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Motion Coordinate System User Manual

1. Error Corrective Action or Cause Notes 1 Reserved Error Code 1 Reserved for future use 2 Reserved Error Code 2 Reserved for future use 3 Look for another instance of this type of instruction See if its EN bitis but its DN Execution Collision and ER bits are off enabled but not done or errored Wait until its DN or ER bit turns You cannot execute an instruction if the same type of instruction is enabled but on not done or errored 4 Open the servo loop before you execute this instruction Servo On State Error 5 Close the servo loop before you execute this instruction Servo Off State Error For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error Example If EXERR is zero check the axis for dimension zero 6 Disable the axis drive Drive On State Error 7 Execute a Motion Axis Shutdown Reset MASR instruction or direct command to Shutdown State Error reset the axis For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error Example If EXERR is zero check the axis for dimension zero 8 The configured axis type is not correct Wrong Axis Type For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error Example If EXERR is zero check the axis for dimension zero 9 The instruction tried to execute in a direction that a
2. Attribute Data Type Access Description 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 can be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module Coordinate 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 Tag Update SINT GSV The Coordinate System Auto Tag Update attribute configures whether the Actual Position attribute is SSV automatically updated each motion task scan This is similar 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 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 c
3. Error Codes ERR for Coordinate Motion Instructions Appendix C Table 76 Active Stopping Instruction MAHD Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MRHD Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MAH Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MAJ Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MAM Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MAG Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MCD Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MAPC Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MATC Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MDO Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MCT Error 78 Error 78 Error 78 Error 7 Error 61 ExErr Error 61 ExErr Error 61 ExErr Error 61 ExErr Error 61 ExErr 10 10 10 10 10 MCCD Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MCLM MCCM Merge Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Disabled MCLM MCCM Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Merge Enabled Active Stopping Instruction MGS MGSD MCS MAS MASD Initiated Second Stop Type Stop Mode Fast Stop Mode Fast Stop Mode None Stop Type All StopType All
4. Bit TP1 TP2 TP3 TP4 Move1 DN T T T T Movel IP T F F F Move1 AC T F F F Move1 PC F T T T Move2 DN T T T T 2 F Move2 AC F T T F Move2 PC F F F T c1 MoveTransitionStatus F T F F c51 MovePendingStatus T F F F cs1 MovePendingQueueFullStatus T F F F Rockwell Automation Publication MOTION UM002D EN P February 2015 39 Chapter 2 Cartesian Coordinate System Bit States at Transition Points of Blended Move by Using Follow Contour Velocity Constrained or Unconstrained linear circular move Y axis Xaxis This table shows the bits status at the transition points Table 13 Bit Status with Contour Velocity Constrained or Unconstrained Termination Type Bit TP1 TP2 TP3 Move1 DN T T T Move1 IP T F F Move1 AC T F F Move1 PC F T T Move2 DN T T T Move2 IP T T F Move2 AC F T F Move2 PC F F T cs1 MoveTransitionStatus F F F cs1 MovePendingStatus T F F cs1 MovePendingQueueFullStatus T F F 40 Rockwell Automation Publication MOTION UM002D EN P February 2015 Cartesian Coordinate System Chapter 2 Choose a Termination Type If You Want the Axes to vector speeds Stop between moves The termination type determines when the instruction is complete It also determines how the instruction blends its path into the queued MCLM or MCCM instruction if there is one 1 Choosea termination type And You Want t
5. Error Bit 28 The Error bit sets when the reset of the coordinated shutdown fails to initiate It resets when the rung transitions from false to true Arithmetic Status Flags Not affected Fault Conditions None Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 MCSR Changes to Status Bits Status Bits provide a means for monitoring the progress of the motion instruction There are three types of Status bits that provide pertinent information They are Axis Status bits Coordinate System Status bits and Coordinate Motion Status bits When the MCS instruction initiates the status bits undergo the following changes Table 58 Axis Status Bits Bit Name Effect CoordinatedMoveStatus No effect Table 59 Coordinate System Status Bits Bit Name Effect ShutdownStatus Clears the Shutdown status bit 228 Rockwell Automation Publication MOTION UM002D EN P February 2015 MCSR CoordinatedSyst MCSR 3 Master Driven Coordinate Control MDCC Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 60 Coordinate Motion Status Bits Bit Name Effect MovePendingStatus Flushes instruction queue and clears status bit MovePendingQueueFullStatus Flushes instruction queue and clears status bit Figure 110 Relay Ladder Example CSR Motion Coordinated Shutdown Reset Coordi
6. 3 1 p mmm em m mim ard aie e em ao i 0 2 4 6 8 10 Warie This table shows the bit status at the various transition points shown in the preceding graph with termination type of No Decel For No Decel termination type distance to go for transition point TP2 is equal to deceleration distance for the Movel instruction If Move 1 and Move 2 are collinear then Move1 PC is true at TP3 the programmed end point of first move Table 11 Bit Status with No Decel Termination Type Bit TP1 TP2 TP3 TP4 Move1 DN T T T T Move1 IP T F F F Move1 AC T F F F 1 F T T T Move2 DN T T T T Move2 IP T T T F Move2 AC F T T F Move2 PC F F F T cs1 MoveTransitionStatus F T F F cs1 MovePendingStatus T F F F cs1 MovePendingQueueFullStatus T F F F 38 Rockwell Automation Publication MOTION UM002D EN P February 2015 linear linear move Cartesian Coordinate System Chapter 2 Bit States at Transition Points of Blended Move by Using Command Tolerance f D D e i D i D 10 This table shows the bit status at the various transition points shown in the preceding graph with termination type of Command Tolerance For Command Tolerance termination type distance to go for transition point TP2 is equal to Command Tolerance for the coordinate system csl Table 12 Bit Status with Command Tolerance Termination Type
7. cheney Ae Pan Error COCR errata atte ca rad RN on Mod Le Md Circular Error E xampleSoie eiu nee de keh ect eaten estes Circular Programming Reference MCCM Changes to Status Bits rtr re Master Driven Speed Control MDSC and Motion Direct Command eV RUP as ce Motion Coordinated Change Dynamics MCCD Operands cid ee os etn battalions Motion EVBOS a tales Quse dodi tatit ge ea Impact of Changes to Acceleration and Deceleration Values on Motion 1 Arithmetic Status Flags eios petro E S eve t payee Fault Conditions ex lando bia od parton PREOE COU CS e E A tovs eee ca wales bo ee rc nerf MCGD Changes to Status Bits 88 Motion Coordinated Stop MCS Operands rane dac cens ae Ch eu eet es cM eden Motion Control Biber ordei etc ete dva reo vtenS IE How Stop Types Affect Master Driven Speed Control MDSC and the MGS Instruction oie out revue qe ee rete Arithmetic Status Sd rd e De pe knees Fault Conditions BEROPCOOdeS nae ous ek MCS Changes to Status Motion Coordinated Shutdown 50 Operands sos s Ree tree eter Ue HI e Iw bovo d
8. Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine Units per MasterUnits Master Driven Mode Units of Time Master Driven Master Driven Mode Units Master Units Master Driven Mode Units Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine Table 75 Speed Units in Master Units The following table shows acceptable combinations of Acceleration Units and Jerk Units when Speed is in Master Units Acceleration Speed in MasterUnits Units per sec Time Driven Mode Units Maximum Time Driven Mode Units Seconds Units per MasterUnit2 Master Units Time Driven Master Driven Master Driven Mode Units Mode Units Mode Units Jerk Units Units per sec Time Driven Mode Units Maximum Time Driven Mode Units of Time Time Driven Mode Units Seconds Time Driven Mode Units Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine Units per MasterUnits Master Driven Mode Units 96 of Time Master Driven Master Driven Mode Units Master Units Master Driven Mode Uni
9. Useful Terms Understanding the terms used in this chapter enables you to properly configure your robot Term Definition Forward Kinematics The solution of source positions given the target positions In practice requires computing the Cartesian positions given the Joint positions Forward Transform The solution of source positions given target positions Inverse Kinematics The solution of joint positions given Cartesian positions Typically converts Cartesian positions to joint positions Inverse Transform The solution of target positions given source positions Joint axis A rotary robotic coordinate axis typically having overtravel rather than rollover limits Kinematics The family of mathematical equations that convert positions back and forth between two linked geometries Orientation Robotic term for directional attitude or rotation about a point in Cartesian 3D space Orientation is expressed as three ordered rotations around the X Y and Z Cartesian axes Reference frame An imaginary Cartesian coordinate system used to define a Cartesian origin and reference orientation Source system One oftwo coordinate systems used in a Kinematics transform and having special properties When connected to a target system by means of a Kinematics transform motion commanded at the source system s inputs produces motion at both the source and target system s outputs if the physical axes are connected Target system One oftwo coordinate systems u
10. Figure 85 MCCM Ladder Instruction for 3D Arc Using Circle Type of Via CCM Motion Coordinated Circular Move ao Three dimensional Coordinate System coordinate sys CJ coordinate system Motion Control MCCM S HXDN5 Move Type 0 FXER2 T 3 Position MCCM Move position 16 C Position defined in absolute axis 20 lt lt units axis 2 0 axis2 0 0 KaAc gt i T eXcle Type al n Type is Via PC ViaiCenter Radius Via 4 n Direction Via position defined in absolute units as 1 0 1 0 1 414 Speed 10 1 0 1 0 Speed Units Units per sec Direction is ignored for Via ficca iate S Circle Type Accel Units Units per sec2 Decel Rate 5 Decel Units Units per sec2 Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Type Merge Disabled Merge Speed Programmed Command Tolerance 0 Lock Position 0 Lock Direction None Event Distance 0 Calculated Data MCCM Using Center Circle Type The following example shows the use of the MCCM with a Circle Type of Center and a Move Type of Absolute to create a three dimensional arc The basic assumptions are e the three axes 0 and 1 Axis2 are all members of the coordinate system coordinate sys coordinate sys is a three dimensional coordinate system e Axis0 1 and Axis2 are orthogonal to each other coordinate sys is initially set at 0 0 0
11. This path can be achieved by using an MCCM instruction in the Clockwise direction with a Move Type Absolute or with a Move Type Incremental When a Circle Type of Radius is chosen the Via Center Radius position defines the radius of the arc 154 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 73 MCCM Instruction Move Type Absolute Circle Type Radius CCI Motion Coordinated Circular Move 4 Coordinate System coordinate sys La Motion Control MCCM O Move Type is Absolute Move Type 0 ER2 m ar bonn MCCM Move positione CI Position defined in absolute axis 11 2 units axis1 6 6 Circle Type 2 Circe Type is Radius Via Center Radius Radius 2 Direction 0 Radius defined as 15 units and is stored Speed 40 in the Radius 2 tag ppocd nes Units sec Direction is Clockwise Accel Rate 5 Accel Units Units per sec2 Decel Rate 5 Decel Units Units per sec2 Profile Trapezoidal Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Ty pe Merge Disabled Merge Speed Current Command Tolerance Lock Position Lock Direction None Event Distance 0 Calculated Data Rockwell Automation Publication MOTION UM002D EN P February 2015 155 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCT
12. Data Flow When a Move is Executed with an MCTP Forward Transform Data Flow When a Move is Executed with an MCTP Inverse Transform Error Code 41 Error Code 50 Change Added External Access and Constant tag parameters Added Motion Planner Tab Updated Termination Type Table Updated MCLM MCCM and MCCD Instruction Operand Descriptions Updated Runtime Error Conditions for Instructions Updated Coordinate Motion Status Bits table for MCLM and MCCM Instructions Added Information on Dwells Added Information on Zero Length Moves Added Information on Time based Programming Errors Updated Three dimensional Arcs Example Added Information on Master Driven Speed Control MDSC and Motion Direct Command Support Updated Figure MCLM Ladder Instruction with Move Type Incremental Updated Example MCCM Ladder Instruction for 3D Arc Using Circle Type of Via Added Information on Master Driven Speed Control MDSC and the MCS Instruction Added Information on Master Driven Speed Control MDSC and the MCSD Instruction Added Extended Error Codes for MCTP Instruction Added Master Driven Coordinate Control MDCC Instruction Added Status Bits for Motion Instructions MCLM MCCM When MCDD Is Active Rockwell Automation Publication MOTION UM001B EN P November 2011 269 AppendixD History of Changes Change Added Changing Between Master Driven and Time D
13. 10 4 13 Starf 5 i 37 64 gt Combal f 141 2 at agi 3 12 4 4 12 2 MCCM Instruction Using Via Circle Type The following examples show the use of the MCCM instruction with a Circle of Via and a Move Type of Absolute first example and Incremental second example to arrive at the same result The basic assumptions are e the two axes Axis0 and 1 are both members of the coordinate system coordinate_sys 0 and Axis are orthogonal to each other e Coordinated_sys is initially at 10 4 1 3 units Move Coordinated_sys along an arc to 11 2 6 6 units passing through the point 3 7 8 6 units at the vector speed of 10 0 units per second with the acceleration and deceleration values of 5 0 units per second The following graph shows the path generated by the preceding information 150 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 69 Plot of Path of MCCM Instruction with Operands of Via and Absolute 3 7 8 4 Via 112 y End 104 43 Sart du IX The vector speed of the selected axes is equal to the specified speed in the units per second or percent of the maximum speed of the coordinate system Likewise the vector acceleration and deceleration is equal t
14. 1 1 e x1 1 10 12 22 m R2 10 12cos 80 7 916 Side view Depicts the envelope of the tool center point sweep in J2 and J3 while J1 remains at a fixed position of 09 60 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Configuration Parameters Logix Designer application can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including Linklengths e Base offsets End effector offsets The configuration parameter information is available from the robot manufacturer IMPORTANT Verify that the values for the link lengths base offsets and end effector offsets entered into the Configuration Parameters dialog use the same measurement units This example illustrates the typical configuration parameters for an Articulated Independent robot Figure 13 Typical Configuration Parameters for an Articulated Independent Robot AX3 L2 12 inches X1e 2 inches 2 1 5 inches t ON ke E y m DOS _ t A 3 1 3 0 inches Y d X 11 12 inches Tool reference frame X3b 4 0 inches L A bs i Robot Origin 4 X3e X3e1 X3e2 3 1 5 X1b 3 0 inches Ls X3e 1 5 inches If the robot is two dimensional then X3b and X3e are X2b
15. Manual Adjust Button The Manual Adjust button on the Coordinate System Dynamics tab accesses the Manual Adjust Properties dialog box The Manual Adjust button is enabled only when there are no pending edits on the properties dialog box Dynamics Tab Manual Adjust At this dialog box you can make changes to the Vector and Position Tolerance values Manual Adjust My_coordinate_system Dynamics Vector Maximum Speed Coordination Units s le Maximum Acceleration 00 tj Coordination Units s 2 Maximum Deceleration Coordination LInits s 2 0 0 4 Maximum Accel Jerk 0 0 al Coordination LInits s 3 Maximum Decel Jerk 0 0 Coordination Units s 3 Position Tolerance Actual 0 0 4 Coordination Units mm Command 00 Coordination Units These changes can be made either online or offline 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 online or to the project file if offline Reset Reset reloads the values that were present at the time this dialog box was entered The blue arrow to the right of Reset means that the values are immediately reset when you click Reset Rockwell Automation Publication MOTION UM002D EN P February 2015 Create and Configure a Coordinate System Chapter 1 Motion Planner Tab The Motion Planner dialog box is accessible only if
16. Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Calculate Transform Position MCTP Chapter j Kinematics Coordinate Systems Topic Page Useful Terms 50 Gather Information about Your Robot 50 Summary of Kinematic Steps 51 Determine the Coordinate System Type 52 This chapter provides you with the information you need when using the Kinematics functionality within Logix Designer application This chapter also provides you with guidelines for robot specific applications Kinematics coordinate systems use two instructions the Motion Calculate Transform Position MCTP and the Motion Coordinate Shutdown Reset MCSR Use the MCTP instruction to calculate the position of a point in one coordinate system to the equivalent point in a second coordinate system Motion Coordinated Shutdown Use the Motion Coordinated Shutdown Reset MCSR instruction to reset all Reset MCSR axes in a coordinate system The MCSR instruction resets the axes froma shutdown state to an axis ready state This instruction also clears any axis faults ATTENTION Use each tag for the motion control attribute of instructions only once Re use of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury Rockwell Automation Publication MOTION UM002D EN P February 2015 Chapter 3 Kinematics Coordinate Systems
17. When speed is specified in Master distance units the specified distance is the total master distance of the move including acceleration and deceleration distance of the Master Axis Acceleration and Deceleration Enumerations The following enumerations are defined for Acceleration and Deceleration Unit parameters for motion instructions Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Table 69 Acceleration and Deceleration Enumeration Enumeration Definition Mode Compatibility Note 0 1 2 3 Units per sec 96 Maximum Reserved Reserved Time Driven Existing Enumeration Existing Enumeration Reserved for Time based programming S Reserved Reserved Master Units Units per MasterUnit MDSC New Enumeration Reserved for Time based programming Table 70 Acceleration The following table shows acceptable combinations of Speed Acceleration and Deceleration units Acceleration and Deceleration Units Units per sec Time Driven Mode Units Maximum Time Driven Mode Units Seconds Time Driven Mode Units Units per MasterUnit Master Units Master Driven Master Driven Mode Units Mode Units Speed Units Units per sec Time Driven Mode Units Maximum Time Driven Mode Units Existing
18. Accel Units Units per sec2 Decel Rate 5 Decel Units Units per sec2 Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Ty pe Merge Disabled Merge Speed Current Command Tolerance Lock Position 0 Lock Direction None Event Distance 0 Calculated Data 168 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A For full circles set Position operand to any point except the start point and use one of the Full Direction types The endpoint is assumed to be the start point This is because in the three dimensional space you need three points to specify a plane for the circle By changing the Direction operand to Shortest in the preceding MCCM instruction the following path is generated The Shortest option of the Direction operand takes the shortest route from the start point to the point defined by the Position operand of the MCCM instruction Figure 88 3D Path Using Shortest for Direction Operand r t r T L d 2 E 4 i 1 Pai 0 1 i 1 1 lt i 4 ud s t re A 12971 0 5 1 q 1 E 1 4 LI 21155 1 4 i 4 125 1 i 0 1 X axis 2 0 Y axis Rockwell Automation Publication MOTION UM002D EN P February 2015 169 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP M
19. Actual Tolerance No Settle 2 Command Tolerance 3 No Decel 4 Follow Contour Velocity Constrained 5 Follow Contour Velocity Unconstrained 6 Command Tolerance Programmed See Blended Moves and Termination Types on page 34 Merge Disabled 0 Coordinatedmotion 1 Allmotion 2 Merge Speed Programmed 0 Current 1 No enumeration Immediate or tag Lock Position No enumeration Immediate real or tag Lock Direction None 0 Immediateforwardonly 1 Immediatereverseonly 2 Positionforward 3 Positionreverse 4 Event Distance No enumeration Array Calculated Data No enumeration Array Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Executing the Instruction MCLM isa transitional instruction In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition Motion Control Bits The following control bits are affected by the MCLM instruction Table 16 Control Bits Affected by the MCLM Instruction Mnemonic Description EN Enable Bit 31 The Enable bit is set when the rung transitions from false to true and resets when the rung goes from true to false DN Done Bit 29 The Done bit sets when the coordinated instru
20. Event Distance Calculated Data Operand Type Format Description Coordinate System COORDINATE_SYSTEM ag The Coordinate System operand specifies the system of motion axes that define the dimensions of a Cartesian coordinate system The coordinate system supports up to three primary axes Only the axes configured as primary axes up to 3 are included in speed calculations Only primary axes participate in the actual circular move Motion Control MOTION_ INSTRUCTION tag Structure used to access instruction status parameters Refer to Motion Control Bits on page 144 Move Type SINT INT or DINT immediate or tag 0 Absolute 1 Incremental Refer to Move Type on page 144 Position REAL array tag A one dimensional array whose dimension is defined to be at least the equivalent of the number of axes specified in the coordinate system The Position array defines either the new absolute or incremental position coordination units 138 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Table 26 MCCM Instruction Operands Relay Ladder Operand Type Format Description Circle Type SINT INT or DINT immediate or tag The Circle Type operand specifies how the array labeled via center radius is int
21. Joints Tag Type Articulated Independent Top View Transform Dimension 3 End Effector Offsets Xle 00 X2e 00 X3e 00 N Side View Base Offsets Xib 100 X2b 100 X3b 00 When specifying the end effector and base offset values be sure that the values are calculated by using the same measurement units as the linked Cartesian coordinate system For example if the manufacturer specifies the robot offset by using millimeter units and you want to configure the robot by using inches then you must convert the millimeter link measurements to inches and enter the values in the appropriate offset fields End Effector Offsets Box The end effector offset value specifies the dimensions of the end effector The correct end effector offsets are typically available from the manufacturer The end effector indicators are Xle X2e and X3e in the corresponding graphic Base Offsets Box The Logix Designer Kinematics internal equations define the robot origin relative to the first joint of the robotic arm Sometimes the robot manufacturer specifies the origin at a different location The difference between these two locations is the base offsets value The correct base offset values are typically available from the robot manufacturer The base offset indicators are X1b X2b and X3b in the corresponding graphic Rockwell Automation Publication MOTION UM002D EN P February 2015 Create and Configure a Coordinate
22. e zero length move with a duration of zero time completes in 1 coarse iteration which is the minimum time possible zero length move that is programmed with Speed Units other than seconds or master distance completes almost immediately Anerror occurs if a move is programmed by using Time Based Planning that is started with a nonzero velocity This means that a move using the merge enabled parameter in an instruction causes an error for most cases because merge is typically used when the axes are moving Anerror occurs if speed is programmed in units of seconds and acceleration deceleration or jerk is not programmed in seconds or 96 of Time for jerk Rockwell Automation Publication MOTION UM002D EN P February 2015 173 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MCCM Target Position Entry Dialog Box The MCCM Target Position Entry Dialog box is accessed by pressing the ellipsis button to the right of the position operand of the ladder instruction faceplate The Target Position Entry box can only be accessed if the coordinate system for the instruction has been named avalid tag name for the Position operand that contains enough elements to accommodate the number of axes selected a valid Move Type and a valid Circle Type If these criteria have not been satisfied an error message is displayed on the status bar Figure 90 MCCM Lad
23. rm MI Move 0 IP amp NOT Arm X2 X3 MovePendingQueueFullStatus 4 214 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A X2 Third MCLM instruction X3 X2 Example 3 Change Orientation Ifyou want to move the target coordinate system in a rectangular path execute the MCT instruction to start the transform Then execute four Motion Coordinated Linear Move MCLM instructions to produce the rectangular path X1 Fourth M Second MCLM instruction Represents both the source and the target coordinate systems CLM instruction Ifyou want to rotate the Cartesian positions of the target coordinate system by 20 counterclockwise around the X3 axis 1 Enter orientation values of 0 0 20 into the MCT instruction 2 Execute the MCT instruction again to apply the orientation to the transform 3 Execute the same four MCLM instructions again Represents the target coordinate system Represents the source coordinate system The Cartesian positions rotate 20 counterclockwise around the X3 axis Rockwell Automation Publication MOTION UM002D EN P February 2015 215 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Example 4 Change Translation If you w
24. 1 No Settle 2 Command Tolerance e 3 NoDecel e 4 Follow Contour Velocity Constrained 5 Follow Contour Velocity Unconstrained 6 Command Tolerance Programmed For further information on how to select a termination type refer to Choose a Termination Type on page 41 Rockwell Automation Publication MOTION UM002D EN P February 2015 Cartesian Coordinate System Chapter 2 Bit State Diagrams for Blended The following diagrams show bit states at the transition points for various types Moves of blended moves Bit States at Transition Points of Blended Move by Using Actual Tolerance or No Settle linear linear move hom 10 This table shows the bit status at the various transition points shown in the preceding graph with termination type of either Actual Tolerance or No Settle Table 10 Bit Status at Transition Points with Actual Tolerance or No Settle Termination Type Bit TP1 TP2 TP3 Move1 DN T T T Movel IP T F F Move1 AC T F F Move1 PC F T T Move2 DN T T T Move2 IP T T F Move2 AC F T F Move2 PC F F T c1 MoveTransitionStatus F F F cs1 MovePendingStatus T F F cs1 MovePendingQueueFullStatus T F F Rockwell Automation Publication MOTION UM002D EN P February 2015 37 Chapter 2 Cartesian Coordinate System Bit States at Transition Points of Blended Move by Using No Decel linear linear move Y axis i 1 i 4 1
25. Blended Trajectory c from A to B and from B to C a MCLM 2 MCLM 3 ZN A MCLM1 MCLM 4 IMPORTANT We recommend that you terminate any sequence of moves by either Termination Type 0 or 1 that is TTO or TT1 guarantee that your trajectory is symmetric you must terminate any sequence of moves by either Termination Types 0 or 1 Use a Termination Type of 0 or 1 at the Reversal Point ofa 2 Ml that moves back on itself This move must be TTO or TT1 This move must be TTO or TT1 I eral Poir Point Using a TT2 TT3 TTS or TT6 as the last move in a profile or the reversal point is safe However the resulting trajectory from A to B cannot always be the same as that from B to A Explicit termination of the sequence of moves helps the controller to optimize the velocity profile reduce the CPU load and guarantee a symmetric profile Rockwell Automation Publication MOTION UM002D EN P February 2015 Cartesian Coordinate System Chapter 2 Triangular Velocity Profile If you want to program a pick and place action in four moves minimize the Jerk rate and use a triangular velocity profile 3 Then use termination type 5 The other termination types can prevent you from getting to the speed you want Termination Types 2 3 4 or 6 Termination Type 5 You want to get to You calculate the And you must also calculate the this speed acceleration starting speed for each m
26. Data Type Description Valid and Default Values Calculated Data REAL This is the Master Distance s or time needed for the Slave Coordinated System to travel from the Default 0 no Calculated ARRAY or 0 beginning of the move to the Event Distance point Data array or a REAL array The returned Calculated Data value is dependent on tag the instruction type that is MCLM or MCCM for coordinated motion the mode ofthe Slave Coordinate System that is Time Driven or Master Driven e if superimposed motion is active the Calculated Data does not include any of the superimposed motion To understand the Calculated Data concept it s important to understand that the Motion Start Point MSP for a coordinated move is defined as the last time that e aTT0 1T1 was programmed or completed or the queue was empty or amerge occurred If there was a dwell programmed in the queue then the calculated data includes the time of the dwell Note that the MSP could have occurred several moves prior to the move in which the Event Distance was specified The returned Calculated Date value is outlined in the following table Mode Returned Calculated Data Parameter Master Driven The returned Calculated Data parameter is the incremental delta Master position that is needed to make the Slave Coordinate System move from the point at which Slave Coordinate System is locked to the Master and starts moving along the programmed path t
27. Decel Units Units per sec2 Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Ty pe 0 Merge Disabled Merge Speed Current Command Tolerance Lock Position Lock Direction None Event Distance 0 Calculated Data 0 To draw a full circle by using Radius as the Circle Type The starting point must not equal the end point The direction must be either Clockwise Full or Counter Clockwise Full Thesign of Radius is irrelevant MCCM with Rotary Axes Examples The following examples show the use of the MCCM instruction with Rotary axes and Move Types of Absolute and Incremental MCCM Instruction with Three Axes One Rotary Axis and Move Type of Absolute The first example uses a coordinate system of three axes with one Rotary axis and a Move type of Absolute The plot of the path is based on the following assumptions e Three axis Coordinate System named coordinate sys Axis2 the Z axis is ignored in plots to reduce the confusion and to better illustrate the actions of the rotary axis 0 e 0 is Rotary with an unwind of 5 revs Rockwell Automation Publication MOTION UM002D EN P February 2015 161 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC 162 Start position is 0 0 0 e End position is 5 5 5 Via position is 5 3 5 3 5 Figure 80 MCCM Ladder Instruction with Move Type of Absolute ICCI Mot
28. MCCD MCS MCSD MCT MCTP MCSR 224 Step 008 Tran 007 Arm MI Figure 105 Calculate Position Ladder Diagram Recovery Step 1 MCTP Motion Calculate Transform Position EN Source System Arm X1 X2 X3 Target System Arm J1 J2 J3 DN Motion Control Arm Ml Calculate Transform Orientation MCTP Orientation 0 ER Translation MCTP Translation 0 Transform Direction Forward Reference Position Arm J1 J2 J3 ActualPosition 0 Transform Position Arm End Position 0 Arm Ml Calculate Transform DM MUL Multiply Source amp Recovery Step 2 Source B 2 Dest Recovery Step 2 If Recovery Step 1 turns on then calculate the X1 X2 and X3 positions of the robot based on its current joint angles When the instruction is done the MUL instruction takes the sequence to the next step Figure 106 Calculate Position Structured Text This step calculates the X1 X2 and X3 positions of the robot based on its current joint angles The P1 qualifier limits this to the first scan of the step amp Get Position CTP Arm X2 Arm Jl 2 J3 Arm MI Calculate Transform Orientation 0 MCTP Translation 0 Forward rm Jl 2 J3 ctualPosition 0 rm End Positicon O The SFC goes to the next step when the MCTP instruction is done Calculate Transform DN tH Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coord
29. Relay Ladder 195 Structured Text 196 Motion Coordinated Transform MCT 205 Naming a Coordinate System 16 Rockwell Automation Publication MOTION UM002D EN P February 2015 Index R RSLogix 5000 software Verification Errors 234 SCARA Delta configuration parameters 80 establish the reference frame 78 identify the work envelope 80 SCARA Independent reference frame 86 88 Selective Compliant Assembly Robot Arm configuration parameters 89 configure 83 establish reference frame 86 identify work envelope 88 link lengths 89 Singularity planning for definition of 85 Speed Acceleration Deceleration and Jerk Enumerations for Coordinated Motion 250 Acceleration and Deceleration Enumerations 250 Jerk Enumerations 252 Speed Enumerations 250 Status Bits for Motion Instructions MCLM MCCM when MDCC Is Active 234 Studio 5000 Engineering and Design Environment 11 Symmetric Profiles paths of 45 T transform start a transform 205 troubleshoot drive errors 267 instruction errors 261 269 V Velocity Profiles of collinear moves 43 triangular 47 Rockwell Automation Publication MOTION UM002D EN P February 2015 275 Index Notes 276 Rockwell Automation Publication MOTION UM002D EN P February 2015 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical and appli
30. Rockwell Automation Publication MOTION UM002D EN P February 2015 71 Chapter 4 72 Articulated Independent Robot Link Lengths Link lengths are the rigid mechanical bodies attached at the rotational joints The three dimensional Delta robot geometry has three link pairs each made up of L1 and L2 Each of the link pairs has the same dimensions e Ll isthelink attached to each actuated joint J1 J2 and J3 e L2 isthe parallel bar assembly attached to L1 Figure 23 Three dimensional Delta Robot Link Lengths Configuration Screen i Coordinate System Properties Delta General Geometry Units Offsets Joints Tag Type Delta Transform Dimension 3 Link Lengths 11 2202 j Jem L2 6700 j Zero Angle Orientations 21 00 Degrees 22 00 Degrees 23 0 0 Degrees Base Offsets There is one base offset value X1b available for the three dimensional Delta robot geometry Enter the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Configure a Delta Two dimensional Robot End effector Offsets The two end effector offsets available for the three dimensional Delta robot geometry are as follows Offset values are always positive numbers Xleisthe distance from the center of the moving plate to the lower spherical jo
31. second example to arrive at the same result The basic assumptions are e the two axes 0 and 1 are both members of the coordinate system coordinate sys e 0 and Axis are orthogonal to each other e coordinate sys is initially at 10 4 1 3 units Move coordinate sys along an arc to 11 2 6 6 units with a center at an increment of 14 1 5 1 units from the start point at the vector speed of 10 0 units per second with the acceleration and deceleration values of 5 0 units per second The following graph shows the path generated by the preceding information 156 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 75 Plot of Path with Circle Type of Center Incremental 112 6 End 103 13 Sart 33 C4 320 2 A amp 12 2 This path can be achieved by using instruction in the Clockwise direction with a Move Type Absolute or with a Move Type Incremental When a Circle Type of Center Incremental is chosen the Via Center Radius position defines the center of the arc Rockwell Automation Publication MOTION UM002D EN P February 2015 157 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Figure 76 MCCM Instruction Move Type Absolute Cirde Type Center Incre
32. which is in the MotionStatus word of the Slave Coordinate System not the instruction driving the slave axis is set or cleared based on changes in velocity of the Slave Coordinate System TrackingMaster Indicates that the Slave Coordinate System is tracking the Master Axis only used in Master Driven Mode When an instruction is initiated in Master Driven Mode the Slave Coordinate System accelerates to the speed that is programmed for MDSC mode The Tracking Master is set when the acceleration is complete in MDSC Mode This means that the Slave Coordinate System is synchronized to the Master Axis The Tracking Master bit is cleared when any of the following occurs on the Slave Coordinate System When the Slave Coordinate System starts to either accelerate or decelerate for any reason for example for an MCCD or an MCS being issued When the Slave Coordinate System is relinked to another Master Axis In this situation the TrackingMaster bit is first cleared and then it is set again in the new instruction status word when the Slave Coordinate System starts tracking the new Master Axis again The Slave Coordinate System is stopped The Tracking Master is cleared as soon as the stop is initiated the Slave Coordinate System This bit is never set when LockDir NONE Note that the Tracking Master bit on the Slave Coordinate System is not affected by any operation for example MCS MCCD on the Master Axis The Tracking Master bit
33. 0 0 0 units Move Coordinated_sys1 along an arc to 1 0 1 0 1 414 units with center at 1 0 1 0 1 0 units at the vector speed of 10 0 units per second with the acceleration and deceleration values of 5 0 units per second The following graph shows the three dimensional arc generated by the preceding information Rockwell Automation Publication MOTION UM002D EN P February 2015 167 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Figure 86 Three dimensional Path Using Shortest Full for Direction Operand TIPP LI A mm ii Z axis 2 0 Y axis This path is achieved by usingan MCCM instruction with a Move Type of Absolute and a Circle Type of Center When Via is selected the Via Center Radius position defines a point through which the arc must pass Figure 87 MCCM Ladder Instruction for 3D Arc Using Circle Type of Center Motion Coordinated Circular Move e Coordinate System coordinate sys L EN2 Three dimensional coordinate system Motion Control MCCM 8 Move Type 0 Position MCCM Move position 0 C axis 10 m 3 i 10 Position defined absolute units axis2 1 414 Circle Type 1 Circle Type is Center V ia Center Radius Center 8 DES 2 Center position defined in absolute units as 1 0 1 0 0 0 Speed 10 Speed Units Units per sec Accel Rate 5 Direction is Shortest Full
34. Axis Properties pages for the axis listed in the row Coordination Mode Enable Coordinate System Auto Tag Update The Coordination Mode column indicates the axes that are used in the velocity vector calculations If the type of coordinate system is specified as Cartesian then Primary axes are used in these calculations For non Cartesian coordinate systems the coordination mode for the axes defaults to Ancillary The Enable Coordinate System Auto Tag Update checkbox lets you determine whether the Actual Position values of the current coordinated system are automatically updated during operation Use the checkbox to enable this feature The Coordinate System Auto Tag Update feature can ease your programming burden if you need to add GSV statements to the program 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 You can lower the execution time if you enable this feature in initial system programming to work out the kinks and then disable it and enter the GSV statements in your program Enabling this feature can result in some performance penalty 22 Rockwell Automation Publication MOTION UM002D EN P February 2015 Create and Configure a Coordinate System Chapter 1 Geometry Tab The Geometry tab of the Coordinate System Propertie
35. Descriptions Wizard or Dialog Box General Description The General dialog box 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 specify the number of dimensions to transform enter the associated axis information choose whether to update Actual Position values of the coordinate system automatically during operation This dialog box has the same fields as the General tab found under Coordinate System Properties Geometry The Geometry dialog box lets you configure key attributes related to non Cartesian geometry and shows the bitmap of the associated geometry Offset Units The Offset dialog box lets you configure the offsets for the base and end effector This dialog box shows the bitmaps for the offsets related to the geometry The Units dialog box lets you determine the units that define the coordinate system Atthis dialog box you define the Coordination Units and the Conversion Ratios This dialog box has the same fields as the Units tab found under Coordinate System Properties Dynamics Use the Dynamics dialog box 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 dialog box has the same fields as the Dynamics tab found under Coordinate System Properties Manua
36. EU s ja 96 of time Convert Percentage of Time to Engineering Units If you want to convert 96 of Time to engineering units use these equations For Accel Jerk ee CERE i 14 EU s 5 Voge EU s EU s 2 J 90 of time For Decel Jerk jg of time ___ 100 TEZ EU s v EU s d EU s Important Consideration If you program tangent circles with different Jerk rates Decel Jerk of first circle and Accel Jerk of the second circle then you can get a slight velocity discontinuity at the intersection of the two circles The size of the discontinuity depends on the magnitude of the Jerk difference In other words the smaller the Jerk difference the smaller the velocity glitch Therefore we recommend that you do not program Jerk rates on tangent circles Rockwell Automation Publication MOTION UM002D EN P February 2015 171 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Merge The merge defines whether or not to turn the motion of all specified axes into a pure coordinated move Table 30 Merge Options Option Description Merge Disabled Any currently executing single axis motion instructions involving any axes defined in the specified coordinate system are not affected by the activation of this instruction and result in superimposed motion on the affected axes An error is flagged if a second instruction is initiat
37. For example enter Decel Units as unitspersec rather than Units per Sec as displayed in the ladder logic For the operands that have enumerated values enter your selection as follows This Operand Has These Options That You Enter as Text Or as Coordinate System No enumeration Tag Motion Control No enumeration Tag Move Type No enumeration Tag 0 Absolute 1 Incremental ChangeSpeed No 0 Yes 1 Speed No enumeration Immediate or tag SpeedUnits Unitspersec 0 ofmaximum 1 Unitspermasterunit 4 ChangeAccel No 0 Yes 1 Accel Rate No enumeration Immediate or tag Accel Units Unitspersec 0 ofmaximum 1 unitspermasterunit 4 ChangeDecel No 0 Yes 1 Decel Rate No enumeration Immediate or tag Decel Units Unitspersec 0 ofmaximum 1 unitspermasterunit 4 Change Accel Jerk No enumeration 0 No 1 Yes Accel Jerk No enumeration You must always enter a value for the Accel Jerk operand This instruction only uses the value if the Profile is configured as S Curve Accel Jerk is the acceleration jerk rate for the coordinate system Use these values to get started e Accel Jerk 100 of Time Change Decel Jerk No enumeration 0 No 1 Yes Rockwell Automation Publication MOTION UM002D EN P February 2015 189 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC This Operand Has These Options That You Enter as Text Or as Decel Jerk No enumeration Immediate or tag You mus
38. Instructions Appendix C Error Corrective Action or Cause Notes 72 Check the target positions A calculated joint angle is beyond 360 Max Joint Angle Exceeded 73 Check that each MCT instruction in this chain is producing valid positions Coord System Chaining Error This MCT instruction is part of a chain of MCT instructions There is a problem with one of the instructions in the chain 74 Change the orientation to angles that are within 360 Invalid Orientation Angle 75 You cannot use this instruction with a SoftLogix controller Instruction Not Supported 76 1 Open the properties for the axis Zero Max Decel Jerk 2 Onthe Dynamics tab enter a value for the maximum deceleration jerk You cannot start motion that uses an S Curve profile if the maximum deceleration jerk for the axis is zero 7 How many axes are in your coordinate system Transform Direction Not Supported e 2 Use a non mirror transform direction 1 You re trying to use the mirror directions with a 3 axis coordinate system and 3 Use a non inverse transform direction non zero base offset X2b or effector offset 2e 2 Mirror directions are not supported for 2 axis Coordinate Systems 3 You are attempting to use either a 2 or 3 axis Cartesian target coordinate System with transform directions other than forward and inverse You can use inverse mirror directions only when both these conditions are true You h
