SLC Servo Control System Product Data
Contents
1. DRIVE m O Oo is m CHA HI HA LO B SHLD CH B HI CH B LO Z SHLD H Z HI H Z LO ENCODER 5V RET 15V SHLD EXT POWER 5V RET So Qe fe o0o000 jo0o0000000 000 m oo0oo000000 zZ Ar 292mm 11 25 in p gt So x a DRIVE ENABLE 0000 STRING IN FAST oooooool S CO0000 V0 ON PANEL 70mm 2 75 in ABO741A Publication 1746 2 40 J une 1997 Axis Control SLC Servo Control System 7 System Power Supply You will need to supply a power source for the SLC Servo Control System The power supply must be e 5V 15V and 24V e Able to meet the minimum voltage requirements of the encoders and other circuitry The SLC Servo Control Module controls one axis per module These axes can be linear or rotary with rollover programmed in degrees or revolutions Allen Bradley reserves the right to revise these specifications without prior notice Rectangular acceleration and deceleration is programmable SLC Servo Control Module You are required to provide a 5V DC 15V DC power supply Velocity Command Analog Ou2. ohm resistor e Operating Conditions The SLC Servo Control Module requires the following operating conditions Temperature inlet air 0 to 60 C 32 to 150 F Altitude up to 2000m 6562 ft Humidity 5 to 95 non condensing atmosphere Storage Temperature 40 to 85 C 40 to 185 F SLC Servo Control System 9 Emergency Stop E stop Characteristics The SLC Servo Control Module E stop characteristics include Detection and control of E stop conditions provided on the board Each module provides a separate and independent E stop circuit Hardware E stop activated by User defined E stop circuit refer to the SLC Servo User Manual Broken wire in the user power supply cable Powerfail signal from the SLC 500 backplane Software E stop is activated by Initiated watchdog timeout Detected quadrature error Detected broken feedback wire Detected excess following error Lost communication with SLC Lost user power supply Filled fast input queue Software E stop can only be released if no hardware faults are present Specifications for the E stop relay contacts are Switching volts 80V DC maximum Operational time 500us typical Contact bounce lt 200us typical Contact resistance 150 milliohm typical Resistive contact rating AVA at 0 25A maximum General Local Fast Outputs Source Drivers Specifications for the General Local Fast outp
3. 500 and SLC Servo capabilities Publication 1746 2 40 J une 1997 Termination Panel System Power Supply SLC Servo Control System 11 Effect on SLC Processor Scan Time Scan time effect is the amount of time consumed in the SLC processor to process the overhead associated with each module Scan time effect is summed with the time required to scan the application logic in the processor In other words the more modules in your rack the slower the application scan rate Use the following data to determine the scan time effect on the SLC processor To calculate the total scan time effect of all modules in the rack refer to Appendix D Estimating Scan Time in the SLC processor manual publication number 1747 6 15 SLC Processor Input Scan Output Scan 5 03 700 microseconds 700 microseconds 5 04 680 microseconds 680 microseconds The termination panel easily mounts up to 2 1 m 7 ft from the motion control module requiring only a screwdriver and a wirestripper The E stop relay contacts are rated at 120V AC at 3A continuous 15us operating time The E stop relay coil is rated for 24V at O5A The SLC Servo has no input requirements for the system power supply Table A Output Capability Maximum Ripple Allowed Supply Tolerance Current Peak to Peak P P User 5V 5 at 0 150A not including encoder 100mV at 5A User 15V 5 at 0 030A not including encoder 100mV at 1A User 15V 5
4. SLC Servo Control System wy Cat No 1746 HSRV Product Data The 1746 HSRV SLC Servo Control Module is a low cost Allen Bradley motion solution for a single axis servo application This module provides an analog velocity command with programmable limits up to 10V DC to interface with a variety of Allen Bradley servo drives 0A Rockwell tutomation Allen Bradley 2 SLC Servo Control System SLC Servo Control Module Operation Publication 1746 2 40 J une 1997 The SLC Servo Control Module catalog number 1746 HSRY is compatible with the SLC 500 family and can only be used with the SLC 5 03 FRN 5 0 Processor Firmware and above The Ladder Logic in RSLogix 500 AI500 or APS 5 0 or later controls all of the motion and it can be programmed for either incremental or absolute and speed moves depending on the application The SLC Servo Control Module is compatible with the SLC family It is designed to be used with an SLC 5 03 FRN 5 0 and later processor You can program and commision the system using RSLogix 500 AI 500 or APS 5 0 or Later Once the SLC Processor is initiated block execution is independent of the scan time of the processor Blended motion allows for complicated move profiles consisting of two to 32 segments The blended move profiles are stored in the SLC Servo Control Module s internal memory as a series of absolute moves Since the sequence of moves is stored in internal memory it can be executed mo
