOGIX UM002A EN P February 2006 5 14 Create and Configure a Coordinate System Tolerance fields in the explanation of the Dynamics Tab earlier in this chapter o a o a o o a joo These changes can be made either on or off line The blue arrows to the right of the fields indicate that they are immediate commit fields This means that the values in those fields are immediately updated to the controller if on line or to the project file if off line Reset Button The Reset Button reloads the values that were present at the time this dialog was entered The blue arrow to the right of the Reset button means that the values are immediately reset when the Reset button is clicked Publication LOGIX UM002A EN P February 2006 Tag Tab Tag Tab Create and Configure a Coordinate System 5 15 The Tag Tab is for reviewing your Tag information and renaming the tag or editing the description Use this tab to modify the name and description of the coordinate system When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you save your changes all pending changes revert to their previously saved state Name Displays the name of the current tag You can rename the tag at this ti
341. 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 AXIS_SERVO REAL GSV Sec Deceleration AXIS_SERVO_DRIVE Time 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 Publication LOGIX UM002A EN P February 2006 Attribute Tune Inertia Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Axis Attributes D 97 Data Type Access Description 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
342. ry 2006 Troubleshoot Axis Motion Corrective action Use a Motion Axis Stop MAS instruction to stop the axis Or set up your instructions like this Jog_PB lt Locat4 Data 0 gt My_Axis_OK E Use the same acceleration rate as the instruction that stops the axis Motion Axis Jog Axis Jess Motion Control 1 Direction Speed Speed Units Accel Rate Or use a lower acceleration Jog_PB lt Local 4 Data O gt My_Axis_OK Use the same acceleration rate as the instruction that starts the axis Accel Units Decel Rate Decel Units Profile Merge Merge Speed Or use a higher acceleration 8 5 Publication LOGIX UM002A EN P February 2006 8 6 Troubleshoot Axis Motion Why is there a delay when stop and then restart a jog Example Look for Publication LOGIX UM002A EN P February 2006 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 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 doesn t respond right away It continues to slow down Eventually it speeds back up to the target speed Jog_PB lt Local 4 Data O My_Axis_OK emm Motion Axis Jog EN Axis _Axis
343. s Publication LOGIX UM002A EN P February 2006 Member Data Type Style PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedStatus BOOL Decimal WatchEventStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float Axis Data Types E 3 Member Data Type Style CommandPosition REAL Float StrobeCommandPosition REAL Float StartComman
344. s Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration X Motion Group My_Motion_Group BJ Associated Module Select the name that you gave to the drive for this Module My_Drive_X an Module Type 2094 AC09 M02 Node 1 z 3 Set the units that you want to program in e Axis Properties My_Axis_X A Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback B Type the units that you want to use for Position Units JRevs programming such as revs degrees 7 T inches or millimeters verage velocity imebase e econds Publication LOGIX UM002A EN P February 2006 1 10 Start Action Details 4 Select the drive and motor catalog numbers s Axis Properties My_Axis_X B Select the catalog number of the drive C Select the catalog number of the motor 5 Set the conversion between drive counts and units Homing i Hookup Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Amplifier Catalog Number 2094acosmo2 o i Motor Catalog Number MPLASIOPM Loop Configuration Position Sevo x Drive Resolution 200000 Drive Counts per fMotor Rev v Cal IV Drive Enable Input Checking I Drive Enable Input Fault s Axis Pr
345. s maximum deceleration rate lt lt Less Units per sec2 Troubleshoot Axis Motion 8 9 Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e An S Curve profile has to get acceleration to 0 before the axis can speed up again e If you reduce the acceleration it takes longer to get acceleration to 0 e In the meantime the axis continues past 0 speed and moves in the opposite direction The following trends show how the axis stops and starts with a trapezoidal profile and an S Curve profile Start while decelerating and reduce the deceleration rate Trapezoidal S Curve 100 80 0 speed overshoots 0 20 and axis goes in acceleration opposite direction deceleration changes The axis speeds back up as soon as you start the jog The jog instruction reduces the deceleration of the axis It now again The lower deceleration doesn t change the takes longer to bring the acceleration rate to 0 The speed response of the axis overshoots 0 and the axis moves in the opposite direction Publication LOGIX UM002A EN P February 2006 8 10 Troubleshoot Axis Motion Corrective action Use the same deceleration rate in the instruction that starts the axis and the instruction that stops the axis Jog_PB lt Locat4 Data 0 gt My_Axis_OK A e Motion Axis Jog Axis My_Axis Mation C
346. s once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied If the Friction Compensation Window is set to zero this feature is effectively disabled A non zero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Friction Compensation to be applied Hunting is also eliminated at the cost of a small steady state error 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 are subject to wear over their lifetime Therefore when an axis is commanded to reverse direction mechanical play in the machine Publication LOGIX UM002A EN P February 2006 C 82 Axis Properties Stabilization Window Velocity Offset Torque Force Offset Manual Adjust Publication LOGIX UM002A EN P February 2006 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 th
347. s Attributes Axis Type AXIS_SERVO_DRIVE Data Type Access DINT GSV Tag Description 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 Decel Status AX S_CONSUMED AXIS_GENERIC S_SERVO S_SERVO_DRIVE S_VIRTUAL BOOL Tag Set if the axis is currently being commanded to decelerate 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 Direct Drive Ramp Rate S_SERVO REAL GSV SSV Volts Second The Direct Drive Ramp Rate attribute contains a slew rate for 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 Ratio AXIS_SERVO REAL GSV SSV In some cases the speed or velocity scaling of the external drive actuator may be 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 Specif
348. s Units per sec More gt gt Publication LOGIX UM002A EN P February 2006 Start 1 17 What s Next Use these chapters to continue programming your motion control system e Test an Axis with Motion Direct Commands e Configure Homing e Handle Faults e Create and Configure a Coordinate System e Inhibit an Axis Publication LOGIX UM002A EN P February 2006 1 18 Start Notes Publication LOGIX UM002A EN P February 2006 Chapter 2 Introduction Test an Axis with Motion Direct Commands The Motion Direct Commands feature lets you issue motion commands while you are online without having to write or execute an application program 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 need to test the system in small manageable areas These tasks include e Home to establish initial conditions e Incrementally Move to a physical position e Monitor system dynamics under specific conditions Publication LOGIX UM002A EN P February 2006
349. s has the effect of normalizing 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 RPS 0 0333 Rated Revs Per Second2 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 Torque Threshold AXIS_SERVO_DRIVE REAL GSV SSV Rated This attribute maps directly to a