39. Lock Position Lock Direction Fvent Distance Caiculated Data CIRCULAR SMALL R ERROR 49 Example This second example of error 49 shows a situation where the radius type circle uses a radius of magnitude of less than 0 001 The program is trying to generate a two dimensional arc going from 0 0 current position to 0 00099 0 00099 This error occurs because the programmer tried to program a radius type circle with a radius of a magnitude less than 0 001 units Figure 96 Ladder Program and Target Entry Screen that Generate Error 49 Motion Cooransted Circular Move Coordinate System coordinate sys CI Motion Control Target Position Entry Coordinated sys MCCM Move position 0 Center 2 x Move Type 0 Position MCCM Move position 0 Position Teg axisO 0 00099 axis1 0 00099 Circle Type 1 Axis Target Position Actual Postion Center Position ViesCanter Radus Center 7 Direction U Speed 20 Speed Units Units per sec Accel Rate sn Acce Unts of Maximum Decel Rete 50 Decel Unte of Maximum Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Unite Units per sec3 Termination Type 1 Se Targets Actuals Merge Disabled Merge Speed Programmed Command Tolerance 0 Lock Position Lock Direction Everi Distance Calculated Data 182 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR
40. MCS MCSD MCT MCTP MCSR MDCC Table 37 MCCD Instruction Operands Relay Ladder Operand Type Format Description Accel Jerk SINT INT DINT or REAL Immediate or tag Accel Jerk defines the maximum acceleration jerk for the programmed move For more information on calculating Accel Jerk see Jerk Units section below You must always enter a value for the Accel Jerk operand This instruction only uses the value if the Profile is configured as S Curve Accel Jerk is the acceleration jerk rate for the coordinate system Use these values to get started Accel Jerk 100 96 of Time e Jerk Units 2 Change Decel Jerk SINT INT or DINT Immediate The Change Decel Jerk operand determines whether or not to change the deceleration jerk of the coordinated motion profile 0 No no change is made to the deceleration jerk of the coordinated motion 1 Yes the deceleration of the coordinated motion is changed by the value defined in the Accel Jerk Rate and Jerk Units operands Decel Jerk SINT INT DINT or REAL Immediate or Tag Decel Jerk defines the maximum deceleration jerk for the programmed move You must always enter a value for the Decel Jerk operand This instruction only uses the value if the Profile is configured as S Curve Decel Jerk is the deceleration jerk rate for the coordinate system Use these values to get started Decel Jerk 100 96 of Time Jerk Unit
41. MOTION UM002D EN P February 2015 231 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Ladder Diagram MDCC Motion Master Driven Coordinated Control Slave System CartesianCoord HKHDN2 Master Axis Master Axis ER Motion Control MDSC1 IP2 Master Reference Structured Text Cartesian Coord Master Axis MDSCI Actual In the above examples Parameter Definition CartesianCoord CartesianCoord is the Coordinate System that is being controlled by the Master Axis when the motion planner is in Master Driven Mode Master Axis Master Axis is the single axis that the Slave Coordinate System follow MDSC1 MDSC1 is the control tag for the MDCC instruction Actual Actual Position is the position source of the Master Axis MOTION_INSTRUCTION Bit Leg Definitions for MDCC Mnemonic Description EN Enable Bit 31 The enable bit is set when the rung transitions from false to true and stays set until the rung goes false DN Done Bit 29 The done bit is set when the coordinate MDCC instruction is successfully initiated Error Bit 28 The error bit is set when there is an invalid combination of parameters in the MDCC instruction IP In Process Bit 26 The in process bit is set when the MDCC instruction is activated and reset by an instruction for example the MCSD instruction Active Bit 23 The active bit
42. Maximum Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Type 1 Merge Disabled Merge Speed Programmed Command Tolerance Lock Position Lock Direction None Event Distance 0 Calculated Data 0 164 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A The preceding MCCM instruction produces the following plot Figure 83 Plot of MCCM with Two Rotary Axes and Move Type of Incremental a Trend Motion EEEREN The axis travels clockwise in a circle from 0 0 to 0 5 1 5 The move stops after generating a 270 degree arc There was one travel through the unwind for Axis1 Norte that the path of the coordinated motion is determined in linear space but the position of the axes is limited by the rotary configuration The endpoint was 0 5 0 5 for the circle calculations but the actual endpoint for the move was 0 5 1 5 The instruction specified and we obtained a clockwise move even though one axis had a negative incremental target position The endpoint is not required to fit within the absolute position defined by the rotary unwind of the axes Rockwell Automation Publication MOTION UM002D EN P February 2015 165 Appendix A 166 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Three dimensional Arc Examples For Coor
43. Properties mycoorsyst 3 General Geometry Units Offsets Dynamics Tag Name Imvcoorsyst Description Type Base Data COORDINATE SYSTEM Scope fa kinematicsbasics External Read write Access 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 Table 8 Tag Tab Field Descriptions Item Description Name Name displays the name of the current tag You can rename the tag at this time 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 you click OK or Apply Description 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 OK or Apply Tag Type Tag Type indicates the type of the current Coordinate System tag This type can be either a base or an alias The field is not editable and is for informational purposes only Data Type Data Type displays the data type ofthe current Coordinate System tag which is always COORDINATE SYSTEM This field cannot be edited and is for informational purposes only
44. Range 13 11 Decel Rate Decel Rate is less than or equal to 0 Parameter Out Of Range 13 14 Termination Type Termination Type is less than 0 or greater than 3 178 Error Code 54 Maximum Deceleration Value is Zero If the Extended Error returns a positive number 0 7 it s referring to the offending axis in the coordinate system 1 Go to the Coordinate System Properties General Tab and look under the Brackets column of the Axis Grid to determine which axis has a Maximum Deceleration value of 0 2 Click the ellipsis next to the offending axis to access the Axis Properties screen 3 Go to the Dynamics tab and make the appropriate change to the Maximum Deceleration Value If the Extended Error number is 1 this means the Coordinate System has a Maximum Deceleration Value of 0 4 Go to the Coordinate System Properties Dynamics Tab to correct the Maximum Deceleration value Circular Error Examples Due to the complexity of the MCCM instruction and the error codes it can generate the following simple examples are given to aide in the understanding of the MCCM instruction Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A CIRCULAR COLLINEARITY ERROR 44 Example The following example for error 44 shows a situation where the startpoint via point and endpoint alllie on a straig
45. System Chapter 1 Joints Tab The Joints tab is accessible only if you are configuring or editing an articulated coordinate system This dialog box is where you define the Joint Conversion Ratios Joint axis units are always specified in degrees Table 5 Joints Tab Field Descriptions Item Description Axis Name The Axis Name column displays the names of the axes associated to the coordinate system The names appear in the order that they were configured into the coordinate system This is a read only field Joint Ratio The Joint Ratio column shown in white is divided into two columns that define the relationship between the axis position units to the joint axis units The left half of the Joint Ratio column is a configurable field that lets you specify a value for the axis position units numerator The right half of the Joint Ratio column is a configurable field that lets you specify a value for the joint axis units denominator Keep in mind that Joint axis units are always specified as degrees Joint Units The Joint Units column is a read only field that displays the configured axis position units to the joint units The Axis Position units are defined in the Axis Properties Units dialog box Joint units are always defined as degrees i Coordinate System Properties joint_coordinate_system General Geometry Units Offsets Joints Tag Axis Name Joint Ratio Joint LInits J1 axis 10 Position LInit
46. Vias Actuals button is inactive Grayed Out Absolute Center Target column is entitled Target Position Center column is entitled Center Position Set Targets Actuals button is active Set Vias Actuals button is active Incremental Center Target column is entitled Target Increment Center Column is entitled Center Increment Set Targets Actuals button is inactive Grayed Out Set Vias Actuals button is inactive Grayed Out Absolute Radius Target column is entitled Target Position Radius column is entitled Radius Set Targets Actuals button is active Set Vias Actuals button is inactive Grayed Out Incremental Radius Target column is entitled Target Increment Radius Column is entitled Radius Set Targets Actuals button is inactive Grayed Out Set Vias Actuals button is inactive Grayed Out Absolute Center Incremental Target column is entitled Target Position Center Incremental column is entitled Center Incremental Set Targets Actuals button is active Set Vias Actuals button is inactive Grayed Out Incremental Center Incremental Target column is entitled Target Increment Center Incremental column is entitled Center Incremental Set Targets Actuals button is inactive Grayed Out Set Vias Actuals button is inactive Grayed Out Arithmetic Status Flags Not affected Fault Conditions None Rockwell Automation Publication MOTION UM002D EN P Februar
47. a zero departure results in a programmed delay of the specified time IMPORTANT Instructions with zero length cause velocity of the multi axis instruction preceding the one with zero length to decelerate to zero at its endpoint To avoid this behavior it is suggested that you eliminated moves with zero length from your program A zero length move with a duration of zero time completes in the minimum time possible which is 1 coarse iteration Dwells You have the option to program a dwell by using Time Based Programming in either Time Driven Mode or MDSC Mode when a zero length move see Zero Length Move below is programmed The acceleration deceleration and jerk parameters are ignored when a zero length move is programmed Therefore when in time driven mode the duration of the dwell is in seconds When in MDSC mode the duration of the dwell is programmed in units of Master Distance In MDSC mode the dwell starts either at the Master Lock Position or immediately depending on the programmed Lock Direction parameter and continues for a duration as specified in the Speed parameter Time Based Programming Errors e zero length move with a duration of zero time completes in 1 coarse iteration which is the minimum time possible e A zero length move that is programmed with Speed Units other than seconds or master distance completes almost immediately Anerror occurs if a move is programmed by using Time Based Planning that i
48. ability to dynamically modify the Output Cam table the Illegal Output Cam error 36 can occur while the MAOC is in process In general the cam elements in which an error was detected are skipped The following are exceptions and continues to be processed e Error 2 Latch Type Invalid Latch Type defaults to Inactive e Error 3 Unlatch Type Invalid Unlatch Type defaults to Inactive e Error 8 with Unlatch Type of Duration and Enable Behaves as an Enable Unlatch type 262 Rockwell Automation Publication MOTION UM002D EN P February 2015 Error Codes ERR for Coordinate Motion Instructions Appendix C Error Corrective Action or Cause Notes 38 The axis data type is illegal It is incorrect for the operation Illegal Axis Data Type For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error Example If EXERR is zero check the axis for dimension zero 39 You have a conflict in your process Test and Tune cannot be run at the same time Process Conflict 40 You are trying to run a MSO or MAH instruction when the drive is locally disabled Drive Locally Disabled 41 The Homing configuration is illegal Illegal Homing Config Home Speed cannot be zero Home Return Speed cannot be zero e For AXIS_SERVO_DRIVE you have an absolute homing instruction when the Homing sequence is not immediate 42 The MASD or MGSD instruction has timed out because it did not rec
49. and Offsets Tabs Coordinate System Properties Delta Coordinate System Properties Delta General Units Offsets Joints Tag General Geometry Units Uttsets Joints Tag Type Delta Deka lop View Transform Dimension 3 ng a Transform Dimension 3 x2 s Mm Qs Link Lenaths End Effector Offsets 2202 1 2 2 d lt Xle m xi L2 e700 NOE Sw CORTE Vj Se x N nn Zero Angle Orientations ES 21 00 Degrees bur d Side View N d Base Ullsels pM 8 Z2 00 Deyrees xib 1300 t gt 1 23 00 Dewees i gt MMe TI EE on During each scan Logix Designer application evaluates the joint positions in the forward and inverse kinematics routines to be sure that they do not violate the computed maximum positive and maximum negative joint limits Rockwell Automation Publication MOTION UM002D EN P February 2015 69 Chapter 4 Articulated Independent Robot 70 Homing or moving a joint axis to a position beyond a computed joint limit and then invoking a MCT instruction results in an error 67 Invalid Transform position For more information regarding error codes See Error Codes ERR for Coordinate Motion Instructions on page 261 Maximum Positive Joint Limit Condition The derivations for the maximum positive joint apply to the condition when L1 and L2 are colli
50. and turns off the IP bit coordinate system is stopped Another MCS instruction supersedes this MCS instruction Shutdown instruction Fault Action The axis is stopped PC BOOL The PC bit stays on until the rung makes a false to true transition 196 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A How Stop Types Affect Transforms The following table describes how the stop types affect coordinate systems that are a part ofa transform Table 41 MCS Stop Types Stop types Description All This stop type stops the axes in the specified coordinate system It also stops the axes of any coordinate system that shares axes with this coordinate System cancels any transforms that the coordinate system is a part of Coordinated Move This stop type stops only the coordinated moves Any transforms stay active Coordinated Transform This stop type cancels the transforms associated with the specified coordinate system All transform related motion stops on all associated target coordinate systems However source coordinate axes continue to move as instructed Example If four coordinate systems are linked via three transforms and the first coordinate system CS1 is the source and is processing commanded motion StL sd He Executing an MCS instruction on CS2 and using a stop type of
51. coordinated transform results in Transforms 1 and T2 are canceled Transform T3 stays active the axes in CS1 stay in motion the axes in Coordinate Systems CS2 and CS3 stop via the deceleration rate selected in the MCS instruction or the maximum coordinate deceleration rate the axes in CS4 follow the respective CS3 axes In a Motion Axis Stop MAS instruction a stop type of all also cancels transforms Figure 99 How Stop Types Affect Transforms and Axis Motion Example Suppose you have this situation MAM MAM MAM Where coordinate system 1 CS1 contains the X Y and Z axes coordinate system 2 CS2 contains the Y Z and S axes coordinate system 3 CS3 contains the A B and C axes transform T1 links source coordinate CS2 to target CS3 Rockwell Automation Publication MOTION UM002D EN P February 2015 197 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC e CS2 axes are mapped to CS3 ABC axes MAM instructions executed on the Y Z and S axes MCLM instruction executed on CS2 MCT instruction executed with CS2 as the source and CS3 as the target Nocoordinate instructions were executed on CS2 or CS3 Table 42 Results of Stop Type and Instruction Interaction Instruction Stop Type Result MCS on CS1 All The MCLM instruction on CS2 stops The MAM on Y stops The MAM on Zstops The MAM on S conti
52. coordination units Decel Units SINT INT or DINT immediate The Decel Units operand defines the units applied to the Decel Rate operand either directly in coordination units of the specified coordinate system or as a percentage of the maximum values defined in the coordinate system 0 Units per Sec 1 96 of Maximum 3 Seconds 4 Units per MasterUnit 7 Master Units Profile SINT INT or DINT immediate The Profile operand determines whether the coordinated move uses a trapezoidal or an S Curve velocity profile Refer to Velocity Profiles on page 122 for more information about Trapezoidal and S Curve profiles 0 Trapezoidal 1 S Curve Accel Jerk SINT INT DINT or REAL Immediate or tag You must always enter values for the Accel and Decel Jerk operands This instruction only uses Decel Jerk the values if the Profile is configured as S Curve SINT INT DINT or REAL Immediate or tag e Accel Jerk defines the maximum acceleration jerk for the programmed move For more Jerk Units Termination Type SINT INT or DINT diate ort information on calculating Accel Jerk see Jerk Units section below Ti edtate Decel Jerk defines the maximum deceleration jerk for the programmed move For more information on calculating Decel Jerk see Jerk Units section below Enter the jerk rates in these Jerk Units 0 Units per sec 1 of Maximum 2 of Time 3 Seconds 4 Units
53. descriptions in MCCD Instruction Operands Relay Ladder table as marked 187 Updated the Guidelines for Programming an MCT instruction and when to start motion 211 Added descriptions for the EN DN ER PC IP and AC bits to the table describing Status Bits for Motion 234 Instructions MCLM MCCM when Is Active Updated the description of Error Code 63 263 Updated the description for error code 75 265 Rockwell Automation Publication MOTION UM002D EN P February 2015 Summary of Changes Notes 4 Rockwell Automation Publication MOTION UM002D EN P February 2015 Preface Create and Configure a Coordinate System Cartesian Coordinate System Kinematics Coordinate Systems Rockwell Automation Publication MOTION UM002D EN P February 2015 Table of Contents Studio 5000 Environment EDEN AY Bails 11 Where to Bee eive tee te uci nier uti 12 For More Iifolnidtloli ss erue TIBI E EA NS Mq 13 Chapter 1 Create a Coordinate System cav Aretio Seele dta oed 16 Coordinate System Wizard Dialog 19 Edit Coordinate System Properties osse vans Uia 20 General Dale ecoute iot too telat CU 21 Geometry Fab eoe ara reece MT 23 develops 24 Offsets Tabs Rees ere E heec RE 26 Joints Fabra se me elo o UE ocio ge es aot pae rie e Dy amics 28 D
54. establish an offset between the Local coordinate system and the reference frame For more information about Motion Instructions see Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RMO002 Rockwell Automation Publication MOTION UM002D EN P February 2015 103 Chapter 6 Configure a Cartesian Gantry Robot Identify the Work Envelope for The work envelope for a Cartesian Gantry robot is typically a solid rectangle of Cartesian G antry Robot length width and height that is equal to the axis travel limits i i i You do not need to define the link lengths base offset or end effector offset efine Lon Iguration 5 configuration parameters for a Cartesian Gantry robot Parameters for a Cartesian 5 P y Gantry Robot 104 Rockwell Automation Publication MOTION UM002D EN P February 2015 Chapter About Cartesian H bots Configure a Cartesian H bot Topic Page About Cartesian H bots 105 Establish the Reference Frame for a Cartesian H bot 106 Identify the Work Envelope for a Cartesian H bot 106 Define Configuration Parameters for a Cartesian H bot 107 The H bot is a special type of Cartesian two axis gantry robot This type of machine has three rails positioned in the form of a letter Two motors are positioned at the end of each leg of the robot Unlike a standard gantry robot neither motor is riding on top of the moving rails Use these guidelines when configuring a Cartesian H b
55. getsa MDSC UNITS CONFLICT ERROR error A runtime MDSC INVALID MODE OR MASTER CHANGE error occurs if you attempt to change from Master Driven Mode to Time Driven Mode or vice versa with an MCCD instruction If both the master and slave axes are idle for example paused the MCLM or MCCM can make a change on the slave However the error MDSC IDLE MASTER AND SLAVE MOVING is generated if MDSC mode is started while the Slave Coordinate System is moving when the master is idle Different Time Driven and Master Driven Modes can be used for different motion types for superimposed motion For example the MAM can be in time drive mode for an axis in the Coordinate System and the MCLM can be in Master Driven Mode for the Coordinate System Changing the Master Axis The following sequence of events must be followed to transfer a Slave Coordinate System from one Master Axis to a second Master Axis First you must execute an MDCC instruction to reassign the Slave Coordinate System from the first Master Axis to the second Master Axis This makes the reassignment pending The IP bit ofthe MDCC instruction is set as an indication of the pending reassignment Second you must execute a new motion command for example an MCLM or MCCM The Slave Coordinate System becomes unlocked from the first Master Axis and reassigned to the second Master Axis when this motion instruction is executed goes IP The final effective slave speed is compute
56. is always cleared in Time Driven Mode Rockwell Automation Publication MOTION UM002D EN P February 2015 235 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 64 MCLM and MCCM Motion Instruction Bits IP The In Process bit is set when the coordinated move is successfully initiated It is reset when e there is no succeeding move and the coordinated move reaches the new position or e when there is a succeeding move and the coordinated move reaches the specifications of the termination type or when the coordinated move is superseded by another MCLM or MCCM instruction with a merge type of Coordinated Move or when terminated by an MCS instruction AC When you have a coordinated move instruction queued the Active bit lets you know which instruction is controlling the motion It sets when the coordinated move becomes active It is reset when the Process Complete bit is set or when the instruction is stopped ACCEL Set as expected during motion It is independent of Master acceleration The ACCEL bit on the instruction driving the Slave Coordinate System for example MCLM is set as the Slave Coordinate System is accelerating to its commanded speed This bit is insensitive to acceleration occurring on the Master Axis However the AccelStatus bit which is in the MotionStatus word of the Slave Coordinate System not the instruction driving the Slave Coordi
57. is set when an MCLM or MCCM is activated that is when the AC bit of the MCLM or MCCM instruction is set on a Coordinate System that is selected as the Slave Coordinate System of the MDCC instruction Arithmetic Status Flags Not affected 232 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Fault Conditions for Motion Instructions when MDCC Is Active All commands in the following table are for the Slave Coordinate System Table 62 MDCC Fault Conditions Instruction Parameters MDCCIP Bit MGS Reset MGSD Reset MCS Stop Type Coordinated Motion Not Changed Stop Type Transform Not Changed Stop Type All Reset MCSD Reset MAS Stop Jog Not Changed Stop Type Move Not Changed Stop Type Time CAM Not Changed Stop Type All Reset MASD Reset MSF Not Changed MDF Not Changed Fault Action Status Only Not Changed Stop Motion Reset Disable DRV Reset Shutdown Reset Note that if the same Slave Coordinate System is controlled by multiple Master Axes if one relationship that contains the Slave Coordinate System is broken then all MDCC relationships that contain the Slave Coordinate System are broken Common Action Table for Master Axis All commands in the following table are for the Master Axis Table 63 Master Axis Comm
58. joint solutions Two of the solutions are the same as the solutions for the two dimensional case The other two solutions are mirror image solutions where J1 is rotated 180 Right Arm Right Arm Mirror A J3 j2 Left Arm Left Arm Mirror A J3 J3 J2 2 S Activating Kinematics WARNING Be sure to choose an arm solution before activating the Kinematic function Failure to do so can result in machine damage and or serious injury or death to personnel Before activating Kinematics configure the robot in a left arm or right arm solution The robot stays in the same configuration in which it was activated as it is moved in Cartesian or source coordinate mode If activated in a fully extended arm mode this is neither a left arm nor a right arm solution the system chooses a left arm solution Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Change the Robot Arm Solution You can switch the robot from a left arm solution to a right arm solution or vice versa This is done automatically when a joint move is programmed forcinga left right change to occur After the change is performed the robot stays in the new arm solution when Cartesian moves are made The robot arm solution changes again if required when another joint move is made Example Suppose you want to move the robot from position A 1 1 to posi
59. joints directly Toggle the rung from false to true to execute the instruction 210 This is a transitional instruction In a ladder diagram toggle the rung condition in from false to true each time you want to execute the instruction When you execute the instruction the transform starts and the IP bit turns on Motion Coordinated Transts Source System Target System Motion Control Orientation Translation Joint_MI Run_Transform Arm_Orientation Arm Translation You can let the rung go false once you execute the instruction The transform stays active Rockwell Automation Publication MOTION UM002D EN P February 2015 Guideline In structured text condition the instruction so that it only executes on a transition Start the transform before you start any motion Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A Examples and Notes In structured text instructions execute each time they are scanned Condition the instruction so that it only executes on a transition Use either of these methods e Qualifier of an SFC action Structured text construct You cannot start a transform if any motion process is controlling an axis of the source or target coordinate systems If the MCT instruction is executing and the source side is moving you cannot also execute a motion instruction to move the target axis or Error 63 Axis In Transform Motion occu
60. left arm X 1U J3 Z215 J120 12 106 84 J3 98 63 2 Base Offset Inverse right arm 0 2 822 J3 98 63 Inverse left arm mirror x 10 Y 12256 015 L15 J1 180 2 171 39 J3 63 26 Base is rotated away from the end of the arm d gt E Inverse right arm mirror gv 12250015 d J1 180 J2 108 14 J3 63 26 gt 226 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Motion Coordinated Use the Motion Coordinated Shutdown Reset MCSR instruction to reset all Shutdown Reset MCSR axes in a coordinate system The MCSR instruction resets the axes from a shutdown state to an axis ready state This instruction also clears any axis faults ATTENTION Use each tag for the motion control attribute of instructions only once Re use of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury Operands The MCSR instruction supports the following operands Coordinate System Motion Control MCSR Motion Coordinated Shutdown Reset Coordinate System lll Mobon Control Table 56 MCSR Instruction Operands Relay Ladder Relay Ladder Operand Type Format Description Coordinate COORDINATE SYSTEM Tag The Coordinate System operand specifies the System set of mot
61. not Optional Attribute Not Supported supported 87 The instruction is invalid while running planned motion Not Allowed While Planner Active 93 A move was programmed in MDSC mode before the MDSC link has been established MDSC Not Activated by the execution of a MDAC or MDCC 94 Some dynamics units belong to Master Driven Mode and some to Time Driven MDSC Units Conflict Mode Someunits are time based whereas others are velocity based for example Speed in Seconds and Acceleration in units sec2 Incompatibility of units Dynamics in Seconds are incompatible with Merge Speed Current 95 Allinstructions in the queue must use a compatible Lock Direction for example MDSC Lock Direction Conflict Position Forward Only and Immediate Forward Only e Lock Direction None and speed units belong to Master Driven Mode 96 MDAC AII and MDAC something other than All on the same slave MDSC MDAC All Conflict Rockwell Automation Publication MOTION UM002D EN P February 2015 265 Appendix C Error Codes ERR for Coordinate Motion Instructions Corrective Action or Cause Error Notes 97 Trying to replace a running Master with a new Master whose speed is zero or MDSC Idle Master and Slave Moving replacing a Slave that is moving via an MAM with another MAM with the same or a different Master that is not moving 98 The actual direction of master axis motion does not match the direction MDSC Lock Direction M
62. rotation into the array Put the degrees of rotation around X1 in the first element of the array and so on Use an array of three REALs even if a coordinate system has only one or two axes Translation REAL 3 Array Do you want to offset the target position along the X1 X2 or X3 axis If Then No Leave the array values at zero Yes Enter the offset distances into the array Enter the offset distances in coordination units Put the offset distance for X1 in the first element of the array and so on Use an array of three REALs even if a coordinate system has only one or two axes Transform Direction DINT Immediate For Robot Type Tocalculate With the And the robot Choose baseturned to the All Cartesian Forward position PR TUN Cartesian Joint angles Inverse Delta 2D Delta 3D ial m SCARA Delta Articulated Joint angles Samequadrant Right arm Inverse Right Independent asthe point configuration Arm Dependent a wi SCARA 2 Independent Opposite Right arm Inverse Right quadrantfrom configuration Arm Mirror the point Left arm Inverse Left configuration Arm Mirror Reference Position REAL 3 Array If the transform direction is Then enter an array that has the units coordination units Forward Joint angles Inverse Cartesian positions Transform Position REAL 3 Array Array that stores the calculated position units coordination units MCTP S
63. set with Jerk Units of Maximum When a Multi axis motion instruction has Jerk Units units per sec then the Max Deceleration Jerk value is derived from the Motion Instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time meaning the entire S Curve move has Jerk limiting thus the default mode An S Curve move with 0 of Time results in a trapezoidal profile and has 0 Jerk limiting If set manually enter the value in units Coordination Units second units You can also use the optional Calculate button to view the value in terms of units of Time Position Tolerance Box In the Position Tolerance Box values are entered for Actual and Command Position Tolerance values See the Logix5000 Motion Controllers Instructions Reference Manual publication MOTION RMO002 and Appendix B of this manual for more information regarding the use of Actual and Command Position Tolerance Description 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 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 Command Rockwell Automation Publication MOTION UM002D EN P February 2015 29 Chapter 1 30 Create and Configure a Coordinate System
64. start the transform if any motion process is controlling a source or target axis 11 Insufficient resources available to initiate the transform connection 12 Set the link lengths You cannot use a link length of zero 13 Look for source or target axes that are in the shutdown state Use a Motion Axis Shutdown Reset MASR instruction or direct command to reset the axes 14 Uninhibit all the source or target axes 15 Check the configured values for the base offsets and end effector offsets for the Delta or SCARA X1b X1e can not be less than 0 0 for both the Delta and Delta robot SCARA Delta robots For Delta robots this error can also occur if the value of L1 X1b X1e is greater than L2 16 Check the SCARA independent and SCARA Delta robot configurations to be sure that the transform dimension for the source coordinate system is configured as 2 the configured third axes for the source coordinate system and the target coordinate system are the same MCTP Changes to Status Bits None Example 1 Calculate Position If you want to write a recovery sequence for faults as one of your steps you want to get the current position of an articulated independent robot In that case you can use an MCTP instruction to calculate the robot s Cartesian position when you know its joint angles Rockwell Automation Publication MOTION UM002D EN P February 2015 223 Motion Coordinated Instructions MCLM MCCM
65. the position of the axes is limited by the rotary configuration The End and Via points are required to fit within the absolute position defined by the rotary unwind of Axis0 However the resulting motion from these choices can travel through the unwind of the rotary axis MCCM Instruction with Two Rotary Axis and Move Type of Incremental This example uses a coordinate system of two Rotary axes and a Move type of Incremental The plot of the path is based on these assumptions e Two axis coordinate system named coordinate sys e 0 is Rotary with an unwind of 1 rev e Axisl is Rotary with an unwind of 2 revs Start position is 0 0 Increment to end position is 0 5 0 5 e Increment to Center position is 0 5 0 Rockwell Automation Publication MOTION UM002D EN P February 2015 163 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Figure 82 MCCM Ladder Instruction with Move Type of Absolute MCCNM Motion Coordinated Circular Move EN2 Coordinate System coordinate sys G Motion Control MCCM 8 DN5 A Mel Tyne 4 Move Type is Incremental ER2 Position MCCM Move position 16 axis 0 0 IP2 axis 0 0 Ci ircle Type is Center Circle Type 1 AG yp Via Center R adius Center 4 PC EAT Direction 0 Direction is Clockwise Speed 1 Speed Units Units per sec Accel Rate 100 Accel Units of Maximum Decel Rate 100 Decel Units of
66. the positive direction If you want the joint angular position when L1 is horizontal to be at any other value than 0 then you must properly configure the Zero Angle Orientation values on the Geometry tab of the Target Coordinate System Properties dialog to align your joint angle positions with the internal equations Rockwell Automation Publication MOTION UM002D EN P February 2015 67 Chapter 4 Articulated Independent Robot For example if your Delta robot is mounted so that the joints attached at the top plate are homed at 30 in the positive direction below horizontal see Delta Robot with Joints Homed at 30 illustration below and you want the Logix Designer application readout values to be zero in this position then you must configure the Zero Angle Orientation values to 30 on the Geometry tab of the Target Coordinate System Properties dialog see the Configuring Delta Robot Zero Angle Orientation illustration below Figure 18 Delta Robot with Joints Homed at 30 30 degrees aa ay 30 degrees EUN b E 11 IK UM p ea L2 w Vie S 3 e Figure 19 Configuring Delta Robot Zero Angle Orientation Coordinate System Properties DeltaCoordSystem DRI General Geometry Units Offsets Joints Tag Type Delta Transform Dimension 3 Link Lengths Li 350 0 v L2 8000 Zero Angle Orientations 21 30 0 Degrees 22 a0 Degrees Z3 300 Degrees Cancel Help 68 Rockw
67. the queue For a non blended termination type TTO 1 the CalculatedDataAvailable is seen right after the move is put into the queue You do not see the CalculatedDataAvailable bit if a move sequence is terminated by a blending or follow contour termination type That is you must terminate a blending sequence by a TTO or TT1 The TTO or TT1 has to be in the motion sequence but does not have to be in the queue together with a blending sequence The move with a TTO or TT1 can be placed in the queue when space becomes available after the last blended move The CalculatedDataAvailable bit is not set for any move that Event Distance is not specified that is where the Event Distance parameter in the instruction is zero The default value for versions when bringing old systems forward earlier than v20 is 0 signifying that there is no Event Distance array Example 1 Event Distance array 11 22 5 23 44 Calculated Data array f 11 f 22 1 23 Where fis the calculated data function Note The 44is ignored because it is the fifth element in the Event Distance array Nothing is returned in the corresponding 5th array element of Calculated Data array A 1is returned in the third element of the Calculated Data array because the corresponding Event Data Array element is negative Example 2 Assume that the master axis is at a position of 2 0 The slave is programmed to an incremental value of 15 0 with a Master Loc
68. unintended operation This can result in damage to equipment or personal injury 109 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC 110 ATTENTION Risk of Velocity and or End Position Overshoot If you change move parameters dynamically by any method that is by changing move dynamics MCD or MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is decreased while the move is decelerating or is close to the deceleration point An S Curve velocity profile can overshoot if either e maximum deceleration is decreased while the move is decelerating or close to the deceleration point maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in 96 of time The Motion Coordinated Linear Move MCLM instruction performs a linear move by using up to three axes statically coupled as primary axes in a Cartesian coordinate system You specify whether to use an absolute or incremental target position the desired speed maximum acceleration maximum deceleration acceleration jerk deceleration jerk and the units of each The actual speed is a function ofthe programmed units of the speed Units per sec or 96 of Maximum as configured for the coordinate
69. 1 instruction Position Velocity Profiles for Collinear Moves with Termination Types 3 4 or 5 This illustration shows a velocity profile of two collinear moves The second MCLM instruction has a lower velocity than the first MCLM instruction and one of these termination types are used No Decel 3 Follow Contour Velocity Constrained 4 Follow Contour Velocity Unconstrained 5 When the first MCLM instruction reaches the deceleration point it decelerates to the programmed velocity of the second move The first move is over and the PC bit is set Rockwell Automation Publication MOTION UM002D EN P February 2015 Cartesian Coordinate System Chapter 2 Figure 6 Velocity Profile of Two Collinear Moves When the Second Move has a Lower Velocity thanthe First Move and Termination Type 3 4 or 5 is Used Decel Point N i i MENI The PC Bit is set MCLM1 is over I I i Tal Position Programmed endpoint of MCLM1 Decel Point This illustration shows a velocity profile of two collinear moves The second MCLM instruction has a higher velocity than the first MCLM instruction and one of these termination types are used No Decel 3 Follow Contour Velocity Constrained 4 Follow Contour Velocity Unconstrained 5 The PC bit is set when the first move reaches its programmed endpoint Figure 7 Velocity Profile of Two Collinear Moves When the Second Move has a Higher Ve
70. 1 0 LJ axis 10 0 axis1 10 0 Speed Spd 20 Speed Units Units per sec Accel Rate Accel Units Decel Rate Decel Units Units per sec2 Profile Trapezoidal Accel Jerk 100 0 Decel Jerk 100 0 Jerk Units of Time Termination Type 1 Merge Coordinated Motion Merge Speed Programmed Command Toleranc ct Lock Position Lock Direction Event Distance Calculated Data a If the axes are orthogonal to each other and the coordinate system cs2 is initially at 0 0 units then the motion caused by this diagram depends on the time at which the second instruction is executed The blending begins as soon as the second move is initiated and the first move is terminated immediately In the ladder diagram for this example transition begins when the timer Tdelay expires Rockwell Automation Publication MOTION UM002D EN P February 2015 127 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Figure 60 Graph Showing Result of Merge Table 20 Bit States at Various Transition Points for the Merge Move Bit TP1 TP2 TP3 TP4 Move1 DN T T T T Move1 IP T F F F Move1 AC T F F F mcclm10 PC F T T T Move2 DN T T T T Move2 IP T T T F Move2 AC F T T F Move2 PC F F F T cs2 MovelransitionStatus F T F F cs2 MovePendingStatus T F F F cs2 MovePendingQueueFullStatus T F F F Coordinated Motion only supports the queueing of one coordinated m
71. 1756 MO2AE ControlLogix SERCOS interface Module Installation Instructions publication 1756 IN572 Provides installation instructions for the ControlLogix SERCOS interface modules Catalog Number 1756 1756 MO8SE 1756 M16SE 1756 MO8SEG CompactLogix SERCOS interface Module Installation Instructions publication 1768 IN005 Provides installation instructions for the CompactLogix SERCOS interface Module Catalog Number 1768 MO4SE Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system Product Certifications website http www ab com Provides declarations of conformity certificates and other certification details You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Rockwell Automation Publication MOTION UM002D EN P February 2015 13 Preface Notes 14 Rockwell Automation Publication MOTION UM002D EN P February 2015 Chapter 1 Create and Configure a Coordinate System Topic Page Create a Coordinate System 16 Configure Coordinate System 17 Coordinate System Wizard Dialog Boxes 19 Edit Coordinate System Properties 20 In Logix Designer application you use the Coordinate System tag t
72. 1756 PM001 Provides detailed and comprehensive information about how to program a Logix5000 controller Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 Provides a programmer with details about general instructions for a Logix based controller Logix5000 Controllers Process and Drives Instructions Reference Manual publication 1756 RM006 Provides a programmer with details about process and drives instructions for a Logix based controller ControlLogix Controller User Manual publication 1756 UM001 CompactLogix 5730 Controllers User Manual publication 1769 UM021 Describes the necessary tasks to install configure program and operate a ControlLogix system Describes the necessary tasks to install configure program and operate a CompactLogix system GuardLogix 5570 Controllers User Manual publication 1756 UM022 Provides information on how to install configure program and use GuardLogix 5570 controllers in Studio 5000 Logix Designer projects GuardLogix 5570 Controller Systems Safety Reference Manual publication 1756 RM099 Analog Encoder AE Servo Module Installation Instructions publication 1756 IN047 Contains detailed requirements for achieving and maintaining SIL 3 PLe with the GuardLogix 5570 controller system using the Studio 5000 Logix Designer application Provides installation instructions for the Analog Encoder AE Servo Module Catalog Number
73. 2 is L1 The parallel bar assembly attached to link L1 is link L2 Figure 28 Two dimensional Delta Robot Link Lengths Configuration Screen Coordinate System Properties Delta2D EE General Geometry Units Offsets Joints Tag Type Delta Transform Dimension 2 Link Lengths Li L2 8500 Zeto Angle Orientations 21 00 Degrees 22 00 Degrees Base Offsets There is one base offset X1b available for the two dimensional Delta robot geometry Enter the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints Rockwell Automation Publication MOTION UM002D EN P February 2015 77 Chapter 4 Articulated Independent Robot End effector Offsets There are two end effector offsets available for the two dimensional Delta robot geometry The value for 1 is the offset distance from the center of the lower plate to the lower spherical joints of the parallel arms The distance from the lower plate to the TCP of the gripper is the value for X2e Figure 29 Delta Two dimensional Robot Base and End effector Offsets Coordinate System Properties Delta ff General Geometry Units Joints Tag Type Delta Dimeeriinn 2 Frid Fffesctos Offsets Base Offsets XIb 130 0 y ne m neo TTA Configure a SCARA Delta Robot The SCARA Delta robot geometry is similar to a two dimension
74. 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Table 55 Error Code Corrective Actions ERR 61 EXERR Corrective Action Notes 1 Assign both coordinate systems to the motion group 2 Check that you are using the correct source and target systems You cannot use the same coordinate system as source and target 3 Set the transform dimension of the source system to the number of axes in the system up to three 4 Setthe transform dimension of the target system to the number of axes in the system to be transformed up to three 5 Use a different source system You can only use one coordinate system as the source for one active transform 6 Use a different target system You can only use one coordinate system as the target for one active transform 7 Look for source or target axes that you are already using in another transform Use different You can only use an axis in one source system and one axes in the coordinate system target system 8 Use a target system that isn t the source for this chain of transforms You cannot create a circular chain of transforms that leads back to the original source 9 Check that you ve assigned the correct axes to each coordinate system You cannot use the same axes in the source and target Systems 10 Stop all motion processes for all the axes in both systems for example move and gear You cannot