5. This section describes the components of the SLC Servo Control System SLC Servo Control Module The SLC Servo Control Module shown in Figure 2 is the focal point of the SLC Servo Control System The SLC Control Module e Monitors encoder feedback on one channel up to 300kHz at 0 degrees quadrature error e Monitors position and following error at any time after initial power up and homing e Provides one fast output e Monitors three fast inputs e Uses discrete transfer to communicate with compatible Allen Bradley SLC 500 system components through the backplane of the SLC 500 Figure 2 SLC Servo Control Module with Door Open SLC SERVO RUN _ FDBK U PWRC CONFIG INV CI ABO740A SLC Servo Termination Panel To provide you with more flexibility the SLC Servo Control System features a termination panel shown in Figure 3 You can mount the panel on a DIN type rail The features of the termination panel include e E stop connections for customer E stop string e Fast I O connections for three fast inputs and one fast output LEDs show status of each I O point Publication 1746 2 40 J une 1997 SLC Servo Control System e Encoder which supports encoder feedback for one axis e Drive connections to analog drive e External power connections for 5V 15V and 24V power from user power supply Figure 3 1746 HT Termination Panel
6. at 0 030A not including encoder 100mV at 1A at 0 060A not including FOUT User 24V 5 400mV at 2A current Publication 1746 2 40 J une 1997 12 SLC Servo Control System Ordering the SLC Servo Control System Where to Find More Information OA Rockwell Automation Allen Bradley Worldwide repres enta tion ee mmmmmm Table B lists the catalog numbers you use to order the components of the SLC Servo Control System Table B Ordering the SLC Servo Control System Component Catalog Number What You Receive Control module Control module 1746 HSRV User Manual Termination panel PEE Mounting brackets Termination panel 1 46 Termination Panel Installation Data Sheet Cable that connects the control module to the termination panel TEMES cable f SLC Servo Control Module Documentation 1746 6 1 2 User Manual Refer to the SLC Servo Control Module User Manual for more information about the the following for the SLC Servo Control System e Selecting encoders power supplies and drives e Installing the control module termination panel and handheld pendant e Wiring fast I O E stop power supplies encoders and drives e Integrating the axis e Recovering from an error message Allen Bradley a Rockwell Automation Business has been helping its customers improve pro ductivity and quality for more than 90 years We design manufacture and supporta broad range of automatio
7. ation This configuration includes e One SLC 500 modular rack SLC 5 03 FRN 5 or later One SLC Servo Control Module e One 1746 HCA cable e One termination panel e Wiring for a servo system Figure 1 Typical SLC Servo Control System Configuration O Ei zi See 8888 SLC 500 Modular Rack SLC Servo 1746 HCA Control Module 7 ft Connection for the required user Side power supply 00000000 ma ppi mg pe eie 2 25050055 pooood 555 M off 35 8doooooon too 1746 HT Termination Panel p Eso VY Wiring 4O Fastl 0 AB Drives 1386 1388 1389 1391 1392 1394 z Tach Drive AB845H Amplifier Encoder ABO742A AC drives do not require a tachometer When supplying the 5V encoder with an external power supply connect the return line from the power supply to the encoder power on the termination panel Publication 1746 2 40 J une 1997 Components of the SLC Servo Control System SLC Servo Control System 5
8. n products worldwide They include logic processors power and motion control devices operator interfaces sensors and a variety of software Rockwell is one of the world s leading technology companies xT Argentina e Australia e Austria e Bahrain e Belgium e Brazil e Bulgaria e Canada e Chile e China PRC e Colombia e Costa Rica e Croatia e Cyprus e Czech Republic e Denmark e Ecuador e Egypte El Salvador e Finland eF rance e Germany e Greece e Guatemala e Honduras e Hong Kong Hungary e Iceland e India e Indonesia e Ireland e Israel e Italy Jamaica eJ apan e J ordan e Korea e Kuwait e Lebanon e Malaysia e Mexico e Netherlands e New Zealand e Norway e Pakistan e Peru e Philippines e P oland e P ortugal e Puerto Rico e Qatar e R omania e Russia CIS e Saudi Arabia e Singapore e Slovakia e Slovenia e South Africa Republic e Spain e Sweden e Switzerland e Taiwan e Thailand e Turkey e United Arab Emirates e United Kingdom e United States e Uruguay e Venezuela e Yugoslavia Allen Bradley Headquarters 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Publication 1746 2 40 J une 1997 Supersedes Publication 1746 2 40 April 1996 Copyright 1997 Allen Bradley Company Inc Printed in USA