350. s 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 a message Execution Error is posted on the dialog lei ES incremental of Maximum 00 0 Curve nabled urrent oT 100 of Maximum i Complete 0 error s 0 warning s Motion Direct Commands 14 MAJ 16 0000 No Error Motion Direct Commands 14 Execution Error MAM 16 000d Failed to execute command Errors Whether or not an error is detected a detail message is displayed to the Error result window describing the results of the executed command Publication LOGIX UM002A EN P February 2006 Test an Axis with Motion Direct Commands 2 9 Motion Direct Command Verification When you select Execute from a Motion Direct Command dialog the operands are verified If any operand fails verification an error message Failed to Verify is displayed on the dialog and a detailed error message is displayed in the error result window describing the fault indicating the instance of Motion Direct Command that the results apply to This allows multiple verification errors to be displayed and provides navigation to the error source that is double clicking the error in the results window will navigate to the appropriate Motion Direct Command dialog fei ES rapezoidal isabled Motion Direct Commands 16 Failed to Verify MAJ Speed String invali
351. set These values are updated at the coarse 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 provides custom outer control loop capability Block programs Publication LOGIX UM002A EN P February 2006 B 6 Servo Loop Block Diagrams Torque Offset Auxiliary Position Servo Servo Config Aux Position Servo Ace p didt gt FF Velocity Gain Offset Output Output Low Pass Notch Roseg Vel Filter Filter ei or ac gt FF BW BW Gain Position Accel Command Velocity Command command Coarse Position Command Velocity lt b y Fine Error Pos P Error Vel P Torque Frict ow Notch Torque Torque e interpolator O gt Gain 2 O gt Gain Scaling Comp Lael Filter Limit gt amplifier Position Command Velocity Feedback Error Error Position Accum pest Accum gt e Y Feedback ulator ulator Position Velocity Integrator Integrator Molor Error Error Position Feedback Coarse Position Accum x Feedback Polarity
352. set specified by the Backlash Reversal 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 affect 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 Publication LOGIX UM002A EN P February 2006 D 22 Axis Attributes Attribute Axis Type Data Type Access Description Backlash AXIS_SERVO REAL GSV The Backlash Stabilization Window attribute is used to control the Stabilization AXIS SERVO DRIVE SSV Backlash Stabilization feature in the servo control loop What follows is Window P a description of this feature and the general backlash instability Publication LOGIX UM002A EN P February 2006 phenomenon Mechanical backlash is a common problem in applications
353. sing the MAFR instruction e Resume normal operation DRIVE Light State Description Recommended Action Off e The axis is not used e None if you are not using the axis or have configured it e The axis is a position only axis type as a position only axis e Otherwise make sure you have configured the module associated an axis tag with the module and configured the axis as a servo axis Flashing green The axis drive is in the normal disabled state None You can change the servo axis state by executing a motion instruction Steady green The axis drive is in the normal enabled state None You can change the servo axis state by executing a motion instruction Flashing red The axis drive output is in the Shutdown state e Check for faults that may have generated this state e Execute the shutdown reset motion instruction e Resume normal operation Solid red The axis drive is faulted e Check the drive status Publication LOGIX UM002A EN P February 2006 e Clear the drive fault condition at the drive e Execute a fault reset motion instruction e Resume normal operation e Check the configuration for the Drive Fault e f configured to be normally open and there is no voltage this is the normal condition e f configured to be normally closed and there is 24V applied this is the normal condition 1756 M02AS Module OK Light 2 AXIS SERVO SSI CHO CH1 FDBK FDBK DRIVE
354. sition 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 will operate identically to the original one Publication LOGIX UM002A EN P February 2006 B 12 Servo Loop Block Diagrams Notes Publication LOGIX UM002A EN P February 2006 Appendix C Axis Properties Introduction Use this appendix for a description of the properties of an axis General Tab AXIS SERVO The General screen depicted below is for an AXIS_SERVO data type e Axis Properties myservolaxis Biel X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Axis Configuration Servo m Motion Group mymotiongroup x E New Group Associated Module aa aaa Module mymO2module Module Type 1756 M024E Channel hoo H Cancel Apply Help Axis Configuration Selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the fee
355. stops tracking command reference Servo Action Status bit is cleared Apply Stopping Torque to stop motor Wait for zero speed or Stopping Time Limit Turn off brake output to engage motor brake Wait for Brake Engage delay while motor brake engages Disable drive power structure Drive Enable Status bit is cleared oOo N DO OO FS 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 brake output to engage brake 4 Turn off RBM output to disconnect motor from drive Axis Attributes D 83 Attribute Axis Type Data Type Access Description Rotary Axis AXIS_CONSUMED SINT GSV 0 Linear AXIS_GENERIC SSV 1 Rotary AXIS_SERVO AXIS_SERVO_DRIVE When the Rotary Axis attribute is set true 1 it lets the axis unwind This gives infinite position range by unwinding the axis position AXIS_VIRTUAL i 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 don t roll over They are limited to 2 billion SERCOS Error AXIS_SERVO_DRIVE INT GSV Error code returned by SERCOS module indicating source of drive Code Tag parameter update failure The SERCOS Error C
356. t 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 to 6 5535 BrakeReleaseDelay Time 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 Use this tab to modify the name and description of the axis When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you Axis Properties C 91 save your changes all pending changes revert to their previously saved state e Axis Properties mysercoslaxis General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Name mysercos axis Description Tag Type Base Data Type AxIS_SERVO_DRIVE Scope My_Controller Style B Cancel Apply Help Name Displays the name of the current tag You can rename this tag if you wish Description Displays the description of the current tag if any is available You can edit this description if you wish Tag Type Indicates the type of the current tag This type may be e Base e Alias
357. t 1 Status 3 Reg Event 2 Armed Status 4 Reg Event 2 Status 5 Home Event Armed Status 6 Home Event Status 7 Axis Event Bits AXIS_CONSUMED DINT GSV Lets you access all the event status bits in one 32 bit word This AXIS GENERIC attribute is the same as the Axis Event tag AXIS_SERVO Event Status Bit AXIS_SERVO_DRIVE Watch Event Armed Status 0 AXIS_VIRTUAL 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 Axis Fault AXIS_CONSUMED DINT Tag The axis faults for your axis AXIS_GENERIC Type of Fault Bit AXIS_SERVO cutis AXIS SERVO_DRIVE Physical Axis Fault 0 Config Fault 2 This attribute is the same as the Axis Fault Bits attribute Axis Fault Bits AXIS_CONSUMED DINT GSV The axis faults for your axis AXIS_GENERIC p Type of Fault Bit AXIS_SERVO ais AXIS_SERVO_DRIVE Physical Axis Fault 0 Config Fault 2 This attribute is the same as the Axis Fault tag Publication LOGIX UM002A EN P February 2006 D 18 Axis Attributes Attribute Axis Type Data Type Access Description Axis Info Select 1 AXIS_SERVO DINT GSV An axis has a group of attributes that don t get updated by default 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 Axis Info Select 2 e You can choose up to 2 of these
358. t action to be taken when Feedback Fault is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo Gin the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when an axis encounters a travel limit switch for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Specifies the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured in the Limits tab of this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Opens the Custom Stop Action Attributes dialog Custom Stop Action Attributes Ed Name tue funits Type toppingar oofer Rea StoppingTimelin moos ea BrakeEngageDelayime oos ea BrakeReleassDelaytme oos Rea ResistveBrakeContactDelay oos Rea Close Cancel Help Use this dialog to monitor and edit the Stop Action related attributes When a parameter transitions to a read only state any pending changes to param
