Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual User Manual download pdf (Page 31)

Publication 1746-6.1.2 - July 2000

2-8

Selecting Power Supplies, Encoders, and Drives

1 2 ... 26 27 28 29 30 31 32 33 34 35 36 ... 223 224

Servo Control 1
Important User Information 2
European Communities (EC) 3
Directive Compliance 3
Chapter 4 5
Chapter 5 5
Chapter 6 5
Setting Up Your SLC Servo 6
Programming the SLC 7
Processor to Run the SLC 7
Servo Module 7
Programming System 8
Variables 8
Input/Output Quick 9
Reference 9
Cable Dimensions and 9
Wiring Diagram 9
Programming Examples 10
Wiring Without the 10
Termination Panel 10
Table of Contents 11
viii 11
Who Should Use this 12
Purpose of this Manual 12
Safety Precautions 12
Contents of this Manual 13
Preface 14
Related Documentation 15
Conventions Used in this 16
Product Receiving and 16
Storage Responsibility 16
Rockwell Automation 17
Support 17
On the Web 18
P-8 19
Overview 20
Operation 21
Configuration Mode Operation 22
Command Mode Operation 22
Specifications and 23
Compatibility 23
Selecting a Power Supply 24
Selecting a User-Side 26
Power Supply 26
Using Fast Inputs and 27
Selecting an Encoder 28
500 µV (max) 30
General Wiring Practices 32
Routing Wires 33
Classifying Your 34
Conductors 34
Placing Your SLC Servo 34
Unpacking and Inspecting 36
Your SLC Servo Module 36
Installing the SLC Servo 37
An invalid configuration is 38
CONFIG INV 38
When: This LED is on: 38
Grounding the SLC Servo 39
Mounting the Termination 40
Connecting the Termination 42
Wiring the SLC Servo Module 44
Wiring Fast Inputs and 45
Wiring Hardware 47
Overtravels 47
Connecting Home Limit 48
Switch as a Fast Input 48
Wiring Estop Connections 49
Wiring for Normal Operation 50
4 form C 51
ATTENTION 52
Wiring Power Supplies 55
Wiring Encoders 56
Differential 57
Line Driver 57
Customer 57
Typical Vendor Encoder Wiring 58
Wiring the SLC Servo to 61
Allen-Bradley Drives 61
M1INPUT FUSING 69
Necessary Figure 5.24 71
Figure 5.25 71
Figure 5.26 71
Not Necessary Figure 5.24 71
1746 HSRV/IMC 110 72
(1746-HT) 72
C #15) wire swapped 73
Connecting the Velocity 75
Powering Up Your SLC 76
Testing Estop Wiring 78
Understanding the Theory 81
Powering Up the SLC Servo 82
Configuring the SLC 82
Processor 82
Software 83
If you are using: Go to: 83
When Working: Go to: 86
The SLC Servo Module 90
Configuring the SLC Servo 90
Before Programming the 91
Communicating Between 92
Entering Encoder Lines and 92
Computing Counts 92
Initializing DAC Output 95
Voltage for Drive Symmetry 95
Setting Initial Loop Type 95
Defining Positive Axis 96
Movement for the SLC 96
Coarse Calibrating 97
Fine Calibrating 97
Computing Excess 98
Following Error Limit 98
Selecting Loop Type 99
Selecting Axis 100
Acceleration Rate 100
Determining Velocity and 102
Acceleration Feedforward 102
Specific Parameters 103
Programming Conventions 103
Setting Axis and Home 103
Configuration Errors 104
Configuration Parameters 105
Servo Loop Parameters 106
Motion Parameters 108
Axis Parameters 109
Homing Parameters 109
System Parameters 110
Homing Options 111
Option 1 Example 112
Option 2 Example 113
Option 3 Example 114
Option 4 Example 115
Homing to a Limit Switch 116
SLC Servo Module 118
XX XXXX XXXX 120
Command and Status 121
Information 121
Module Communication 121
Interface 121
Discrete Bit Commands 122
Word 0 Discrete Bit Commands 123
124
Discrete Block Commands 125
Recovering from Estop 126
Executing Simultaneous Moves 127
Using Simple Move 128
Commands 128
Velocity 131
Using the Speed Move Command 132
Planning a Speed Move 133
Planning a Monitor Move 134
N31:0 16 0 0 0 0 0 1 136
Execute several 139
Blending Speed Moves 141
F47:0 0.75 500.0 143
Word 0 1 2 3 4 5 143
Programming System Variables 144
• Set In-Position Band 145
Using the Set Home Command 146
for word 5, bit 4 appear in 150
XXX XX1X 151
XXXX X1XX 152
Status Information 154
Processor Status 158
Floating-Point Values 159
Troubleshooting 160
Hardware Setup 161
Software Setup 161
If CONFIG INV LED is Lit 162
Troubleshooting 163
Troubleshooting LED 165
Indicators 165
Error Messages and 166
Diagnosis 166
Informational Messages 167
Minor Fault Messages 169
Major Fault Messages 171
Input/Output Quick Reference 174
Word 1 Parameters 177
Word 2 Parameters 178
Multi-Word Parameters 178
Feedback Parameters 180
Word 0 184
Word 1 185
Word 2 185
SLC Servo Module to SLC 186
Processor Discrete Control 186
Blended Configuration 187
Appendix 188
Ladder Rung Examples 191
Rung 2 – Timer Delay 193
Figure C.7 Rung 3 194
Figure C.8 Rung 4 194
Programming Examples 195
Figure C.12 Rung 6 197
Figure C.13 Rung 7 197
Rung 8 – Clear All Faults Bit 198
Rung 9 – Cancel Move 198
Rung 10 – Hold/Unhold 198
Rung 12 – ABSOLUTE Move 199
Rung 13 – INCREMENTAL Move 201
Rung 14 – SPEED Command 203
Rung 15 – MONITOR Move 204
Rung 16 – BLEND Move 205
Rung 17 – Clearing Move Bits 206
Figure C.33 Rung 18 207
Address Command 207
N31:0 0 0 207
Rung 19 – HOME Axis 208
Figure C.35 Rung 19 209
F27:0 1.0 20.0 209
Rung 20 – Final Rung 210
Distances to User Devices 213
Wiring Your User Devices 213
Estop Circuitry Drawings 214
I-2 217
I-4 219
I-6 221
I-8 223

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