9. olute moves e Incremental moves Speed moves e Monitor moves e Hold moves e Unhold moves e Blend moves e Emergency stop operations e Homing operations Preset operations e Clear faults e Alternate home moves When operating in either the configuration or the command mode the status of the module is reported to the SLC Controller The SLC Servo Control Module has the following specifications Compatible with SLC 5 03 FRN 5 0 and later processors Compatible with APS software release 5 0 and later or AI 500 software e Class 3 device with twelve inputs and twelve outputs Selection for the SLC Servo Control Module configuration is OTHER with the number specified as 10114 e Class 3 device that uses M files for the configuration mode e The SLC Servo Control Module is UL Listed CSA Certified and CE Marked Note The SLC Servo Control Module does not function in a remote I O rack e The SLC Servo Control Module must be configured in the lowest numbered I O slot in order to use an SLC application s module interrupt option There should be no other modules that generate module interrupts Also the STI and FAULT routines execute at a higher priority than the module interrupt routine that is linked to the SLC Servo Control Module interrupt Publication 1746 2 40 J une 1997 4 SLC Servo Control System Typical SLC Servo Control Figure 1 shows a typical SLC Servo Control System configuration System Configur
10. re than once Other move or homing operations can be performed between blended move profiles The SLC Servo Control Module is capable of controlling absolute position over a range of 32 bits The SLC Servo Control Module is able to perform an origin search also called homing and automatically reset the absolute position to home position when an encoder marker pulse is detected and the SLC Processor requests an origin search function The SLC Servo Control Module operates in two different modes e Configuration e Command Configuration Mode You can configure the SLC Servo Control Module by using M files containing data provided by the SLC processors All the configuration parameters of the SLC Servo Control Module are on line Configuration mode allows you to select the proper setup configuration to match the servo drive and motor without setting any switches and without special software If you do not set up your own configuration the configuration will equal the default setting Important You can only enter configuration mode if the system is in E stop SLC Servo Control Module Specifications and Compatibility SLC Servo Control System 3 Command Mode Operation All motor operations are preformed in command mode To get to this mode set the mode flag Bit 15 in output Word 0 to 0 In command mode the SLC Processor can issue commands and activate different operations or moves The actions you can command are e Abs
11. tput The SLC Servo Control Module creates an output with the following specifications Output voltage swing 10V DC Resolution 12 bits DAC including sign bit at 4 88mV per bit Load range 2K 20K ohm Conversion time 100ps Differential linearity 1 LSB maximum monotonic over entire temperature range Output offset voltage 500us maximum Gain error drift 7 LSB maximum Publication 1746 2 40 J une 1997 SLC Servo Control System Publication 1746 2 40 J une 1997 Feedback Circuitry The feedback circuitry has One feedback channel per module Differential incremental encoder with gated marker support Minimum channel frequency of 300kHz at 0 quadrature error The following formula determines channel frequency Where Fechan channel s frequency in Hz Where Eg quadrature error in degrees from 90 Encoder feedback on channels A B and Z must be differential with 5V compatible output signals 8830 line driver or Input sink current DC 6 8mA typical 7 5mA maximum Input sink current AC 42mA maximum The value of 42mA represents the peak current that occurs as the differential switches state due to the AC termination with a 4V differential swing The current will decay per the RC time constant resulting from the 0 01uF capacitor and the 221 Voltage for the common mode input of 7V e e e e Fehan 3334 90 EQ e Input Signal equivalent
12. uts are One fast output compatible with a customer equipped 24V DC power supply High level on state output voltage refer to the specifications for the user side power supply High level on state output current Without termination panel 5V maximum and OV minimum at 24mA With termination panel 24V maximum at 400mA Publication 1746 2 40 J une 1997 10 SLC Servo Control System General Purpose Local Fast Inputs Specifications for the General Purpose Local Fast inputs are Number of fast inputs 3 compatible with a customer equipped 24V DC power supply Low high trip threshold 14 61V DC maximum 12 5V DC typical 10 51V DC minimum High low trip threshold 10V DC maximum 8 3V DC typical 6 4V DC 9 minimum Vuyst 6 5 V DC maximum 4 1 V DC typical 1 9V DC minimum Low high trip debounce filter 0 2 ms typical High low trip debounce filter 0 2 ms typical Input voltage 75V maximum Input current at 27V 50mA maximum SLC 500 Backplane Communications The SLC 500 Application program sends e Status information to the SLC 500 once each I O scan including Discreet bit input status Actual position following error or current speed e All configuration and programming data to the SLC Servo All sequencing of this data is the responsibility of the programmer Current Requirements are 0 300 A 5V A Version 2 0 memory pack is required to support SLC
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