75. 205 MCTP 49 217 MDCC 229 motion error codes 261 269 Motion Attributes Motion Coordinate System Status Attributes Coordinate Motion Status 255 Motion Coordinate System Configuration Attributes Coordinate System Dynamics Configuration Actual Position Tolerance 255 Servo Gains Acceleration Feedforward Gain 255 Motion Axis Jog 205 motion coordinated instructions See multi axis coordinated motion instructions Motion Coordinated Transform 205 Motion Direct Command and the MDCC Instruction 231 motion instructions error codes 261 269 Motion Move Instructions Motion Axis Jog MAJ 205 Description 209 Operands 205 Structured Text 206 Motion Calculate Transform Position MCTP Description 220 Extended Error Codes 222 MOTION INSTRUCTION data type 219 Operands 217 Structured Text 218 MOTION INSTRUCTION Bit Leg Definitions for MDCC 332 Multi Axis Coordinated Motion Circular Programming Reference Guide 183 Multi Axis Coordinated Motion Instructions 109 Introduction 15 Master Driven Coordinate Control MDCC 229 Operands 230 Master Driven Coordinated Control MDCC Arithmetic Status Flags 232 Master Reference 231 Operands Relay Ladder 230 Structured Text 231 MCCD 185 MCCM 136 MCLM 109 MCS 194 MCSD 202 MCSR 49 227 MCT 205 229 Motion Calculate Transform Position MCTP 217 Motion Coordinated Change Dynamics MCCD Arithmetic Status Flags 192 Changes to Status Bits 193 Description 185 Error Codes 192 Extended Error Co
76. A Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 66 Input Parameters Input Parameter Lock Direction continued Data Type IMMEDIATE Description Enumeratio Definition Description 3 Position Forward Only Motion starts that is the Slave Coordinate System locks to the Master Axis when the Master Axis crosses the Lock Position while it is moving in the Forward Direction The Master Axis is only followed while it is moving in the Forward Direction Note that if the start position equals the Lock Position and this enumeration is selected then motion will not start because the Lock Position will not be crossed 4 PositionReverse Motion starts when the Master Axis crosses the Lock Position while it is Only moving in the Reverse Direction The Master Axis is only followed while it is moving in the Reverse Direction Note that if the start position equals the Lock Position and this enumeration is selected then motion will not start because the Lock Position will not be crossed For Time Driven Mode the enumerations are as follows Enumeratio Definition Description 0 None Indicates that the Lock Position is not active 1 Immediate The instruction will error with MDSC_LOCKDIR_CONFLICT 95 Forward Only 2 Immediate Reverse Only The instruction will error with MDSC_LOCKDIR_CONFLICT 95 3 Position Forward Only The instruct
77. Automation Publication MOTION UM002D EN P February 2015 177 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 33 Error Code 13 Extended Errors For the MCCM instruction Error Code 13 Parameter Out of Range Extended Errors returns a number that indicates the offending parameter as listed on the faceplate in numerical order from top to bottom beginning with zero For example 2 indicates the parameter value for Move Type is in error P P yP Error Code and Number Extended Error Instruction Parameter Description Numeric Indicator Parameter Out Of Range 13 0 Coordinate System Number of primary axes is not 2 or 3 Parameter Out Of Range 13 2 Move Type Move Type is either less than 0 or greater than 1 Parameter Out Of Range 13 3 Position The position array is not large enough to provide positions for all the axes in the coordinate system Parameter Out Of Range 13 4 Circe Type Circe Type is either less than 0 or greater than 4 Parameter Out Of Range 13 5 Via Center Radius The size ofthe Via Center array is not large enough to provide positions for all of the axes in the defining via center point Parameter Out Of Range 13 6 Direction Direction is either less than 0 or greater than 3 Parameter Out Of Range 13 7 Speed Speed is less than 0 Parameter Out Of Range 13 9 Accel Rate Accel Rate is less than or equal to 0 Parameter Out Of
78. CCM MCCD MCS MCSD MCT MCTP MCSR MDCC Table 29 Behavior by Type Move Type Circe Type Behavior Absolute or Incremental Radius The via center radius position single value defines the arc radius The sign ofthe value is used to determine the center point to distinguish between the two possible arcs A positive value indicates a center point that generates an arc less than 180 degrees A negative value indicates a center point that generates an arc greater than 180 degrees This Circle Type is only valid for two dimensional circles The position parameter array follows the Move Type to define the endpoint of the arc Absolute Center Incremental The sum ofthe via center radius position array and the old position defines the center position of the circle For a non full circle case the Position parameter array defines the endpoint of the arc For a full circle case the Position parameter array defines any second point along the circle except the endpoint Incremental Center Incremental The sum of the via center radius position array and the old position defines the center position of the circle For a non full circle case the sum of the Position parameter array and the old position defines the endpoint of the arc For a full circle case the sum of the Position parameter array and the old position defines any second point along the circle except the endpoint Two Dimensional Arc and Circle Examples The followin
79. CSR MDCC 170 Change the Direction operand to Longest in the preceding MCCM instruction and the path followed is the longest from the start point to the point defined by the Position operand in the MCCM instruction See the following diagram for an example of the longest path Figure 89 3D Path Using Longest for Direction Operand A Ew R EU 1 0 Em iili T 2 NUT g s NE i hi A a 0 3 axis Calculate Jerk Units The jerk units define the units that are applied to the values entered in the Accel Jerk and Decel Jerk operands The values are entered directly in the position units of the specified coordinate system or as a percentage When configured by using of Maximum the jerk is applied as a percentage of the Maximum Acceleration Jerk and Maximum Deceleration Jerk operands specified in the coordinate system attributes When configured by using 96 of Time the value is a percentage based on the Speed Accel Rate and Decel Rate specified in the instruction Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Convert Engineering Units to a Percentage of Time If you want to convert engineering units to of Time use these equations For Accel Jerk j EUR EUR 6 200 vas EU s AJ of time For Decel Jerk j Sox EUIS EN EY
80. Configure both the source and the target coordinate system with a transform dimension of two The linear axis configured as a third axis must be the same for both the source and target coordinate systems Figure 31 Example of Source and Target Coordinate System Configuration for a SCARA Delta Robot Coordinate System Properties CS XY ni Coordinate System Properties SCARADelta ER General Geceehy Units Diets Dynamics Tag General Geomety Units Offsets Joris Tag Motion Group moton group z E Motion Group melon group Bl Type Cartesian v Type Dimension 3 a Transtorm Dimension 2 Dimension a Trarsfoun Dimernion 2 DE Coordinate Ao Nemo Coordination mode 1 X v Primary U 71 Anctiory E 1 xo 1 Primary BE 1 y Ancitrey 21 2 xs iz z Primary 2 J3 H xl Janny V Enable Coordinate System Auto Tag Update v Enable Coordinate System Auto Tay Update Cancel Help Rockwell Automation Publication MOTION UM002D EN P February 2015 Calibrate a SCARA Delta Robot The method used to calibrate a SCARA Delta robot is the same as the method used for calibrating a Delta three dimensional robot The only difference is the number of axes used For more information about calibration see Calibrate a Delta Three dimensional Robot on page 66 79 Chapter 4 80 Articulated In
81. DSC function when the MCCD is executed goes IP the CalculatedData Available CDA status bit is cleared as specified by the Scope variable of the MCCD instruction in each MCLM and MCCM instruction tag which indicates that the Event Distances has been computed The Scope variable specifies either the Active Motion instruction or Active Motion and Pending instruction that is all instructions in the queue After the MCCD is complete and the Event Distances have been recomputed the CalculatedData Available status bit is set again Therefore look at the CalculatedData Available status bit after the MCCD instruction has been completed to determine when to use the recomputed Event Distances Rockwell Automation Publication MOTION UM002D EN P February 2015 193 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Motion Coordinated Stop MCS 194 Ifa MCCD is executed goes IP the CDA bit is cleared The Calculated Data for the move is recomputed by using the new dynamics parameters The CDA bit is set again when computations are complete The Calculated Data that is recomputed is measured from the original Motion Start Point MSP to the Event Distance point by using the new dynamics parameters as changed by the MCCD instruction not from the point of the MCCD Note that if the changes the speed to 0 the Event Distance is not recomputed the CDA bit is not set The Event Dist
82. EN P February 2015 65 Chapter 4 66 Articulated Independent Robot When each top link L1 moves downward its corresponding joint axis J1 J2 or J3 is assumed to be rotating in the positive direction The three joint axes of the robot are configured as linear axes To rotate the gripper configure a fourth axis as either linear or rotary independent axis Establish the Reference Frame for a Delta Three dimensional Robot Joint 2 X2 Top View Joint 3 The reference frame for the Delta geometries is at the center of the top fixed plate Joint 1 Joint 2 and Joint 3 are actuated joints If you configure the Delta coordinate system in Logix Designer application with the joints homed at 0 in the horizontal position then L1 of one of the link pairs is aligned along the X1 positive axis as shown Moving in the counter clockwise direction from Joint 1 to Joint 2 the X2 axis is orthogonal to the X1 axis Based on the right hand rule X3 positive is the axis pointing up out of the paper Calibrate a Delta Three dimensional Robot Use these steps to calibrate your robot 1 Obtain the angle values from the robot manufacturer for J1 J2 and J3 at the calibration position These values are used to establish the reference position 2 Move all joints to the calibration position by either jogging the robot under programmed control or manually moving the robot when the joint axes are in an open loop state 3 Do o
83. Enumeration Existing Enumeration Existing Enumeration Existing Enumeration Not Implemented Not Implemented Seconds Time Driven Mode Units Units per MasterUnits Master Driven Mode Units Master Units Master Driven Mode Units Not Implemented Not Implemented New Enumeration Not allowed Time and Master Driven Units cannot be combined Not allowed Time and Master Driven Units can not be combined New Enumeration Not Implemented Not Implemented New Enumeration These rules for Acceleration and Deceleration must be followed to determine allowable Time and Master Driven Mode Speed Acceleration Deceleration and Jerk must always be programmed in the same mode or you get an error If Speed units are seconds then acceleration deceleration and jerk units must be seconds too If Speed units are Master units then acceleration deceleration and jerk units must be Master units too All unsupported unit combinations result in an error at runtime when the instruction is executed Rockwell Automation Publication MOTION UM002D EN P February 2015 251 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Jerk Enumerations The following enumerations are defined for time driven and MDSC driven Jerk units Table 71 Jerk Enumeration Enumeration Description Mode Comp
84. Extended Errors return a number that indicates the offending parameter as listed on the faceplate in numerical order from top to bottom beginning with zero For example 2 indicates the parameter value for Move Type is in error Referenced Error Code and Number Extended Error Numeric Instruction Parameter Description Indicator Parameter Out Of Range 13 2 Move Type Move Type is either less than 0 or greater than 1 Parameter Out Of Range 13 4 Speed Speed is less than 0 Parameter Out Of Range 13 7 Accel Rate Accel Rate is less than or equal to 0 Parameter Out Of Range 13 10 Decel Rate Decel Rate is less than or equal to 0 Error Code 54 Maximum Deceleration Value is Zero If the Extended Error returns a positive number 0 7 it s referring to the offending axis in the coordinate system 1 Go to the Coordinate System Properties General Tab and look under the Brackets column of the Axis Grid to determine which axis has a Maximum Deceleration value of 0 2 Click the ellipsis next to the offending axis to access the Axis Properties screen 3 Go to the Dynamics tab and make the appropriate change to the Maximum Deceleration Value If the Extended Error number is 1 this means the Coordinate System has a Maximum Deceleration Value of 0 4 Go to the Coordinate System Properties Dynamics Tab to correct the Maximum Deceleration value MCCD Changes to Status Bits For the Master Driven Speed Control M
85. Fault Conditions for Motion Instructions when MDGG Is Active ege e ere RE eI OU EIL EE BOB COC eS is eek etm Meo d tai NUR Status Bits for Motion Instructions MCLM MCCM when MID GC ISGR0EDYe dus uae quer moa cre biete ie aet aC Coordinated Motion Status Bits Changing Between Master Driven and Time Driven Modes for Coordinated Motion Changing che Master Axis oss cet voee Rar Th YU E CREMA Input and Output Parameters Structure for Coordinate System Motion 1 Speed Acceleration Deceleration and Jerk Enumerations for Coordinated MofloBn dove 3 Sain UR pO QUNM ES Speed d ends Acceleration and Deceleration Enumerations Cr ne io eru e ns Appendix B How to Access Attributes oa deseris eme Cte ae WERE ER ge ts Coordinate System Attributes tv err erp qr Pr Appendix C Additional Error Code Information llle sees AppendixD MOTION UMO002C EN P September 2012 MOTION UM002B EN P November 2011 MOTION UM002A EN P January 2010 Rockwell Automation Publication MOTION UMO02D EN P February 2015 Studio 5000 Environment Preface This manual provides information on configuring a variety of coordinated motion applications A
86. IP When you configure your coordinate system some fields can be unavailable dimmed because of choices you made in the New Tag dialog box In the Controller Organizer right click the coordinate system to edit and choose Coordinate System Properties from the pull down menu 2 myvirtualaxis 2 Ungrouped Axes Monitor Coordinate System Tag Trends x5 myservolaxis 2 9 Data Types Fault Help Cg User Defined Clear Coordinate System Faults El oa Strings E ER Predefined Cut E Module Defined Copy 3 6 1 0 Configuration Paste E B 1 1756 MossE Bl 1 2094 ACOE Bl 2 2098 DSD Bl 3 8720MC BC Bl 10 1394 57 S 21 1756 2 Associated Axes i x5 mysercos2axis Delete Cross Reference Print The Coordinate System Properties General dialog box appears Coordinate System Properties cartesian_coordinate_system General Urs 0 Dynamis Tag Motion Group kireernedics milioni tor Cone M Enable Coordinate System Auto Tag Update The name of the Coordinate System tag that is being edited appears in the title bar to the right of Coordinate System Properties Rockwell Automation Publication MOTION UM002D EN P February 2015 General Tab Create and Configure a Coordinate System Chapter 1 Use this tab to do the following for a coordinate system e Assign the coordinate system or terminate the a
87. Immediate or tag Lock Position No enumeration Immediate real or tag Lock Direction None 0 immediateforwardonly 1 Immediatereverseonly 2 positionforward 3 positionreverse 4 Event Distance No enumeration Array Calculated Data No enumeration Array Executing the Instruction MCCM isa transitional instruction In relay ladder toggle the rung condition in from cleared to set each time the instruction executes In structured text condition the instruction so that it only executes on a transition Rockwell Automation Publication MOTION UM002D EN P February 2015 143 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Motion Control Bits The following control bits are affected by the MCCM instruction Table 28 Control Bits Affected by MCCM Instruction Mnemonic Description EN Enable Bit 31 The Enable bit is set when the rung transitions from false to true It resets the rung transitions from true to false DN Done Bit 29 The Done bit sets when the coordinated instruction has been verified and queued successfully Because it is set at the time it is queued it can appear as set when a runtime error is encountered during the verify operation after it comes out of the queue It resets when the rung transitions from false to true Error Bit 28 The Error bit resets when the rung transitions from false to true I
88. Instructions 240 K Kinematics activating 84 arm solutions 83 85 arm solutions for two axes robots 83 Articulated Independent 55 changing arm solutions 85 determine Coordinate system type 52 no solution 86 singularity 85 solution mirroring 83 terms 50 kinematics See multi axis coordinated motion instructions L Logix Designer application 11 M Maximum Acceleration 28 31 MCCD Examples Impact of Changes to Acceleration and Deceler ation Values on Motion Profile 191 Relay Ladder 194 Operands Relay Ladder 186 Structured Text 189 MCCM Examples Circular Error 178 CIRCULAR_COLLINEARITY_ERROR 44 179 CIRCULAR_R1_R2_MISMATCH_ERROR 46 180 CIRCULAR_SMALL_R_ERROR 49 181 182 CIRCULAR_START_END_ERROR 45 179 Rotary Axes 161 Rockwell Automation Publication MOTION UM002D EN P February 2015 Index Move Type of Absolute 161 Move Type of Incremental 163 Structured Text 183 Three Dimensional Arcs 166 Two Dimensional Arc 146 Using Center Cirde Type 146 Using Center Incremental Cirde Type 156 Using Radius Circle Type 153 Using Via Circle Type 150 Two Dimensional Full Cirde 158 MCLM Examples Additional Note On Merging Instructions 129 Blending Different Speeds 48 Merge 126 Rotary Axes Move Type of Absolute 119 Move Type of Incremental 120 MCS Examples Relay Ladder 201 Operands Relay Ladder 195 MCS Examples Relay Ladder 205 MCS Examples Relay Ladder 229 Structured Text 229 MCT 205 MCT instruction
89. J1 and J2 is rotated the TCP of the gripper moves correspondingly in the X1 or X2 direction or X1 and X2 direction You can program the TCP to a X1 X2 coordinate then Logix Designer application uses internal vector dynamic calculations to compute the proper commands needed for each joint to move the gripper linearly from the current X1 X2 position to the programmed X1 X2 position The two joint axes J1 and J2 of the robot are configured as linear axes To rotate the gripper configure a third axis as a linear or rotary independent axis Establish the Reference Frame for a Delta Two dimensional Robot The reference frame for the two dimensional Delta geometry is at the center of the fixed top plate When the angles of joints J1 and J2 are both at 0 each of the two L1 links is along the X1 axis One L1 link is pointing in the positive X1 direction the other in the negative X1 direction When the right hand link L1 moves downward joint J1 is assumed to be rotating in the positive direction and when L1 moves upward the J1 is assumed to be moving in the negative direction When the left hand link L1 moves downward joint J2 is assumed to be rotating in the positive direction and when left hand L1 moves upward the J2 is assumed to be moving in the negative direction Figure 26 Establishing the Two dimensional Delta Robot Reference Frame Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Indep
90. Lock Status is cleared here Slave resumes being locked here if there is a 2nd reversal point as shown 243 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 66 Input Parameters Input Parameter Lock Position continued Data Type IMMEDIATE REAL or TAG Description On the Slave Coordinate System the following restrictions apply e Ifa new instruction succeeds the active motion instruction but it is in the opposite direction of its current direction then the error MDSC_LOCK_DIR_MASTER_DIR_MISMATCH is generated on the new motion instruction when it goes IP The same is true if the new instruction is started via a merge operation Anew instruction merged to an active instruction on the Slave Coordinate System must use the Immediate Forward Only or Immediate Reverse Only Lock Direction If the new instruction uses the Position Forward Only or Position Reverse Only Lock Direction the error MDSC_LOCKDIR_CONFLICT is generated on the new instruction A Lock Position may be used on an instruction that is merging a paused or dwelling motion instruction On the Master Axis no special restrictions apply Note that if an instruction with the merge enabled is enqueued then the whole queue is flushed and the active move is terminated Note that if Master Axis filtering is enabled on the master axis then the lock position for the Slave Coordinate System is
91. Logix Designer application the first three degrees of freedom are configured as three joint axes J1 J2 J3 in the robots coordinate system The three joint axes are either directly programmed in joint space automatically controlled by the embedded Kinematics software in Logix Designer application from instructions programmed in a virtual Cartesian coordinate system This robot contains a fixed top plate and a moving bottom plate The fixed top plate is attached to the moving bottom plate by three link arm assemblies three of the link arm assemblies are identical in that they each have a single top link arm L1 and a parallelogram two bar link assembly L2 As each axis 1 J2 J3 is rotated the TCP of the gripper moves correspondingly in X1 X2 X3 direction The gripper remains vertical along the X3 axis while its position is translated to X1 X2 X3 space by the mechanical action of the parallelograms in each of the three forearm assemblies The mechanical connections of the parallelograms via spherical joints ensure that the top and bottom plates remain parallel to each other You program the TCP to an X1 X2 X3 coordinate then Logix Designer application computes the commands necessary for each of the joints J1 J2 J3 to move the gripper linearly from the current X2 X3 position to the programmed X1 X2 X3 position at the programmed vector dynamics Rockwell Automation Publication MOTION UM002D
92. MDCC Appendix A Circular Programming Reference Guide Circle Type Used in Validation Errors Direction 2D Direction 3D Comments 2D 3D Both Radius 2D Error 25 Illegal Instruction CW CCW as viewed from N A A radius forces arc length to be lt 180 Shortest Error 45 Endpoint the perpendicular to arc Startpoint the circular plane radius forces arc length to be gt 180 Longest Error 49 R too small R lt arc 001 or R too short to span Full Circles can be programmed programmed points For full circles set Position to be any point on circle except Startpoint and use one of the Full direction types Center Point Both Error 44 Collinearity 3D CW CCW as viewed from Shortest Longest arc In 1 Full Circles can be programmed only the perpendicular to Full circles placement of 2 In2D only Endpoint Startpoint is legal Therefore Error 45 Endpoint the circular plane endpoint defines full circles can be generated Startpoint 3D only shortest longest paths By setting Endpoint Startpoint in which case Error 46 Start End radius referred to by direction all direction types produce full circles mismatch IRI R2 gt 15 parameter By setting Endpoint not Startpoint and using R1 Full direction type 3 For 3D Full Circles set Position to be any point on the circle except Startpoint and use one of the Full direction types Position defines both arc and Short
93. MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A e The two axes Axis0 and 1 are both members of the coordinate system Coordinated sys e 0 and Axisl are orthogonal to each other e Coordinated 5 is initially at 10 4 1 3 units Move Coordinated_sys along an arc to 10 4 1 3 units with a center at 3 7 6 4 units from the start point at the vector speed of 10 0 units per second with the acceleration and deceleration values of 5 0 units per second The following graph shows the circle generated by the preceding information Figure 77 Plot of Path of MCCM Instruction Full Circle Clockwise Full P 47 A Clockwise Full 20 12 4 4 12 m This path can be achieved by using an MCCM instruction in the Clockwise direction with a Move Type Absolute or with a Move Type Incremental When a Circle Type of Center is chosen the Via Center Radius position defines the center of the arc Rockwell Automation Publication MOTION UM002D EN P February 2015 159 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR 160 Figure 78 MCCM Instruction Move Type Absolute Circle Type Center MCCM Motion Coordinated Circular Move ET Coordinate System coordinate sys L ENJ M
94. N UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 71 MCCM Ladder Instruction with Operand Values of Via and Incremental MC Cht Motion Coordinated Circular Move Coordinate System coordinate sys L Motion Control MCCM 2 Move Type 0 Move is Incremental Position defined as an Position MCCM Move position 0 incremental distance from start axis 11 2 j E axis s point of 10 4 1 3 Circle Type Via Center Radius via 0 Circle Type is Via Direction Via position is defined as an incremental Speed 1g distance of 14 1 9 9 from start point of Speed Units Units per sec 10 4 1 3 Accel Rate 5 Accel Units Units per sec2 Direction is clockwise Decel Rate 5 Decel Units Units per sec2 Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Type Merge Disabled Merge Speed Current Command Tolerance Lock Position Lock Direction None Event Distance Calculated Data There are three points the current position of the axes the specified end point and the specified via point making it difficult to program a bad arc While it is still certainly possible to program an arc that is not the intended one a Circular Programming Error runtime fault occurs with an arc if the three points are co linear all three on the same line or not unique two or more points are the s
95. None Instruction Stop Disable Programmed Stop Mode Fast Error 78 Error 478 Error 78 Error 7 Stop Stop Mode Fast Error 78 Error 78 Error 78 Error 7 MGS Disable Stop Mode Error 478 Error 478 Error 78 Error 7 Programmed MGSR None Error 78 Error 78 Error 78 Error 7 Error 7 Stop Type Error 78 Error 78 Error 78 Error 47 Error 78 Error 78 Coordinated Move Stop Type Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Coordinated MCS Transform All Stop Types Error 478 Error 478 Error 78 Error 7 Except Stopgap All Stop Type All Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 7 MAS Stop Type All Error 78 Error 78 Error 78 Error 7 Error 7 MASR None Error 78 Error 78 Error 78 Error 7 Error 7 Additional Error Code Information Refer to your drive user manual for more information about error codes displayed on drives and or multi axis motion control systems Refer to Additional Resources on page 13 Rockwell Automation Publication MOTION UM002D EN P February 2015 267 Appendix Error Codes ERR for Coordinate Motion Instructions Notes 268 Rockwell Automation Publication MOTION UM002D EN P February 2015 MOTION UMOO2C EN P September 2012 MOTION UM002B EN P November 2011 AppendixD History of Changes Change Where to Find Sample Projects Reference Position Transform Position
96. P MCSR Figure 74 MCCM Instruction Move Type Incremental Circle Type Radius IEEE S Motion Coordinated Circular Move coordinate sys EJ Coordinate System Move Type is Incremental Motion Control MCCM 4 Move Type 1 ERO Position defined as an incremental osition ove position MOM 215 distance from start point of 10 4 1 3 axis 78 Circle Type 2 ViaiCenterRadius 1 Cirde Type is Radius Direction Radius defined as 15 units and is stored in 5 d 1 pos 8 the Radius 1 tag Speed Units Units per sec Accel Rate 5 Direction is Clockwise Accel Units Units per sec2 Decel Rate 5 Units Units per sec2 Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Ty pe Merge Disabled Merge Speed Current Command Tolerance Lock Position Lock Direction None Event Distance Calculated Data The Move Type has no effect on the Radius value specification A Positive radius always creates a shorter 180 arc and a negative radius creates a longer gt 180 arc see path graph If it is 180 the sign of the radius is irrelevant A Circle Type of Radius is valid in two dimensional coordinate systems only MCCM Using Center Incremental Circle Type The following examples show the use of the MCCM instruction with a Circle Type of Center Incremental and a Move Type of Absolute first example and Incremental
97. Rockwell Automation Publication MOTION UM002D EN P February 2015 55 Chapter 4 Articulated Independent Robot Figure 9 Articulated Independent 1 X J Before you begin establishing the Joint to Cartesian reference frame relationship it is important to know some information about the Kinematic mathematical equations used in the controllers The equations were written as if the Articulated Independent robot joints were positioned as shown in this figure J1 is measured counterclockwise around the X3 axis starting at an angle of J1 0 when L1 and L2 are both in the X1 X2 plane J2 is measured counterclockwise starting with J2 0 when L1 is parallel to X1 X2 plane J3 is measured counterclockwise with J3 0 when L2 is aligned with link L1 When your robot is physically in this position the Logix Designer application Actual Position tags for the axes must be e J1 0 J2 0 e J3 0 Figure 10 Articulated Independent 2 nj Side View 56 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 When your robot is physically in this position the Logix Designer application Actual Position tags for the axes must be Jl 0 e J2 90 J3 90 Figure 11 Articulated Independent 3 Side View If your robot s physical position and joint angle values cannot match those shown in either figures above then use one of
98. Scope Scope displays the scope of the current Coordinate System tag The scope for a Coordinate System tag can be only controller scope This field is not editable and is for informational purposes only External Access External Access displays the parameter chosen in the New Tag dialog box for whether the tag has Read Write Read Only or no None access from external applications such as HMIs 32 Rockwell Automation Publication MOTION UM002D EN P February 2015 Chapter 2 Cartesian Coordinate System Topic Page Program an MCLM Instruction 34 Blended Moves and Termination Types 34 Bit State Diagrams for Blended Moves 37 Choose a Termination Type 41 MCLM and MCCM Examples 48 Use the multi axis coordinated motion instructions to perform linear and circular moves in single and multidimensional spaces A Cartesian coordinate system in Logix Designer application can include one two or three axis Figure 3 Coordinate Systems with Orthogonal Axes Cartesian Coordinate System Two dimensional Cartesian Coordinate System Three dimensional Cartesian Coordinate System Use the MCLM instruction to start a single or multi dimensional linear coordinated move See Motion Coordinated Linear Move MCLM on page 109 Use the MCCM instruction to initiate a two or three dimensional circular coordinated move for the specified axes See Motion Coordinated Circular Move MCCM on page 136 Rockwell Aut
99. T 20 The calculated data for MCLM1 is returned when MCLM2 is added to the queue and planned This is at point P1 above Master Distance is Measured from point PO The calculated data for MCLM2 is returned when MCLM3 is added to the queue and planned This is at Point P2 above Master Distance is Measured from point PO The calculated data for MCLM3 is returned when MCLM3 is added to the queue and planned This is at point P3 above Master Distance is Measured from point PO The calculated data for MCLM4 is returned when MCLM5S is added to the queue and planned This is at point P10 above Master Distance is Measured from point P10 The calculated data for MCLMS is never returned because MCLMS is terminated with TT2 and it is the last move in the queue Use TTO or TT1 instead All Calculated Data is the master distance or time from the last MSP point That is it is where the slave is at rest which is point PO and point P10 above Rockwell Automation Publication MOTION UM002D EN P February 2015 249 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Speed Acceleration Deceleration and Jerk Enumerations for Coordinated Motion Table 68 Speed Enumeration Speed Enumerations Common enumerations are used for the speed parameter of all motion instructions Some instructions accept only limited subset of the speed enumerations Checks for valid unit combinations are done at instruct
100. Tolerance 0 Lock Position Lock Direction Eveni Distance Calculated Data CIRCULAR SMALL R ERROR 49 Example This first example of error 49 depicts a situation where the radius type circle uses a radius that is too short to span the distance between the start point and the end point The program is trying to generate a two dimensional arc going from 0 0 current position to 20 0 However the programmer tried to program a radius type circle with a radius that is too short to span the distance between the startpoint and endpoint Rockwell Automation Publication MOTION UM002D EN P February 2015 181 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Figure 95 Ladder Program and Target Entry Screen that Generate Error 49 CI Motion Coordinated Circular Move EN2 Cuurdinale System cuurdilrate_sys CJ Noe nel ae Target Position Entry Coordinated_sys MCCM Move position 0 Radius 1 ER5 Position MCCM Move position o CI axis0 20 0 axis1 0 0 Circle Type 2 AC Target Position VisiCenterRadus Radius 1 lt Pc Direction n Speed 20 Speed Units Linits per sec Accel Rate 50 Accel Units 96 of Maximum Decel Rate sn Devel Units of Maximum Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Type 1 Set Targets Actuals Merge Disabled Merge Speed Programmed Command Tolerance n
101. User Manual Allen Bradley Motion Coordinate System Catalog Numbers 1756 HYD02 1756 MO2AE 1756 M02AS 1756 MO3SE 1756 085 1756 M16SE 1768 045 Allen Bradley Rockwell Software Automation Important User Information Read this document and the documents listed in the additional resources section about installation configuration and operation of this equipment before you install configure operate or maintain this product Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes laws and standards Activities including installation adjustments putting into service use assembly disassembly and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwe
102. W Full Longest Full Speed SINT INT DINT or REAL immediate or tag The Speed operand defines the maximum vector speed along the path of the coordinated move coordination units Speed Units SINT INT or DINT immediate The Speed Units operand defines the units applied to the Speed operand either directly in coordination units or as a percentage of the maximum values defined in the coordinate system 0 Units per Sec 1 of Maximum 3 Seconds 4 Units per MasterUnit 7 Master Units Accel Rate SINT INT DINT or REAL immediate or tag The Accel Rate operand defines the maximum acceleration along the path of the coordinated move coordination units Accel Units SINT INT or DINT immediate The Accel Units operand defines the units applied to the Accel Rate operand either directly in coordination units of the specified coordinate system or as a percentage of the maximum values defined in the coordinate system 0 Units per Sec 1 of Maximum 3 Seconds 4 Units per MasterUnit 7 Master Units Rockwell Automation Publication MOTION UM002D EN P February 2015 139 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 26 MCCM Instruction Operands Relay Ladder Operand Type Format Description I Decel Rate SINT INT DINT or REAL immediate or tag The Decel Rate operand defines the maximum deceleration along the path of the coordinated move
103. a Flow of MCTP Instruction Between Two Coordinate Systems Gli tn uro ur dtt Arithmetic Status Flags eee estudios o e ped Faule Conditions hac set odd uv CUR oru LP QN EPA CEA Error Codeso mee d te ao MCTP Changes to Status Example 1 Calculate Position Example 2 Change Orientation c eek se ona Verr cs eps Example 3 Change Translation Example 4 Change Ditecfl0nzs bot ick oue oru ee her nee rt Motion Coordinated Shutdown Reset Motion Control Bits Arithmetic Status Flags eie Fault Conditions PERtOPGC Odes a essaye Decet ieri d ari idis MCSR Changes to Status Dit c eee e Ve Ne aga Re Re perS osea tute recte ao tas E deuda Master Driven Coordinate Control Operands Rockwell Automation Publication MOTION UM002D EN P February 2015 Table of Contents Coordinate System Attributes Error Codes ERR for Coordinate Motion Instructions History of Changes Index Motion Direct Command and the Instruction MOTION INSTRUCTION Bit Leg Definitions lor MIC Sos uoce eue Ld Lon AM Luke etat Lud fert Arithmetic Status Vete re ewe nba loea va hu quld
104. ach the target position To move to the unwind position in the negative direction a negative unwind position value must be used as 0 and 0 are treated as 0 When the position is greater than the unwind value an error is generated The axis can move through the unwind position but never incrementally more than one unwind value Incremental The coordinate system moves the distance as defined by the position array at the specified Speed by using the Accel and Decel rates determined by the respective operands along a circular path The specified distance is interpreted by the interpolator and can be positive or negative Negative position values instruct the interpolator to move the rotary axis in a negative direction while positive values indicate positive motion is desired to reach the target position Via Center Radius The via center radius position parameter defines the absolute or incremental value of a position along the circle the center of the circle or the radius of the circle in relation to the Move and Circle Types as defined in the following table If the Circle Type is via or center the via center radius position parameter is a one dimensional array whose dimension is defined to be at least the equivalent of the number of axes specified in the coordinate system If the Circle type is radius the via center radius position parameter is a single value Move Type Circle Type Behavior Absolute Via The via cen
105. al Delta robot geometry except that the X1 X2 plane is tilted horizontally with the third linear axis in the vertical direction X3 Figure 30 SCARA Delta Robot X3 x2 J2 Z2 1 J1 Z1 q a fx XL gr Les 5 7 L2 2 e Base plate Establish the Reference Frame for a SCARA Delta Robot The reference frame for the SCARA Delta robot is at the center of the base plate 78 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 When the angles of joints J1 and J2 are both at 0 each of the two L1 links is along the X1 axis One L1 link is pointing in the positive X1 direction the other in the negative X1 direction When the right hand link L1 moves in the clockwise direction looking down on the robot joint J1 is assumed to be rotating in the positive direction When the right hand link L1 moves counterclockwise joint J1 is assumed to be moving in the negative direction When left hand link L1 moves in the clockwise direction joint J2 is assumed to be moving in the negative direction When the left hand link L1 moves in the counterclockwise direction joint J2 is assumed to be rotating in the positive direction Based on the right hand rule X3 positive is orthogonal to the X1 X2 plane pointing up The linear axis always moves in the X3 direction When configuring a SCARA Delta robot in Logix Designer application keep the following in mind
106. ame In addition the via point implies that the direction of the arc and thus it is not necessary and is ignored to specify the direction MCCM Instruction Using Radius Circle Type The following examples show the use of the MCCM instruction with a Circle Type of Radius and a Move Type of Absolute first example and Incremental second example to arrive at the same result The basic assumptions are e the two axes 0 and Axisl are both members of the coordinate system coordinate_sys the coordinate system dimension value is configured as 2 Radius Circle Types can only be configured when two dimensions are configured for the coordinate system Axis0 and Axis are orthogonal to each other coordinate sys is initially at 10 4 1 3 units Rockwell Automation Publication MOTION UM002D EN P February 2015 153 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Move Coordinated sys along an arc to 11 2 6 6 units with a radius of 15 units at the vector speed of 10 0 units per second with the acceleration and deceleration values of 5 0 units per second The following graph shows the paths generated by the preceding information by using a Radius value of 15 units and 15 units Figure 72 Plot of Path with Circle Type of Radius 22 i 14 x a 112 CE End i NJ 10 13 Sart 2 ME ii 20 12 4 4 12
107. an be changed indirectly if it is specified in 96 of time Operands The MCSD instruction supports the following operands Relay Ladder Structured Text Relay Ladder Motion Coordinated Shutdown Coordinate System Motion Control Table 44 Operands Relay Ladder A gt Operand Type Format Description Coordinate System COORDINATE_SYSTEM Tag The Coordinate System operand specifies the set of motion axes that define the dimensions of a coordinate system The coordinate system supports up to three primary axes Only the axes configured as primary axes up to 3 are included in the coordinate velocity calculations Motion Control MOTION_INSTRUCTION Structure used to access instruction status parameters 202 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A MCSD CoordinateSystem Structured Text MotionControl The operands are the same as those for the relay ladder MCSD instruction Executing the Instruction MCSD isa transitional instruction In relay ladder toggle the rung condition in from cleared to set each time the instruction executes In structured text condition the instruction so that it only executes on a transition Motion Control Bits The following control bits are affected by the MCSD instruction Tabl
108. an cause unintended operation This can result in damage to equipment or personal injury IMPORTANT You can use this instruction with the following controllers 1756 L6x controllers 1756 L7x controllers 1769 L18ERM controller 1769 L27ERM controller 1769 L30ERM controller 1769 L33ERM controller 1769 L36ERM controller Operands The MCTP instruction supports the following operands e Relay Ladder Structured Text Relay Ladder Motion Calculate Transform Position EN Source System P Target System m DN5 Motion Control Orientation ER gt Translation Transform Direction Reference Position Transform Position Table 52 MCTP Instruction Operand Relay Ladder Operand Type Format Description Source System COORDINATE_SYSTEM Tag Cartesian coordinate system for Cartesian positions of the robot Target System COORDINATE_SYSTEM Tag Non Cartesian coordinate system that controls the actual equipment Motion Control MOTION_INSTRUCTION Tag Control tag for the instruction Rockwell Automation Publication MOTION UM002D EN P February 2015 217 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Table 52 MCTP Instruction Operand Relay Ladder Operand Type Format Description Orientation REAL 3 Array Do you want to rotate the target position around the X1 X2 or X3 axis If Then No Leave the array values at zero Yes Enter the degrees of
109. an the coarse update The real value ofthe bit comes in the case of multiple instructions As long as an instruction is in the instruction queue the pending bit is set This provides the Logix Designer programmer a means of stream lining the execution of multiple coordinated motion instructions Ladder logic containing coordinated motion instructions can be made to execute faster when the programmer lets instructions 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 BOOL 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 Physical Axes Faulted DINT GSV Tag 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 Physical Axis Fault BOOL Tag If the Physical Axis Fault bit is set it indicates that there is one or more fault conditions that have been reported by the physical axis The speci
110. ance is however recomputed ifa second MCCD is issued to restart the motion The recomputed Calculated Data includes the duration of the stopped motion If the Event Distance is set to 0 the Calculated Data is set to equal the position that equals the length of the move This can be one or two coarse update periods before the PC bit is set because of an internal delay The end position is typically achieved in the middle ofa coarse update period which adds up to one additional coarse update period to the delay Therefore if the master is moved a distance equal to the Calculated Data you must wait up to 2 iterations more for the PC bit of the slave move to be set The Motion Coordinated Stop MCS instruction initiates a controlled stop of coordinated motion Any pending motion profiles are cancelled ATTENTION Use each tag for the motion control attribute of A instructions only once Re use of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury If you change move parameters dynamically by any method that is by changing move dynamics MCD or MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot ATTENTION Risk of Velocity and or End Position Overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is decreased while the move is decelerating or is clo
111. and X2e respectively Link Lengths Link lengths are the rigid mechanical bodies attached at joints For an articulated independent robot with The length Is equal to the value of the distance of between 2 dimensions L1 J1 J2 L2 J2 and the end effector 3 dimensions L1 J2 and J3 L2 J3 and the end effector Rockwell Automation Publication MOTION UM002D EN P February 2015 61 Chapter 4 Articulated Independent Robot Figure 14 Example of Link Lengths for an Articulated Independent Robot Coordinate System Properties Articulated Independent DR General Geometry Units Offsets Joints Tag Type Articulated Independent Transform Dimension 3 r Link Lengths Enter the Link Length values u poo k 12 120 For the robot shown in Typical Configuration Parameters for an Articulated do Independent Robot the Link Length values are ers Ange Orientations 11 100 21 100 Degrees z2 10 0 Degrees 12 120 23 50 Degrees Apply Help 62 Rockwell Automation Publication MOTION UM002D EN P February 2015 Enter the Base Offset values Me 00 For the robot shown in our example the Base Offset values are e X1b 3 0 e X3b 4 0 Articulated Independent Robot Chapter 4 Base Offsets The base offset is a set of coordinate values that redefines the origin of the robot The correct base offset values are typically available from the robot manu