359. t moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path 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 Publication LOGIX UM002A EN P February 2006 3 4 Configure Homing Sequence Active home to switch and marker in forward bidirectional Description This is the most precise active homing sequence available Homing Veloaty Axis Velocity foie Pos don Rearm Velocity 1 The home imi swich ie deeded Fhe home imi swich is deared 2 Fhe encoder marker ig detected 4 Fhe home poa tiit During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and stops 2 The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch 3 The axis keeps moving at the Home Return Speed until it gets to the marker 4 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 the move back to the Home Position takes the shortest path that is no more than rev
360. t of an axis to see if the axis is inhibited or e ON The axis is inhibited e OFF The axis is uninhibited The controller changes the InhibitStatus bit only after all of these have happened e The axis has changed to inhibited or uninhibited e All uninhibited axes are ready e The connections to the motion module are running again InhibitAxis AXIS_SERVO INT GSV To Set the attribute to AXIS_SERVO_DRIVE SSV Block the controller from using the axis This 1 or any non zero value inhibits the axis Let the controller use the axis This 0 uninhibits the axis Integrator Hold AXIS_SERVO SINT GSV When the Integrator Hold Enable attribute value is configured TRUE the Enable AXIS SERVO DRIVE SSV servo loop temporarily disables any enabled integrators while the F z 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 always enabled 0 disabled 1 enabled Inter Module AXIS_SERVO BOOL Tag If this bit is on the analog servo cards of a SoftLogix5800 controller Sync Fault aren t synchronized The hardware or vbfirmware of the card causes this fault For example the cable between 2 cards isn t connected Interpolated AXIS_CONSUMED REAL GSV Interpolated Actual Position in Position Units Re AXIS GENERIC T Interpolated Actual Position is the interpolation of the actual position Actua Pasito 7
361. tOvertravelFault BOOL Decimal NegSoftOvertravelFault BOOL Decimal PosHardOvertravelFault BOOL Decimal NegHardOvertravelFault BOOL Decimal MotFeedbackFault BOOL Decimal MotFeedbackNoiseFault BOOL Decimal AuxFeedbackFault BOOL Decimal AuxFeedbackNoiseFault BOOL Decimal DriveEnablelnputFault BOOL Decimal CommonBusFault BOOL Decimal PreChargeOverloadFault BOOL Decimal GroundShortFault BOOL Decimal DriveHardFault BOOL Decimal OverSpeedFault BOOL Decimal OverloadFault BOOL Decimal DriveOvertempFault BOOL Decimal MotorOvertempFault BOOL Decimal DriveCoolingFault BOOL Decimal DriveControlVoltageFault BOOL Decimal FeedbackFault BOOL Decimal CommutationFault BOOL Decimal DriveOvercurrentFault BOOL Decimal DriveOvervoltageFault BOOL Decimal DriveUndervoltageFault BOOL Decimal PowerPhaseLossFault BOOL Decimal PositionErrorFault BOOL Decimal SERCOSFault BOOL Decimal SERCOSErrorCode INT Hex Axis Data Types E 13 AXIS_VIRTUAL Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL D
362. tches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type e Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated 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 Publication LOGIX UM002A EN P February 2006 C 88 Axis Properties Drive Thermal Motor Thermal Feedback Noise Publication LOGIX UM002A EN P February 2006 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 Once the axis is stopped or the stopping limit is exceeded the servo and power structure are disabled e Stop Motion If a fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable
363. te Sequence type select the desired homing direction Table 3 C Direction Forward Uni directional Description 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 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 Publication LOGIX UM002A EN P February 2006 Axis
364. te System Coordination Units Tab Publication LOGIX UM002A EN P February 2006 mysercos3axs 10 mysercosdaxs 10 Note Enabling this feature may result in some performance penalty Press Apply to implement your entries or cancel to not save the new entries To edit the Units properties select the Units tab to access the Coordinate System Properties Units dialog w Coordinate System Properties mycoordsyst Mi X General Units Dynamics Tag Units Coordination Units Conversion a 1 0 1 fetes s Position Units Coordination Units Position Position Units Coordination Units Units Position Units Coordination Units coc La tee The Units Tab of the Coordinate System Properties is where you determine the units that define the coordinate system This screen is where you define the Coordination Units and the Conversion Ratios Coordination Units The Coordination Units field lets you define the units to be used for measuring and calculating motion related values such as position velocity and the like The coordination units do not need to be the same for each coordinate system Enter units that are relevant to your application and maximize ease of use When you change the Coordination Units the second portion of the Coordination Ratio Units automatically changes to reflect the new units Coordination Units is the default Create and Configure a Coordinate System 5 11 Axis Grid Th
365. te values are frequently used by motion instructions such as MAJ MAM MCD and so on 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 Maximum Deceleration AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL REAL GSV SSV Position Units Sec The Maximum Acceleration and Deceleration attribute values are frequently used by motion instructions such as MAJ MAM MCD and so on 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
366. tes D 15 Abort Process D 15 Change Cmd Reference D 15 Shutdown Request D 15 Axis Info Select D 18 Axis Response Bit Attributes D 19 Abort Event Acknowledge D 19 Abort Home Acknowledge D 19 Abort Process Acknowledge D 19 Change Pos Reference D 19 Shutdown Request Acknowl edge D 19 Commissioning Configuration At tributes Motor Inertia amp Load Inertia Ra tio D 54 D 66 Commissioning Status Attributes Test Direction Forward D 91 Test Status D 91 Tune Acceleration D 95 Tune Acceleration Time D 96 Tune Deceleration D 96 Tune Deceleration Time D 96 Tune Inertia D 97 Tune Status D 98 Drive Fault Bit Attributes D 32 Drive Gains B 11 Advanced Drive Gain Attributes D 101 Output Notch Filter Frequency D 70 Velocity Proportional Gain Maximum Bandwidth D 106 Drive Limits Advanced Drive Limits D 6 D 7 D 93 D 95 D 104 D 108 D 109 Continuous Torque Limit D 26 Torque Limit D 93 Drive Offsets Backlash Reversal Error D 21 Backlash Stabilization Window D 22 Index 7 Drive Fault Actions D 29 D 41 D 66 Advanced Stop Action At tributes D 89 D 90 Brake Engage Delay D 23 Brake Release Delay D 23 Resistive Brake Contact De lay D 82 Drive Power Attributes Bus Regulator ID D 24 Power Supply ID D 78 PWM Frequency Select D 79 Drive Warning Bit Attributes D 43 Cooling Error Warning D 43 Drive Overtemperature Warning D 43 Motor Overtemperature Warn ing D 43 Overload Warning D 43 Module Fault Bit Attributes D 59 Mod
367. th field is enabled The Master Position Filter Bandwidth field is enabled when the Enable Position Filter checkbox is selected This field controls the bandwidth for master position filtering Enter a value in Hz in this field to set the bandwidth to for the Master Position Filter e value of zero for Master Position Filter Bandwidth effectively disables the master position filtering Units Tab Axis Properties _C 11 The Units Tab is the same for all axis data types Use this tab to determine the units to define your motion axis e Axis Properties myservyol axis o X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Position Units Position Units Average Velocity Timebase a 28 Seconds Cancel Apply Help Position Units User defined engineering units rather than feedback counts used for labeling all motion related values for example position velocity and so on These position units can be different for each axis Note Position Units should be chosen for maximum ease of use in your application For example linear axes might use position units of Inches Meters or mm whereas rotary axes might use units of Revs or Degrees Average Velocity Timebase Specifies the time Gn seconds to be used for calculating the average velocity of the axis This value is computed by taking the total distance th