112. and the fastest acceleration and deceleration times The maximum change in velocity is specified by acceleration and deceleration Because jerk is not a factor for trapezoidal profiles it s considered infinite and is shown as series of vertical lines in the following graph Figure 57 Trapezoidal Accel Decel Time gt e D o gt S Curve S Curve velocity profiles are most often used when the stress on the mechanical system and load needs to be minimized The S Curve profile however sacrifices acceleration and deceleration time compared to the trapezoidal The maximum rate at which velocity can accelerate or decelerate is further limited by jerk Coordinate motion acceleration and deceleration jerk rate calculations are performed when these instructions are started MAJ Rockwell Automation Publication MOTION UM002D EN P February 2015 123 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC MAM MAS MCD e MCS e MCCM MCLM The calculated Jerk Rate produces triangular acceleration and deceleration profiles as shown in the following diagram Figure 58 S Curve Accel Decel Time Velocity For an S Curve move the Jerk rate is determined based on the programmed velocity acceleration and deceleration values not on the length of the move Logix Designer application attempts to keep the Jerk rate constant when blending moves that have the same a
113. ands Instruction Parameters MDCCIP Bit MGS Reset MGSD Reset MCS Stop Type Coordinated Motion Not Changed Stop Type Transform Not Changed Stop Type All Not Changed MCSD Reset Rockwell Automation Publication MOTION UM002D EN P February 2015 233 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 63 Master Axis Commands MASD Reset MSF Not Changed MDF Not Changed Fault Action Status Only Not Changed Stop Motion Not Changed Disable DRV Not Changed Shutdown Reset Note that if the same Master Axis is controlling multiple Slave Coordinate System then all MDCC relationships that contain the Master Axis are broken Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 Logix Designer Application Verification Errors An invalid or No Master Axis causes new errors to be generated when verified by Logix Designer application The following conditions can cause this error The Master Axis is a member of the Slave Coordinate System The Master Axis or the Slave Coordinate System is not configured The Master Axis or an axis in the Slave Coordinate System is inhibited e redefine position is in progress Home of the Master axis in the Slave Coordinate System is in progress Status Bits for Motion The following table describes the predefined data type status bits fo
114. ant to move the target coordinate system in a rectangular path execute the MCT instruction to start the transform Then execute four Motion Coordinated Linear Move MCLM instructions to produce the rectangular path Second MCLM instruction X2 Third MCLM instruction SS First MCLM instruction Represents the source and target M coordinate systems Fourth MCLM instruction If you want to offset the Cartesian positions of the target coordinate system by 1 unit along both the X1 and X2 axes 1 Enter translation values of 1 1 0 into the MCT instruction 2 Execute the MCT instruction again to apply the translation to the transform 3 Execute the same four MCLM instructions again Represents the target coordinate Represents the source coordinate 30k System 7777 The Cartesian positions of the target i coordinate system are offset by 1 unit i along X1 and X2 216 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Motion Calculate Tran sform Use the MCTP instruction to calculate the position of a point in one coordinate Position MCTP system to the equivalent point in a second coordinate system ATTENTION Use each tag for the motion control attribute of instructions only once Re use of the motion control tag in other instructions c
115. argets Actuals Set Vias Actuals LOK cme o Amp Heo CIRCULAR R2 MISMATCH ERROR 46 Example The following example for error 46 shows a situation where the difference in radial start end lengths exceeds 1596 of the radial start length The program is trying to generate a two dimensional arc from 0 0 current position to 21 51 0 by using a centerpoint at 10 10 Because the difference of the radial start end lengths is 21 51 10 1 51 it exceeds 15 of the radial start length 15 10 1 5 This example works with an endpoint of 21 5 and the centerpoint recomputed to lie exactly halfway between start and end points Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 94 Ladder Program and Target Entry Screen that Generate Error 46 Oats Sistem ees sra Target Position Entry Coordinated_sys MCCM_Move_position 0 Center 1 x Motion Control MCCM O Move Type 0 Position MCCM Move pnsition 0 50 21 51 1 00 Circle Type Via Center RAILS Center 1 Direction U Speed 20 Speed Units Units per sec Accel Rate sn Accel Units of Maximum Decel Rate 50 Decel Units 96 of Maximum Profile S Curve Accel Jerk 100 Decel Jerk 100 Set Targets Actuals Jerk Unite Units per sec3 Termination Type 1 Merge Disabled Merge Speed Programmed Command
116. as negative Keep in mind that for Absolute Move Types 0 thenegative sign denotes thedirection ofthe move In this example the axis moves to an absolute position of 2 0 in the negative direction To move to a position of 0 0 in the negative direction you must program 360 0 because 0 0 is internally stored as 0 0 Appendix A 119 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR The resultant plot of the moves path is shown in the following illustration Figure 54 Plot of MCLM with One Rotary Axis and Move Type of Absolute Trend Motion EMITE n 1 E ani xj fun we gt te Kem SSCP See Cae ot 100532AM 1015324M Motion Monday May 05 2003 1015 32 AM LJ The endpoint was a negative value therefore the axis travelled in a negative direction moving from 4 to 2 It did not travel through the unwind For this move the endpoint is required to fit within the absolute position defined by the rotary unwind of the axis Therefore an unwind value of 6 or 6 is not valid MCLM with Two Rotary Axes and Move Type of Incremental The second MCLM example with rotary axes has two rotary axes and a Move Type of Incremental The plot of the path has the following assumptions Two axis Coordinate System named coordinate sys e Axis0 is Rotary with an unwind of 1 revs e 1 is Rotary with an unwind of 2 revs Start pos
117. associate the axes to the coordinate system setthe dimension define 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 16 Rockwell Automation Publication MOTION UM002D EN P February 2015 Create and Configure a Coordinate System Chapter 1 Follow these steps to create a coordinate system 1 Right click the motion group in the Controller Organizer 2 Choose New Coordinate System 3 6 Motion Groups mygenerica New Axis x5 mysercos2a i mysercos3a x mysercosta x5 myservolax X myvirtualaxi 53 Ungrouped Axe Clear MotionGroup Faults A New Coordinate Monitor Group Tag Fault Help The New Tag dialog box appears Name my_coordinate_system Description R Usage lt controller gt Alias For v Data Type COORDINATE_SYSTEM Parameter Connection Scope MyController Y Extemal Read Write X Access Style id Constant Seguencing Open COORDINATE SYSTEM Configuration Open Parameter Connections Rockwell Automation Publication MOTION UM002D EN P February 2015 17 Chapter 1 Create and Configure a Coordinate System Table 1 Tag Parameter Descri
118. ast instruction by using a Command Tolerance termination type the coordinate system instruction 50 of each of the lengths of all other move instructions Configured Command Tolerance for the coordinate system Shorter of the two lengths Command Tolerance length used for each individual instruction 3 No Decel zy The instruction stays active until the axes get to the deceleration point At that point the 1 00 0 00 0 00 1 00 2 00 3 00 400 500 600 7 00 instruction is complete and a queued MCLM or MCCM instruction can start The deceleration point depends on whether you use a trapezoidal or S Curve profile Ifyou don t have a queued or MCCM instruction the axes stop at the target position 42 Rockwell Automation Publication MOTION UM002D EN P February 2015 Cartesian Coordinate System Chapter 2 Termination Type Example Path Description 4 Follow Contour Velocity Constrained Move 1 Move 2 0 00 1 00 2 00 3 00 4 00 5 00 6 00 The instruction stays active until the axes get to the target position At that point the instruction is complete and a queued MCLM or MCCM instruction can start This termination type works best with tangential transitions For example use it to go from a line to a circle a circle to a line or a circle to a circle The axes follow the path The length ofthe move determines the maximum sp
119. aster Direction Mismatch programmed by Lock Direction parameter IMMEDIATE FORWARD ONLY or IMMEDIATE REVERSE ONLY when the slave is already moving 99 Parameter combination not supported Feature Not Supported Performing on non Cartesian coordinate system Using Lock Position for MATC in Time Driven Mode 100 If speed is in seconds or Master units move must start from rest Axis Not At Rest 101 Return data array is either nonexistent or not big enough to store all the requested MDSC Calculated Data Size Error data 102 Attempt to activate a second MDSC instruction with a Lock Position or a Merge with MDSC Lock While Moving a Lock Position while an axis is moving 103 Ifthe Master Axis is changed and the new slave speed is less than 596 of the original MDSC Invalid Slave Speed Reduction slave speed for Single Axis instructions or 1096 depending on the move ofthe original Slave Coordinate System speed then this error occurs and the change is not allowed Note The same applies when changing from Time Driven mode to MDSC mode 104 IF MDSC 2 Instructions were started in 1 Update Period therefore Jerk was a motion instruction performs either Maximized Achangein the Master Axis A change in speed units AND if in the same update period the instruction is either forced to pause with a speed of zero or stopped with a MAS or MCS THEN the velocity profile is changed to trapezoidal and this error code is reported 105 An instruc
120. ate Reverse Only the bit is set immediately when the MCLM or MCCM is initiated When the enumeration is Position Forward Only or Position Reverse Only the bit is set when the Master Axis crosses the Lock Position in the specified direction The bit is never set if the enumeration is NONE The CoordMotionLockStatus bit is cleared when the Master Axis reverses direction and the Slave Coordinate System stops following the Master Axis The CoordMotionLockStatus bit is set again when the Slave Coordinate System resumes following the Master Axis The CoordMotionLockStatus bit is also cleared when an MCS is initiated Changing the motion mode between Master Driven and Time Driven Mode and vice versa is automatically performed when another motion instruction such as MCLM and MCCM is activated if the new instruction has been programmed in a different mode than the active motion instruction Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A When the new motion instruction is activated the system assumes that the desired mode for the new instruction is the mode Master Driven or Time Driven as specified in the programmed units of the speed parameter contained in the new instruction At all times including when changing modes the Accel Decel and Jerk must be programmed in the same units as the Speed parameter or the instruction
121. atibility Notes 0 Units per se Time Existing Enumeration 1 96 Maximum Existing Enumeration 2 96 of Time Existing Enumeration 3 Reserved Reserved for Time based programming 4 Units per MasterUnit MDSC New Enumeration 5 Reserved 6 96 of Time Master Driven New Enumeration 7 Reserved Reserved for Time based programming Acceptable combinations of Accel and Decel Units are based on the programmed Speed Units in the instruction as is shown in the table below This table is used to clarify the differences in the following four tables Speed Units Accel Units vs Jerk Units Defined in Table Units per Sec Table 72 Units per Master Units Table 73 Seconds Table 74 Master Units Table 75 The following table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are Units per Sec 252 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 72 Speed Units in Units per Sec Acceleration Units Speed in Units per Second Units per sec Maximum Seconds Units per MasterUnit Master Units Time Driven Time Driven Time Driven Master Driven Master Driven Mode Units Mode Units Mode Units Mode Units Mode Units Jerk Units Units per se Existing Existing Not Implemented Incompatible combinations of Time and Master Driven Time Driven Mode Units Enumeration Enumeration Mode A runtim
122. ation Units Coordination Units Axis Name Conversion Ratio Conversion Ratio Units x axis 1 0 251 Position LInits Coordination Units y axis 1 0 51 Position Units Coordination Units Coordination Units The Coordination Units field lets you define the units to be used for measuring and calculating motion related values such as position and velocity 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 Rockwell Automation Publication MOTION UM002D EN P February 2015 Create and Configure a Coordinate System Chapter 1 Axis Grid The Axis Grid of the Units dialog box displays the axis names associated with the coordinate system the conversion ratio and the units used to measure the conversion ratio Table 4 Units Tab Description Item Description Axis Name The Axis Name column contains the names ofthe axes assigned to the coordinate system in the General dialog box These names appear in the order that they were configured into the current coordinate system You cannot edit this column from this dialog box Conversion Ratio The Conversion Ratio column defines the relationship of axis position units to coordination units for each axis For example if the posi
123. ations For Accel Jerk j EU s dmy 200 S Vas EU s AJ of time For Decel Jerk j EU s aw EU If 200 EU s ja 96 of time Convert Percentage of Time to Engineering Units If you want to convert 96 of Time to engineering units use these equations For Accel Jerk ja 96 of time 14 EUIS EU s 2 For Decel Jerk ja of time 100 EU s vaw EU s d EU s Rockwell Automation Publication MOTION UM002D EN P February 2015 125 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC 126 Merge The Merge operand determines whether or not to turn the motion ofall specified axes into a pure coordinated move Table 19 Merge options Option Description Merge Disabled Any currently executing single axis motion instructions involving any axes defined in the specified coordinate system are not affected by the activation of this instruction and results in superimposed motion on the affected axes Also any coordinated motion instructions involving the same specified coordinate system runs to completion based on its termination type Coordinated Motion Any currently executing coordinated motion instructions involving the same specified coordinate system are terminated The active motion is blended into the current move atthe speed defined in the merge speed parameter Any pending coordinate
124. available from the robot manufacturer IMPORTANT Verify that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog by using the same measurement units This example illustrates the typical configuration parameters for an Articulated Dependent robot Figure 44 Articulated Dependent 4 L2 12 inches la X1e 2 inches g 11 10 inches X1b 3 0 inches gt If the robot is two dimensional then X3b and X3e is X2b and X2e respectively Link Lengths Link lengths are the rigid mechanical bodies attached at joints For an articulated dependent The length of Is equal to the value of the distance robot with between Two dimensions L1 J2 12 J2 and the end effector Three dimensions L1 J2 and J3 12 13 and the end effector Rockwell Automation Publication MOTION UM002D EN P February 2015 99 Chapter 5 Articulated Dependent Robot Figure 45 Example of Link Lengths for an Articulated Dependent Robot Coordinate System Properties sdsd General Geometry Units Offsets Joints Tag Type Articulated Dependent Transform Dimension 3 Link Lengths Enter the Link Length values Lr 100 For the robot shown in our example the Link Length values are 12 140 e 11 10 0 Zero Angle Orientations e 12 12 0 zi 00 Degrees 22 00 Degrees z3 0 0 Degrees Base Of
125. ave a 3 axis coordinate system base offset X2b and end effector offset X2e of the X2 dimension are zero 78 Not Allowed While Stopping New check for a secondary instruction overlap on top of an active Stop instruction 79 Error of Home instruction if any active proOfile encountered during internal home Invalid Planner State completion state 80 Error of MAOC instruction when the Output Connection format is not correct Incorrect Output Connection Bad Connection Parameter Connection Instance Failure Internal error can occur Bad Communication Format 1 0 subsystem Failure e CIP Sync not synchronized Scheduled output module reporting not synchronized to a CIP Sync master e Grandmaster Clock mismatch Scheduled output module has different Grandmaster clock than the controller 81 Error on MGSR if a MASD or MGS programmed is executed while the MGSRis stillin Partial Group Shutdown Reset process 82 The axis was found to be in the incorrect operational axis state CIP axis is incorrect state 83 The MDS instruction cannot be performed due to control mode selection Illegal Control Mode or Method 84 The CIP drive device digital input is not assigned Drive Digital Input Not Assigned 85 Homing not allowed when a redefine position is in process Redefine Position in Process Performing MAH while MRP is in process results in this instruction error 86 Current use of the MDS instruction requires an optional attribute that is
126. axes units are Coordination Units CS2 DATA Joint Positions J1 J2 J3 Link Lengths L1 L2 Base Offsets X1b X2b X3b End Effector Offsets X1e X2e X3e Zero Angle Orientations Z1 Z2 Z3 Orientations Array 3 Translations Array 3 SOURCE Machine Real Coordinate System Coordinate System dialog Coordinate System dialog Coordinate System dialog Coordinate System dialog Instruction Faceplate Instruction Faceplate Active Instruction MCT CT Motion Coordinated Transform Source System Target System Motion Control MCT1 Orientation Translation OrientDisabled TranslationDisabled Figure 101 Data Flow When a Move is Executed with an MCT Instruction Inverse Transform Input Data All axes units are Coordination Units CS1 DATA SOURCE Cartesian Positions X1 X2 X3 Machine Virtual Link Lengths L1 L2 Base Offsets X1b X2b X3b End Effector Offsets X1e X2e X3e Zero Angle Orientations Z1 Z2 73 Coordinate System Coordinate System dialog Coordinate System dialog Coordinate System dialog Coordinate System dialog Active Instruction _ MCT Orientations Array 3 Instruction Faceplate Translations Array 3 Instruction Faceplate 208 Computed Output CS1 Data Cartesian Positions X1 X2 X3 Destination Machine Virtual Coordinate System Computed Output CS2 Data Destination Joint Pos
127. bot Configure a SCARA Independent Robot 86 Encounter a No solution Position WARNING Avoid programming your robot towards a no solution position A when programming in Cartesian mode The velocity of the robot increases very rapidly as it approaches this position and can result in injury or death to personnel When a robot is programmed to move beyond its work envelope there is no mathematical joint position for the programmed Cartesian position The system forces an error condition For example if an Articulated Independent robot has two 10 inch arms the maximum reach is 20 inches Programming to a Cartesian position beyond 20 inches produces a condition where no mathematical joint position exists The typical SCARA Independent robot has two revolute joints and a single prismatic joint This robot is identical to the Articulated Independent two dimensional robot except that the X1 X2 plane is tilted horizontally with a third linear axis in the vertical direction Use these guidelines when configuring a SCARA Independent robot Establish the Reference Frame for a SCARA Independent Robot The reference frame for the SCARA Independent geometry is at the base of link 11 Figure 34 SCARA Independent Robot Reference Frame Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 The internal Kinematic equations are written as if the start position for the SCARA Indepe
128. cation notes sample code and links to software service packs You can also visit our Support Center at https rockwellautomation custhelp com for software updates support chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple support programs for installation configuration and troubleshooting For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com services online phone Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the retur
129. cceleration and deceleration values even if the move is not long enough to reach the programmed velocity velocity limited move If an S Curve Move is Configured as Then Increasing the Velocity Not velocity limited Decreases the execution time of the move Velocity limited Increases the execution time of the move For S Curve moves that are programmed with a zero speed the Jerk Rate is determined by the rate of speed programmed for the previous instruction with a non zero speed See the MCCD instruction for more details about the impact changes made by an MCCD instruction 124 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Convert Jerk Units The jerk units define the units that are applied to the values entered in the Accel Jerk and Decel Jerk operands The values are entered directly in the position units of the specified coordinate system or as a percentage When configured by using of Maximum the jerk is applied as a percentage of the Maximum Acceleration Jerk and Maximum Deceleration Jerk operands specified in the coordinate system attributes When configured by using of Time the value is a percentage based on the Speed Accel Rate and Decel Rate specified in the instruction Convert Engineering Units to a Percentage of Time If you want to convert engineering units to of Time use these equ
130. ching of the acceleration and deceleration of the two adjacent moves it can result in the blend being deferred slightly beyond the CT point TT3 Bit is set when the distance to the endpoint is less than the Command Tolerance value like TT2 and TT6 The bit is cleared when the blend is started Thus the bit does not display ifthe blend is started at the deceleration point If the next move is a short move or for time matching of the acceleration and deceleration of the two adjacent moves it can result in the blend being deferred slightly beyond the CT point StoppingStatus The Stopping Status bit is cleared when the MCCM instruction executes MoveStatus Sets when MCCM begins axis motion Clears on the PC bit of the last motion instruction or a motion instruction executes which causes a stop MoveTransitionStatus Sets when No Decel or Command Tolerance termination type is satisfied When blending collinear moves the bit is not set because the machine is always on path It clears when a blend completes the motion of a pending instruction starts or a motion instruction executes which causes a stop Indicates not on path MovePendingStatus MovePendingQueueFullStatus Sets when one pending coordinated motion instruction is in the instruction queue Clears when the instruction queue is empty Sets when the instruction queue is full It clears when the queue has room to hold another new coordinated move instr
131. ction has been verified and queued Successfully Because it is set at the time it is queued it can appear as set when a runtime error is encountered during the verify operation after it comes out of the queue It resets when the rung transitions from false to true Error Bit 28 The Error bit is reset when the rung transitions from false to true It is set when the coordinated move has not successfully initiated It is also set with the Done Bit when a queued instruction encounters a runtime error IP In Process Bit 26 Active Bit 23 The In Process bit is set when the coordinated move is successfully initiated It is reset when e there is no succeeding move and the coordinated move reaches the new position or when there is a succeeding move and the coordinated move reaches the specifications of the termination type or e when the coordinated move is superseded by another MCLM or MCCM instruction with a merge type of Coordinated Move or when terminated by an MCS instruction When you have a coordinated move instruction queued the Active bit lets you know which instruction is controlling the motion It sets when the coordinated move becomes active It is reset when the Process Complete bit is set or when the instruction is stopped PC Process Complete Bit 27 The Process Complete bit is reset when the rung transitions from false to true It is set when there is no succeeding move and the coor
132. ction is active and the Coordinate System is connected to its associated axes Table 25 Coordinate Motion Status Bits Bit Name Meaning AccelStatus DecelStatus Sets when vector is accelerating Clears when a blend is in process or when vector move is decelerating Sets when vector is decelerating Clears when a blend is in process or when vector move is accelerating ActualPosToleranceStatus Sets for Actual Tolerance termination type only It sets after the following two conditions are met 1 Interpolation is complete 2 The actual distance to the programmed endpoint is less than the configured coordinate system Actual Tolerance value The bit remains set after an instruction completes The bit is reset when a new instruction is started CommandPosToleranceStatus Sets for all termination types whenever the distance to the programmed endpoint is less than the configured coordinate system Command Tolerance value The bit remains set after an instruction completes It resets when a new instruction is started CommandPosToleranceStatus CS CMD POS TOL STS status bit in the Coordinate System is set as follows TTO TT1 TTA TT5 Bit is set when the distance to the endpoint is less than the Command Tolerance value The bit is cleared when the first move is complete 2 TT6 Bit is set when the distance to the endpoint is less than the Command Tolerance value The bit is cleared when the bl
133. cuted goes IP For the Position Forward Only or Position Reverse Only Lock Directions the slave gets locked to the Master Axis when the Master Axis crosses the Master Lock Position in the direction as specified by the motion instruction In either case the LockStatus bit is set when the lock occurs Because there is no bi directional behavior defined once locked the Slave Coordinate System follows the Master only in the specified direction If the Master reverses direction then the Slave stops following the Master Note that the LockStatus bit remains set until the Master decelerates to zero It is cleared at the point of reversal of the Master axis The Slave does not follow the Master while the Master travels in the reverse direction Ifthe Master axis changes directions again then the axis LockStatus bit is set again when the Slave Coordinate System crosses the original reversal point at which time the slave resumes following the Master Axis See the following illustration for clarification Valid and Default Values Default 0 0 MCLM or MCCM IP is HOT cleared if the Master moves past these points in the reverse direction It is never cleared in the reverse direction 2nd reveral point MCLM or MCCM on Slave is executed here Slave Position Vi F Master Position Master Lock Position Rockwell Automation Publication MOTION UM002D EN P February 2015 151 Reversal Point of Master Axis
134. d Note that Termination type 2 is identical to Termination Type 6 except the Command Tolerance value from the coordinate system is used and this parameter is ignored Lock Position REAL Tag Position on the Master Axis where a Slave starts following the master after the move has been initiated on the Slave Axis Lock Direction UINT32 Immediate real ortag Specifies the conditions for use of the Lock Position Event Distance ARRAY or 0 Array tag The position s on a move measured from the end of the move Calculated Data REAL ARRAY or 0 Array tag Master Distance s or time needed from the beginning of the move to the Event Distance point MCLM CoordinateSystem MotionControl Movelype Position Speed Speedunits Accelrate Accelunits Decelrate Decelunits Profile Acceljerk Deceljerk Jerkunits TerminationType Merge Mergespeed Command Tolerance Lock Position Lock Direction Event Distance Calculated Data Structured Text The operands for structured text are the same as those for the relay ladder MCLM instruction When you enter enumerations for the operand value in structured text multiple word enumerations must be entered without spaces For example enter Decel Units as unitspersec rather than Units per Sec as displayed in the ladder logic Use the entries in this table as a guide when entering structured text operands Table 15 Entries for Structured Text Operands This Op
135. d Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Figure 67 MCCM Ladder Instruction with Move Type of Incremental CC Motion Coordinated Circular Move __ FXEN2 Move Type is Incremental Coordinate System coordinate sys la Motion Control MCCM 1 Move Type 1 ER5 Position defined as an Position MCCM Move position 2 incremental distance from start axis 218 i point of 10 4 1 3 axis 7 9 Circle 1 Circe is Center Via Center Radius Center 1 Direction Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Termination Ty pe Merge Merge Speed Command Tolerance Lock Position Lock Direction Event Distance Calculated Data 10 Units per sec 5 Units per sec2 5 Units per sec2 S Curve 100 100 Units per sec3 Disabled Current Center is defined as an incremental distance of 14 1 5 1 from start point of 10 4 1 3 Direction is clockwise Had a Direction of Counterclockwise been selected Direction 1 the axes move along the curve shown in the following graph Rockwell Automation Publication MOTION UM002D EN P February 2015 149 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Figure 68 Plot of Path with Direction as Counterclockwise 10 112 C6 Eni zl
136. d as the product of the Master Axis speed and the slaves programmed speed If the new final effective Slave Coordinate System speed is less than 1096 depending on the move of the original Slave Coordinate System speed then the change is not allowed and the MDSC INVALID SLAVE SPEED REDUCTION error occurs If the second Master Axis is idle velocity 0 the motion instruction making this request receives an MDSC_IDLE_MASTER_AND_SLAVE_MOVING error If the second Master Axis is moving while the transfer is being made then you can look at the TrackingMaster instruction status bit of the motion instruction that is performing the transfer to determine when the transfer is finished This bit is set when the acceleration or deceleration on the Slave Coordinate System is Rockwell Automation Publication MOTION UM002D EN P February 2015 239 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC complete At which time the Slave Coordinate System is synchronized to the second Master Axis Input and Output The middle column of the table below identifies which parameter is applicable to Parameters Structure for each coordinate system motion instruction that 15 to MCLM and MCCM Before any of the parameters identified in the first column below can be used in Coordinate System Motion the MCLM or MCCM instruction you must execute an instruction Instructions and it must be active IP bit
137. d by the interpolator and can be either positive or negative Negative position values instruct the interpolator to move the rotary axis in a negative direction to obtain the desired absolute position Positive values indicate that positive motion is desired to reach the target position When the position value is greater than the unwind value an error is generated The axis never moves through more than one unwind cycle before stopping at an absolute position Incremental The coordinate system moves the distance as defined by the position array at the specified Speed by using the Accel and Decel rates determined by the respective operands via a linear path The specified distance is interpreted by the interpolator and can be positive or negative Negative position values instruct the interpolator to move the axis in a negative direction Positive values indicate positive motion is desired to reach the target position Motion greater than one unwind cycle is allowed in Incremental mode MCLM Absolute and Incremental Move Type Examples These examples show the use of the MCLM with Move Type of Absolute first example and Incremental second example to arrive at the same result The basic assumptions are e the two axes Axis0 and 1 are both members of the coordinate system coordinate_sys 0 and Axis are orthogonal to each other coordinated sys is initially at 5 5 units Move the Coordinated sys linearl
138. d motion instructions are cancelled Any currently executing system single axis motion instructions involving any axes defined in the specified coordinate system is not affected by the activation of this instruction and results in superimposed motion on the affected axes All Motion Any currently executing single axis motion instructions involving any axes defined in the specified coordinate system and any currently executing coordinated motion instructions are terminated The prior motion is merged into the current move at the speed defined in Merge Speed parameter Any pending coordinated move instructions are cancelled Coordinated Motion Merge Example The MCLM ladder diagram uses Coordinate System cs2 to merge an mclm10 instruction with a target absolute position of 5 0 into an mclm11 instruction with the target position of 10 5 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Figure 59 Ladder Diagram Showing Merge ASI MRPDN 52 r eee Motion Coordinated Linear Move TDelay DN Coordinate System Motion Control Move Type Position as1 as2 cs2 MCLM10 IP TON Timer On Delay Timer TDelay Preset 1000 Accum 0 ICLM Motion Coordinated Linear Move Coordinate System Motion Control Move Type 2 CJ MCLM11 0 Position
139. d to the Slave Axis Note that Master Delay Compensation even if the box is checked is not applied in cases where a Slave Axis is gearing or camming to the Master Axis command position because there is no need to compensate for master position delay Enable Master Position Filter Check or clear this box to enable or disable Master Position Filter respectively The default is cleared disabled 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 smooths out the actual position signal from the Master Axis and thus smooths out the corresponding motion of the Slave Axis When this box is checked the Master Position Filter Bandwidth box is enabled Master Position Filter Bandwidth The Master Position Filter Bandwidth field is enabled when the Enable Master Position Filter check box is checked This field controls the bandwidth for master position filtering Enter a value in Hz in this field to set the bandwidth for the Master Position Filter Note that a value of zero for Master Position Filter Bandwidth effectively disables the master position filtering Rockwell Automation Publication MOTION UM002D EN P February 2015 31 Chapter 1 Create and Configure a Coordinate System Tag Tab The Tag tab is for reviewing your Tag information and renaming the tag or editing the description Coordinate System
140. delayed by the filter the amount of delay is dependent on the filter bandwidth Valid and Default Values Default 0 0 Command Tolerance Event Distance 244 IMMEDIATE REAL or TAG ARRAY or 0 The array must be a minimum size of 4 If the array is greater than 4 only the first four locations specified are used The position on a coordinated move where blending should start When Termination Type 6 is used the Command Tolerance on the instruction faceplate is used instead of the value for the Command Tolerance that is configured in the Coordinate System The position s on a move measured from the end of the move This is an array of input values that specifies the incremental distances along the move on the Slave Coordinate System Each member of the array is measured as follows Distances are measured starting from the end of the move towards the beginning of the move as shown in the following Figure 44 MCLM1 Endpoint Event Distance MCLM1Startpoint Foralinear coordinated move instructions MCLM the parameter value in the Event Distance can be represented as a vector starting at the move s end point and pointing towards the beginning ofthe move e Fora circular coordinated move MCCM the parameter value in the Event Distance is an incremental distance measured along the circular arc that is arc length starting at the move s endpoint and moving towards the beginni
141. dependent Robot Identify the Work Envelope for a SCARA Delta Robot The work envelope for a SCARA Delta robot is similar to the two dimensional Delta robot in the X1 X2 plane The third linear axis extends the work region making it a solid region The maximum positive and negative limits of the linear axis defines the height of the solid region We recommend that you program the SCARA Delta robot within a rectangular solid defined inside the robots work zone The rectangular solid can be defined by the positive and negative dimensions of the X1 X2 X3 virtual source axes Be sure that the robot position does not go outside the rectangular solid You can check the position in the event task To avoid problems with singularity positions Logix Designer application internally calculates the joint limits for the Delta robot geometries For More Information About Page Maximum positive joint limits 70 Maximum negative joint limits 7n Homing or moving a joint axis to a position beyond a computed joint limit and then invoking an MCT instruction results in an error 67 Invalid Transform position See Error Codes ERR for Coordinate Motion Instructions on page 261 for more information regarding error codes Define Configuration Parameters for a SCARA Delta Robot Logix Designer application can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration paramete
142. der Valid Values for Accessing Target Position Entry Box MCCM Coordinate system Motion Coordinated Circular Move Move T Coordinate System Coordinated sys Bein in Motion Control MCCM O ud Move Type 0 Position MCCM Move position a AxisO 0 0 Axis 5 0 Circle Type 0 m Circe Type Via Center Radius VIA Direction 0 174 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Press the ellipsis and the following dialog box appears Figure 91 MCCM Instruction Target Position Entry Dialog Box Position Tab Target Position Entry Coordinated sys MCCM Move position 0 VIA 0 Position Tag Actual Position Via Position Axis Name Target Position Set Targets Actuals Set Vias Actuals DK Cancel Apply Help Table 31 Target Position Entry Dialog Box Fields Feature Description Axis Name This column has the names of each axis in the coordinate system named in the ladder faceplate You cannot change these names Target Position Target Increment The values in this column are numeric They show the endpoint or incremental departure of the move depending on the active Move Type The column heading indicates which is displayed Actual Position This column contains the current actual position of the axes in the coordinat
143. des 192 Fault Conditions 192 Operands Change Speed 191 Motion Control 190 Motion Type 190 Relay Ladder 186 Structured Text 189 Motion Coordinated Circular Move 136 Motion Coordinated Circular Move MCCM Arithmetic Status Flags 176 Changes to Status Bits 183 Axis Status Bits 183 Coordinate System Status Bits 183 Description 136 Extended Error Codes 177 Fault Conditions 176 Operands 138 Cirde Type Center 139 Center Incremental 139 Radius 139 Via 139 Merge 172 Rockwell Automation Publication MOTION UM002D EN P February 2015 273 Index 274 Motion 172 Coordinated Motion 172 Merge Disabled 172 Motion Control 144 Move Type 144 Absolute 145 Incremental 145 Relay Ladder 138 Structured Text 141 Termination Type 41 43 45 Actual Tolerance 41 43 45 Command Tolerance 41 43 45 Follow Contour Velocity Constrained 41 43 45 Follow Contour Velocity Unconstrained 41 43 45 No Decel 41 43 45 No Settle 41 43 45 Via Center Radius 145 Runtime Error Conditions 177 Target Position Entry Dialog 174 Motion Coordinated Linear Move MCLM Arithmetic Status Flags 132 Changes to Status Bits 134 Axis Status Bits 135 Coordinate Motion Status Bits 135 Coordinate System Status Bits 135 Description 110 Extended Error Codes 133 Fault Conditions 133 Operands Accel Jerk 125 Dwells 130 172 Jerk Units 125 Merge 126 All Motion 126 Coordinated Motion 126 Merge Disabled 126 Motion Control 115 Move Typ
144. dices in tag arrays used with the current coordinate system The tag arrays used in multi axis coordinated motion instructions map to axes by 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 Rockwell Automation Publication MOTION UM002D EN P February 2015 21 Chapter 1 Create and Configure a Coordinate System Table 3 General Tab Field Descriptions Item Axis Name Description 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 pull down lists display all ofthe 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 Choose an axis from the pull down list The default is lt none gt It is possible to assign fewer axes to the coordinate system than the maximum for the Dimension field however you receive a warning when you verify the coordinate system and if left in that state the instruction generates a run time error You can assign an axis only once in a coordinate system Ungrouped axes also generate a runtime error Ellipsis The Ellipsis in this column takes you to the
145. dinate Systems that have three primary axes associated to them it is possible to create three dimensional arcs MCCM Using Via Circle Type The following example shows the use of the MCCM with a Circle Type of Via and a Move Type of Absolute to create a three dimensional arc The basic assumptions are the three axes 0 and 1 Axis2 are all members of the coordinate system coordinate sys coordinate sys is a three dimensional coordinate system e Axis0 1 and Axis2 are orthogonal to each other coordinate sys is initially at 0 0 0 0 0 0 units Move Coordinated_sys1 along an arc to 2 0 2 0 0 0 units passing through 1 0 1 0 1 414 unitsat the vector speed of 10 0 units per second with the acceleration and deceleration values of 5 0 units per second2 The following graph shows the 3D arc generated by the preceding information Figure 84 Three dimensional Arc Using Circle Type of Via uw 1 I exe X axis 225 t PPP Y axis 0 g 05 This path is achieved by usingan instruction with a Move Type of Absolute and a Circle Type of Via When Via is selected the Via Center Radius position defines a point through which the arc must pass Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A
146. dinated Transform Table MCS and MACS Instructions with Stop Types shows the results of executing various MCS and MAS instructions with different stop types Rockwell Automation Publication MOTION UM002D EN P February 2015 201 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Motion Coordinated Shutdown MCSD Use the Motion Coordinated Shutdown MCSD instruction to perform a controlled shutdown of all the axes in the named coordinate system ATTENTION Use each tag for the motion control attribute of instructions only once Re use of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury ATTENTION Risk of Velocity and or End Position Overshoot If you change move parameters dynamically by any method that is by changing move dynamics MCD or MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is decreased while the move is decelerating or is close to the deceleration point An S Curve velocity profile can overshoot if either maximum deceleration is decreased while the move is decelerating or close to the deceleration point maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk c
147. dinated move reaches the new position or when there is a succeeding move and the coordinated move reaches the specified termination type ACCEL Acceleration Bit Bit 01 DECEL Deceleration Bit Bit 02 The Acceleration bit sets while the coordinated move is in the acceleration phase It resets while the coordinated move is in the constant velocity or deceleration phase or when coordinated motion concludes The Deceleration bit sets while the coordinated move is in the deceleration phase It resets while the coordinated move is in the constant velocity or acceleration phase or when coordinated motion concludes Rockwell Automation Publication MOTION UM002D EN P February 2015 115 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Move Type The Move Type operand specifies the method used to indicate the coordinated move path There are two Move Types Table 17 Move Types Move Type Description Absolute The axes move via a linear path to the position defined by the position array at the Speed Accel Rate and Decel Rate as specified by the operands When the axis is configured for rotary operation an Absolute Move type behaves in the same manner as for a linear axis When the axis position exceeds the Unwind parameter it is unwound In this way axis position is never greater than the Unwind value nor less than zero The sign of the specified position is interprete
148. e The following example for error 45 depicts a situation where the startpoint and via point are the same The program is trying to generate a two dimensional full circle from 0 0 current position back to 0 0 through the location 10 10 Because the startpoint and the via point are the same no circular centerpoint can be found for this circle Rockwell Automation Publication MOTION UM002D EN P February 2015 179 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR 180 Motion Coordinatea Circular Move Coordinate System Motion Control Move Type Position MCCM Move position o 00 axisO axis Circle Type VieiCenter Radius Direction Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profilo Accel Jerk Decel Jerk Jerk Unite Termination Type Merge Merge Speed Command Tolerance Luck Position Lock Direction Fvent Distance Calculated Data coordinate sys MCCM o 0 00 0 Via 0 n 20 Linita per sec 50 of Maximum of Maximum S Curve 10n 100 Units per sec3 3 Disabled Programmed n Figure 93 Ladder Program and Target Entry Screen that Generate Error 45 DN Target Position Entry Coordinated sys MCCM Move position 0 VIA 0 x Postion Tag ACH Axis Name Target Postion Actuel Position Via Position nc 0 00 0 0 IL 00 Axist 00 00 100 Set T