368. the Logix5000 motion modules Description 1756 M02AE The 1756 M02AE is a two axis servo module for drives actuators that need a 10V velocity or torque reference Use the 1756 M02AE when your equipment has quadrature encoder feedback The module also has 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 HYDO02 The 1756 HYD02 is a two axis servo module for hydraulic actuators that need a 10V velocity reference Use the 1756 HYD02 when your equipment has magnostrictive linear transducer LDT feedback The module is similar to the 1756 MO02AE with these exceptions e Feed Forward adjust in addition to single step Auto Tune 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 1756 M02AS The 1756 M02AS is a two axis servo module for drives actuators that need a 10 volt velocity or torque reference input Use the 1756 M02AS when your equipment has Serial Synchronous Input SSI position feedback The module is similar to the 1756 MO02AE 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 filter
369. 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 Position Lock Tolerance AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV SSV Position Units 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 Position Error Position Polarity AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Polarity attribute See IDN 55 in IEC 1491 Publication LOGIX UM002A EN P February 2006 D 76 Axis Attributes Attribute Axis Type Data Type Access Description Position AXIS_SERVO REAL Proportional Gain AXIS_SERVO_DRIVE Publication LOGIX UM002A EN P February 2006 GSV SSV 1 Sec The Position Error is multiplied by the Position Proportional Gain Pos P Gain to produce a component to the Velocity Command th
370. the configured Velocity Limit Velocity Lock AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is within Status the configured Velocity Window of the current velocity command Velocity Offset AXIS_SERVO REAL GSV Velocity Offset in Position Units Sec AXIS SERVO DRIVE ssy Velocity Offset compensation can be used to give a dynamic velocity correction to the output of the position servo loop Since this value is Tag updated synchronously every Coarse Update Period the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Polarity attribute See IDN 42 in IEC 1491 Attribute Axis Type Velocity AXIS_SERVO Proportional Gain AX S_SERVO_DRIVE Axis Attributes D 105 Data Type Access Description REAL GSV SSV 1 Sec 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 the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability The velocity loop also allows higher e
371. 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 Rise Time For an external torque loop servo drive Max Velocity Servo Bandwidth Hz 0 159 0 25 1 22 1 Drive Model Time Constant AXIS_SERVO_DRIVE Max Velocity Servo Bandwidth Hz 0 159 0 25 hj 1 22 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 AXIS_SERVO_DRIVE Standstill Status BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is less than the configured Velocity Standstill Window Velocity AXIS_SERVO_DRIVE Standstill Window REAL GSV SSV 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 don t have to change it Velocity AXIS_SERVO_DRIVE Threshold REAL GSV SSV Position Units sec This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity AXIS_SERVO_DRIVE Threshold Status BOOL Publication LOGIX UM002A EN P February 2006 Tag Set when the magnitude of the
372. tically set You usually don t have to change it Actual AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled Aecalorstion AXIS_ GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Actual Acceleration in Position Units Sec2 AXIS_VIRTUAL 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 coarse 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 coarse update period per coarse update period Actual Position AXIS CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS GENERIC Tag for the motion group default setting Otherwise you won t see the right R value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Actual Position in Position Units AXIS_VIRTUAL Actual Position is the current absolute position of an axis in the configured Position Units of that axis as read from the fee
373. tinue to configure the Coordinate System tag The Coordinate System Wizard screens walk you through the process of configuring a Coordinate System These are the same screens that appear when you access Coordinate System Properties but instead of appearing as tabbed screens they advance you through the process by individual screens At the bottom of each screen are a series of buttons To advance to the next screen click on the Next button and the information you entered is saved and you advance to the next wizard screen To end your progression through the Wizard screens click on the Finish button The information entered to this point is saved and the Coordinate System is stored in the Controller Organizer Create and Configure a Coordinate System 5 5 under either the Ungrouped Axes folder or the Motion Group Gf a motion group has been associated with the coordinate system It is not necessary to use the Wizard screens to configure your Coordinate System Once it has been created you can access the Coordinate System Properties screen and enter the information for the Coordinate System See the section entitled Editing Coordinate System Properties later in this manual for detailed information about entering configuration information General Wizard Screen The General screen lets you associate the tag to a Motion Group enter the Coordinate System Type select the Dimension for the tag that is the number of associated axes ent
374. tion Aux 4 Feedback Channel Hardware pm 4 Accum ulator Position 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 both 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 Synchronous input data to the servo loop includes Position Command Velocity Command and Velocity Offset These values are updated at the coarse 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 Publ
375. tion Compensation Gain e Torque Offset determines whether or not to calculate a value for the Torque Offset This tuning configuration is only valid if configured for bidirectional tuning e Output Filter determines whether or not to calculate a value for the Output Filter Bandwidth Dynamics Tab Axis Properties C 43 Start Tuning Click on this button to begin the tuning test If the tuning process completes successfully the following attributes are set Table 3 D On this tab These attributes are set Gains tab Velocity Feedforward Gain if checked under Tune above Acceleration Feedforward Gain if checked under Tune above Position Proportional Gain Position Integral Gain if checked under Tune above Velocity Proportional Gain Velocity Integral Gain if checked under Tune above Dynamics tab Output tab Maximum Velocity Maximum Acceleration Maximum Deceleration Torque Scaling Velocity Scaling AXIS_SERVO only Low Pass Output Filter see Note below Limits Position Error Tolerance The Tune Bandwidth dialog opens for Servo drives where you can tweak bandwidth values Note During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Executing a Tune operation automatically saves all changes to axis properties ATTENTION A This tuning proced
376. tion Filter D 56 Master Position Filter Band width D 56 Output Cam Execution Targets D 68 Motion Unit Configuration Attributes Average Velocity Timebase D 14 Position Units D 77 Position Unwind D 77 Rotary Axis D 83 Interface Attributes Axis Configuration State D 14 Axis Data Type D 16 Consumed D 16 Feedback D 16 Generic D 16 Servo D 16 Servo Drive D 16 Virtual D 16 Axis Instance D 19 Publication LOGIX UM002A EN P February 2006 6 Publication LOGIX UM002A EN P February 2006 Index Axis State D 20 C2C Connection Instance D 24 C2C Map Instance D 24 Group Instance D 49 Home Event Task Instance D 50 Map Instance D 54 Memory Usage D 58 Memory Use D 58 Module Channel D 58 Module Class Code D 59 Registration 1 Event Task Instance D 80 Registration 2 Event Task Instance D 80 Watch Event Task Instance D 109 Module Fault Bit Attribute D 59 Motion Coordinate System Group Axis and Coordinate System Relationships 5 24 Status Attributes Axis Fault 5 18 5 19 5 20 Faulted 5 18 5 19 5 20 5 22 5 23 Servo On Axes 5 18 5 19 5 20 Shutdown 5 18 5 19 5 20 Coordinate Motion Status 5 17 5 21 Coordinate System Status 5 21 Motion Coordinate System Configuration Attributes Coordinate System Auto Tag Update 5 21 Coordinate System Dynamics Con figuration Actual Position Tolerance 5 17 5 18 5 19 5 20 Command Position Tolerance 5 21 Maximum Acceleratio 5 22 Maximum Deceleration 5 22 Max
377. tion Lock Status 22 Power Limit Status 23 Reserved 24 Low Velocity Threshold Status 25 High Velocity Threshold Status 26 Drive Thermal AXIS_SERVO_DRIVE SINT GSV Fault Action SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Publication LOGIX UM002A EN P February 2006 D 42 Axis Attributes Attribute Axis Type Data Type Access Description Drive AXIS_SERVO_DRIVE BOOL Tag Set when drive DC bus voltage is below the predefined operating limits Undervoltage for the bus Fault Drive Unit 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 Publication LOGIX UM002A EN P February 2006 Axis Attributes D 43 Attribute Axis Type Data Type Access Description Drive Warning AXIS_SERVO_DRIVE DINT GSV Bits Warning Bit Drive Overload Warning 0 Drive Overtemperature Warning 1 Motor Overtemperature Warning 2 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
378. tion Servo Torque Offset Velocity fiset Accel Command Position Command Coarse Velocity j Command Velocity Position Error Fine Interpolator Position Command Velocity Feedback Position Feedback ulator Position Integrator Error Velocity Integrator Error Filter Position Feedback Coarse Position Accum ulator Output Output Low Pass Notch Filter BW Pass Filter Torque Command Torque Amplifier h Filter Feedback Polarity Motor Feedback Channel Hardware Feedback Position Motor Feedback 1 1 1 Aux Feedback Hardware Channel Aux Feedback ai Feedback Position 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 st important that positioning accuracy Positioning ability are more 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 Synchro nous input data to the servo loop includes Position Command Velocity Offset and Torque Off
379. tion at 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 has completed the axis is left at the specified Home Position If the Home Offset is non zero the axis will then be offset from the marker or home switch event point by the Home Offset value If the Home Offset is zero the axis will sit right on top of the marker or home switch point Home Position AXIS_GENERIC REAL GSV Position Units AXIS_SERVO SSV EES l P The Home Position is the desired absolute position for the axis after the AXIS_SERVO_DRIVE specified homing sequence has been completed After an active homing AXIS_VIRTUAL sequence has completed 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 refe
380. tion exceeds this value AccelLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 AccelerationLimitNegative TorqueLimitPositive 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 14748x10 to 0 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 This 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 Publication LOGIX UM002A EN P February 2006 C 76 Axis Properties Offset Tab AXIS SERVO Use this tab to make offline adjustments to the following Servo Output values e Friction Compensation e Velocity Offset e Torque Offset e Output Offset for an axis of the type AXIS_SERVO configured as a Servo drive in the General ta
381. tion is lost with the producing controller This bit clears when communication is reestablished Publication LOGIX UM002A EN P February 2006 Attribute Conversion Constant Axis Type AXIS_CONSUMED REAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type Access GSV SSV Axis Attributes D 27 Description Counts Position Unit Range 0 1 1612 Default 8000 0 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 Note that the 1756M02AE encoder based servo module uses 4X encoder feedback decoding both edges of channel A and B are counted The count direction is determined from both 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 ina 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 100
382. tion 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 AXIS_CONSUMED REAL GSV Start Master Offset in Master Position Units Offset AXIS_ GENERIC Tag 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 AXIS_SERVO instruction with the move type set to Absolute Master Offset or AXIS_SERVO_DRIVE Incremental Master Offset was executed The Start Master Offset is AXIS VIRTUAL returned in master position units The Start Master Offset will show the hae same unwind characteristic as the position of a linear axis Stopping Status AXIS_CONSUMED BOOL Tag Set if there is a stopping process currently in progress Cleared when the AXIS GENERIC stopping process is complete The stopping process is used to stop an J axis initiated by an MAS MGS Stop Motion fault action or mode AXIS_SERVO change AXIS_SERVO_DRIVE AXIS_VIRTUAL Stopping Time AXIS_SERVO_DRIVE REAL GSV Sec Limit SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Publication LOGIX UM002A EN P February 2006 D 90 Ax
383. to the CST master In most cases make the controller the CST master 1 Controller My_Controlle TA Tasks N mk z verify MainTask cS MainProgram Generate Report A Program Tags E MainRoutine BD My subroutine Properties N EI Unscheduled Programs Phases N Motion Groups Print d f Controller Properties My_Controller General Serial Port System Protocol User Protocol Major Faults Minor Faults 2 Date Time Advanced SRE Execution File Redundancy Nonvolatile Memory Memory 3 iv Make this controller the Coordinated YA DANGER If CST master is cleared online System Time master active axes in any controller in this chassis or chassis synchronized by SynchLink may Is the master experience unexpected motion D Synchronized with a master Duplicate master detected 4 D Timer hardware faulted Cancel ppl Help If you have more than 1 controller in the chassis If you have more than 1 controller in the chassis choose 1 of the controllers to be the CST master You can t have more than one CST master for the chassis Publication LOGIX UM002A EN P February 2006 Start 1 3 Add the Motion Modules For your motion modules use the firmware revision that goes with IMPORTANT 4 the firmware revision of your controller See the release notes for your controller s firmware 1 CompactLogix controller ControlLogix controller E E Controller M
384. to tune Friction Compensation and Torque Offset 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 Publication LOGIX UM002A EN P February 2006 C 42 Axis Properties Note 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 a different value set in this field Tune Select the gains to be determined by the tuning test Publication LOGIX UM002A EN P February 2006 e Position Error Integrator determines whether or not to calculate a value for the Position Integral Gain e Velocity Feedforward determines whether or not to calculate a value for the Velocity Feedforward Gain e Velocity Error Integrator determines whether or not to calculate a value for the Velocity Integral Gain e Acceleration Feedforward determines whether or not to calculate a value for the Acceleration Feedforward Gain e Friction Compensation determines whether or not to calculate a value for the Fric
385. tput Filter and calculates and sets a value for Low Pass Output Filter Bandwidth With Enable Low pass Output Filter selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting is filtered out and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Publication LOGIX UM002A EN P February 2006 C 62 Axis Properties Manual Adjust Click on this button to access the Output tab of the Manual Adjust dialog for online editing Velocity Scaling Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Output Tab Overvi