149. e Home In Process Error 1 The instruction tried to execute a rotary move an axis that is not configured for Axis Mode Not Rotary rotary operation 18 The axis type is configured as unused Axis Type Unused 19 The motion group is not in the synchronized state This could be caused by a missing Group Not Synchronized or mis configured servo module 20 The axis is in the faulted state Axis In Faulted State 21 The group is in the faulted state Group In Faulted State 22 Stop the axis before you execute this instruction Axis In Motion 23 An instruction attempted an illegal change of dynamics Illegal Dynamic Change 24 Take the controller out of test mode Illegal AC Mode Op 25 You attempted to execute an instruction that is not correct Illegal Instruction 26 The cam array is of an illegal length Illegal Cam Length 27 The cam profile array is of an illegal length Illegal Cam Profile Length 28 You have an illegal segment type in the cam element Illegal Cam Type 29 You have an illegal order of cam elements Illegal Cam Order 30 You tried to execute a cam profile while it is being calculated Cam Profile Being Calculated 31 The cam profile array you tried to execute is in use Cam Profile Being Used 32 The cam profile array you tried to execute has not been calculated Cam Profile Not Calculated 33 It attempted to execute an MAH instruction without a position cam in process Position Cam Not Enabled 34 A MAH instruction is trying to start while a re
150. e system These values update dynamically when on line and the Coordinate System Auto Tag Update is enabled Via Position Via Increment Center Depending on the Circle Type selected this column contains the Via point Position Center Increment Radius position or increment the Center Position or increment Set Targets Actuals This button is enabled when the Move Type is Absolute and is used to copy the value from the Actual Position fields to the Target Position fields Set Vias Actuals This button is only active if the Move Type is Absolute It is used to copy the values from the Actual Position fields to the Vias Fields Rockwell Automation Publication MOTION UM002D EN P February 2015 175 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR 176 The Move Type and Circle Type selected govern the appearance of this dialog box The following table illustrates how the screen is affected by the combinations of Move Type and Circle Type selected Table 32 Target Position Entry Dialog Box Changes Move Type Circle Type Behavior Absolute Via Target column is entitled Target Position Via column is entitled Via Position Set Targets Actuals button is active Set Vias Actuals button is active Incremental Via Target column is entitled Target Increment Via Column is entitled Via Increment Set Targets Actuals button is inactive Grayed Out Set
151. e 116 Absolute 116 Incremental 116 Profile 122 S Curve 123 Trapezoidal 123 Velocity Profile Effects 123 Relay Ladder 110 Structured Text 113 229 Termination Type 41 43 45 Actual Tolerance 41 43 45 Command Tolerance 41 43 45 Follow Contour Velocity Constrained 41 43 45 Follow Contour Velocity Unconstrained 41 43 45 No Decel 41 No Settle 41 43 45 Time Based Programming Errors 130 173 Zero Length Move 130 Runtime Error Conditions 133 Symmetric Profiles 45 Target Position Entry Dialog 131 Velocity Profiles 43 Motion Coordinated Shutdown MCSD Arithmetic Status Flags 203 Changes to Status Bits 204 Axis Status Bits 204 Coordinate Motion Status Bits 205 Coordinate System Status Bits 204 Description 202 Error Codes 204 Fault Conditions 203 Operands 202 Motion Control 203 Relay Ladder 202 Structured Text 203 Motion Coordinated Shutdown Reset 227 Motion Coordinated Shutdown Reset MCSR Arithmetic Status Flags 228 Changes to Status Bits 228 Axis Status Bits 228 Coordinate Motion Status Bits 229 Coordinate System Status Bits 228 Description 49 227 Error Codes 228 Fault Conditions 228 Operands 227 Motion Control 228 Relay Ladder 227 Structured Text 227 Motion Coordinated Stop 194 MCS Arithmetic Status Flags 200 Changes to Status Bits 201 Axis Status Bits 201 Description 194 Extended Error Codes 201 Fault Conditions 201 Operands 194 Decel Rate 200 Error Codes 201 Motion Control 196
152. e 45 MCSD Motion Control Mnemonics Mnemonic Description EN Enable Bit 31 The Enable bit sets when the rung transitions from false to true It resets when the rung goes from true to false DN Done Bit 29 The Done bit sets when the coordinated shutdown is successfully initiated It resets when the rung transitions from false to true Error Bit 28 The Error bit sets when the coordinated shutdown fails to initiate successfully It resets when the rung transitions from false to true Master Driven Speed Control MDSC and the MCSD Instruction When the coordinate system is shut down The IP bit of the Master Driven Coordinate Control MDCC instruction is reset on an axis that is shutdown The AC bit ofthe MDCC instruction resets when the axis is stopped as it is shutdown The MCSD instruction clears the pending Master Axis for all future coordinate system motion instructions Arithmetic Status Flags Not affected Fault Conditions None Rockwell Automation Publication MOTION UM002D EN P February 2015 203 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 MCSD Changes to Status Bits Status bits provide a means for monitoring the progress of the motion instruction There are three types of Status bits that provide pertinent information T
153. e coordinate system 0 Units per Sec 12 96 of Maximum 4 Units per MasterUnit2 Change Decel SINT INT or DINT Immediate The Change Decel operand determines whether or not to change the deceleration of the coordinated motion profile 0 No no change is made to the deceleration of the coordinated motion 1 Yes the deceleration of the coordinated motion is changed by the value defined in the Decel Rate and Decel Units operands Decel Rate SINT INT DINT or REAL Immediate or tag The Decel Rate operand defines the maximum deceleration along the path of the coordinated move coordination units Decel Units SINT INT or DINT Immediate The Decel Units operand defines the units applied to the Decel Rate operand either directly in coordination units of the specified coordinate system or as a percentage of the maximum values defined in the coordinate system 0 Units per Sec 1296 of Maximum 4 Units per MasterUnit2 Change Accel Jerk SINT INT or DINT Immediate The Change Accel Jerk operand determines whether or not to change the acceleration jerk of the coordinated motion profile 0 No no change is made to the acceleration jerk of the coordinated motion 1 Yes the acceleration of the coordinated motion is changed by the value defined in the Accel Jerk Rate and Jerk Units operands Rockwell Automation Publication MOTION UM002D EN P February 2015 187 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD
154. e error occurs Maximum Existing Existing Not Implemented Time Driven Mode Units Enumeration Enumeration 96 of Time Existing Existing Not Implemented Time Driven Mode Units Enumeration Enumeration Seconds Not Implemented Not Implemented Not Implemented Time Driven Mode Units Units per MasterUnits Master Driven Mode Units of Time Master Driven Master Driven Mode Units Master Units Master Driven Mode Units Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine The following table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are Units per Master Unit Table 73 Speed Units in Units per Master Units Acceleration Speed in Units per Master Unit Units per sec Time Driven Mode Units Maximum Time Driven Mode Units Seconds Time Driven Mode Units Units per MasterUnit Master Driven Mode Units Master Units Master Driven Mode Units Jerk Units Units per sec Time Driven Mode Units Maximum Time Driven Mode Units 96 of Time Time Driven Mode Units Seconds Time Driven Mode Units Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine Incompatible combinations of Ti
155. e that if there is an unwind value specified on the Master Axis then the Lock Position must be between 0 and the unwind value that is the Lock Position cannot be more than one unwind This parameter is only used in Master Driven Mode Rockwell Automation Publication MOTION UM002D EN P February 2015 Default 0 0 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Table 66 Input Parameters Input Parameter Lock Position continued Data Type IMMEDIATE REAL or TAG Description Lock Position in Time Driven Mode There is no Lock Position in Time Driven Mode for a coordinate system An error will be generated if the Lock Direction is not NONE and the system is in Time Driven Mode for an MCLM or MCCM This parameter is only used in Master Driven Mode Axis Lock Behavior When the Master axis crosses the Master Lock position in the direction as specified by the motion instruction the Slave Coordinate System becomes locked to the Master axis The LockStatus bit is set at this time The MCLM and MCCM instructions on the Slave Coordinate System in MDSC mode go IP as soon as they reach the head ofthe motion queue The head of the queue is defined as the move right before the active move For the Immediate Forward Only or Immediate Reverse Only Lock Directions the Slave Coordinate System gets locked to the Master Axis immediately when the MCLM or MCCM instruction is exe
156. e ver ELEM Rockwell Automation Publication MOTION UM002D EN P February 2015 Table of Contents Motion Control ed hace ped eo Qd inis de Master Driven Speed Control MDSC and the MCSD Instruction i ccc cence mee Arithmetic Status Flags Ve ers Conditions yeh ol ani chek edo UE camas Sea e eit 055 Aoi S terae base E d eb anes MCSD Changes to Status BIfS z sese oe bones Motion Coordinated Transform Operands sioe metes ces ui Motion Control Bitsy sucer ba e e NR Dre E ED Data Flow of MCT Instruction Between Two Coordinate Systems sie diets ei chee Mb eel Programming 4 Arithmetic Status secessit vehe brit eer feug Fault Conditions cV Ri Emor COC CS too un or rad Inch nita td MCT Changes to Status Bits Example 1 Pick and Place Ladder Diagram Example 2 Pick and Place Structured Text Example 3 Change Orientation ecc e ee erret x res Example 4 Change Motion Calculate Transform Position Operands qu ut etudes CONDE aute Example Enter a transform direction of Inverse Left Arm as InverseLeftAzm lecce Programming Guidelines Dat
157. ed Independent SCARA Independent Delta and SCARA Delta The type of coordinate system you choose in this field changes the configuration tabs that are available Dimension Enter the coordinate system dimensions 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 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 Transform Dimension Enter the number of axes in the coordinate system that you want to transform The options are 1 2 or 3 in keeping with its support of a maximum of 3 axes The number of axes that you transform must be equal to or less than the specified coordinate system dimensions The transform function always begins at the first axis For example if you have specified that the coordinate system has 3 axes but indicate only that 2 axes be transformed then axes 1 and 2 are transformed In other words you cannot specify that only axes number 2 and number 3 be transformed Axis Grid Brackets The Axis Grid is where you associate axes to the Coordinate System There are five columns in the Axis Grid that provide information about the axes in relation to the Coordinate System The Brackets column displays the in
158. ed Data array items contain valid information after the move is completed The CDA bit is set again when computations are complete The Calculated Data that is recomputed is measured from the original MSP to the Event Distance point by using the new dynamics parameters as changed by the MCD or MCCD instruction not from the point of the MCD or MCCD Note that if the MCD changes the speed to 0 the Event Distance is not recomputed the CDA bit is cleared and stay cleared The Event Distance however is recomputed if a second MCD or MCCD is issued to restart the motion The recomputed Calculated Data includes the duration of the stopped motion If the Event Distance is set to 0 the Calculated Data is set equal to the position that equals the length of the move This can be one or two coarse update periods before the PC bit is set because of an internal delay The end position is typically achieved in the middle of a coarse update period that adds up to one additional coarse update period to the delay Therefore if the master is moved a distance equal to the Calculated Data you must wait up to 2 iterations more for the PC bit of the slave move to be set Note that there is a special consideration for the rare case of an overshoot when an MCD or MCCD is done close to the moves endpoint For this case when the Event Distance is 0 the returned Calculated Data includes the overshoot distance traveled because the master has to traverse this amount for the m
159. ed in the same coordinate system or in another coordinate System containing any axes in common with the coordinate system that is active Coordinated Motion Any currently executing coordinated motion instructions involving the same specified coordinate system are terminated and the active motion is blended into the current move at the speed defined in the merge speed parameter Any pending coordinated motion instructions in the specified coordinate system are cancelled Any currently executing system single axis motion instructions involving any axes defined in the specified coordinate system are not affected by the activation of this instruction and result in superimposed motion on the affected axes All Motion Any currently executing single axis motion instructions involving any axes defined in the specified coordinate system and any currently executing coordinated motion instructions are terminated The prior motion is merged into the current move at the speed defined in Merge Speed parameter Any pending coordinated move instructions are cancelled Programming Guidelines for Zero Length Moves In Master Driven Mode and Time Driven Mode you have the option of configuring a move with a Slave distance increment of zero or a move with the same target and current position If speed is specified in Master Units the move remains active until the specified Master distance has been traversed Use this type of move to generate a dwell in a m
160. ed move instructions Blended Moves and Termination To blend two MCLM or MCCM instructions start the first one and queue the Types 34 second one The tag for the coordinate system gives you two bits for queueing instructions e MovePendingStatus MovePendingQueucFullStatus The MCLM and MCCM instructions reference a coordinate system called Coordinate System 1 1 For example the following ladder diagram uses coordinate system csl to blend Movel into Move2 Rockwell Automation Publication MOTION UM002D EN P February 2015 Cartesian Coordinate System Chapter 2 Example Ladder Diagram for Blended Instructions If Step 1 then Movel starts and moves the axes to a position of 5 0 and once Movel is in process and there is room to queue another move then Step 2 QU CLM Equal Motion Coordinated Linear Move Source Step Coordinate System cs Motion Control Move1 Source B 1 Move Type 0 Position My Path 0 X Axis 5 0 Y Axis 0 0 gt gt 1 cs1 MovePendingGueueFullStatus e Move Source 2 Dest If Step 2 then Movel is already happening Move2 goes into the queue and waits for Movel to complete When Movel is complete Move2 moves the axes to a position of 10 5 Rockwell Automation Publication MOTION UM002D EN P February 2015 35 Chapter 2 36 Cartesian Coordinate System And once Move2 is
161. eed 5 arget Position Entry box Rockwell Automation Publication MOTION UM002D EN P February 2015 131 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Figure 63 MCLM Instruction Target Position Entry Dialog Position Tab Target Position Entry Coordinated sys move position 12 Position Tag Axis Target Increment Actual Position Axis 25 Axis1 2 5 Set Targets Actuals OK Cancel Apply Help The dialog title indicates the Coordinate System and Tag Names for the instruction Table 21 Target Position Entry Dialog Field Description Feature Description Axis Name These fields list the names of each axis contained in the Coordinate System You cannot alter the axis names in this dialog Target Position Target Increment This field contains the endpoint or increment of the coordinated move as specified in the instruction faceplate It is numeric Actual Position These are the current actual positions of the axes in the coordinate system These positions are updated dynamically when on line and Coordinate System Auto Tag Update is enabled Set Targets Actuals Button This button automatically copies the actual position values to the Target Position Column The selected Move type governs the appearance and the availability of the Set Targets Actuals button When the Move Type is Absolute the target col
162. eed ofthe axes If the moves are long enough the axes do not decelerate between moves If the moves are too short the axes decelerate between moves 5 Follow Contour Velocity Unconstrained Move 2 1 00 0 00 Move 1 5 00 4 00 3 00 2 00 Move 0 00 1 00 2 00 3 00 4 00 500 6 00 This termination type is similar to the contour velocity constrained It has these differences Use this termination type to get a triangular velocity profile across several moves This reduces jerk To avoid position overshoot at the end ofthe last move you must calculate the deceleration speed at each transition point during the deceleration half of the profile You must also calculate the starting speed for each move in the deceleration half of the profile Important Considerations If you stop a move by using an MCS or by changing the speed to zero with an during a blend and then resume the move by reprogramming the move or by using an another MCCD it deviates from the path that displayed if the move had not been stopped and resumed The same phenomenon can occur if the move is within the decel point of the start of the blend In either case the deviation is most likely a slight deviation Velocity Profiles for Collinear Moves Collinear moves are those that lie on the same line in space Their direction can be the same or opposite The velocity profiles for collinear moves can be complex This sec
163. eive the Shutdown Status Timeout shutdown status bit Usually a programmatic problem caused when either MASD or MGSD is followed by a reset instruction that is initiated before the shutdown bit has been received by the shutdown instruction 43 You have tried to activate more motion instructions than the instruction queue can Coordinate System Queue Full hold 44 You have drawn a line with three 3 points and no centerpoint via point or plane Circular Collinearity Error centerpoint can be determined 45 You have specified one 1 point radius or r drawn a line centerpoint via point and Circular Start End Error no centerpoint radius or plane centerpoint via point can be determined 46 The programmed centerpoint is not equidistant from start and end point Circular R1 R2 Mismatch Error 47 Contact Rockwell Automation Support Circular Infinite Solution Error 48 Contact Rockwell Automation Support Circular No Solutions Error 49 R lt 0 01 R is basically too small to be used in computations Circular Small R Error 50 The coordinate system tag is not associated with a motion group Coordinate System Not in Group 51 You have set your Termination to Actual Position with a value of 0 This value is Invalid Actual Tolerance not supported 52 At least one axis is currently undergoing coordinated motion in another coordinate Coordination Motion In Process Error system 53 Trying to initiate an MAOC
164. el Jerk see the Jerk Units section below Enter the jerk rates in these Jerk Units 0 Units per sec 1 of Maximum 2 of Time 4 Units per MasterUnit 6 of Time Master Driven 7 Master Units Use these values to get started e Accel Jerk 100 of Time e Decel Jerk 100 of Time e Jerk Units 2 If you want to convert engineering units to of Time or convert 96 of Time to engineering units use the equations shown beginning on page 125 Termination Type 112 SINT INT or DINT Immediate or tag 0 Actual Tolerance 1 Settle 2 Command Tolerance 3 No Decel 4 Follow Contour Velocity Constrained 5 Follow Contour Velocity Unconstrained 6 Command Tolerance Programmed See Blended Moves and Termination Types on page 34 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Table 14 Operands Relay Ladder Operand Type Format Description Merge SINT INT or DINT Immediate 0 Disabled 1 Coordinated Motion 2 All Motion Refer to Merge on page 126 Merge Speed SINT INT or DINT Immediate 0 Programmed 1 Current Command Tolerance REAL Immediate real ortag The position on a coordinated move is where blending starts This parameter is used in place of Command Tolerance in the Coordinate System if Termination Type 6 is use
165. ell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Identify the Work Envelope for a Delta Three dimensional Robot The work envelope is the three dimensional region of space that defines the reaching boundaries for the robot arm The typical work envelope for a Delta robot can be described as looking similar to plane in the upper region with sides similar to a hexagonal prism and the lower portion similar to a sphere For more detailed information regarding the work envelope of your Delta three dimensional robot see the documentation provided by the robot manufacturer We recommend that you program the robot within a rectangular solid defined inside the robots work zone The rectangular solid can be defined by the positive and negative dimensions of the X1 X2 X3 virtual source axes Be sure that the robot position does not go outside the rectangular solid You can check the position in the event task To avoid issues with singularity positions Logix Designer application internally calculates the joint limits for the Delta robot geometries When an MCT instruction is invoked for the first time the maximum positive and maximum negative joint limits are internally calculated based upon the link lengths and offset values entered on the Geometry and Offsets tabs of the Coordinate System Properties dialog Figure 20 Delta Three dimensional Configuration Systems Properties Dialog Geometry
166. en a new instruction is started CommandPosToleranceStatus Sets for all termination types whenever the distance to the programmed endpoint is less than the configured coordinate system s Command Tolerance value and remains set after the instruction completes It is reset when a new instruction is started StoppingStatus The Stopping Status bit is cleared when the MCCM instruction executes MoveStatus Sets when MCCM begins axis motion Clears on the PC bit of the last motion instruction or a motion instruction executes that causes a stop MoveTransitionStatus Sets when No Decel or Command Tolerance termination type is satisfied When blending collinear moves the bit is not set because the machine is always on path It clears when a blend completes the motion of a pending instruction starts or a motion instruction executes that causes a stop Indicates not on path MovePendingQueueFullStatus Sets when the instruction queue is full It clears when the queue has room to hold another new coordinated move instruction TransformSourceStatus The coordinate system is the source of an active transform TransformTargetStatus CoorMotionLockStatus The coordinate system is the target of an active transform Set when an axis lock is requested for an MCLM or MCCM instruction and the axis has crossed the Lock Position Cleared when an MCLM or MCCM is initiated For the enumerations Immediate Forward Only and Immedi
167. end is started that is when the second move is started Thus the bit is not shown if the blend is started at the Command Tolerance CT point The blend can be deferred slightly beyond the CT point if the next move is a short move or for time matching of the acceleration and deceleration of the two adjacent moves Bit is set when the distance to the endpoint is less than the Command Tolerance value like 2 and TT6 The bit is cleared when the blend is started Thus the bit is not shown if the blend is started at the deceleration pEoint If the next move is a short move or for time matching of the acceleration and deceleration of the two adjacent moves it can result in the blend being deferred slightly beyond the deceleration point StoppingStatus The Stopping Status bit is cleared when the MCLM instruction initiates MoveStatus Sets when MCLM begins axis motion Clears on PC bit of the last motion instruction or when a motion instruction executes which causes a stop MovelransitionStatus Sets when No Decel or Command Tolerance termination type is satisfied When blending collinear moves the bit is not set because the machine is always on path It clears when a blend completes the motion of a pending instruction starts or a motion instruction executes which causes a stop Indicates not on path MovePendingStatus Sets when one pending coordinated motion instruction is in the instruction queue C
168. endent 3 the Logix Designer application values for the Actual Position tags are J1 0 2 90 J3 0 If the Logix Designer application Actual Position tags do not show these values configure the Zero Angle Orientation for the joint or joints that do not correspond If the Logix Designer application read out values Set the Zero Angle Orientations on the Coordinate are System Properties dialog to J1 10 Z1 10 J2 80 22 10 3 5 B 5 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Dependent Robot Chapter 5 Figure 43 Example of Zero Angle Orientation for an Articulated Dependent Robot amp Coordinate System Properties sdsd N S General Geomety Units Offsets Joints Tag Type Articulated Dependent Tranctorm Dimension 3 Link Length u 12 00 Ze Angle Orientatinns 71 00 Dewees Set the Zero Angle Orientations 2 0 pene 73 00 Degrees Method 2 Establishing a Reference Frame Position the robot so that e L1 is parallel to the X3 axis e 12 is parallel to axis Program a Motion Redefine Position MRP instruction for all the three axis to with the following values 0 90 and 0 The Joint to Cartesian reference frame relationship is automatically established by the controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instructio
169. endent Robot Chapter 4 Calibrate a Delta Two dimensional Robot The method used to calibrate a Delta two dimensional robot is the same as the method used for calibrating a Delta three dimensional robot The only difference is the number of axes used For more information about calibration see Calibrate a Delta Three dimensional Robot on page 66 Identify the Work Envelope for a Delta Two dimensional Robot The work envelope is the two dimensional region of space that defines the reaching boundaries for the robot arm The typical working envelope for a two dimensional Delta robot is a boundary composed of circular arcs Figure 27 Work Envelope for Two dimensional Delta Robot We recommend that you define the program parameters for the two dimensional Delta robot within a rectangle dotted lines in the figure above inside the robots work zone The rectangle can be defined by the positive and negative dimensions of the X1 X2 virtual source axes Be sure that the robot position does not go outside the rectangle You can check the position in the event task Rockwell Automation Publication MOTION UM002D EN P February 2015 75 Chapter 4 Articulated Independent Robot 76 To avoid problems with singularity positions Logix Designer application internally calculates the joint limits for the Delta robot geometries When an MCT instruction is invoked for the first time the maximum positive and maximum negative joint limits are
170. endent link controls J3 at the elbow Use these guidelines when configuring an Articulated Dependent robot WARNING Before turning ON the Transform and or establishing the reference N frame do the following for the joints of the target coordinate system WARNING Set and enable the soft travel limits ATTENTION Enable the hard travel limits WARNING Failure to do this can allow the robot to move outside of the work envelope causing machine damage and or serious injury or death to personnel Reference Frame The reference frame is the Cartesian typically the source coordinate frame that defines the origin and the three primary axes X1 X2 and X3 These are used to measure the real Cartesian positions WARNING Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions causing machine damage and or injury or death to personnel The reference frame for an Articulated Dependent robot is at the base of the robot as shown in this figure Rockwell Automation Publication MOTION UM002D EN P February 2015 93 Chapter 5 Articulated Dependent Robot Figure 40 Articulated Dependent 1 Before you begin establishing the Joint to Cartesian reference frame relationship it is important to know some information about how the Kinematic mathematical equations in the ControlLogix controllers were written The equations were written as if the Articulated Dependent r
171. endingQueueFullStatus bit are always the same Use the MCCM instruction to initiate a two or three dimensional circular coordinated move for the specified axes within a Cartesian coordinate system New position is defined as either an absolute or incremental position and done at the desired speed The actual speed of the MCCM is a function of the mode of the move commanded speed or percent of maximum speed The speed of the move is based on the time it takes to complete the circular move by using the programmed axes Each axis is commanded to move at a speed that lets all axes reach the endpoint target position at the same time The dimension of the circle is defined by the number of axes contained within the coordinate system For example if you have a coordinate system that contained three axes with an MCCM instruction that has motion in only two dimensions the resultant move is still considered a three dimensional arc or circle ATTENTION Use each tag for the motion control attribute of instructions only once Re use of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury 136 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A ATTENTION Risk of Velocity and or End Position Overshoot If you change move parameters dynamically by any
172. er Axis is in the Slave Coordinate System The MDCC link is broken when the following instructions are executed Onany axis in the Slave Coordinate System or the Slave Coordinate System MAS All MCS All MGS MASD MCSD MGSD a mode change Note that MAS anything other than All and MCS do NOT break the MDCC link The Shutdown instructions MGSD MASD MCSD never go IP On the Master Axis MASD MCSD and MGSD Note that MAS and MCS for any Stop Type including All do NOT break the MDCC link A mode change Rem Run to Rem Prog or Rem Prog to Rem Run or an axis fault also breaks the MDCC link Master Axis AXIS_CONSUMED Tag Any configured Single Axis that the Slave Coordinate System follows The Master Axis can be any AXIS SERVO axis that has been configured AXIS SERVO DRIVE AXIS GENERIC AXIS GENERIC DRIVE AXIS DRIVE AXIS VIRTUAL Motion Control MOTION INSTRUCTION Tag Control tag for the instruction Master Reference UNIT32 Immediate Tag Selects the Master position source as either Actual Position 0 or Command Position 1 230 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A MDCC Cartesian Coord MasterAxis MDSCI Actual Structured Text The operands for structured text are the same as those for the relay ladder MDCC instruction Note that you have the opt
173. er Manual
174. er sec 5 Units per sec2 5 Units per sec2 Trapezoidal MyACCelJerk 0 0 100 Linits per sec3 D Disabled Current ct FT Move Type is Incremental Position defined as an incremental distance from start point of 5 5 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC MCLM with One Rotary Axis and Move Type of Absolute The first example uses a coordinate system of one axis and a Move type of Absolute The plot of the path is based on the following assumptions e laxis Coordinate System named coord syst e Axis0 is Rotary with an unwind of 5 revs Start position is e End position is 2 Figure 53 MCLM Ladder Instruction with Move Type of Absolute CLM Motion Coordinated Linear Move EN2 Coordinate System coord systi L Motion Control MCLM 1 DN5 Move Type 0 ER Position move position 4 C axis 20 IP5 Speed 1 AC Speed Units Units per sec Accel Rate 100 PC Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Termination Type Merge Merge Speed Command Tolerance Lock Position Lock Direction Event Distance Calculated Data of Maximum 100 36 of Maximum S Curve My amp ccelJerk 0 0 100 Units per sec3 3 Disabled Programmed ct T Rockwell Automation Publication MOTION UM002D EN P February 2015 Move Type is Absolute End point is defined
175. eral Geomety Units Joints Tag Motiun Group motion group J Motion Group motion gro E Type Cartesian SCARA Independent Diversion a Transform Dimension 2 Dimension BS Transform Dimension 2 0 Coordinate Axis Name 0 E 3 J2 J2 2 J3 Z Enable Coordinate System Auto Tag Update Enable Coordinate System Auto Tag Update ceo Heb OK 5 0 He Source Coordinate System Configuration Target Coordinate System Configuration Identify the Work Envelope for a SCARA Independent Robot The work envelope is the three dimensional region of space that defines the reaching boundaries for the robot arm The work envelope for the SCARA Independent robot is a hollow cylinder with e a height equal to the travel limit of the J3 axis aninner radius R1 equal to L1 L2 an outer radius R2 equal to 11 12 Figure 37 Example Work Envelope for a SCARA Independent Robot 88 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Define Configuration Parameters for a SCARA Independent Robot Logix Designer application can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including Linklengths e Base offsets End effector offsets The configuration in
176. erand Has These Options That You Enter as Text Oras Coordinate System No enumeration Tag Motion Control No enumeration Tag Move Type No enumeration 0 Absolute 1 Incremental Position No enumeration Array tag Speed No enumeration Immediate or tag Speed Units Units per sec 0 of maximum 1 unitspermasterunits 4 masterunits 7 Accel Rate No enumeration Immediate or tag Accel Units Units per sec 0 96 of maximum 1 unitspermasterunits 4 masterunits 7 Rockwell Automation Publication MOTION UM002D EN P February 2015 113 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 15 Entries for Structured Text Operands This Operand Has These Options That You Enter as Text Oras Decel Rate No enumeration Immediate or tag Decel Units Units per sec 0 96 of maximum 1 unitspermasterunits 4 masterunits 7 Profile Trapezoidal 0 S Curve 1 Accel Jerk No enumeration Immediate or tag Decel Jerk You must always enter a value for the Accel and enumerauon Decel Jerk operands This instruction only uses the values if the Profile is configured as S Curve Use these values to get started e Accel Jerk 100 96 of Time e Decel Jerk 100 96 of Time Jerk Units 2 Jerk Units Unitspersec 0 ofmaximum 1 oftime 2 use this value to get started unitspermasternit 4 oftimemasterdriven 6 masterunits 7 Termination Type No enumeration 0
177. eration Jerk rate of the coordinate system Coordination Units second defaults to 100 of the maximum acceleration time The speed and acceleration rate for this calculation are defined above MaxAccel Maximum Acceleration Jerk Speed The Maximum Accel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Multi axis Motion Instruction has Jerk Units units per sec then the maximum acceleration jerk value is derived from the motion instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time This means that the entire S Curve move has Jerk limiting This is the default mode An S Curve move with 096 of Time results in a trapezoidal profile and have 096 Jerk limiting If set manually enter the value in units Coordination Units second units You can also use the Calculate button to view this value in terms of units of Time Maximum Deceleration Jerk The jerk parameters only apply to S Curve profile moves by using these instructions MCS The Maximum Deceleration Jerk rate of the coordinate system Coordination Units second defaults to 10096 of the maximum deceleration time The speed and deceleration rate for the calculation are defined above MaxDecel Maximum Deceleration Jerk Speed The Maximum Decel Jerk value entered is used when the motion instruction is
178. erpreted There are four options Option Description 0 Via Indicates that the via center radius array members specify a via point between the start and end points 1 Center Indicates that the via center radius array members contain the circle center 2 Radius Indicates that the first via center radius array member contains the radius Other members are ignored Radius is valid only in two dimensional coordinate systems 3 Center Indicates that the via center radius array members define a position Incremental that always incrementally defines the center of the circle regardless of Move Type operand Sign of the incremental value is measured from the start point to the center Via Center Radius REAL array tag via center Depending on the selected Move Type and Circle Type the via center radius position parameter Immediate or tag defines the absolute or incremental value of a position along the circle the center of the circle or radius the radius of the circle coordination units Refer to Via Center Radius on page 145 Direction SINT INT or DINT immediate or tag The Direction operand defines the rotational direction of a 2D circular move as either clockwise or counterclockwise according to the right hand screw rule For a 3D circular move the direction is either Shortest or Longest In both 2D and 3D it can also indicate if the circular move is to be a full circle 2D 3D 0 CW Shortest 12CCW Longest 2 CW Full Shortest Full 3 CC
179. es the Lock Position for the lock to take effect For an MCLM and MCCM instruction the Slave Coordinate System always moves in one direction its programmed direction while it follows the Master Axis regardless of the direction of the Master Axis If the Master reverses the Slave Coordinate System stops For Master Driven Mode the enumerations are as follows Forward is positive velocity reverse is negative velocity The enumerations table is below Enumeratio Definition Description n 0 None Indicates that the Lock Position is not active If Lock Direction is set to None and the Master Driven mode is selected by the speed parameter of the motion instruction the system will error Conversely if Lock direction is not set to a value other than None and the speed parameter units indicate Time Driven mode an error is also generated 1 Immediate Motion starts immediately when the Master is moving in the Forward Forward Only Direction The Master Axis is only followed while it is moving in the Forward Direction 2 Immediate Motion starts immediately when the Master Axis is moving in the Reverse Only Reverse Direction The Master Axis is only followed while it is moving in the Reverse Direction Rockwell Automation Publication MOTION UM002D EN P February 2015 Valid and Default Values Valid 0 4 Default None Enumeration 1 4 are currently not allowed in Time Driven mode 241 Appendix
180. est direction types Via Point Both Error 44 Collinearity Via point always Via point always 1 Full Circles can be programmed Error 45 Endpoint Startpoint determines direction determines direction Direction operand is only used to determine if circle is partial or full MCCM Changes to Status Bits For full circles set Position to be any point on circle except Startpoint and use one of the Full direction types Status bits provide a means for monitoring the progress of the motion instruction There are three types of Status bits that provide pertinent information e Axis Coordinate System Coordinate Motion When the MCCM instruction initiates the status bits undergo the following changes Table 34 Axis Status Bits Bit Name Meaning CoordinatedMotionStatus Table 35 Coordinate System Status Bits Sets when the MCCM instruction executes and is cleared when the instruction completes Bit Name Meaning MotionStatus Rockwell Automation Publication MOTION UM002D EN P February 2015 Sets when the MCCM instruction is active and the Coordinate System is connected to its associated axes 183 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 36 Coordinate Motion Status Bits Bit Name Meaning AccelStatus Sets when vector is accelerating Clears when a blend is in proces
181. etailed steps about Creating and Configuring a Coordinate System see on Create and Configure a Coordinate System page 15 Determine the Coordinate Use this table to determine what type of Kinematics coordinate system you need System Type If your robot looks similar to Your Coordinate System type is Articulated Independent For configuration information see page 55 Articulated Dependent For configuration information see page 93 Cartesian M de This illustration shows a typical Gantry machine c For configuration information see page 103 52 Rockwell Automation Publication MOTION UM002D EN P February 2015 Kinematics Coordinate Systems Chapter 3 If your robot looks similar to Your Coordinate System type is Cartesian This illustration shows a typical H bot Sliding Member For configuration information see page 105 lt _ Sliding rail CA Gs Stationary Rails _ Stationary Motors A Stationary Motors B SCARA Independent For configuration information see page 86 Rockwell Automation Publication MOTION UM002D EN P February 2015 53 Chapter 3 Kinematics Coordinate Systems If your robot looks similar to Your Coordinate System type is Three dimensional Delta For configuration information see page 65 Two dimensional Delta For configuration information see page 73 SCARA Delta For configuration information see page 78 54 Rock
182. facturer Enter the values for the base offsets in the X1b and X3b fields of the Coordinate System Properties dialog Figure 15 Example of Base Offsets for an Articulated Independent Robot Coordinate System Properties Articulated_Independent General Geometry Units Offsets Joints Tag Type Articulated Independent Top View Transform Dimensio 3 End Effector Offsets xie m jnn Rase xi xm n0 xb fav Rockwell Automation Publication MOTION UM002D EN P February 2015 63 Chapter 4 Articulated Independent Robot Type Articulated Independent Top View Enter the end effector offset values Transform Dimension 3 For the robot shown in our example the end effector values are End Effector Offsets e 1 20 e X3e 1 5 Delta Robot Geometries 64 End effector Offsets The robot can have an end effector attached to the end of robot link L2 If there is an attached end effector then you must configure the end effector offset value on the Coordinate System Properties dialog The end effector offsets are defined with respect to the tool reference frame at the tool tip Some robots also have an offset defined for the J3 joint as shown in the robot example Typical Configuration Parameters for an Articulated Independent Robot on page 61 You can account for this value when computing the X3e end effector offset value In Typical Configuration Parameters for an Articulated Independen
183. fic 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 The Coordinate System bit is set after an MCSD or MGSD is executed and all associated axes have stopped An MCSR or a MGSR resets 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 an MCS instruction is executed The bit remains set until all coordinated motion is stopped The bit is cleared when all coordinated motion has stopped Transform Source Status BOOL Tag If the bit is ON The coordinate system is the source of an active transform e OFF The coordinate system isn t the source of an active transform Transform Target Status BOOL Tag If the bit is ON The coordinate system is the target of an active transform OFF The coordinate system is not the target of an active transform Rockwell Automation Publication MOTION UM002D EN P February 2015 259 AppendixB Coordinate System Attributes Notes 260 Rockwell Automation Publication MOTION UM002D EN P February 2015 Appendix C Error Codes ERR for Coordinate Motion Instructions
184. fields Be sure that the link lengths specified for an articulated coordinate system are in the same measurement units as the affiliated Cartesian coordinate system Your System does not work properly if you are using different measurement units IMPORTANT Rockwell Automation Publication MOTION UM002D EN P February 2015 23 Chapter 1 24 Create and Configure a Coordinate System The number of fields available for configuration in the link lengths box is determined by values entered on the General tab for the type of coordinate system total coordinate system dimensions and transform dimensions The link identifiers are L1 and L2 in the corresponding graphic These fields are not configurable for a Cartesian coordinate system Zero Angle Orientations Box The zero angle orientation is the rotational offset of the individual joint axes If applicable enter the offset value in degrees for each joint axis The number of available fields is determined by the coordinate dimension value entered on the General tab The angle identifiers are Z1 Z2 and Z3 in the corresponding graphic Units Tab The Units tab of the Coordinate System Properties is where you determine the units that define the coordinate system This dialog box is where you define the Coordination Units and the Conversion Ratios Coordinate System Properties cartesian coordinate system General Geometry Units offsets Dynamics Tag Coordin
185. formation is available from the robot manufacturer IMPORTANT Verify that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog by using the same measurement units The following example illustrates the typical configuration parameters for a SCARA Independent robot Figure 38 SCARA Independent Link Lengths Link lengths are the rigid mechanical bodies attached at joints Rockwell Automation Publication MOTION UM002D EN P February 2015 89 Chapter 4 Articulated Independent Robot Figure 39 Configuring Link Lengths for a SCARA Independent Robot Coordinate System Properties SCARA Independent E General Geomety Units Joints Tag SCARA Independent Transform Dimension 2 Link Lengths Enter the Link Length values For the robot shown in SCARA Independent above i poo IS the Link Length values are e 1 20 Zero Angle Unentabionz D zi na DOES 2 40 22 00 Degees I Base offsets and end effector offsets do not apply to a SCARA Independent robot configuration Error Conditions Kinematics error conditions are detected upon activation ofa transformation by executing an MCT instruction insome movement conditions Errors can occur for certain movement conditions for either the source or target coordinate system after a transformation has been established These types of errors a