386. tput is within the Output Limit value Publication LOGIX UM002A EN P February 2006 D 70 Axis Attributes Attribute Axis Type Data Type Access Description Output LP Filter AX S_SERVO REAL GSV Hertz Bandwidth AXIS_SERVO_DRIVE SSV 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 Output Notch AXIS_SERVO_DRIVE REAL GSV Hertz j SSV Ene The Output Notch Filter Frequency attribute controls the center frequency of the drive s digital notch filter Currently implemented as a 24 order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output atten
387. tual 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 AXIS_CONSUMED REAL GSV Start Command Position in Position Units ak Whenever a new motion planner instruction starts for an axis for Ppation o EE Tag example using a MAM aida the value of the axis command AXIS_SERVO position and actual position is stored at the precise instant the motion AXIS_SERVO_DRIVE begins These values are stored as the Start Command Position and AXIS VIRTUAL 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 direc
388. tusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 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 14748x10 to 0 Publication LOGIX UM002A EN P February 2006 Axis Properties C 75 Table 3 F Attribute Description 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 14748x10 2 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 is set This attribute has a value range of 0 to 2 14748x10 2 VelocityStandstill Window AccelerationLimitPositive 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 14748x10 2 This attribute limits the maximum acceleration ability of the drive to the programmed value If the command accelera
389. type of tag you are creating e Base refers to a normal tag selected by default Publication LOGIX UM002A EN P February 2006 5 4 Create and Configure a Coordinate System Coordinate System Wizard Screens Publication LOGIX UM002A EN P February 2006 e Alias refers to a tag which references another tag with the same definition Special parameters appear on the New Tag dialog that allow you to identify to which base tag the alias refers Alias For If you selected Alias as the Tag Type the Alias For field displays Enter the name of the associated Base Tag Data Type In the Data Type field select COORDINATE_SYSTEM if you entered from either method that did not fill this field automatically Scope Enter the Scope for the tag A Coordinated System Tag can only be Controller Scope Style The Style parameter is not activated No entry for this field is possible After the information for the tag is entered you have two options You can either press the OK button to create the tag or you can press the Configure Button located next to the Data Type field to use the Wizard screens to enter the values for the Coordinate System Tag Pressing the OK button creates the tag and automatically places it in the Ungrouped Axes folder or the Motion Group if the tag was initiated from the Motion Group menu Pressing the Configure button next to the Data Type field invokes the Coordinate System Tag Wizard to let you con
390. uary 2006 Axis Properties C 23 Filters There are three optional Filter fields that allow you to refine your Calculate button search of the Motor Database The Filter boxes are defaulted to all Voltage Lets you select a voltage rating from the pull down list to broaden or narrow your search The default is all Family The Family filter box pull down list lets you narrow your motor search by restricting it to a particular family of motors The default is all Feedback Type The Feedback Type filter box pull down list lets you manipulate your motor search by acceptable Feedback types The default is all The Calculate Button takes you to an input screen that is designed to 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 Publication LOGIX UM002A EN P February 2006 C 24 Axis Properties When the Conversion screen has Linear as the value for Position Mode clicking on the Calculate button displays the following screen Jpaate 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 f
391. uation 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 SSV is 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 as well as result in a steady state non zero position error when the servo loop is closed Output offset compensation can be used to 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 Overload Fault AXIS_SERVO_DRIVE BOOL Tag 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 Overspeed Fault AXIS_SERVO_DR
392. ule Hardware Fault D 59 D 60 Timer Event Fault D 59 D 60 Motor and Feedback Configuration Aux Feedback Ratio D 11 Feedback Configuration D 9 D 64 Feedback Polarity D 9 D 64 Feedback Interpolation D 10 D 64 Feedback Resolution D 11 D 65 Feedback Type D 12 D 65 Feedback Units D 12 D 65 Motor Data D 63 Motor ID D 66 SERCOS Error Code D 83 Servo Drive Configuration Attributes Advanced Scaling Attributes D 38 Data Reference D 39 Linear Scaling Unit D 39 Scaling Type D 38 Scaling Unit D 38 Advanced Servo Configuration Attributes D 78 D 90 Drive ID D 28 Publication LOGIX UM002A EN P February 2006 8 Publication LOGIX UM002A EN P February 2006 Index Drive Polarity D 34 Advanced Polarity At tributes D 75 D 94 D 104 Custom Polarity D 34 Negative Polarity D 34 Positive Polarity D 34 Drive Resolution D 35 Drive Travel Range Limit D 35 Drive Units D 42 Fault Configuration Bits D 45 Drive Enable Input Check ing D 46 Drive Enable Input Fault Handling D 46 Hard Overtravel Checking D 45 Soft Overtravel Checkin D 45 Fractional Unwind D 35 Linear Ball Screw WITHOUT Aux Feedback Device D 36 Linear Ball Screw Ball Screw Combination WITH Aux Feedback Device D 37 Rotary Gear Head WITH Aux Feedback Device D 36 Rotary Gear Head WITHOUT Aux Feedback Device D 36 Servo Loop Configuration D 86 Servo Loop Block Diagrams B 4 Auxiliary Dual Command Servo B 9 Auxiliary Position Servo B 6 Dual Command Feedback
393. um velocity acceleration and deceleration values must be entered to jog the axis Attribute Velocity Integral Gain Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Axis Attributes D 103 Data Type Access Description REAL GSV SSV 1 mSec Sec 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 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
394. umed Data Types The axis is associated to a specific motion compatible module by specifying the instance of the map entry representing the module Marker Distance AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE Tag Publication LOGIX UM002A EN P February 2006 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 switch 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 Attribute Master Input Configuration Bits Axis Attributes D 55 Axis Type Data Type Access Description AXIS_GENERIC DINT GSV Bits AXIS_SERVO SSV 0 Master Delay Compensation AXIS_SERVO_DRIVE 1 Master Position Filter AXIS VIRTUAL Master Delay Compensation By default both 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 co
395. ure may cause axis motion with the controller in program mode Unexpected motion may cause damage to the equipment personal injury or death Use this tab to view or edit the dynamics related parameters for an axis of the type AXIS_SERVO or AXIS_SERVO_DRIVE configured for Publication LOGIX UM002A EN P February 2006 C 44 Axis Properties Servo operations in the General tab of this dialog box or AXIS_VIRTUAL e Axis Properties mysercos1laxis Of X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Maximum Speed oo Position Units s Manual Adjust Maximum Acceleration foo Position Units s 2 Maximum Deceleration oo Position Units s 2 OK Cancel Apply Help mM The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000
396. uring 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 velocity loops with non infinite loop gain and other application considerations Publication LOGIX UM002A EN P February 2006 C 54 Axis Properties Proportional Position Gain Integral Position Gain Publication LOGIX UM002A EN P February 2006 Note Acceleration Feedforward Gain is not applicable for applications employing velocity loop servo drives Such systems would require the acceleration feedforward functionality to be located in the drive itself Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability Note To set the gain manually you must first set the Torque scaling in the Output tab of this dialog If you know the desired loop gain in inches per minute per mil or mi