186. fsets The base offset is a set of coordinate values that redefines the origin of the robot The correct base offset values are typically available from the robot manufacturer Enter the values for the base offsets in the X1b and X3b fields of the Coordinate System Properties dialog Figure 46 Example of Base Offsets for an Articulated Independent Robot Coordinate System Properties sdsd General Geomety Units Offsets Joints Tag Type Articulated Dependent Transform Dimension 3 End Effector Offsets Xie o Xe fio 00 Enter the Base Offset values Base flf sets For the robot shown in our example the Base Offset Ba values are xm uj e X1b 3 0 X3b 4U X3b 4 0 100 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Dependent Robot Chapter 5 End effector Offsets The robot can have an end effector attached to the end of robot link L2 If there is an attached end effector then you must configure the end effector offset value on the Coordinate System Properties dialog The end effector offsets are defined with respect to the tool reference frame at the tool tip Figure 47 Example of End effector Values for an Articulated Independent Robot Coordinate System Properties sdsd General Geometyy Units Offsets Joints Tag Type Articulated Dependent Top View Enter the end effector offset values Transform Dimension 3 For
187. fy the error number listed in the error code field of the Motion control tag then see Error Codes ERR for Coordinate Motion Instructions on page 261 The transform process is running IP BOOL Any of these actions cancels the transform and turns offthe IP bit Applicable stop instruction Shutdown instruction Fault action MCT Motion Coordinated Transform gt Instruction X2 xi E J1 Z1 You move a system of virtual axes to Cartesian positions The transform converts the motion to joint angles and X1 X2 X3 moves the robot The transform controls up to three joints of the robot J1 J2 and J3 Data Flow of MCT Instruction Between Two Coordinate Systems The following illustrations show the flow of data when an MCT Instruction is active CS1 is a Cartesian coordinate system containing X1 X2 and X3 axes as the source of the MCT instruction CS2 is the joint coordinate system containing J2 and J3 axes as the target of the MCT instruction Rockwell Automation Publication MOTION UM002D EN P February 2015 207 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR CT Motion Coordinated Transform Source System Target System Motion Control MCT1 Orientation Translation Input Data OrientDisabled TranslationDisabled Figure 100 Data Flow When a Move is Executed with an MCT Instruction Forward Transform All
188. g examples show the use of Absolute and Incremental Move Types with the various Circle Types MCCM Using Center Circle Type The following examples show the use of the MCCM instruction with a Circle Type of Center and a Move Type of Absolute first example and Incremental second example to arrive at the same result The basic assumptions are e the two axes Axis0 and 1 are both members of the coordinate system Coordinated_sys 0 and Axis are orthogonal to each other e coordinated sys is initially at 10 4 1 3 units Move Coordinated sys along an arc to 11 2 6 6 units with a center of 3 7 6 4 units at the vector speed of 10 0 units per second with the acceleration and deceleration values of 5 0 units per second The following graph shows the path generated by the preceding information 146 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 65 Plot of MCCM Instruction with Circle Type of Center 112 y Exd 104 13 Sarff 543 7 4 y Cont Fg oc duro AA A L EANAN The vector speed of the selected axes is equal to the specified speed in the units per second or percent of the maximum speed of the coordinate system Likewise the vector acceleration and deceleration is equal to the specified acceleration deceleration in the units per second or percent of max
189. ggravates the current overtravel Overtravel Condition condition 10 The master axis reference is the same as the slave axis reference or the Master Axis is Master Axis Conflict also an axis in the Slave Coordinate System 11 At least one axis is not configured to a physical motion module or has not been Axis Not Configured assigned to a Motion Group For single axis instructions the Extended Error code for MAG MDAC MAPC MAM MAJ MATC and MCD is defined as 1 Slave axis 2 Master Axis Note that for MAM MCD and MAJ in time driven mode the axis being moved is a slave axis For multi axes instructions the Extended Error code for MDCC MCLM MCCM and MCCD is defined as The axis number in the coordinate system where 0 1st axis 2 Master Axis or 3rd Slave Axis 12 Messaging to the servo module failed Servo Message Failure 13 The value of at least one operand is out of range Value Out Of Range 14 The instruction cannot apply the tuning parameters because of an error in the run Tune Process Error tuning instruction 15 The instruction cannot apply the diagnostic parameters because of an error in the Test Process Error run diagnostic test instruction Rockwell Automation Publication MOTION UM002D EN P February 2015 261 Appendix C Error Codes ERR for Coordinate Motion Instructions Error Corrective Action or Cause Notes 16 Wait until the homing process is don
190. gistration is already running Registration in Progress 35 Either the controller or the Output Cam module does not support the specified Illegal Execution Target Output Cam axis input or output 36 The size of the Output Cam array is not supported or the value of at least one Illegal Output Cam member is out of range e Output bit less than 0 or greater than 31 Latch type less than 0 or greater than 3 Unlatch type less than 0 or greater than 5 Left or right position is out of cam range and the latch or unlatch type is set to Position or Position and Enable Duration less than or equal to 0 and the unlatch type is set to Duration or Duration and Enable Enable type less than 0 or greater than 3 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable e Enable bit less than 0 or greater than 31 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable Latch type is set to Inactive and unlatch type is set to either Duration or Duration and Enable 37 Either the size of the Output Compensation array is not supported or the value of one Illegal Output Compensation of its members is out of range The array index associated with errors 36 and 37 are stored in SEGMENT of the Motion Instruction data type Only the first of multiple errors are stored The specific error detected is stored in Extended Error Code With the
191. he Instruction to Complete When the Both of these happen Command position equals target position The vector distance between the target and actual positions is less than or equal to the Actual Position Tolerance of the coordinate system Then Use this Termination Type 0 Actual Tolerance Command position equals the target position 1 No Settle t Transition into or out of a circle without stopping V 1 2 t Command position gets within the Command Position Tolerance of the coordinate system Axes get to the point at which they must decelerate at the deceleration rate 2 Command Tolerance 3 No Decel 4 Follow Contour Velocity Constrained Accelerate or decelerate across multiple moves 1234 Use a specified Command Tolerance V The command position gets within the Command Position Tolerance ofthe coordinate system Rockwell Automation Publication MOTION UM002D EN P February 2015 5 Follow Contour Velocity Unconstrained 6 Command Tolerance Programmed 41 Chapter 2 Cartesian Coordinate System 2 Make sure this is the right choice for you Termination Type Example Path Description 0 Actual Tolerance 0 00 1 00 200 3 00 400 5 00 6 00 7 00 c The instruction stays active until both of these happen Command position equals target position The vector distance between the target and actual positions is les
192. he coordinated move reaches the new position or whenthere is a succeeding move and the coordinated move reaches the specifications of the termination type or when the coordinated move is superseded by another MCLM or MCCM instruction with a merge type of Coordinated Move or when terminated by an MCS instruction AC When you have a coordinated move instruction queued the Active bit lets you know which instruction is controlling the motion It sets when the coordinated move becomes active It is reset when the Process Complete bit is set or when the instruction is stopped ACCEL Set as expected during motion It is independent of Master acceleration The ACCEL bit on the instruction driving the Slave Coordinate System for example MCLM is set as the Slave Coordinate System is accelerating to its commanded speed This bit is insensitive to acceleration occurring on the Master Axis However the AccelStatus bit which is in the MotionStatus word of the Slave Coordinate System not the instruction driving the Slave Coordinate System is set or cleared based on changes in velocity of the Slave Coordinate System DECEL Set as expected during motion It is independent of Master deceleration The DECEL bit on the instruction driving the Slave Coordinate System is set as the Slave Coordinate System is decelerating to its commanded speed This bit is insensitive to deceleration occurring on the Master Axis However the DecelStatus bit
193. he number of calculated array elements stored in the Calculated Data array is based on the follow conditions The number of elements in the Event Distance array For each of the first 4 elements Event Data array one element is computed and placed in the Calculated Data array The fifth element and beyond of the Event Distance array are ignored Existing values in the Calculated Data array are overlaid when the Event Distance array is processed A 1is returned in the Calculated Data array for each negative value in the Event Distance array No Event Distance calculation is made for these array elements You can change the Event Distance array elements dynamically in the program However if the Event Distance is changed after the instruction has been initiated that is the IP bit has been set then the change is ignored An error is generated if the size of the Calculated Data array is smaller than the Event Distance array If the Event Distance is greater than the move length internally vector length for MCLM arc length for MCCM it is forced to equal the move length Ifa MCD or MCCD is executed indicated by status bit going IP the CalculatedDataAvailable CDA bit is cleared The Calculated Data for the move is recomputed by using the new dynamics parameters Only those items of the Calculated Data array whose Event Distance has not been reached yet are recomputed other items are left as they are Consequently all Calculat
194. heir PC flag was set when the blending was started The CalculatedDataAvailable bit is not set for any move that Event Distance is not specified that is for any move where the Event Distance parameter in the instruction is zero MSF and MDF do not alter the state of the CalculatedDataAvailable bit Rockwell Automation Publication MOTION UM002D EN P February 2015 237 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Changing Between Master Driven and Time Driven Modes for Coordinated Motion Instructions 238 Coordinated Motion Status Bits Bit Name Meaning CoordinateMotionStatus Set when an axis lock is requested for an MCLM or MCCM instruction and the axis has crossed the Lock Position Cleared when an MCLM or MCCM is initiated AccelStatus Sets when vector is accelerating Clears when a blend is in process or when vector move is at speed or decelerating DecelStatus Sets when vector is decelerating Clears when a blend is in process or when vector move is accelerating or when move completes ActualPosToleranceStatus Sets for Actual Tolerance termination type only The bit is set after the following two conditions have been met 1 Interpolation is complete 2 The actual distance to the programmed endpoint is less than the configured coordinate system s Actual Tolerance value It remains set after the instruction completes It is reset wh
195. hey are Axis Status bits Coordinate System Status bits and Coordinate Motion Status bits When the MCS instruction initiates the status bits undergo the following changes Table 46 Axis Status Bits Bit Name Effect CoordinatedMoveStatus Cleared Table 47 Coordinate System Status Bits Bit Name Effect ShutdownStatus Sets when MCSD is executed and all associated axes are shutdown ReadyStatus Cleared after MCSD executes 204 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 48 Coordinate Motion Status Bits Bit Name Effect AccelStatus Cleared after MCSD executes DecelStatus Cleared after MCSD executes ActualPosToleranceStatus Cleared after MCSD executes CommandPosToleranceStatus Cleared after MCSD executes StoppingStatus Cleared after MCSD executes MoveStatus Cleared after MCSD executes MoveTransitionStatus Cleared after MCSD executes MovePendingStatus Cleared after MCSD executes MovePendingQueueFullStatus Cleared after MCSD executes Motion Coordinated Use the MCT instruction to start a transform that links two coordinate systems Transform MCT together This is like bi directional gearing One way to use the transform is to move a non Cartesian robot to Cartesian positions ATTENTION Use each tag for the motion control a
196. his field is possible After the information for the tag is entered you have these options Click OK to create the tag and automatically place it in the Ungrouped Axes folder or the Motion Group if the tag was initiated from the Motion Group menu Click Open COORDINATE SYSTEM Configuration to invoke the Coordinate System Tag Wizard after you click Create The wizard helps you to configure the Coordinate System tag To prevent executing logic from writing values to the tag check the Constant check box The state of the Constant check box depends on the type of tag selected It appears dimmed under the follow conditions The tag is an alias tag or a consumed tag The FactoryTalk Security action for changing the Constant Value property of a tag is unavailable and the tag is not in the Add On Instruction definition scope You do not have permissions to modify tag properties the FactoryTalk Security Tag Modified is denied and that tag is not in the Add On Instruction definition scope tag s date type is not a Data Table backed type The tag s usage is not InOut The redundancy controller is any state that does not allow changes The controller has been locked online from another computer The controller is safety secured and the tag is a safety tag or a safety mapped tag The scope is an equipment phase but the Equipment Phase feature is not activated in the current Logix Designer applicat
197. ht line The program is trying to generate a two dimensional arc going from 0 0 current position to 20 0 through the location 10 0 Because these points all lie on a straight line no circular centerpoint can be computed for the circle This error is also generated if the program was for a three dimensional center type circle using a startpoint centerpoint and endpoint all lying on a straight line Here an infinite number of circles could fit through the programmed points in an infinite number of planes Figure 92 Ladder Program and Target Entry Screen that Generate Error 44 Motion Coordinatea Circular Move EN5 Coordinate System vourdirete sys Lid Motion Control MCCM 0 DN5 o Move Type 5 Target Position Entry Coordinated_sys MCCM Move position 0 VIA 0 x Position MCCM Move _ 0 Lal Ed 09 T Position Tag Circle Type ACO VialCenteriRadius nc Axis Nene Target Postion Actual Postion Via Position re 0 200 00 100 Speed Axis 00 00 Speed Units Units per sec Accel Rate 100 Accel Units of Maximum Decel Rate 1nn Devel Unils of Maximum Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Type a Merge Disabled Set Targets Actuals Set Vias Actuals Merge Speed Programmed n Command Tolerance Lock Position Lock Direction Fvent Distance Caiculated Data CIRCULAR START END ERROR 45 Exampl
198. iated 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 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 Status BOOL Tag The move pending queue full bit is set when there is no room in the instruction queue for the next coordinated move instruction Once there is room in the queue the bit is cleared 258 Rockwell Automation Publication MOTION UM002D EN P February 2015 Attribute Move Pending Status Data Type BOOL Access Tag Coordinate System Attributes Appendix B Description The move pending bit is set once a coordinated motion instruction is queued Once the instruction has begun executing the bit is cleared provided no subsequent coordinated motion instructions have been queued in the meantime In the case of a single coordinated motion instruction the status bit can fail to be detected in Logix Designer application because the transition from queued to executing is faster th
199. ifferent target system You can only use one coordinate system as the target for one active transform 7 Look for source or target axes that you are already using in another transform Use different You can only use an axis in one source system and one axes in the coordinate system target system 8 Use a target system that isn t the source for this chain of transforms You cannot create a circular chain of transforms that leads back to the original source 9 Check that you ve assigned the correct axes to each coordinate system You cannot use the same axes in the source and target Systems 10 Stop all motion processes for all the axes in both systems for example jog move and gear You cannot start the transform if any motion process is controlling a source or target axis 11 Insufficient resources available to initiate the transform connection 12 Set the link lengths You cannot use a link length of zero 13 Look for source or target axes that are in the shutdown state Use a Motion Axis Shutdown Reset MASR instruction or direct command to reset the axes 14 Uninhibit all the source or target axes 15 Check the configured values for the base offsets and end effector offsets for the Delta or SCARA X1b X1e can not be less than 0 0 for both the Delta and Delta robot SCARA Delta robots For Delta robots this error can also occur if the value of L1 X1b X1e is greater than L2 16 Check the SCARA independent and SCARA Delta robot configurati
200. ify the Work Envelope for a SCARA Independent Robot densities lt Adeo rS 88 Define Configuration Parameters for a SCARA Independent Robot 4 cori E ES 89 Pitot Conditions suce Erden uoces wart bd ebat ee e dccus 90 Monitor Status Bits for 91 Chapter 5 Reference Framess voe repe oie eva eon eru mA ud 93 Methods to Establish a Reference Frame 96 Method 1 Establishing a Reference 96 Method 2 Establishing a Reference 97 Work Envelope q tc B utc ute eid 98 Configuration Parameters asses Va veta yw tul ese as aw EUR 99 Link Lengthsu oi EO EE OU Ed 99 pase rh 07 100 End effector Offsets exusta BS ENERO Eee 101 Chapter 6 Establish the Reference Frame for a Cartesian Gantry Robot 103 Identify the Work Envelope for a Cartesian Gantry Robot 104 Define Configuration Parameters for a Cartesian Gantry Robot 104 Chapter 7 About Cartesian H bots uU dy Gea Pre d um 105 Establish the Reference Frame for a Cartesian H bot 106 Identify the Work Envelope for a Cartesian H bot 106 Define Configuration Parameters for a Cartesian IO NER M MR LI 107 Appendix A Motion Coordinated Linear Move 109 Operands
201. imum acceleration of the coordinate system This path can be achieved by using an MCCM instruction in the clockwise direction with a Move Type Absolute or with a Move Type Incremental When a Circle Type of Center is chosen the Via Center Radius position defines the center of the arc Rockwell Automation Publication MOTION UM002D EN P February 2015 147 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR 148 CC Motion Coordinated Circular Move Coordinate System Motion Control Move Type coordinate sys L MCCM O 0 Position MCCM Move position O axis axis1 Circle Type Via Center Radius Direction Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Termination Ty pe Merge Merge Speed Command Tolerance Lock Position Lock Direction Event Distance Calculated Data 11 2 5 6 1 Center 0 0 10 Units per sec 5 Units per sec2 5 Units per sec2 Trapezoidal 100 100 Units per sec3 0 Disabled Current Rockwell Automation Publication MOTION UM002D EN P February 2015 Figure 66 MCCM Ladder Instruction with Move Type of Absolute EN2 DN5 ER2 Move Type is Absolute Position defined in absolute units Circle Type is center Center position defined in absolute units as 3 7 6 4 Direction is clockwise Motion Coordinate
202. in process and there is room in the queue Step 3 Qu MCCM Equal Motion Coordinated Circular Move EN5 Source Step Coordinate System csi DN Motion Control Move2 ER2 Source B 2 Move Type 0 IP5 AC Position My Path 2 X Axis 10 0 Y Axis 50 More gt gt 21 cs1 MovePendingGueueFullStatus Move Source Dest When an instruction completes it is removed from the queue and there is space for another instruction to enter the queue Both bits always have the same value because you can queue only one pending instruction at a time If the application requires several instructions to be executed in sequence then the bits are set by using these parameters Table 9 Bit Parameters When Then One instruction is active and a second instruction is pending in the queue MovePendingStatus bit 1 MovePendingQueueFullStatus bit 1 You cannot queue another instruction An active instruction completes and MovePendingStatus bit 0 leaves the queue MovePendingQueueFullStatus bit 0 You can queue another instruction The termination type operand for the MCLM or MCCM instruction specifies how the currently executing move gets terminated These illustrations show the states of instruction bits and coordinate system bits that get affected at various transition points TP The termination types are e 0 Actual tolerance
203. inated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Example 2 Change Orientation If you want to enter orientation values of 20 0 0 into example 1 the MCTP instruction does a forward transform Figure 107 Change Orientation 6 0 5 0 If the reference position is here in Cartesian 40 Un space X3 30 8 I 00 10 20 30 40 50 60 70 80 2 the MCTP calculates a transform position here with an X1 orientation of 20 X1 Example 3 Change Translation Ifyou want to enter translation values of 0 1 1 into example 1 the MCTP instruction does a forward transform Figure 108 Change Translation 60 50 x3 If the reference position is here in Cartesian space 00 10 20 30 40 50 60 70 680 2 N the MCTP calculates a transform position here with an X2 and X3 translation of 1 Rockwell Automation Publication MOTION UM002D EN P February 2015 225 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Example 4 Change Direction If your robot has base offsets there can be as many as four ways to get to a given point If your robot has this geometry L1 10 e 2 10 e 1 3 0 e 4 0 This example shows the ways to get a position of X1 10 X2 0 and X3 15 Figure 109 Transform Direction Inverse
204. inated 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 in the Units dialog box Table 6 Dynamics Tab Field Descriptions Item Maximum Speed Description 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 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 nonzero value to achieve any motion by using the coordinate system 28 Rockwell Automation Publication MOTION UM002D EN P February 2015 Create and Configure a Coordinate System Chapter 1 Table 6 Dynamics Tab Field Descriptions Item Description Maximum Acceleration Jerk The jerk parameters only apply to S Curve profile moves by using these instructions The Maximum Accel
205. ing the coordinated a part of motion are taken into account when computing the initial dynamics for example acceleration rate and velocity to be used in the Decel Every axis in the coordinated system is stopped independently by using the computed initial dynamics Stop only coordinated moves Coordinated Move 2 Cancel any transform that the coordinate system isa Coordinated Transform 3 part of Change Decel DINT Immediate If you want to Then choose Use the maximum deceleration rate of the coordinate No 0 system Specify the deceleration rate Yes 1 Decel Rate REAL Immediate or Important An axis could overshoot its target position if you reduce the deceleration while tag move is in process Deceleration along the path of the coordinated move The instruction uses this value Only if Change Decel is Yes e Only for coordinated moves Enter a value greater than 0 Decel Units DINT Immediate 0 Units per sec 1 of Maximum Rockwell Automation Publication MOTION UM002D EN P February 2015 195 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 39 MCS Instruction Operands Relay Ladder Operand Type Format Description Change Decel Jerk SINT INT or DINT Immediate 0 No 1 Yes Decel Jerk SINT INT DINT or REAL Immediate or You must always enter a value for the Decel Jerk operand This instruction only uses the value if tag the Profile
206. ink lengths of the non Cartesian coordinate system are small such as 0 5 inches It s best to give large conversion constants to the virtual Cartesian axes in a transform such as 100 000 or 1 000 000 counts position unit The maximum travel limit of the robot is 23 m Coordination Units Conversion Constant Rockwell Automation Publication MOTION UM002D EN P February 2015 209 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Guideline Examples and Notes Set up another coordinate system for the actual joints of the robot Type of robot geometry Number of axes in the coordinate system Coordinate System Properties Arm J1 J7 J3 Motion Group Type Dimension Number of axes to transform Move the robot to a left or right arm starting position Do you want the robot to move like a left arm or a right arm e TEN 0 RI D HEBES VE ED TE Left arms Right arms Before you start the transform move the robot to a resting position that gives it the arm side that you want left or right Once you start the transform and initiate a Cartesian move in the Source coordinate system the robot stays as a left arm or a right arm If it starts as a left arm it moves as a left arm If it starts as a right arm it moves as a right arm You can always flip it from a left arm to a right arm or vice versa To do that move the
207. internally calculated based upon the link lengths and offset values entered on the Geometry and Offsets tabs of the Coordinate System Properties dialog For More Information About Maximum positive joint limits Maximum negative joint limits 71 Homing or moving joint axis to a position beyond a computed joint limit and then invoking an MCT instruction results in an error 67 Invalid Transform position See Error Codes ERR for Coordinate Motion Instructions on page 261 for more information regarding error codes Define Configuration Parameters for a Delta Two dimensional Robot You can configure Logix Designer application for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including Linklengths e Base offsets End effector offsets The configuration information is available from the robot manufacturer IMPORTANT Verify that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog by using the same measurement units Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Link Lengths Links are the rigid mechanical bodies attached at joints The two dimensional Delta geometry has two link pairs each with the same lengths The link attached to each actuated joint J1 and J
208. ints of the parallel arms X3eisthe distance from the base plate to the TCP of the gripper Figure 24 Configuring the Base Offset and End effector Offsets for a Three dimensional Delta Robot Coordinate System Properties Delta General Goomcty Units Offsets Joints Tag Delta Top View Transform Dimension 3 x2 End Effector Offsets Y Xie fnm 5 1 x3e 00 Side View Rase Mffsets xib 1300 L 91 Ge xi k o Ye X3e TT rema m This illustration shows a two dimensional Delta robot that moves in two dimensional Cartesian space Figure 25 Two dimensional Delta Robot Joints for axes 1 2 J2 22 Rockwell Automation Publication MOTION UM002D EN P February 2015 73 Chapter 4 74 Articulated Independent Robot This robot has two rotary joints that move the gripper in the X1 X2 plane Two forearm assemblies attach a fixed top plate to a movable bottom plate A gripper is attached to the movable bottom plate The bottom plate is always orthogonal to the X2 axis and its position is translated in Cartesian space X1 X2 by mechanical parallelograms in each forearm assembly The two joints J1 and J2 are actuated joints The joints between links L1 and L2 and between L2 and the base plate are unactuated joints Each joint is rotated independently to move the gripper to a programmed X2 position As each joint axis J1 or J2 or
209. ion For Error Code Axis Not Configured 11 there is an additional value of 1 that indicates the Coordinate System was unable to set up the axis for coordinate motion For the MCLM instruction Error Code 13 Parameter Out of Range Extended Errors returns a number that indicates the offending parameter as listed on the faceplate in numerical order from top to bottom beginning with zero For example 2 indicates the parameter value for Move Type is in error Rockwell Automation Publication MOTION UM002D EN P February 2015 133 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 22 Error Code Indicators and Descriptions Referenced Error Code and Number Extended Error Numeric Instruction Parameter Description Indicator Parameter Out Of Range 13 2 Move Type Move Type is either less than 0 or greater than 1 Parameter Out Of Range 13 3 Position The position array is not large enough to provide positions for all the axes in the coordinate system Parameter Out Of Range 13 4 Speed Speed is less than 0 Parameter Out Of Range 13 6 Accel Rate Accel Rate is less than or equal to 0 Parameter Out Of Range 13 8 Decel Rate Decel Rate is less than or equal to 0 Parameter Out Of Range 13 11 Termination Type Termination Type is less than 0 or greater than 3 134 Error Code 54 Maximum Deceleration Value is Zero If the Extended Error return
210. ion execution time Some enumerations that are in the following table are not used now but are reserved for future enhancements Additional tables are given below that further clarify which combinations are accepted in MDSC mode and which are accepted in Time Driven Mode Enumeration Definition Mode Compatibility Note 0 wn Units per sec Maximum Reserved Reserved Time Driven Existing Enumeration Existing Enumeration New Enumeration Reserved for Time based programming A Units per MasterUnit Reserved Reserved Master Units MDSC New Enumeration New Enumeration Reserved for Time based p7ogramming 250 These rules for Speed must be followed to determine allowable Time and MDSC Driven Mode When Speed is in either units sec max or seconds then the instruction is considered to be in Time Driven Mode regardless of the selection of units for acceleration deceleration or jerk When Speed is in either Master Units or in Units MasterUnit then the instruction is considered to be in Master Driven Mode regardless of the selection of units for acceleration deceleration or jerk Speed Acceleration Deceleration and Jerk must always be programmed in the same mode Time Driven or Master Driven or you get a runtime error When speed is specified in time unit seconds the specified time is the total time of the move including acceleration and deceleration time
211. ion Coordinated Circular Move Coordinate System coordinate sys Motion Control MCCM 7 Move Type 0 Move Type is Absolute Position MCCM Move position 0 axisO 50 axis1 50 mE zs Circle Type is Via Circle Type 0 Via Center Radius Via 1 Direction Direction is shortest Speed 1 Speed Units Units per sec Accel Rate 100 Accel Units of Maximum Decel Rate 100 Decel Units of Maximum Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Ty pe Merge Disabled Merge Speed Programmed Command Tolerance 0 Lock Position 0 Lock Direction None Event Distance 0 Calculated Data 0 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A The preceding MCCM instruction produces the following plot Figure 81 Plot of MCCM with Three Axes One Rotary Axis amp Move Type of Absolute BB Trend Motion ENS 223 e The axis actually travels counter clockwise in an arc from 0 0 0 to 5 5 5 via the 5 3 5 3 5 position The Direction was specified as clockwise but with Via specified for the Circle Type the Direction operand is ignored The move stops after generating a 90 degree arc There was one travel through the unwind for Axis0 even though it was in Move Type of Absolute Note that the path of the coordinated motion is determined in linear space but
212. ion Publication MOTION UM002D EN P February 2015 Configure Cartesian H bot Chapter 7 Define Configuration You do not need to define the link lengths base offset or end effector offset Parameters for a Cartesian H bot configuration parameters for a Cartesian H bot Rockwell Automation Publication MOTION UM002D EN P February 2015 107 Chapter 7 Configure a Cartesian H bot Notes 108 Rockwell Automation Publication MOTION UM002D EN P February 2015 Appendix A Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Use this table to choose a motion coordinated instruction If you want to Use this instruction Available in these languages Initiate a single or multi dimensional linear coordinated move for the Motion Coordinated Linear Move MCLM Relay ladder specified axes within a Cartesian coordinate system Structured text Initiate a two or three dimensional circular coordinated move for the Motion Coordinated Circular Move MCCM Relay ladder specified axes within a Cartesian coordinate system Structured text Initiate a change in path dynamics for coordinate motion active onthe Motion Coordinated Change Dynamics MCCD Relay ladder specified coordinate system Structured text Stop the axes of a coordinate system or cancel a transform Motion Coordinated Stop MCS Relay ladder Structured text Initiate a co
213. ion axes that define the dimensions of a Cartesian coordinate system The coordinate system supports up to three primary axes Only the axes configured as primary axes up to three are included in the coordinate velocity calculations Name of the axis which provides the position input to the Output Cam Motion Control MOTION INSTRUCTION Tag Structure used to access instruction status parameters MCSR CoordinateSystem Structured Text MotionControl The operands are the same as those for the relay ladder MCSR instruction Executing the Instruction This is a transitional instruction In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition Rockwell Automation Publication MOTION UM002D EN P February 2015 227 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Motion Control Bits The following control bits are affected by the MCSR instruction Table 57 Control Bits Affected by MCSR Instruction Mnemonic Description EN Enable Bit 31 The Enable bit sets when the rung transitions from false to true It resets when the rung goes from true to false DN Done Bit 29 The Done bit sets when the coordinated shutdown reset is successfully initiated It resets when the rung transitions from true to false
214. ion license The controller is in hard Run mode The Add On Instruction is in Source Protection mode You are not allowed to modify Add On Instructions FactoryTalk Security Add On Instruction Modify is Denied and the tag is in Add On Instruction definition scope For details about FactoryTalk Security see FactoryTalk Help Start gt Programs gt Rockwell Software gt FactoryTalk Tools gt FactoryTalk Help Note If the properties of the tag modification for example Constant Tag property no longer apply and the Constant check box was previously selected the Constant check box is not checked Click Open COORDINATE_SYSTEM Configuration to display the wizard that guides you through the process of configuring a coordinate system You can also right click the tag and choose Properties to access the configuration wizard Rockwell Automation Publication MOTION UM002D EN P February 2015 Create and Configure a Coordinate System Chapter 1 Coordinate System Wizard Dialog Boxes The Coordinate System Wizard takes you through the Coordinate System Properties dialog boxes It is not necessary to use the Wizard dialogs to configure your coordinate system Once it has been created you can access the Coordinate System Properties dialog box by choosing Properties of the menu See Edit Coordinate System Properties on page 20 for detailed information about entering configuration information Table 2 Coordinate System Dialog Box
215. ion to browse for enumerations in the Structured Text Editor as shown below Figure 111 Enumerations in the Structured Text Editor Master Reference The Master Reference for an MDCC instruction selects the Master Axis position source The enumerations for Master Reference Axis are e Actual Slave motion is generated from the actual current position of the Master Axis as measured by its encoder or other feedback device Command Slave motion is generated from the command desired position of the Master Axis Because there is no Command Position for a Feedback Only Axis if you select either Actual or Command for Master Reference the Actual Position of the Master Axis is used The Actual and Command Position are always the same for this case No error is generated Because there is no Actual Position for a Virtual axis if you select either Actual or Command for Master Reference the Command Position is used No error is generated An error is generated if a instruction is executed that changes the Master Reference of a Slave Coordinate System that is in motion The new MDCC instruction creates an error and the original one remains active Motion Direct Command and the MDCC Instruction To obtain Motion Direct support for the MDCC instruction you must first program an in one of the supporting program languages before you execute an MCLM or MCCM in Time driven Mode Rockwell Automation Publication
216. ion will error with MDSC_LOCKDIR_CONFLICT 95 4 Position Reverse Only The instruction will error with MDSC_LOCKDIR_CONFLICT 95 Valid and Default Values Valid 0 4 Default None Enumeration 1 4 are currently not allowed in Time Driven mode Lock Position 242 IMMEDIATE REAL or TAG Lock Position in Master Driven Mode The position on the Master Axis where a Slave Coordinate System should start after the move has been initiated on the Slave Coordinate System when executing in Master Driven Mode This is an absolute position plus or minus on the Master Axis in Master Axis units You can specify a Lock Position to delay the start of motion of a Slave Coordinate System after the motion instruction has been initiated on the Slave Coordinate System If an axis in the Slave Coordinate System is already moving and a coordinated move instruction MCLM or MCCM with a Lock Position is activated on the Coordinate system then you will receive an MDSC_LOCK_WHILE_MOVING error for the MCLM or MCCM instruction Because Merge is always performed immediately when an instruction is enabled a merge instruction that starts at a nonzero velocity with both a Lock Position and a Merge enabled will receive an MDSC_LOCK_WHILE_MOVING error The Lock Direction determines the direction in which the Master Axis must be moving when it crosses the Lock Position before the Slave Coordinate System locks to the Master Axis Not
217. is configured as S Curve Decel Jerk is the deceleration jerk rate for the coordinate system Use these values to get started DecelJerk 100 96 of Time Jerk Units 2 Jerk Units SINT INT or DINT Immediate 0 Units per sec 12 96 of Maximum 2 96 of Time use this value to get started Overshoot can occur if MCS is executed close to or beyond the deceleration point and the deceleration limit is decreased Keep in mind that deceleration can be decreased indirectly by setting ChangeDecel to NO if configured maximum deceleration rate is less than that the active deceleration rate MCS CoordinateSystem Structured Text MotionControl StopType ChangeDecel DecelRate DecelUnits ChangeDecellerk Decellerk The structured text operands are the same as the ladder diagram operands Enter JerkUnits the stop type and decel units without spaces Enter the Coordinate System operand as CoordinateSystem Motion Control Bits Table 40 MCS Bit Types and Functions To see if Check if this bit is on Data type Notes The rung is true EN BOOL Sometimes the EN bit stays on even if the rung goes false This happens if the rung goes false before the instruction is complete or has encountered an error Rung EN DN or ER The stop was successfully initiated DN BOOL An error happened ER BOOL The axis is stopping IP BOOL Any of these actions ends the MCS instruction
218. is set Table 65 Coordinate System Input and Output Parameters Parameter Instruction Mode Input Parameters Lock Direction MCLM Master Driven Only MCCM Lock Position MCLM Master Driven Only MCCM Command Tolerance Master Driven and Time Driven MCCM Event Distance MCLM All modes Master Driven or Time Driven MCCM Output Parameter Calculated Data MCLM All modes Master Driven Time Driven and Timed Based MCCM 240 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 66 Input Parameters Input Parameter Lock Direction Data Type IMMEDIATE The following table describes the input parameters Description This parameter is used for both Time Driven and Master Driven Mode The controlling axis is the Master Axis axis is programmed in the MDCC command for Master Driven Mode and the axis that is programmed in the motion instruction for example MCLM for Time Driven Mode The first word of the Lock Direction enumeration definition see enumeration table below identifies the lock type as either Immediate lock is performed immediately or Position lock is performed when the Master Axis crosses the specified Lock Position The second word of the enumeration specifies the direction in which the Master Axis has to be moving when it cross
219. ition is 0 0 Increment to end position is 5 5 120 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 55 MCLM Ladder Instruction with Move Type of Incremental CLM Motion Coordinated Linear Move EN Coordinate System coordinate_sys Motion Control MCLM 3 DN Move Type is Move Type 1 Incremental ER gt Position move position s C axis 5 0 IP5 axis1 5 0 Speed 1 AC Speed Units Units per sec PC Accel Rate 100 Accel Units of Maximum Decel Rate 100 Decel Units of Maximum Profile S Curve Accel Jerk My amp ccelJerk 0 0 Decel Jerk 100 Jerk Units Units per sec3 Termination Type 3 Merge Disabled Merge Speed Programmed Command Tolerance ct 7 Lock Position Lock Direction Event Distance Calculated Data A Rockwell Automation Publication MOTION UM002D EN P February 2015 121 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR This MCLM instruction produces the following plot of the moves path Figure 56 Plot of MCLM with Two Rotary Axes and Move Type of Incremental 3 Trend Motion In the graphic Plot of MCLM with Two Rotary Axes and Move Type of Incremental the axes travel a reverse z pattern two and one half times stopping at an actual position of 0 1 This eq
220. itions J1 J2 J3 Machine Real Coordinate System Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A Programming Guidelines Follow these guidelines to use an MCT instruction ATTENTION Don t let the robot get fully stretched or fold back on itself Otherwise it can start to move at a very high speed In those positions it loses its configuration as a left or right arm When that happens it can start to move at a very high speed ATTENTION Determine the working limits of the robot and keep it within those limits Figure 102 MCT Programming Guideline Examples Guideline Set up a coordinate system of axes for the Cartesian positions of the robot These axes are typically virtual Examples and Notes Important You can see truncation error in the precision of computations This happens when both of these conditions are true Number of axes in the coordinate system lt Coordinate System Properties Arm_X1_XZ_X3 Motion Group Type Dimension Coordinate Axis Name Copfdination Mode 0 x1 x1 gt Prirfary 1 2 2 v Primary z 2 x3 x3 Primary z Number of axes to transform conversion constants of the virtual Cartesian axes in a transformation are small such as 8000 counts position unit The l
221. its Unitspersec 0 ofmaximum 1 seconds 3 unitspermasterunit 4 masterunits 7 Decel Rate No enumeration Immediate or tag Decel Units Unitspersec 0 ofmaximum 1 seconds 3 unitspermasterunit 4 masterunits 7 Profile Trapezoidal 0 S Curve 1 Accel Jerk No enumeration Immediate or tag Decel Jerk You must always enter a value for the Accel and Decel Jerk operands This instruction only uses the values if the Profile is configured as S Curve Use these values to get started e Accel Jerk 100 96 of Time Decel Jerk 100 96 of Time Jerk Units 2 Jerk Units Unitspersec ofmaximum oftime seconds unitspermasterunit oftimemasterdriven masterunits use this value to get started NO PWN cC Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 27 Entries for Structured Text Operands This Operand Has These Options That You Enter as Text Oras Termination Type No enumeration 0 Actual Tolerance 1 No Settle 2 Command Tolerance 3 No 4 Follow Contour Velocity Constrained 5 Follow Contour Velocity Unconstrained 6 Command Tolerance Programmed See Blended Moves and Termination Types on page 3M Merge Disabled 0 Coordinatedmotion 1 Allmotion 2 Merge Speed Programmed 0 Current 1 Command Tolerance No enumeration
222. k Position at 8 0 The Event Distance is set to 0 0 which means that we want the total Master Distance X in the diagram below needed for the slave to move 15 0 units starting when the Master is locked at a position at 8 0 The incremental value of X is returned in the Calculated Data parameter Master Axis Move Slave Axis Move Rockwell Automation Publication MOTION UM002D EN P February 2015 Valid and Default Values Default 0 no Calculated Data array or a REAL array tag Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A Table 67 Output Parameter REAL Example 3 Valid and Default Values Output Parameter Calculated Data Default 0 no Calculated continued The following example illustrates using Event Distance and Calculated Data Data array or a REAL array Note that the MSP for all event distances is point PO The MSP is where the Slave is locked to the tag Master and starts moving along the programmed path 100 CT N MCLM2 X200 MCLM1 CLM5 1 pe PO Een MCLM4 Calculated Data REAL 5 Move Segments are specified Default 0 no Calculated continued ARRAY or 0 Event Distance ED Data array or a REAL array tag Command Tolerance CT e MCLM1Y100 1T2 EDZ50 CT 100 MCLM2 X200 TT2 ED 100 CT 20 MCLM3 Y 100 ED 100 CT 20 e X200 TT2 ED 100 CT 20 MCLM5 Y100 TT2 ED 100 C