397. ute ID associated with non zero Attribute Error Code 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 has occurred may be reset to zero by reconfiguration of the motion module To quickly see the Attribute Error in RSLogix 5000 1 Select the axis in the Controller Organizer 2 Look at the bottom of the Controller Organizer for the Attribute Error Attribute Aux Feedback Configuration Axis Type AXIS_SERVO_DRIVE Axis Attributes D 9 Data Type Access Description INT GSV 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 0 Feedback type e 0 rotary default e 1 linear 1 reserved 2 Linear feedback unit e 0 metric e 1 english 3 Feedback Polarity Aux Only e 0 not inverted e 1 inverted lf the bits are Then Feedback Resolution is scaled to 2 1 0 0 0 Feedback Cycles per Feedback Rev 1 0 Feedback Cycles per Feedback Rev 0 1 Feedback Cycles per mm 1 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 W
398. uttons in this column take you to the Axis Properties pages for the axis listed in the row See the Creating and Configuring Your Motion Axis chapter in this manual for information about the Axis Properties page Coordination Mode The Coordination Mode column indicates the axes that are used in the velocity vector calculations Only Primary axes are used in these calculations Currently the only option is Primary Therefore this column is automatically filled in as Primary and cannot be edited Enable Coordinate System Auto Tag Update The Enable Coordinate System Auto Tag Update checkbox lets you determine whether or not the Actual Position values of the current coordinated system are automatically updated during operation Click on the checkbox to enable this feature The Coordinate System Auto Tag Update feature can ease your programming burden if you would need to add GSV statements to the program in order to get the desired result However by enabling this feature the Coarse Update rate is increased Whether to use the Coordinate System Auto Tag Update feature depends upon the trade offs between ease in programming and increase in execution time Some users may want to enable this feature in the initial programming of their system to work out the kinks and then disable it and enter the GSV statements to their program to lower their execution time Publication LOGIX UM002A EN P February 2006 5 10 Create and Configure a Coordina
399. 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 the procedure described above While capturing the peak Position Error during the acceleration phase of the jog profile increase the Acceleration Feed
400. ve Overcurrent AXIS_SERVO_DRIVE BOOL Tag Set when drive output current exceeds the predefined operating limits Fault for the drive Drive Overtemp AXIS_SERVO_DRIVE BOOL Tag Set when the drive s temperature exceeds the drive shutdown Fault temperature Drive AXIS_SERVO_DRIVE BOOL Tag Set when drive DC bus voltage exceeds the predefined operating limits Overvoltage Fault for the bus Publication LOGIX UM002A EN P February 2006 D 34 Axis Attributes Attribute Axis Type Data Type Access Description Drive Polarity AXIS_SERVO_DRIVE DINT GSV SSV 0 Custom Polarity 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 All 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 both the command position and actual position data of the servo drive Thus selecting either Positive or Negative Drive Polarity makes it possible to
401. ved 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 below Uncertainty Axis Speed Postion ais 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 below Maximum Speed Posen vais _ Desired Accuracy Position Units Second Delay Registration 1 AXIS_CONSUMED DINT GSV Lower 32 bits of CST time i AXIS_GENERIC Ta a i 2 k Time 9 The two Registration Time values contain the lower 32 bits of CST time ar AXIS_SERVO at which their respective registration events occurred Units for this Registration 2 AXIS_SERVO_DRIVE attribute are in microseconds Time AXIS_VIRTUAL Publication LOGIX UM002A EN P February 2006 D 82 Axis Attributes Attribute Axis Type Data Type Access Description Resistive Brake AXIS_SERVO_DRIVE REAL Contact Delay Publication LOGIX UM002A EN P February 2006 GSV SSV 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 d
402. ward JV Acceleration Feedforward IM Torque Offset IV Output Filter OK Cancel Help 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 Speed Determines the maximum speed for the tune process This value should be set to the desired maximum operating speed of the motor Gin engineering units prior to running the tune test Torque Force The maximum torque of the tune test Force is used only when a AXIS_SERVO_DRIVE linear motor is connected to the application This attribute should be i set to the desired maximum safe torque level prior to running the tune test The default value is 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system Publication LOGIX UM002A EN P February 2006 Torque AXIS_SERVO Direction Damping Factor Axis Properties C 41 Note In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases The maxi
403. which axes in this coordinate system have a module fault Tag If this bit is on Then this axis has a module fault 0 0 1 1 2 2 Motion Status BOOL Tag The Motion Status bit attribute is set indicating that at least one Coordinate Motion instruction is active and the Coordinate System is connected to its associated axes Move Pending Queue Full BOOL Tag The move pending queue full bit is set there is no room in the instruction queue Status Publication LOGIX UM002A EN P February 2006 for the next coordinated move instruction Once there is room in the queue the bit is Cleared Attribute Move Pending Status Data Type BOOL Access Tag Create and Configure a Coordinate System 5 23 Description The move pending bit is set once a coordinated motion instruction is queued Once the instruction has begun executing the bit will be cleared provided no subsequent coordinated motion instructions have been queued in the mean time In the case of a single coordinated motion instruction the status bit may not be detected by the user in RSLogix5000 since the transition from queued to executing is faster than the coarse update The real value of the bit comes in the case of multiple instructions As long as an instruction is in the instruction queue the pending bit will be set This provides the RSLogix5000 programmer a means of stream lining the execution of multiple coordinated motion instructions Ladder logic containing coordinated
404. wn is the most severe action Use it for faults that could endanger the machine or the operator if you don t 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 appropriate drive enable output is deactivated e The OK contact of the servo module opens Use this to open the E Stop string to the drive power supply 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 Disable Drive stop the axis using it s best available stopping method 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 appropriate drive enable output is deactivated AXIS_SERVO_DRIVE e The drive switches to local servo loop control and the axis is slowed to a stop using the Stopping Torque e f the axis doesn t stop in the Stopping Time the servo action and the power structure are disabled Leave the servo loop on and stop Stop Motion the axis at its Maximum Deceleration rate Use this fault action for less severe faults It is the gentlest way to stop Once the axis stops you must clear the fault before you can move the axis The exception is Hardware Overtravel and Software Overtravel faults where
405. xample 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 Publication LOGIX UM002A EN P February 2006 D 108 Axis Attributes Attribute Axis Type Velocity Servo AXIS_SERVO Bandwidth AXIS_SERVO_DRIVE Data Type Access Description REAL GSV SSV Hertz 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 the maximum Velocity Servo Bandwidth for the velocity servo loop based on the drive system and in some cases
406. xis 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 doesn t replace hardware overtravel 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 Continued on next page Publication LOGIX UM002A EN P February 2006 D 46 Axis Attributes Attribute Axis Type Data Type Access Description Fault DINT GSV Drive Fault Normally Closed Configuration SSV The Drive Fault Normall