223. kes Online Dooks Vendor Sample Projects Vendor Sampie Projects a Quick Start WE Learning Center E Resource Center About RSLogix 5000 gt My First Project The Rockwell Automation sample project s default location is C Users Public Documents Studio 5000 Samples ENU There is a PDF file named Vendor Sample Projects on the Start Page that explains how to work with the sample projects Free sample code is available at http samplecode rockwellautomation com 12 Rockwell Automation Publication MOTION UMO02D EN P February 2015 For More Information Preface These documents contain additional information concerning related products from Rockwell Automation Resource Sercos and Analog Motion Configuration and Start up User Manual publication MOTION UM001 Description Describes how to configure a motion application and to start up your motion solution by using Logix5000 motion modules Logix5000 Controller Motion Instructions Reference Manual publication MOTION RM002 Provides a programmer with details about motion instructions for a Logix based controller Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 Describes how to configure an integrated motion application and to start up your motion solution by using the Studio 5000 Logix Designer application Logix5000 Controllers Common Procedures publication
224. l Adjust The Manual Adjust button is inactive when creating a Coordinate System tag via the Wizard dialog boxes It is active on the Dynamics tab of the Coordinate System Properties dialog box It is described in detail in the Editing Coordinate System Properties later in this chapter Tag The Tag dialog box lets you rename your Tag edit your description and review the Tag Type Data Type and Scope information The only fields that you can edit on the Tag dialog box are Name and Description These are the same fields as on the New Tag dialog box and the Coordinate System Properties Tag tab Rockwell Automation Publication MOTION UM002D EN P February 2015 19 Chapter 1 Create and Configure a Coordinate System Edit Coordinate System Properties 20 Create your Coordinate System in the New Tag dialog box and then configure it If you did not use the Wizard dialog boxes available from the Create button on the New Tag dialog box you can make your configuration selections from the Coordinate System Properties dialog box You can also use the Coordinate System Properties dialog boxes to edit an existing Coordinate System tag These have a series of tabs that access a specific dialog box 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 Click Apply to save your selections T
225. l Position 255 Actual Position Tolerance 256 Axes Inhibited Status 256 Axes Servo On Status 256 Axes Shutdown Status 256 Axis Configuration Faulted 256 Axis Fault 256 Axis Inhibit Status 256 Command Pos Tolerance Status 256 Command Position Tolerance 256 Config Fault 257 Coordinate Motion Status 257 Coordinate System Auto Tag Update 257 Coordinate System Status 257 Decel Status 257 Dynamics Configuration Bits 258 Index Max Pending Moves 258 Maximum Acceleration 258 Maximum Deceleration 258 Maximum Speed 258 Module Fault 258 Modules Faulted 258 Motion Status 258 Move Pending Queue Full Status 258 Move Pending Status 259 Move Status 259 Move Transition Status 259 Physical Axes Faulted 259 Physical Axis Fault 259 Ready Status 259 Shutdown Status 259 Stopping Status 259 Transform Source Status 259 Transform Target Status 259 Coordinate System Dialog Boxes Dynamics 19 General 19 Geometry 19 Manual Adjust 19 Offset 19 Tag 19 Units 19 Coordinate System Properties Dynamics Tab 28 Manual Adjust 30 Reset Button 30 Manual Adjust Button 30 Position Tolerance Box 29 Actual 29 Command 29 Vector Box 28 Maximum Acceleration 28 31 Maximum Acceleration Jerk 29 Maximum Deceleration 28 Maximum Deceleration Jerk 29 Maximum Speed 28 Editing 20 General Tab 21 Axis Grid 21 Axis Name 22 Brackets 21 Coordinate 21 Coordination Mode 22 Dimension 21 Ellipsis 22 Ellipsis button 21 Enable Coordinate System Auto Tag Update 22 Motion Gr
226. le the move is decelerating or close to the deceleration point maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in 96 of time Operands The MCCD instruction supports the following operands Relay Ladder Structured Text Relay Ladder CCD Motion Coordinated Change Dynamics Coordinate System E Motion Control DN gt Motion Type Change Speed ER2 Speed Speed Units Change Accel Accel Rate Accel Units Change Decel Decel Rate Decel Units Change Accel Jerk Accel Jerk Change Decel Jerk Decel Jerk Jerk Units Scope 186 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Table 37 MCCD Instruction Operands Relay Ladder Operand Type Format Description Coordinate System COORDINATE SYSTEM Tag The Coordinate System operand specifies the set of motion axes that define the dimensions of a coordinate system The coordinate system supports up to three primary axes Motion Control MOTION Tag Structure used to access instruction status parameters INSTRUCTION Motion Type SINT INT or DINT Immediate 1 Coordinated Move Change Speed SINT INT or DINT Immediate The Change Speed operand determines whether or not to change the speed
227. lears when the instruction queue is empty Rockwell Automation Publication MOTION UM002D EN P February 2015 135 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Motion Coordinated Circular Move MCCM Table 25 Coordinate Motion Status Bits Bit Name Meaning MovePendingQueueFullStatus Sets when the instruction queue is full It clears when the queue has room for a new coordinated motion instruction CoorMotionLockStatus Set when an axis lock is requested for an MCLM or MCCM instruction and the axis has crossed the Lock Position Cleared when an MCLM or MCCM is initiated For the enumerations Immediate Forward Only and Immediate Reverse Only the bit is set immediately when the MCLM or MCCM is initiated When the enumeration is Position Forward Only or Position Reverse Only the bit is set when the Master Axis crosses the Lock Position in the specified direction The bit is never set if the enumeration is NONE The CoordMotionLockStatus bit is cleared when the Master Axis reverses direction and the Slave Axis stops following the Master Axis The CoordMotionLockStatus bit is set again when the Slave Coordinate System resumes following the Master Axis The CoordMotionLockStatus bit is also cleared when an MCCS is initiated Coordinated Motion only supports the queueing of one coordinated motion instruction Therefore the MovePendingStatus bit and the MoveP
228. ll The MCLM instruction on CS2 stops The MAM on Y stops The MAM on S continues The MAM on Z continues T1 is canceled Axes ABC stop due to canceling the transform MAS on Y Move The MCLM instruction on CS2 continues The MAM on Y stops The on S continues The MAM on Z continues T1 stays active Axes ABC follow the respective CS2 axes MAS on Z All The MCLM instruction on CS2 continues The MAM on Y continues The MAM on 5 continues The MAM on Zstops T1 stays active Axes ABC follow the respective CS2 axes MAS on Z Move The instruction on CS2 continues The MAM on Y continues The MAM on S continues The MAM on Zstops T1 stays active Axes ABC follow the respective CS2 axes MCS CS1 Coordinated Transform MCLM instruction on CS2 continues The MAM on Y continues The MAM on S continues The MAM on Z continues T1 stays active Axes ABC follow the respective CS2 axes Rockwell Automation Publication MOTION UM002D EN P February 2015 199 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 42 Results of Stop Type and Instruction Interaction Instruction MCS on 52 Stop Type Result Coordinated Transform T1 is canceled MCLM instruction on CS2 continues The MAM on Y continues The MAM on 5 con
229. ll Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence P IMPORTANT Identifies information that is critical for successful application and understanding of the product Labels may also be on or inside the equipment to provide specific precautions SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures ARC FLASH HAZARD Labels may be on or inside the equipment for example a motor control center to alert people to potential Arc Flash Arc Flash will cause severe injury o
230. llel to the axis e Link2 is parallel to axis Program a MRP instruction for all three axes with the following values J1 0 J2 90 e J3 90 The Joint to Cartesian reference frame relationship is automatically established by the ControlLogix controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled The work envelope is the three dimensional region of space that defines the reaching boundaries for the robot arm The work envelope for an articulated robot is ideally a complete sphere having an inner radius equal to L1 L2 and outer radius equal to L1 L2 Due to the range of motion limitations on individual joints the work envelope is not always a complete sphere Rockwell Automation Publication MOTION UM002D EN P February 2015 59 Chapter 4 Articulated Independent Robot If the range of motion values for the articulated robot are Typically the work envelope is lt 170 2 010 180 13 100 11 10 D 12 R1 22 0L R2 7918 7 5 Y X f 1 N 4 R1 10 12 22 N y Y R 10 12cos 80 7 916 7 S ue v 4178 41 170 Top view Depicts the envelope of the tool center point sweep in J1 and J3 while J2 remains at a fixed position of 0 R1 22 4 xa R2 7 916 1210 ji2 12
231. locity than the First Move and Termination Type 3 4 or 5 is Used MCLM2 MCLM1 l The PC bit is set Programmed endpoint n ad of MCLM1 instruction osition Symmetric Profiles Profile paths are symmetric for all motion profiles Programming the velocity acceleration and deceleration values symmetrically in the forward and reverse directions generates the same path from point A to point C in the forward direction as from point C to point A in the reverse direction While this concept is most easily shown in a two instruction sequence it applies to instruction sequences of any length provided that they are programmed symmetrically Rockwell Automation Publication MOTION UM002D EN P February 2015 45 Chapter 2 46 Cartesian Coordinate System Figure 8 Example of a Symmetric Profile MCLM 1 point A to point B is followed by MCLM 2 point B to point C MCLM 3 point C to point B is followed by MCLM 4 point B to point The acceleration of MCLM 1 must be equal to the deceleration of MCLM 4 The deceleration of MCLM 1 must be equal to the acceleration a MCLM 4 The acceleration of MCLM 2 must be equal to the deceleration of MCLM 3 The deceleration of MCLM 2 must be equal to the acceleration of MCLM 3 1 Pos 2 0 Accel 1 Decel 2 MCLM 2 Pos 2 1 Accel 3 Decel 4 MCLM 3 Pos 2 0 Accel 4 Decel 3 4 Pos 0 0 Accel 2 Decel 1
232. m Joint MI Run Transform Arm Orientation Arm Translation Motion Control Orientation Translation Then execute the instruction again To execute the instruction toggle the rung condition in from false to true Also execute the instruction again if you change the geometry of the equipment Arithmetic Status Flags Not affected Fault Conditions None Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 Rockwell Automation Publication MOTION UM002D EN P February 2015 211 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR ERR 61 Extended Error Codes Extended Error codes help to further define the error message given for this particular instruction Their behavior is dependent upon the Error Code with which they are associated EXERR Corrective Action Notes 1 Assign both coordinate systems to the motion group 2 Check that you are using the correct source and target systems You cannot use the same coordinate system as source and target 3 Set the transform dimension of the source system to the number of axes in the system up to three 4 Set the transform dimension of the target system to the number of axes in the system to be transformed up to three 5 Use a different source system You can only use one coordinate system as the source for one active transform 6 Use a d
233. mation about Your 50 Summary of Kinematic Steps o slew ope ERES 51 Table of Contents Articulated Independent Robot Determine the Coordinate System lt i stus oes Chapter 4 Reference edet EON ete E REA Res Methods to Establish a Reference Method 1 Establishing a Reference Frame Method 2 Establishing a Reference Frame Work EE Configuration Parameters cosa eot utet c Org ase da ied s eue Base coe teat Manes hl agente ne nate aud fed Delia Robot Geometries ty EVE e ie Qe RAV Ncc ab Configure a Delta Three dimensional Establish the Reference Frame for a Delta Three dimensional Robot xia cu e eo ea eret Calibrate a Delta Three dimensional Alternate Method for Calibrating a Delta Three dimensional Robot eese Configure Zero Angle Orientations for Delta Three dimensional Robot eese Identify the Work Envelope for a Delta Three dimensional Robot 3 555 22 2 oat ies eg Define Configuration Parameters for a Delta Three dimensional Robot eese Configure a Delta Two dimensional Robot Establish the Reference Frame for a Delta Two di
234. me and Master Driven Mode An error occurs when you verify the routine Units per MasterUnits Master Driven Mode Units 96 of Time Master Driven Master Driven Mode Units Master Units Master Driven Mode Units Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine New Enumeration Not Implemented New Enumeration Not Implemented Not Implemented Not Implemented Rockwell Automation Publication MOTION UM002D EN P February 2015 253 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Table 74 Speed Units in Seconds The following table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are in Seconds Acceleration Speed in Seconds Units per sec Time Driven Mode Units Maximum Time Driven Mode Units Seconds Time Driven Mode Units Units per MasterUnit Master Units Master Driven Master Driven Mode Units Mode Units Jerk Units Units per sec Time Driven Mode Units Not Implemented Not Implemented Not Implemented Maximum Time Driven Mode Units Not Implemented Not Implemented Not Implemented 96 of Time Not Implemented Not Implemented New Enumeration Time Driven Mode Units Seconds Not Implemented Not Implemented New Enumeration Time Driven Mode Units
235. mediate real or tag The Command Tolerance is the position on a coordinated move where blending starts This parameter is used in place of Command Tolerance in the Coordinate System if Termination Type 6 is used Note that termination type 2 is identical to Termination Type 6 except the Command Tolerance value from the coordinate system is used and this parameter is ignored Lock Position REAL immediate tag The Lock Position is the position on the Master Axis where a Slave starts following the master after the move has been initiated on the Slave Axis Lock Direction UINT32 immediate real or tad The Lock Direction specifies the conditions in which the Lock Position is used Event Distance ARRAY or 0 array The Event Distance is the position s on a move measured from the end of the move Calculated Data REAL ARRAY or 0 array The Calculated Data is the Master Distance s or time needed from the beginning of the move to the Event Distance point MCCM Coordinate Sys em Motion Control Move Type Position Circle Type Via Center Radius Direction Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Termination Type Merge Merge speed Command Tolerance Lock Position Lock Direction Calculated Data Event Distance Structured Text The structured text operands are the same as those for the relay ladder MCCM instruction When entering enumerations fo
236. mensional Robot sees Calibrate a Delta Two dimensional Identify the Work Envelope for a Delta Two dimensional Robot rra We ees RS Define Configuration Parameters for a Delta Two dimensional Robot cee ve eR T e re Configure a SCARA Delta Robot Establish the Reference Frame for a SCARA Delta Robot Calibrate a SCARA Delta Identify the Work Envelope for a SCARA Delta Robot Define Configuration Parameters for a SCARA Delta Robot Configure a Delta Robot with a Negative X1b Offset Arm SODBFIOBS asa eas afe M Me t hk Left Arm and Right Arm Solutions for Two Axes Robots Solution Mirroring for Three dimensional Robots Activating Change the Robot Arm ioi e RES Y d Plan for Singularity es uossvxse Rockwell Automation Publication MOTION UM002D EN P February 2015 Table of Contents Articulated Dependent Robot Configure a Cartesian Gantry Robot Configure a Cartesian H bot Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Encounter a No solution Position 86 Configure a SCARA Independent Robot 5 eere eere 86 Establish the Reference Frame for a SCARA Independent certe PY prebere feret vestes 86 Ident
237. mental CC Motion Coordinated Circular Move EN2 Coordinate System coordinate sys la Motion Control MCCM 5 DN5 Move Type 0 Move Type is Absolute ER2 Position MCCM Move position 10 Position defined in absolute axis 11 2 units axis 6 6 Circle Type 3 Circle Type is Center Incremental Via Center Radius Via 2 PC Direction Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Termination Ty pe Merge Merge Speed Command Tolerance Lock Position Lock Direction Event Distance Calculated Data 0 10 Units per sec 5 Units per sec2 5 Units per sec2 S Curve 100 100 Units per sec3 0 Disabled Current Center defined as an incremental distance of 14 1 5 1 from start point of 10 4 1 3 Direction is Clockwise The MCCM instruction with Move Type of Incremental and Center Type of Center Incremental is the same as an MCCM instruction with Move Type Incremental and Circle Type of Center MCCM Using Two Dimensional Full Circle Creating a full circle is a special case of a circular arc The following is an example of a two dimensional full circle The following examples show the use of the MCCM instruction with a Circle Type of Center and a Move Type of Absolute first example and Incremental second example to create a full circle The basic assumptions are 158 Rockwell Automation Publication
238. method that is by changing move dynamics MCD or MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is decreased while the move is decelerating or is close to the deceleration point An S Curve velocity profile can overshoot if either maximum deceleration is decreased while the move is decelerating or dose to the deceleration point maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in 96 of time Operands The MCCM instruction supports the following operands e Relay Ladder Structured Text Rockwell Automation Publication MOTION UM002D EN P February 2015 137 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Relay Ladder Table 26 MCCM Instruction Operands Relay Ladder MCCM Motion Coordinated Circular Move EN2 Coordinate System Motion Control DNJ Move Type ER Position Circle Type IP2 T Via Center Radius AC Direction Us PC Speed Speed Units Accel Rate T Accel Units Decel Rate Decel Units Profile Accel Jerk T Tr Decel Jerk T Jerk Units Termination Type Merge Merge Speed Command Tolerance Lock Position Lock Direction
239. mputed from point C the point of the merge However a circle must exist from point F the computed end of the deceleration to the end of the merged move Merging in Incremental Mode The Merge for coordinated motion operates differently from a merge on an MAM For the MCLM any uncompleted motion at the point of the merge is discarded For example assume that you have a single axis MCLM programmed in incremental mode from a starting absolute position 0 and with the programmed incremental distance 4 units If a merge occurs at an absolute position of 1 and the merge is another incremental move of units the move completes at a position 5 If this example occurs on a MAM programmed in incremental mode the final position 8 Rockwell Automation Publication MOTION UM002D EN P February 2015 129 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Programming Guidelines for Zero Length Moves In Master Driven Mode and Time Driven Mode you have the option of configuring a move with a Slave distance increment of zero or a move with the same target and current position If speed is specified in Master Units the move remains active until the specified Master distance has been traversed Use this type of move to generate a dwell in a multi segment path move Similarly when you program the move time directly in seconds in Time Driven Mode a move of the duration of X seconds with
240. n Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Arm Solutions A Kinematic arm solution is the position of all joints on the robot that correspond to a Cartesian position When the Cartesian position is inside the workspace of the robot then at least one solution always exists Many of the geometries have multiple joint solutions for a single Cartesian position Two axis robots two joint solutions typically exist for a Cartesian position Three axis robots four joint solutions typically exist for a Cartesian position Left Arm and Right Arm Solutions for Two Axes Robots A robot having an arm configuration has two Kinematics solutions when attempting to reach a given position point A shown on the figure below One solution satisfies the equations for a right armed robot the other solution satisfies the equations for a left armed robot Figure 33 Right Arm and Left Arm Solutions Left Arm Solution A Right Arm Solution Solution Mirroring for Three dimensional Robots For a three dimensional Articulated Independent robot there are four possible solutions for the same point Left Arm Right Arm Left Arm Mirror Right Arm Mirror Rockwell Automation Publication MOTION UM002D EN P February 2015 83 Chapter 4 Articulated Independent Robot 84 For example consider the Cartesian point XYZ 10 0 15 The joint position corresponding to this point has four
241. n is enabled Rockwell Automation Publication MOTION UM002D EN P February 2015 97 Chapter 5 Articulated Dependent Robot Work Envelope Ifthe range of motion values for the articulated robot are The work envelope is the three dimensional region of space defining the reaching boundaries for the robot arm The work envelope of an articulated robot is ideally a complete sphere havingan inner radius equal to L1 L2 and outer radius equal to L1 L2 However due to the range of motion limitations on individual joints the work envelope is not always a complete sphere Typically the work envelope is r 170 J2 0 to 180 J33 60 L1 10 D 12 98 X2 R2 10 12 cos 60 16 Top view Depicts the envelope of the tool center point sweep in J1 and J3 while J2 remains at a fixed position of 0 os R2 10 12 cos B0 16 X3 Side view Depicts the envelope of the tool center point sweep in J2 and J3 while J1 remains at a fixed position of 0 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Dependent Robot Chapter 5 Configuration Parameters Logix Designer application can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including Linklengths Base offsets End effector offsets The configuration parameter information is
242. n process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Automation maintains current product environmental information on its website at http www rockwellautomation com rockwellautomation about us sustainability ethics product environmental compliance page Rockwell Otomasyon Ticaret 5 Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem 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 Publication MOTION UM002D EN P February 2015 Supersedes Publication MOTION UM002C EN P September 2012 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A A I le n B ra dle y Motion Coordinate System Us
243. nate System is set or cleared based on changes in velocity of the Slave Coordinate System DECEL Set as expected during motion It is independent of Master deceleration The DECEL bit on the instruction driving the Slave Coordinate System is set as the Slave Coordinate System is decelerating to its commanded speed This bit is insensitive to deceleration occurring on the Master Axis However the DecelStatus bit which is in the MotionStatus word of the Slave Coordinate System not the instruction driving the slave axis is set or cleared based on changes in velocity of the Slave Coordinate System TrackingMaster 236 Indicates that the Slave Coordinate System is tracking the Master Axis only used in Master Driven Mode When an instruction is initiated in Master Driven Mode the Slave Coordinate System accelerates to the speed that is programmed for MDSC mode The Tracking Master is set when the acceleration is complete in MDSC Mode This means that the Slave Coordinate System is synchronized to the Master Axis The Tracking Master bit is cleared when any of the following occurs on the Slave Coordinate System When the Slave Coordinate System starts to either accelerate or decelerate for any reason for example for an MCCD or an MCS being issued When the Slave Coordinate System is relinked to another Master Axis In this situation the TrackingMaster bit is first cleared and then it is set again in the new instruction
244. nate System Coordinated sys Motion Control MCSR 3 Fo Structured Text MCSR Coordinated sys MCSR 3 Use the MDCC instruction to synchronize one or more motion axes or Coordinate System to a common Master Axis The Master Driven Speed Control MDSC function uses the Master Driven Coordinated Control MDCC instruction which defines a Master Slave relationship between a Master Axis and a Slave Coordinate System For information about the Master Slave relationship for single axes see the Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RMO02 The Motion Master Driven Coordinate Control instruction MDCC is used when the Slave System is a Coordinate System The MDCC instruction defines the relationship between the external Master Axis and the Slave Coordinate System for the MCLM and the MCCM Instructions When an MDCC is executed goes IP the specified Slave Coordinate System in the MDCC instruction is logically geared with the designated Master Axis After motion on the Master Axis is initiated all the axes in the Coordinate System specified as the Slave Coordinate System follow the Master Axis motion at the programmed dynamics of the programmed instruction There are no changes in any active motion when a new MDCC instruction is activated Activating an MDCC instruction just puts the parameters programmed in the MDCC instruction into a pending state The parameters in the pending MDCC ins
245. nd Effector Offsets Side View Base Offsets xib 150 0 lt hr SY ee Cancel Help Rockwell Automation Publication MOTION UM002D EN P February 2015 81 Chapter 4 82 Articulated Independent Robot Configure a Delta Robot with a Negative X1b Offset Beginning with version 17 of the application you can use negative offsets for the X1b base offset on both 2D and 3D delta geometries For example a mechanical 2D delta robot that uses a negative X1b offset has a mechanical configuration like the one shown below L1 50 0 units L2 80 0 units X1b 10 units 15 units The base offset X1b is the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints In the previous figure one of the actuator joints P1 is on the negative side of X1 Therefore the base offset X1b is measured to be a value of 10 units from the origin of the coordinate system X2 intersection to P1 The Logix Designer application coordinate system configuration for the offset tab used with the example above is shown below Covrdinate System Properties Delta2D General Unite Jonts Tag Type Delta Transtoem Dimension 2 Lnd Lttector Uttsets 115 0 00 Base Ullsets Xib fann This negative offset description also applies for Delta 3D and SCARA Delta Configurations Rockwell Automatio
246. ndent robot joints are as shown in this illustration Figure 35 Joint and Link Start Position that Kinematics Equations use for the SCARA Independent Robots Top View e J1 is measured counterclockwise around X3 axis starting at an angle of 0 0 when L1 is along the axis J2 is measured counterclockwise starting with J2 0 when Link L2 is aligned with Link L1 e J3 is a prismatic axis that moves parallel to X3 axis For information about alternate methods for establishing a reference frame see Articulated Independent Robot on page 55 When configuring the parameters for the Source coordinate system and the Target coordinate system for a SCARA Independent robot keep the following information in mind e Set the transform dimension value to two for both the source and target coordinate systems because only J1 and J2 are involved in the transformations The Z axis is configured as a member of both the source and target coordinate systems For additional information about establishing a reference frame see Articulated Independent Robot on page 55 Rockwell Automation Publication MOTION UM002D EN P February 2015 87 Chapter 4 Articulated Independent Robot Figure 36 Example Source and Target Coordinate Systems for a SCARA Independent Robot s Coordinate System Properties Cartesian 1 s Coordinate System SCARAIndependent General Geometry Units Ottsets Dynamics Tag Gen
247. ne of these a Use a Motion Redefine Position instruction MRP to set the positions of the joint axes to the calibration values obtained in step 1 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 b Set the configuration value for the joint axes home position to the calibration values obtained in step 1 of this procedure and execute a Motion Axis Home instruction MAH for each joint axis 4 Move each joint to an absolute position of 0 0 Verify that each joint position reads 0 and that the respective L1 is in a horizontal position If L1 is not in a horizontal position then see the alternate method for calibrating a Delta three dimensional robot Alternate Method for Calibrating a Delta Three dimensional Robot Rotate each joint to a position so that the respective link is at a horizontal position and then perform one of the following e Usea MRP instruction to set all the joint angles to 0 at this position Configure the values for the Zero Angle Offsets to be equal to the values of the joints when in a horizontal position Configure Zero Angle Orientations for Delta Three dimensional Robot For Delta robot geometries the internal transformation equations in the Logix Designer application are written assuming that e joints are at 0 when link L1 is horizontal e as each top link L1 moves downward its corresponding joint axis 71 J2 or J3 is rotating in
248. near Figure 21 Maximum Positive Joint Limit Condition L1 and L2 are Collinear Maximum Positive Joint Limit Position R absolute value of X1b X1e Pd 4 is ux 2 7 cos JinaxPositve R _ 4 L1 L2 Jmax Positive 180 ov A I d I Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Maximum Negative Joint Limit Condition The derivations for the maximum negative joint limit applies to the condition when L1 and L2 are folded back on top of each other R is computed by using the base and end effector offsets values X1b and X1e Figure 22 Maximum Negative Joint Limit Condition L1 and L2 are Folded Back on Top of Each Other Maximum Negative Joint Limit Condition R absolute value of X1b X1e JMaxNeg cosd 12 11 Define Configuration Parameters for a Delta Three dimensional Robot Logix Designer application can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including Linklengths e Base offsets End effector offsets The configuration information is available from the robot manufacturer IMPORTANT Verify that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog by using the same measurement units
249. ng of the circular arc If the value in the Event Distance array is 0 0 then it is the time or distance for the whole move The values entered in the Event Distance array are the same for both Time Driven and Master Driven Mode Only the returned values in the Calculated Data array are different depending on the programmed mode of the Slave Coordinated System When Event Distance is specified as a negative number then the Event Distance calculation is skipped and a 1 is returned in the Calculated Data array for the specified Event Distance parameter There is no limit on the dimension of either the Event Distance or Calculated Data arrays However only a maximum of 4 elements the specified value and the next 3 ofthe Event Distance array will be processed Note that special consideration for the rare case of an overshoot when an MCD or MCCD is done close to the moves endpoint For this case the Calculated Data will include the overshoot when the Event Distance is 0 since the master will have to traverse this amount for the move to finish For other Event Distances the overshoot will not be included Rockwell Automation Publication MOTION UM002D EN P February 2015 Default 0 0 Default 0 no Event Distance array Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCTP MCSR Appendix A The following table describes the output parameter Table 67 Output Parameter Output Parameter
250. ns to values that are within the reach of the robot Invalid Transform Position IfX2b X2e isn t zero stay out of this region You are trying to move to a place the robot cannot reach X2b X2e X2b X2e gt lt gt i gt X2 68 Move the joints so that the end of the robot isn t at the origin of the coordinate Transform At Origin system You cannot start the transform if the joint angles result in X1 0 and X2 0 69 Check the maximum speed configuration of the joints Max Joint Velocity Exceeded Use target positions that keep the robot from getting fully stretched or folding The calculated speed is very high This happens when the robot either back on itself at the origin of the coordinate system gets fully stretched e Move relatively straight line through positions where X1 0 and X2 0 folds back on itself moves away from X1 0 and X2 0 in a different angle than it approached that position Example These moves produce this error x x E 2 Next move is at this x First move is at this angle angle 70 Look for source or target axes that are configured as rotary positioning mode Axes In Transform Must Be Linear Change them to linear positioning mode A transform works only with linear axes 71 Wait until the transform that you are canceling is completely canceled Transform Is Canceling 264 Rockwell Automation Publication MOTION UM002D EN P February 2015 Error Codes ERR for Coordinate Motion
251. nsform Motion Calculate Transform Position EN5 Source System Target System Motion Control CS1 E CS2 E DN2 MCT1 Orientation OrientDisabled ER Translation TranslationDisabled Transform Direction Inverse Right amp rm Reference Position Transform Position Input Data Ref1 Trans1 CS2 DATA Link Lengths L1 L2 Base Offsets X1b X2b X3b End Effector Offsets X1e X2e X3e Zero Angle Orientations Z1 Z2 Z3 Orientation Array 3 Coordination Units Translations Array 3 Coordination Units Transform Direction Reference Position Coordination Units Typically Joint Target Coordination Units SOURCE Computed Output Coordinate System dialog Executed CS2 Data Destination Coordinate System dialog Instruction Joint Positions 1 J2 J3 Instruction Faceplate Coordinate System dialog e Typically Joint Transform Position Coordinate System dialog MCTP Instruction Faceplate Instruction Faceplate Instruction Faceplate Instruction Faceplate 222 Arithmetic Status Flags Not affected Fault Conditions None Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 Extended Error Codes Extended Error codes help to further define the error message given for this particular instruction Their behavior is dependent upon the Error Code with which they are associated Rockwell Automation Publication MOTION UM002D EN P February
252. ntrolled shutdown of all of the axes of the specified Motion Coordinated Shutdown MCSD Relay ladder coordinate system Structured text Start a transform that links two coordinate systems together Motion Coordinated Transform Mc Relay ladder Structured text Calculate the position of one coordinate system with respect to another Motion Calculate Transform Position MCTP Relay ladder coordinate system Structured text Initiate a reset of all of the axes of the specified coordinate system from Motion Coordinated Shutdown Reset MCSR Relay ladder the shutdown state to the axis ready state and clear the axis faults Structured text Synchronize one or more motion axes or Coordinate System to a common Master Driven Coordinate Control MDCC Relay ladder Master Axis Structured text You cannot use this instruction with SoftLogix TM controllers Use the motion coordinated instructions to move up to three axes in a coordinate system Motion Coordinated Linear Use the MCLM instruction to start a single or multi dimensional linear Move M CL M coordinated move for the specified axes within a Cartesian coordinate system You can define the new position as either absolute or incremental Rockwell Automation Publication MOTION UM002D EN P February 2015 ATTENTION Use each tag for the motion control attribute of instructions only once Re use of the motion control tag in other instructions can cause
253. nues T1 is canceled Axes ABC stops due to canceling the transform MCS on CS2 All The MCLM instruction on CS2 stops The MAM on Y stops The MAM on stops The MAM on Z continues T1 is canceled Axes ABC stops due to canceling the transform MCS on CS3 All The MCLM instruction on CS2 continues The MAM on Y continue The MAM on S continues The MAM on Z continues T1 is canceled Axes ABC stop due to canceling the transform MCS on CS1 Coordinated Move The MCLM instruction on CS2 continues The MAM on Y continues The MAM on continues The MAM on Z continues T1 stays active Axes ABC follow the respective CS2 axes MCS on CS2 Coordinated Move The MCLM instruction on CS2 stops The MAM on Y continues The MAM on 5 continues The on Z continues T1 stays active Axes ABC follow the respective CS2 axes 198 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 42 Results of Stop Type and Instruction Interaction Instruction Stop Type MCS on 53 Coordinated Move Result The MCLM instruction on CS2 continues The MAM on Y continues The MAM on S continues The MAM on Z continues T1 stays active Axes ABC follow the respective CS2 axes MAS on Y A
254. o configure a coordinate system A coordinate system is a grouping of one or more primary and ancillary axes that you create to generate coordinated motion You can configure the coordinate system with one two or three dimensions Logix Designer application supports these types of geometry Cartesian Articulated Dependent Articulated Independent Selective Compliant Assembly Robot Arm SCARA Independent Delta three dimensional Delta two dimensional SCARA Delta Figure 1 Coordinate Systems with Orthogonal Axes 2 Etien cL x Cartesian Coordinate System Two dimensional Cartesian Coordinate System Three dimensional Cartesian Coordinate System Rockwell Automation Publication MOTION UM002D EN P February 2015 15 Chapter 1 Create and Configure a Coordinate System Figure 2 Coordinate Systems with Non orthogonal Axes SCARA Independent Coordinate System SCARA Delta Coordinate System Delta Two dimensional Coordinate System Delta Three dimensional Coordinate System Create a Coordinate System Use the Coordinate System tag to set the attribute values that the Multi Axis Coordinated Motion instructions use 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 make the following configurations introduce the COORDINATE SYSTEM data type associate the coordinate system to a Motion Group
255. o the point where distance to go is less than the specified Event Distance See Example 3 below In example 3 the MSP for all event distances is point PO Event Distance Point oh Blended Path Where Event Distance is Hit Blended Path Calculated Data REAL Mode Returned Calculated Data Parameter Default 0 no Calculated continued ARRAY or 0 Data array or a REAL array Master Driven For Blended moves that is Termination Type Command Tolerance or No tag Decel The incremental Master Axis distance needed for the programmed move inthe Slave Coordinate System to travel from the beginning of the move to the Blend Point Note that this is where the PC bit of the instruction is set Forall other termination types that is non blended moves The incremental Master Axis distance needed for programmed move in the Slave Coordinate System to travel from the beginning of the move to the programmed endpoint Note that this is where the PC bit of instruction is set on the instruction moving the slave Another way to represent the Event Distance and the corresponding Calculated Data is on a Velocity versus Time plot as is shown in the following figure Note that the first plot below is for non blended moves TT0 1 the second is for blended TT2 3 6 Rockwell Automation Publication MOTION UM002D EN P February 2015 245 Motion Coordinated Instruction
256. o the specified acceleration deceleration in the units per second or percent of maximum acceleration of the coordinate system This path can be achieved by using an MCCM instruction in the Clockwise direction with a Move Type Absolute or with a Move Type Incremental When a Circle Type of Via is chosen the Via Center Radius position defines a point through which the arc must pass Rockwell Automation Publication MOTION UM002D EN P February 2015 151 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR 152 Figure 70 MCCM Ladder Instruction with Operand Values of Via and Absolute tC Ch Motion Coordinated Circular Move m Coordinate System coordinate sys EN2 Motion Control MCCM 2 Move Type Move type is Absolute Position MCCM Move position D C Position defined in absolute axis 11 2 units axis1 5 6 il 0 dide Sene TR Circe type is Via VialCenter Radius Via 0 a Via position defined in Speed 10 absolute units as 3 7 8 6 Speed Units Units per sec Accel Rate 5 Direction is dockwise Accel Units Units per sec2 Decel Rate 5 Decel Units Units per sec2 Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Type Merge Disabled Merge Speed Current Command Tolerance Lock Position Lock Direction None Event Distance Calculated Data Rockwell Automation Publication MOTIO
257. obot joints were positioned as shown in Articulated Dependent 1 J1 is measured counterclockwise around the X3 axis starting at an angle of J1 0 when L1 and L2 are both in the X1 X2 plane e J2 is measured counterclockwise starting with J2 0 when L1 is parallel to X1 X2 plane J3 is measured counterclockwise with J3 0 when L2 is parallel to the X1 X2 plane When your robot is physically in this position the Logix Designer application Actual Position tags for the axes must be Jl 0 J2 0 J3 0 94 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Dependent Robot Chapter 5 Figure 41 Articulated Dependent 2 Side View X1 When your robot is physically in this position the Logix Designer application Actual Position tags for the axes must be Ji20 e J2 90 J3 90 Figure 42 Articulated Dependent 3 AX Side View X If your robot physical position and joint angle values cannot match those shown in Articulated Dependent 2 or in Articulated Dependent 3 then use one of the methods outlined in this section to establish the Joint to Cartesian reference frame relationship WARNING Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions potentially resulting in damage to property or injury to personnel Rockwell Automation Publication MOTION UM002D EN P Febr
258. ofthe coordinated motion profile 0 No no change is made to the speed ofthe coordinated motion 1 Yes the speed ofthe coordinated motion is changed by the value defined in the Speed and Speed Units operands Speed SINT INT DINT or REAL Immediate or tag The Speed operand defines the maximum speed along the path of the coordinated move coordination units Speed Units SINT INT or DINT Immediate The Speed Units operand defines the units applied to the Speed operand either directly in coordination units of the specified coordinate system or as a percentage of the maximum values defined in the coordinate system 0 Units per Sec 96 of Maximum 4 Units per MasterUnit Change Accel SINT INT or DINT Immediate The Change Accel operand determines whether or not to change the acceleration of the coordinated motion profile 0 No no change is made to the acceleration ofthe coordinated motion 1 Yes the acceleration ofthe coordinated motion is changed by the value defined in the Accel Rate and Accel Units operands Accel Rate SINT INT DINT or REAL Immediate or tag The Accel Rate operand defines the maximum acceleration along the path of the coordinated move coordination units Accel Units SINT INT or DINT Immediate The Accel Units operand defines the units applied to the Accel Rate operand either directly in coordination units ofthe specified coordinate system or as a percentage of the maximum values defined in th
259. omation Publication MOTION UM002D EN P February 2015 33 Chapter 2 Cartesian Coordinate System Program an MCLM Instruction The following are the steps to program and test an MCLM instruction 1 Set up motion axes in Logix Designer application The maximum number of axes that can be associated with one Coordinate System is limited to three axes 2 Create a Coordinate System Tag The number of Coordinate System tags that can be created is 32 This number is based on the fact that a maximum of 32 axes can be assigned to a motion group and in the current implementation Because only one motion group can be created the number of axes that can be created is 32 3 Program an MCLM The Motion Coordinated Linear Move MCLM instruction performs linear move by using up to three axes in a Cartesian coordinate system As with all moves you must specify for example absolute or incremental or speed Speed is based on the vector move distance as shown below lt Axis 1 Position Vaistance 152 15 Axis 0 Position Position is defined by a single dimension array Array length is determined by the coordinate system selected For a 2 Axis Cartesian System each endpoint requires 2 words for a 3 Axis Cartesian System each axis requires 3 words We ll create a position array very shortly for clarification An array can consist of multiple endpoint coordinates that can be used by multiple coordinat