407. xis and initiate motion MAH MRAT MAHD abort the motion process leaving the instruction with both 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 Any attempt to clear the fault while the drive enable input is still inactive and the drive is enabled is unsuccessful 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 Drive Enable Status AXIS_CONSUMED BOOL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Tag AXIS_SERVO If this bit is e ON The Drive Enable output of the axis is on e OFF 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 Drive Fault AXIS_SERVO BOOL Tag If this bit is set then the external servo drive has detected a fault and has communicated the existence of this fault to the servo module via the Drive Fault input This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset
408. xis in the coordinate system is inhibited e OFF None of the axis in the coordinate system are inhibited Create and Configure a Coordinate System 5 19 Attribute Data Type Access Description Actual Position REAL 8 Tag Array of actual position of each axis associated to this motion coordinate system in Coordinate Units Actual Position Tolerance REAL GSV Coordination Units SSV The Actual Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM and so on specify a Termination Type of Actual Position Axes Configuration Faulted DINT GSV Shows which axes in this coordinate system have a configuration fault Tag If this bit is on Then this axis has a configuration fault 0 0 1 1 2 2 Axes Inhibited Status DINT GSV Shows which axes in this coordinate system are inhibited Tag If this bit is on Then this axis is inhibited 0 0 1 1 2 2 Axes Servo On Status DINT GSV Shows which axes in this coordinate system are on via MSO Tag If this bit is on Then this axis is on 0 0 1 1 2 2 Axes Shutdown Status DINT GSV Shows which axes in this coordinate system are shutdown Tag If this bit is on Then this axis is shutdown 0 0 1 1 2 2 Axis Fault DINT GSV The Axis Fault Bits attribute is a roll up of all of the axes associated to this motion coordinate system A bit being set indicates that one of the associated axes has Tag that fault Type Bit Physical Axis Fault 0
409. y Closed bit attribute controls the sense of the Bits cont Drive Fault input to the servo module If this bit is set true then during Publication LOGIX UM002A EN P February 2006 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 will open its drive fault output contacts and remove 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 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 T
410. y axis reverse direction when stop and start it 8 8 Why does my axis While an axis is accelerating you try to stop it The axis keeps accelerating for a short time before it starts to decelerate accelerate when stop it 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 O gt My_Axis_OK Motion Axis Jog Axis My_Axis Motion Control Jog_1 Direction 0 Speed Jog_1_Speed S Curve profile in the ee oe 60 0 instruction that start paoa unas nits per sec SKYSS th a an Accel Rate Jog_1_Accel e moton 20 0 Accel Units Units per sec2 Decel Rate Jog_1_Decel 20 06 Decel Units Units per sec2 Profile Merge Disabled Merge Speed Programmed lt lt Less Publication LOGIX UM002A EN P February 2006 8 2 Troubleshoot Axis Motion Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e An S Curve profile has to get acceleration to 0 before the axis can slow down e The time it takes depends on the acceleration and speed e In the 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 speed goes up until acceleration
411. y executing cam profile This would be initiated by executing an MAPC instruction with Pending execution selected This bit is cleared AXIS_SERVO when the current position cam profile completes initiating the start of AXIS_SERVO_DRIVE the pending cam profile This bit is also cleared if the position cam AXIS VIRTUAL profile completes or is superseded by some other motion operation Position Cam AXIS_CONSUMED BOOL Tag Set if a Position Cam motion profile is currently in progress Cleared Status AXIS_ GENERIC when the Position Cam is complete or is superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Position AXIS_SERVO REAL GSV Position Command in Position Units AXIS_SERVO_DRIVE T f pammatd T 7 5 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 position of the axis Position Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 76 in IEC Scaling 1491 Position Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 78 in IEC Scaling Exp 1491 Position Data AXIS_SERVO_
412. y feedback device connected to the drive Table D 2 Feedback Type Code Rotary Linear Rotary Only Only or Linear lt None gt 0x0000 SRS Ox0001 X SRM Ox0002 X SCS Ox0003 X SCM 0x0004 X SNS 0x0005 X MHG 0x0006 X Resolver 0x0007 X Analog Reference 0x0008 X Sin Cos 0x0009 X TTL 0x000A X UVW 0x000B X Unknown Stegmann 0x000C X Endat 0x000D X RCM215S 4 0x000E X RCM21S 6 0x000F X RCM21S 8 0x0010 X LINCODER 0x0011 X Sin Cos with Hall 0x0012 X Motor Feedback AXIS SERVO_DRIVE INT GSV The Motor Feedback Units attribute establishes the unit of measure that Units 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 Publication LOGIX UM002A EN P February 2006 D 66 Axis Attributes Attribute Axis Type Data Type Access Description Motor ID AXIS_SERVO_DRIVE INT GSV The Motor ID attribute contains the enumeration of the specific A B motor catalog number 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 Motor Inertia 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 m
413. y_Controller m e Controller My_Controller H E Tasks H E Tasks Motion Groups Motion Groups CI Trends EI Trends H E Data Types Data Types 1 0 Configuration 63 10 Configuration Eos iif 1763 Bus Pm 11756 Backplane 1756 7 1 9 1769 Bus N N L E Paste Ctri E Select Module x E Analog E Communications Controllers W Digital 2 H Motion 1756 HYD0Z 2 Axis Hydraulic Servo Allen Bradley 1756 MO024E 2 Axis Analog Encoder Servo Allen Bradley 3 1756 M0245 2 Axis Analog SSI Servo tla le 1756 M035E 3 Axis SERCOS Interface New Module 1756 M085E 8 Axis SERCOS Interface 1756 M08SEG 8 Axis Generic SERCOS Interface s i 1756 M165E 16 Axis SERCOS Interface Type 1756 MOOSE 8 Axis SERCOS Interface E Other Vendor Allen Bradle e a Name AC My_SERCOS_Module Slot Desgfiption Revision fis fi Electronic Keying Compatible Keying __ByVendor Favorites By Category 5 6 f Can 8 Publication LOGIX UM002A EN P February 2006 1 4 Start Add SERCOS interface Add SERCOS interface drives to the I O configuration of the controller Drives 1 CompactLogix controller E Controller My_Controller Tasks 9 Motion Groups CI Trends 3 Data Types E 1 0 Configuration 5 1768 Bus This lets you use RSLogix 5000 software to set up the drives ControlLogix controller E Control
414. ycle The Feedback Interpolation Factor depends on both 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 encoder with a 2000 line rev resolution and 4x interpolation factor would have an overall resolution of 8000 counts rev Factor Aux Feedback AXIS_SERVO_DRIVE BOOL Tag Set when there is noise on the feedback device s signal lines Noise 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 both of these on an oscilloscope one UL AL PL i A f e To troubleshoot the loss of channel quadrature look for e physical misalignment of the feedback transducer components e excessive capacitance
415. ype Data Type Access Description Positive Dynamic AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for 3e Real Time Axis Information for the axis Otherwise you won t see the T i Torquent ag 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 Power Capacity AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Tag 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 Power Limit AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the actual supplied power is greater than the Status configured Power Threshold Power Phase AXIS_SERVO_DRIVE BOOL Tag Set when the drive detects that one or more of the three power line Loss Fault phases is lost from the 3 phase power inputs Power Supply ID AXIS_SERVO_DRIVE INT GSV The Power Supply ID attribute contains the enumeration of the specific A B Power Supply or System Module catalog numbers associated with the axis If the Power Supply ID does not match t

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