260. on configured with two Cartesian coordinate systems and a 45 rotation easily performs the function To configure two Cartesian coordinate systems Coordinate system 1 CS1 and Coordinate system 2 CS2 each containing two linear axes use the following steps 1 Configure CSI to contain the virtual X1 and X2 axes 2 Configure CS2 to contain the real X1 and X2 axes 3 Configure the Orientation vector of the MCT instruction as 0 0 45 a negative degree rotation around the X3 axis 4 Configure the Translation vector as 0 0 0 5 Link the CS1 and CS2 by using a MCT instruction 6 Home the H bot and then program all moves in CS1 The machine moves the tool center point TCP to the programmed coordinates in CS2 The 45 rotation introduced by the Kinematics counteracts the 45 rotation introduced by the mechanics of the machine and the H bot moves to the CS1 configured coordinates As a result a programmed move of X 1virt 10 X2virt 5 moves to a real mechanical position of X1 10 2 5 For a Cartesian H bot the Base coordinate system is an orthogonal set of X1 X2 axes postponed anywhere on the Cartesian H bot Do not rotate the angular rotation of the reference frame for this robot because the angular rotation vector is used to achieve the 45 rotation required for mechanical operation The work envelope for a Cartesian H bot is a rectangle of length and width equal to the axis soft travel limits 106 Rockwell Automat
261. oncludes DECEL Deceleration Bit 02 The Deceleration bit sets while the coordinated move is in deceleration phase It resets e while the coordinated move is in the constant velocity or acceleration phase or e when coordinated motion concludes Move Type The Move Type operand determines the method used by the position array to indicate the path of the coordinated move and the method the via center radius parameter uses to indicate the via and center circle positions There are two options 144 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 29 Behavior by Type Figure 64 Move Type Descriptions Option Description Absolute The coordinate system moves to the specified Position at the defined Speed by using the Accel and Decel Rates as designated by their respective operands along a circular path When an axis is configured for rotary operation absolute moves are handled in the same manner as with linear axes When the axis position exceeds the Unwind parameter an error is generated The sign of the specified position array is interpreted by the controller as the direction for the move Negative position values instruct the interpolator to move the rotary axis ina negative direction to obtain the desired absolute position A positive value indicates that positive motion is desired to re
262. ons to be sure that the transform dimension for the source coordinate system is configured as 2 the configured third axes for the source coordinate system and the target coordinate System are the same MCT Changes to Status Bits Table 51 MCT Tag and Bit Functions To see if Check the tag for the And this bit For coordinate system is the source of an active transform Coordinate system TransformSourceStatus On A coordinate system is the target of an active transform Coordinate system TransformTargetStatus On An axis is part of an active transform Axis TransformStateStatus On An axis is moving because of a transform Axis ControlledByTransformStatus On 212 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Example 1 Pick and Place Ladder Diagram 1 Move to rest routine This routine is a sequence of moves that put an articulated independent robot in an at rest position at the desired left or right arm angles When Move_To_Rest_Step 0 turns on axis J2 moves to 90 Then the sequence goes to the next step Move_To_Rest_Step 0 MAM Motion Axis Move EN Axis J2 Motion Control J2_Ml Move_To_Reset DN5 Move Type 0 Position 90 Speed J2 Vars C Manual Jog Speed 100 Speed Units Units per sec More gt gt J2_ML Move_To_Reset PC S
263. oordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR 192 Figure 98 Effect of Change to Deceleration Point where deceleration was decreased Velocity Position Arithmetic Status Flags Not affected Fault Conditions None Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 Runtime Error Condition For the Master Driven Speed Control MDSC function an error occurs at runtime if you attempt to change the mode of the system from Master Driven to Time Driven or from Time Driven to Master Driven Extended Error Codes Extended Error codes help to further define the error message given for this particular instruction Their behavior is dependent upon the Error Code with which they are associated The Extended Error Codes for Servo Off State 5 Shutdown State 7 Axis Type Not Servo 8 Axis Not Configured 11 Homing In Process Error 16 and Illegal Axis Data type 38 errors all function in the same fashion A number between 0 is displayed for the Extended Error Code This number is the index to the Coordinate System indicating the axis that is in the error condition Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 38 Error Code 13 MCCD Extended Errors For the MCCD instruction Error Code 13 Parameter Out of Range
264. oordinated 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 Rockwell Automation Publication MOTION UM002D EN P February 2015 257 AppendixB Coordinate System Attributes Attribute Data Type Access Description Dynamics Configuration Bits DINT GSV Revision 16 improved how the controller handles changes to an S Curve profile SSV Do you want to return to revision 15 or earlier behavior for S Curves Leave these bits ON default YES Turn OFF one or more of these bits To turn off this change Turn off this bit Reduced S Curve Stop Delay 0 This change applies to the Motion Coordinated Stop MCS instruction It lets you use a higher deceleration jerk to stop an accelerating coordinate system more quickly The controller uses the deceleration jerk of the stopping instruction if it is more than the current acceleration jerk Reduced S Curve Velocity Reversals 1 Before revision 16 you could cause a coordinate system to momentarily reverse direction if you decreased the deceleration jerk while the coordinate system was decelerating This typically happened if you tried to restart a move with a lower deceleration rate while the coordinate system was stopping This change prevents the coordinate system from reversing in those situations Reduced S Curve Velocity Overshoo
265. or MDOC on an inhibited axis Axis Is Inhibited 54 1 Open the properties for the axis Zero Max Decel 2 On the Dynamics tab enter a value for the Maximum Deceleration You cannot start motion if the maximum deceleration for the axis is zero 61 See the extended error code EXERR for the instruction Connection Conflict 62 Cancel the transform that controls this axis or don t use this instruction while the Transform In Progress transform is active You cannot execute this instruction if the axis is part of an active transform 63 Cancel the transform that controls this axis or wait until the transform is done Axis In Transform Motion moving the axis You cannot execute this instruction if a transform is moving the axis 64 Use a Cartesian coordinate system Ancillary Not Supported You cannot use a non Cartesian coordinate system with this instruction Rockwell Automation Publication MOTION UM002D EN P February 2015 263 Appendix C Error Codes ERR for Coordinate Motion Instructions Corrective Action or Cause The axis moved too far and the controller cannot store the position To prevent this error set up soft travel limits that keep the axis within the position range One way to get more travel is to use the max negative or max positive position as your home position Example Max 0 Max 0 is in the middle of the travel This gives you twice the travel that homing to 0 gives you If you set the home p
266. or the MCCM instruction You must program an MCCM in one of the supported programming languages before you execute an MAM or MAJ in Time Driven Mode runtime error will occur if an MCCM is not previously executed in an MAM and MAJ in Master Driven Mode The Motion Coordinated Change Dynamics MCCD instruction starts a change in the path dynamics of the specified coordinate system Based upon the Motion Type the MCCD changes the coordinated motion profile that is currently active on the system ATTENTION Use each tag for the motion control attribute of A instructions only once Re use of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury Rockwell Automation Publication MOTION UM002D EN P February 2015 185 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR ATTENTION Risk of Velocity and or End Position Overshoot If you change move parameters dynamically by any method that is by changing move dynamics MCD or MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is decreased while the move is decelerating or is close to the deceleration point An S Curve velocity profile can overshoot if either maximum deceleration is decreased whi
267. ordinate system containing J1 J2 and J3 axes as the target of the MCTP instruction Figure 103 Data Flow When a Move is Executed with an MCTP Instruction Forward Transform Motion Calculate Transform Position EN5 Source System CS1 Target System CS2 DN25 Motion Control MCT1 Orientation OrientDisabled ER2 Translation TranslationDisabled Transform Direction Forward Reference Position Ref1 Transform Position Trans Input Data CS1 DATA SOURCE Computed Output Link Lengths L1 L2 Coordinate System dialog Brecitt d CS1 Data Destination i i Instruction Base Offsets X1b X2b X3b Coordinate System dialog Cartesian Positions X1 X2 X3 Instruction Faceplate End Effector Offsets X1e X2e X3e Coordinate System dialog ae Typically Cartesian Transform Position Zero Angle Orientations Z1 Z2 Z3 Coordinate System dialog MCIP Orientation Array 3 Coordination Units Translations Array 3 Coordination Units Transform Direction Reference Position Coordination Units Typically Cartesian Source Coordination Units Instruction Faceplate Instruction Faceplate Instruction Faceplate Instruction Faceplate Rockwell Automation Publication MOTION UM002D EN P February 2015 221 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR CTP Figure 104 Data Flow When a Move is Executed with an MCTP Instruction Inverse Tra
268. osition here Important This error does not apply to a CIP axis Axis Position Overflow The range for position depends on the conversion constant of the axis e Axis Properties My_Axis Homing Hookup Tune Dynamics Gains Output Limits General Motion Planner Units Drive Motor Motor Feedback Linear Y Conversion Constant 2037152 0 Maximum positive position 2 147 483 647 conversion constant of the axis Maximum negative position 2 147 483 648 conversion constant of the axis Suppose you have a conversion constant of 2 097 152 counts inch In that case Maximum positive position 2 147 483 647 2 097 152 counts inch 1023 inches Maximum negative position 2 147 483 648 2 097 152 counts inch 1023 inches For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error ExErr 1 Axis 0 Caused the Error ExErr 2 Axis 1 Caused the Error ExErr 1 Axis 2 Caused the Error Positioning Mode Drive Counts 1 0 Position Units Based on 200000 Counts Motor Rey 66 Be sure to keep the robot in the arm solution that you configured it in You can You are attempting to fold back an articulated independent or dependent two configure the robot in either a left arm or right arm solution axis robot on itself at the quadrant boundaries 67 Change the target positio
269. ot Figure 49 Cartesian H bot Sliding rail 4 Stationary Rails C CN 4 uw Stationary Motors A Stationary Motors B In the Cartesian H bot illustration above the X1 and X2 axes are the real axes on the robot X1 Virt and X2 Virt are configured as the virtual axes The configuration of the H bot mechanical linkages enables it to move at a 45 angle to the axes when either motor A or motor B is rotated For example when Motor A axis is rotated the robot moves along a straight line at 45 angle e Motor B X2 axis is rotated the machine moves at an angle of 45 Motors A and B are both rotated clockwise at the same speed then the machine moves along a horizontal line Rockwell Automation Publication MOTION UM002D EN P February 2015 105 Chapter 7 Configure a Cartesian H bot Establish the Reference Frame for a Cartesian H bot Identify the Work Envelope for a Cartesian H bot Motors and B are both rotated counterclockwise at the same speed then the machine moves along a vertical line Any XY position can be reached by properly programming the two motors For example a move of X1 10 X2 0 causes the X1X2 axes to move to a position of X1 7 0711 X2 7 0711 A move to X1 10 X2 10 causes the robot to move to a position of X1 0 X2 14 142 While this configuration can be very confusing for a programmer utilizing the Logix Designer application Kinematics functi
270. otion instruction Therefore the MovePendingStatus bit and the MovePendingQueueFullStatus bit are always the same 128 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Additional Information On Merging Instructions move from point to point B is initiated as shown in the figure below When the axis is at point C an incremental merge to point D is initiated As a result the current instruction is terminated at point C The control computes the deceleration distance needed at point C along the vector AB from the current velocity to zero velocity This distance is shown as vector CF The imaginary point F is then computed by adding the vector CF to point C The resultant merged motion from C to D is shown in the illustration below The motion follows the curved line starting from C then joins the straight line from F to D Point D is computed from the original point of the merge point C by using the incremental data in the merge instruction This path is identical as if the original programmed move was made from point A to F then from F to D with a termination type of No Decel Figure 61 Merge Example D d This example applies to linear merges Attempting to merge a circular move can result in programming errors if the resultant path does not define a circle The circle center in incremental mode is co
271. otion Control MCCM 7 Move Type 0 Move Type is Absolute Position MCCM Move positiontt 4 Position defined in absolute units axis 10 4 axis1 13 Circle 1 Circe Type is Center Via CenteriRadius Center 9 Center position defined in absolute units Direction 2 as 3 7 6 4 Speed 10 n 27 Direction is Clockwise Full Speed Units Units per sec Accel Rate 5 Accel Units Units per sec2 Decel Rate 5 Decel Units Units per sec2 Profile S Curve Accel Jerk 100 Decel Jerk 100 Jerk Units Units per sec3 Termination Ty pe Merge Disabled Merge Speed Current Command Tolerance Lock Position 0 Lock Direction None Event Distance 0 Calculated Data 0 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 79 MCCM with Move Type as Incremental and Center Type as Center MC Cht Motion Coordinated Circular Move ien EN2 Coordinate System coordinate sys La i MOROCCO MCCMIS Move Type is Incremental Move Type 1 Position MCCM Move position 15 C 3 0 0 0 Circe Type is Center axis1 0 0 Circle 1 me Via Center Radius Center 4 Center defined as an incremental distance Direction 2 of 14 1 5 1 from start point of 48 104 1 Speed Units Units per sec Gianna 5 Direction is Clockwise Full Accel Units Units per sec2 Decel Rate 5
272. oup 21 New Group button 21 Transform Dimension 21 Type 21 Geometry Tab 23 Link Lengths 23 zero angle orientations box 24 Joints Tab 27 Joint Ratio 27 Joint Units 27 Offsets Tab 26 Base Offsets 26 Rockwell Automation Publication MOTION UMO002D EN P February 2015 271 Index 272 Tag Tab 32 Data Type 32 Description 32 Name 32 Scope 32 Tag Type 32 Units Tab Axis Grid 25 Axis Name 25 Conversion Ratio 25 Conversion Ratio Units 25 Coordination Units 24 Coordinate system properties Offsets Tab End Effector 26 Coordinated Motion Status Bit 238 D Delta 64 Delta Robot Maximum Negative Joint Limit Condition 71 Maximum Positive Joint Limit Condition 70 71 73 74 75 76 78 80 types configure 64 Delta three dimensional configuration parameters 71 configure 65 maximum positive joint limit condition 70 reference frame 66 work envelope 69 zero angle orientation 67 Delta two dimensional configuration parameters 76 configure 73 establish the reference frame 74 work envelope 75 End Effector Offsets determining 100 error motion instructions 261 269 error codes drives 267 motion instructions 261 269 errors additional information 267 Establish 66 F Fault Conditions for Motion Instructions when MDCC Is Active 233 G Geometry of robot 52 Geometry Tab link lengths 23 zero angle orientations box 24 Identify 69 inhibit axis 49 55 Input and Output Parameters Structure for Coordinate System Motion
273. ource 2 Source B Move_To_Rest_Step 0 Dest Move To Rest Step 0 2 Start transform routine When Arm Commands Start Transform turns on the transform starts The IP bit signals that the transform is running Arm Commands Start Transform ET Motion Coordinated Transform Source System Arm X1 X2 X3 Target System Arm 41 42 J3 Motion Control Arm MI Transform Orientation Arm Orientation Translation Arm Translation Arm MI Transform IP Arm Status Transform Active 3 Pick and place routine This routine is one in a sequence of MCLM instructions that move the Cartesian system The joints of the robot follow the moves When Step 1 turns on the coordinate system moves to 0 6 2 When the move is in process IP the sequence queues the next move Step 1 MCLM Motion Coordinated Linear Move EN5 Coordinate System Arm X1 X2 X3 Motion Control Arm MI Move 0 DN5 Move Type 0 ER Position Arm_Positions 0 0 1 00 IP5 2 5 0 x3 20 AC More gt gt Poe Arm Ml Move O P amp rm X1 X2 X3 MovePendingGueueFullStatus p UL Multiply Source Source B Dest Rockwell Automation Publication MOTION UM002D EN P February 2015 213 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Example 2 Pick and Place Structured Text 1 Move to rest routine This ro
274. ource System Target System Motion Control Structured Text Orientation Translation Transform Direction Reference Position Transform Position A The structured text operands are the same as the ladder diagram operands Enter the transform direction without spaces 218 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Example Enter a transform direction of Inverse Left Arm as InverseLeftArm Table 53 Motion Instruction Data Type To see if Check if this bit is on Data type Notes The rung is true EN BOOL Sometimes the EN bit stays on even if the rung goes false This happens if the rung goes false before the instruction is done or an error has occurred Rung EN DN or ER The instruction is done DN BOOL An error happened ER BOOL Identify the error number listed in the error code field of the Motion control tag then see Error Codes ERR for Coordinate Motion Instructions on page 261 You can give the instruction the X1 X2 and X3 positions and get the corresponding J1 J2 and J3 angles Or you can give the instruction the J1 J2 and J3 angles and get the corresponding X1 X2 and X3 positions The MCTP instruction is similar to the MCT instruction except the MCTP instruction does not start a transform It calculates a position once each time
275. ove during But the axes have to decelerate deceleration A before they get there A V V 1 2 3 4 4 1 2 3 4 t The length of each move determines its maximum speed As a result the axes do not The axes accelerate to the speed that you want You must calculate the starting speed for reach a speed that causes them to overshoot the target position during deceleration each move the deceleration half of the profile Rockwell Automation Publication MOTION UM002D EN P February 2015 47 Chapter 2 Cartesian Coordinate System If the Next Move is Slower Faster MCLM and MCCM Examples 48 Blending Moves at Different Speeds You can blend MCLM and MCCM instructions where the vector speed of the second instruction is different from the vector speed of the first instruction And the Termination Type of the First Move is 2 Command Tolerance 3 No Decel 4 Contour Velocity Constrained 5 Contour Velocity Unconstrained 6 Command Tolerance Programmed 2 Command Tolerance 3 No Decel 6 Command Tolerance Programmed 4 Contour Velocity Constrained 5 Contour Velocity Unconstrained Then Vector Target position of first speed move Target position of first move Vector speed Target position of first move Vector Speed Refer to Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCSR on page 109
276. ove to finish For non zero Event Distances the overshoot distance is not included A status bit CalculatedDataAvailable in the existing motion instruction status word has been defined to indicate that all of the requested data for the specified Event Distance array elements has been returned in the corresponding Calculated Data array elements Only one status bit is used to indicate all Calculated Data is available Rockwell Automation Publication MOTION UM002D EN P February 2015 Valid and Default Values Default 0 no Calculated Data array or a REAL array tag 247 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 67 Output Parameter Output Parameter Calculated Data continued 248 Data Type REAL ARRAY or 0 Description Once set this bit can later be cleared based on a number of different conditions including but not limited to an MAS MCS being executed Note that Calculated Data is only set once in the instruction queue or planning process It is not updated as the move occurs to reflect distance to go It is updated for a change dynamics however For coordinated moves the CalculatedDataAvailable status bit is set when the Calculated Data is available In general for a blending termination type TT2 3 6 or follow contour termination type TT4 5 you do not see CalculatedDataAvailable for move N until move N 1 is put in
277. per MasterUnit 6 96 of Time Master Driven 7 Master Units Use these values to get started Accel Jerk 100 96 of Time e Decel Jerk 100 96 of Time Jerk Units 2 If you want to convert engineering units to 96 of Time or convert 96 of Time to engineering units use the equations shown beginning on page page 125 SINT INT or DINT immediate or tag 0 Actual Tolerance 1 No Settle 2 Command Tolerance 3 No Decel 4 Follow Contour Velocity Constrained 5 Follow Contour Velocity Unconstrained 6 Command Tolerance Programmed See Blended Moves and Termination Types on page 34 Merge SINT INT or DINT immediate 0 Disabled 1 Coordinated Motion 2 All Motion Refer to Merge on page 172 Merge Speed SINT INT or DINT immediate The Merge Speed operand defines whether the current speed or the programmed speed is used as the maximum speed along the path of the coordinated move when Merge is enabled Current speed is the vector sum of all motion for example jogs MAMS and geared motion for all axes defined in the current coordinate system 0 Programmed 1 Current 140 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Table 26 MCCM Instruction Operands Relay Ladder Operand Type Format Description Command Tolerance REAL im
278. ppendix A provides detailed information about the coordinated motion instructions Refer to the Additional Resources for information configuration and startup of Sercos and analog motion or Integrated Motion on EtherNet IP networks The Studio 5000 Automation Engineering amp Design Environment combines engineering and design elements into a common environment The first element is the Studio 5000 Logix Designer application The Logix Designer application is the rebranding of RSLogix 5000 software and will continue to be the product to program Logix5000 controllers for discrete process batch motion safety and drive based solutions r Rockwell Software Studio 5000 8 Create Open Explore New Project From Import From Sample Project From Upload About Existing Project Help Release Notes Sample Project Recent Projects di Seri Test inteceates_Motion_Co B Aunus 2012 The Studio 5000 environment is the foundation for the future of Rockwell Automation engineering design tools and capabilities The Studio 5000 environment is the one place for design engineers to develop all of the elements of their control system Rockwell Automation Publication MOTION UM002D EN P February 2015 11 Preface Where to Find Sample Projects Use the Logix Designer application Start Page Alt F9 to find the sample projects Quick Start Help c p Contents Instructiuni Help Release No
279. ptions Use the parameter descriptions below to help you configure your new tag Parameter Connection Description Name Type 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 Type a description of the tag This is an optional field and is used for annotating the tag Type Use the drop down menu to select what type of tag to create For a coordinate system the only valid choices are Base and Alias Selecting either Produced or Consumed generates an error when the OK button is pressed Base refers to a normal tag selected by default Alias refers to a tag that references another tag with the same definition Special parameters appear on the New Tag dialog box that lets you to identify to which base tag the alias refers Alias For If you selected Alias as the tag Type enter the name of the associated Base Tag Data Type The Data Type field defines the size and layout of memory that is allocated when the tag is created Select COORDINATE_SYSTEM Scope Choose the Scope for the tag The scope defines the range at which tags and routines can be created A Coordinate System Tag can only be configured at the Controller Scope External Access Choose whether the tag has Read Write Read Only or no None access from external applications such as HMIs Style Constant 18 The Style parameter is not activated No entry for t
280. r death Wear proper Personal Protective Equipment PPE Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment PPE Allen Bradley CompactLogix ControlLogix Logix5000 RSLogix 5000 SoftLogix Studio 5000 Logix Designer and Rockwell Automation trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies New and Updated Information Summary of Changes This manual contains new and updated information Changes throughout this revision are marked by change bars as shown to the right of this paragraph This table contains the changes made to this revision Topic Page This manual has been reorganized since the last revision Content from Chapter 3 Cartesian Coordinate System Examples has been integrated into Appendix A which describes all ofthe instructions in detail Information from chapters 10 11 12 and Appendix B has been consolidated into earlier chapters but no information was deleted Updated the New Tag Dialog Box graphic 16 Added a list of termination types in Blended Moves and Termination Types 34 Updated the restriction on MCT and MCTP instructions to list only SoftLogix controllers 109 Updated field descriptions in Operands Relay Ladder table as marked 111 Updated field descriptions in MCCM Instruction Operands Relay Ladder table as marked 138 Updated field
281. r motion Instructions MCLM MCCM 7 MCLM and MCCM when MDCC Is Active Table 64 MCLM and MCCM Motion Instruction Bits Bit Name Meaning EN The Enable bit is set when the rung transitions from false to true and resets when the rung goes from true to false DN The Done bit sets when the coordinated instruction has been verified and queued successfully Because it is set at the time it is queued it can appear as set when a runtime error is encountered during the verify operation after it comes out of the queue It resets when the rung transitions from false to true ER The Error bit is reset when the rung transitions from false to true It is set when the coordinated move has not successfully initiated It is also set with the Done Bit when a queued instruction encounters a runtime error PC The Process Complete bit is reset when the rung transitions from false to true It is set when there is no succeeding move and the coordinated move reaches the new position or when there is a succeeding move and the coordinated move reaches the specified termination type 234 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 64 MCLM and MCCM Motion Instruction Bits IP The In Process bit is set when the coordinated move is successfully initiated It is reset when thereis no succeeding move and t
282. r tag Select the Move Type 0 Absolute 1 Incremental Refer to Move Type on page 116 Position REAL Array tag A one dimensional array whose dimension is defined to be at least the equivalent of the number of axes specified in the coordinate system The Position array defines either the new absolute or incremental position coordination units Speed SINT INT DINT or REAL Immediate or tag The Speed operand defines the maximum vector speed along the path of the coordinated move coordination units Speed Units SINT INT or DINT Immediate The Speed Units operand defines the units applied to the Speed operand either directly in coordination units of the specified coordinate system or as a percentage of the maximum values defined in the coordinate system 0 Units per Sec 96 of Maximum 4 Units per MasterUnit 7 Master Units Rockwell Automation Publication MOTION UM002D EN P February 2015 111 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 14 Operands Relay Ladder Operand Type Format Description Accel Rate SINT INT DINT or REAL Immediate or tag The Accel Rate operand defines the maximum acceleration along the path of the coordinated move coordination units Accel Units SINT INT or DINT Immediate The Accel Units operand defines the units applied to the Accel Rate operand either directly in coordination uni
283. r the operand value in structured text multiple word enumerations must be entered without spaces For example when entering Decel Units the value is entered as unitspersec rather than Units per Sec as displayed in the ladder logic Use the entries in this table as a guide when entering structured text operands Table 27 Entries for Structured Text Operands This Operand Has These Options That You Enter as Text Oras Coordinate System No enumeration Tag Motion Control No enumeration Tag Move Type No enumeration Tag 0 Absolute 1 Incremental Position No enumeration Array tag Circle Type No enumeration Tag 0 Via 1 Center 2 Radius 3 Center Incremental Via Center Radius No enumeration array tag via center Immediate or tag radius Rockwell Automation Publication MOTION UM002D EN P February 2015 141 AppendixA Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC 142 Table 27 Entries for Structured Text Operands This Operand Has These Options That You Enter as Text Oras Direction No enumeration 2D 3D 0 Clockwise Shortest 1 Counter Longest clockwise 2 Clockwise full Shortest full 3 Counter Longest full clockwise full Speed No enumeration Immediate or tag Speed Units Unitspersec 0 ofmaximum 1 seconds 3 unitspermasterunit 4 masterunits 7 Accel Rate No enumeration Immediate or tag Accel Un
284. r values for your robot including Linklengths e Base offset End effector offset The configuration information is available from the robot manufacturer IMPORTANT Verify that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog by using the same measurement units Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Link Lengths Links are the rigid mechanical bodies attached at joints The SCARA Delta robot has two link pairs each with the same lengths The link attached to each actuated joint 1 and J2 is L1 The parallel bar assembly attached to link L1 is link L2 Base Offset There is one base offset X1b available for the SCARA Delta robot geometry Enter the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints The base offset value is always a positive number End effector Offset There is one end effector offset X1e available for the SCARA Delta robot geometry Enter the value for the distance from the center of the moving plate to one of the spherical joints of the parallel arms The end effector value is always a positive number Figure 32 SCARA Delta End effector and Base Offset Coordinate System Properties Delta General Geometry Units Offsets Joints Tag Type SCARA Delta Top View Transform Dimension 2 E
285. re reported in the MCT instruction error codes Singularity and other movement error conditions are also reported in the MCT error codes computingan invalid position via an MCTP instruction See Error Codes ERR for Coordinate Motion Instructions on page 261 for more information regarding error codes 90 Rockwell Automation Publication MOTION UM002D EN P February 2015 Articulated Independent Robot Chapter 4 Monitor Status Bits for Kinematics You can monitor the status of the Kinematics functions by using Logix Designer application status bits To see if Check this tag And this bit For coordinate system is the source Coordinate system TransformSourceStatus On of an active transform A coordinate system is the target Coordinate system TransformTargetStatus On of an active transform An axis is part of an active Axis TransformStateStatus On transform An axis is moving because of a Axis ControlledByTransformStatus On transform Rockwell Automation Publication MOTION UM002D EN P February 2015 91 Chapter 4 Articulated Independent Robot Notes 92 Rockwell Automation Publication MOTION UM002D EN P February 2015 Chapter 5 Articulated Dependent Robot Topic Page Reference Frame 93 Methods to Establish a Reference Frame 96 Work Envelope 98 Configuration Parameters 99 The Articulated Dependent robot has motors for the elbow and the shoulder at the base of the robot The dep
286. riven Modes for Coordinated Motion Instructions Added Input and Output Parameters Structure for Coordinate System Motion Instructions Added Speed Acceleration Deceleration and Jerk Enumerations for Coordinated Motion Updated Error Codes for Motion Instructions MOTION UM002A EN P Initial Release January 2010 270 Rockwell Automation Publication MOTION UM001B EN P November 2011 Arm Solution definition of configuring 83 Articulated Dependent base offsets 100 define configuration parameters 99 end effector offsets 101 establish the reference frame 93 establish the reference frame alternate methods 96 identify the work envelope 98 link lengths 99 Articulated Independent base offsets 63 configuration parameters 61 end effector offsets 64 establish reference frame 55 61 establish reference frame methods 57 identify the work envelope 59 link lengths 61 axis inhibit 49 55 C Cartesian Gantry configuration parameters 104 establish reference frame 103 identify the work envelope 104 Cartesian H bot configuration parameters 107 establish reference frame 106 identify the work envelope 106 Changing Between Master Driven and Time Driven Modes for Coordinated Motion Instructions 238 Changing the Master Axis 239 Collinear Moves velocity profiles termination types 43 Common Action Table for Master Axis 233 Configure 65 67 Coordinate System Attributes Accel Status 255 Actual Pos Tolerance Status 255 Actua
287. rotates around X3 When the robot is moved so that Link is parallel to the X3 axis Link2 is parallel to X1 axis as shown in Articulated Independent 3 on page 57 the Logix Designer application Actual Position tag values are equal to JI 0 e 22907 e J3 90 If the Logix Designer application Positions tags do not correspond to these values configure the Zero Angle Orientation for the joint or joints that do not correspond If the Logix Designer application read out Set the Zero Angle Orientations on the Coordinate values are System Properties dialog to N 10 11 10 12 80 12 10 13 85 132 5 The Joint to Cartesian reference frame relationship is automatically established by the ControlLogix controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled Figure 12 Setting the Zero Angle Orientations Coordinate System Properties Arliculaled_Independent ff General Geomety Unite Jomte tag Auliculated Independent Transform Dimension 3 Link Lengths ut L2 100 Zem Angle Orientations z 100 Deyiees 22 hoo Degrees Set the Zero Angle Orientations 5n Degrees m JL oe 58 Rockwell Automation Publication MOTION UM002D EN P February 2015 Work Envelope Articulated Independent Robot Chapter 4 Method 2 Establishing a Reference Frame Position the robot so that e Linkl is para
288. rs The same is true if the target side is moving and you attempt to execute a motion instruction on source axis With FW revision 24 012 and later when executing an Merge All instruction users can now blend smoothly from a continuous path linear move to a point to point move or vice versa without waiting for the first move to complete avoiding Error 63 Example Start the transform before you start gearing or camming Expect bi directional motion between the source and target coordinate systems Use an MCS instruction to cancel the transform A transform is bi directional Source Coordinate Target Coordinate System _ ao System Transform When you start the transform the position of the source coordinate system changes to match the corresponding position of the target coordinate system After that if you move either system the other system moves in response The controller continues to control the axes even if you stop scanning the MCT instruction or its rung goes false Use a Motion Coordinated Stop MCS instruction to stop the motion in the coordinate system cancel the transform or both Execute the MCT instruction again if you change the orientation or translation If you want to change orientation or translation values after the transform is running T Motion Coordinated Transform Source System Cartesian Target System Articulated amp r
289. s 2 Jerk Units SINT INT or DINT Immediate The jerk units define the units that are applied to the values entered in the Accel Jerk and Decel Jerk operands 0 Units per se 12 96 of Maximum 2 96 of Time use this value to get started 4 Units per MasterUnit3 6 96 of Time Master Driven Refer to Convert Jerk Units on page 125 Scope SINT INT or DINT Immediate Choosing Active Motion for the Scope operand specifies that the changes affect only the motion dynamics ofthe active coordinated motion instruction Choosing Active and Pending Motion specifies that the changes affect the motion dynamics of the active coordinated motion instruction and any pending coordinated motion instruction in the queue Currently the queue Size is limited to one instruction after the active instruction 188 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A MCCD CoordinateSystem MotionControl MotionType ChangeSpeed Speed SpeedUnits ChangeAccel AccelRate AccelUnits ChangeDecel Structured Text The operands are the same as those for the relay ladder MCCD instruction DecelRate DecelUnits ChangeAccelJerk AccelJerk Change DecelJerk DecelJerk JerkUnits When entering enumerations for the operand value in structured text multiple Scope word enumerations must be entered without spaces
290. s MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Table 67 Output Parameter MCLM1 TTO MCLM2 TTO Velocity MCLM2 TTO CD Calculated Data CD2 1 Calculated Data 1 for Move 2 ED Event Distance ED2 3 Event Distance 3 for Move 2 TT Termination Type CD2 1 is how far the master has to move when the slave reaches position ED2 1 Note As shown above the Event Distance is Move length and is therefore internally set equal to the move length The Calculated Data for the move length is therefore returned No error is forced 246 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 67 Output Parameter Output Parameter Calculated Data continued Data Type REAL ARRAY or 0 Description Mode Returned Calculated Data Parameter Time Driven The returned data in the Calculated Data parameter is the total time in seconds that is needed to make the Slave Coordinate System move from the move s start point to a point where distance to go is less than the specified Event Distance If the specified data in the Event Distance is array element is 0 0 then the time it takes the entire move to complete is returned The Logix Designer application Motion Planner processes and calculates output data and places the result in the Calculated Data array as supplied in the instruction T
291. s a positive number 0 7 it s referring to the offending axis in the coordinate system 1 Go to the Coordinate System Properties General Tab and look under the Brackets column of the Axis Grid to determine which axis has a Maximum Deceleration value of 0 2 Click the ellipsis next to the offending axis to access the Axis Properties screen 3 Go to the Dynamics tab and make the appropriate change to the Maximum Deceleration Value If the Extended Error number is 1 this means the Coordinate System has a Maximum Deceleration Value of 0 4 Go to the Coordinate System Properties Dynamics Tab to correct the Maximum Deceleration value MCLM Changes to Status Bits Status bits provide a means for monitoring the progress of the motion instruction There are three types of Status bits that provide pertinent information e Axis Status bits e Coordinate System Status bits Coordinate Motion Status bits When the MCLM instruction initiates the status bits undergo the following changes Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 23 Axis Status Bits Bit Name Meaning CoordinatedMotionStatus Sets when the instruction starts Clears when the instruction ends Table 24 Coordinate System Status Bits Bit Name Meaning MotionStatus Sets when the MCLM instru
292. s eos epa eme ens Pa snap UU 110 Motion Control Bits raso oe toi Md at Seep SU 115 Move dI ry e SCR 116 Velocity ee uy 122 Conver et Units century ede radi eder 125 otro dta et E eet Se tid allel dea Ei ee 126 Coordinated Motion Merge Example 126 Programming Guidelines for Zero Length Moves 130 Rockwell Automation Publication MOTION UM002D EN P February 2015 7 Table of Contents MCLM Target Position Entry amp Arithmetic Status Flags cult iubes veces NOMA et veu ipea Fault Conditions 52 9 eer to ek e ERREUR Lo sso PERO CI qa tabes idea eet Louotcp to a atia MCLM Changes to Status Bits 202 pore uo Rete eae Motion Coordinated Circular Move Operands 252 aso dd Re ended apnd AD a bee Motion Control Biss od est stude reste re EU ade MOVE TDCi n Blatt tates Ce Vy s Nu iUe ea T in Via Center Duis reco t welt at le ee srk Two Dimensional Arc and Circle Examples MCCM with Rotary Axes 1 Three dimensional Arc Examples bre pr Exe AES Calculate Jerk eo troi ta rrr OE Na S RUNS MCCM Target Position Entry Dialog Arithmetic Status Flags qu soe ues oet redd ete tras ae Fault Conditions aes
293. s is where you can specify the link lengths and zero angle orientation values for articulated robotic arms i Coordinate System Properties source General Geometry Units Offsets Joints Tag Type Articulated Dependent Transform Dimension 3 Link Lengths Lt L2 00 Zero Angle Orientations zi 00 Degrees 22 00 Degrees 23 00 Degrees The graphic displayed on this tab shows a typical representation of the type of coordinate system you selected on the General tab Your robot typically looks similar to the one shown in the graphic but can be somewhat different depending on your application Link Lengths Box The Link Length box displays fields to let you specify a value for the length of each link in an articulated robotic arm coordinate system The measurement units for the articulated coordinate system are defined by the measurement units configured for the affiliated Cartesian coordinate system The two coordinate systems are linked or affiliated with each other by an MCT instruction When specifying the link length values be sure that the values are calculated by using the same measurement units as the linked Cartesian coordinate system For example if the manufacturer specifies the robot link lengths by using millimeter units and you want to configure the robot by using inches then you must convert the millimeter link measurements to inches and enter the values in the appropriate link length
294. s of rotation into the array Put the degrees of rotation around X1 in the first element of the array and so on Use an array of three REALs even if a coordinate system has only one or two axes Translation REAL 3 Array Do you want to offset the target position along the X1 X2 or X3 axis If Then No Leave the array values at zero Yes Enter the offset distances into the array Enter the offset distances in coordination MCT Source System Target System Motion Control Orientation Translation 206 units Put the offset distance for X1 in the first element of the array and so on Use an array of three REALs even if a coordinate system has only one or two axes Structured Text The structured text operands are the same as the ladder diagram operands Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Motion Control Bits Table 50 MCT Bit Types and Descriptions To see if Check if this bit is on Data type Notes The rung is true EN BOOL Sometimes the EN bit stays on even ifthe rung goes false This happens if the rung goes false before the instruction is done or an error has occurred Rung o EN o Ooo DN or ER m The instruction is done DN BOOL The transform process keeps running after the instruction is done An error happened ER BOOL Identi
295. s or when vector move is at speed or decelerating DecelStatus Sets when vector is decelerating Clears when a blend is in process or when vector move is accelerating or when move completes ActualPosToleranceStatus Sets for Actual Tolerance termination type only The bit is set after the following two conditions have been met 1 Interpolation is complete 2 The actual distance to the programmed endpoint is less than the configured coordinate system s Actual Tolerance value It remains set after the instruction completes It is reset when a new instruction is started CommandPosToleranceStatus Sets for all termination types whenever the distance to the programmed endpoint is less than the configured coordinate system s Command Tolerance value and remains set after the instruction completes It is reset when a new instruction is started CommandPosToleranceStatus CS CMD POS TOL 575 status bit in the Coordinate System is set as follows TTO TT1 TT4 TTS Bit is set when the distance to the endpoint is less than the Command Tolerance value The bit is cleared when the first move is complete TT2 TT6 Bit is set when the distance to the endpoint is less than the Command Tolerance value The bit is cleared when the blend is started that is when the second move is started Thus if the blend is started at the Command Tolerance CT point the bit is not shown If the next move is a short move or for time mat
296. s started with a nonzero velocity This means that a move using the merge enabled parameter in an instruction causes an error for most cases because merge is typically used when the axes are moving 130 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Anerror occurs if speed is programmed in units of seconds and acceleration deceleration or jerk is not programmed in seconds or of Time for jerk MCLM Target Position Entry Dialog The Target Position Entry Dialog for the MCLM instruction provides an easy format for editing Position To gain access to the Target Position Entry dialog box You must have inserted the name of the coordinated system into the instruction e You must have a valid tag name entered in the position field with sufficient elements to handle the number of axes and You must have selected a valid Move Type To access the MCLM Instruction Target Position Entry Dialog box press the ellipsis after the Position line on the instruction faceplate Figure 62 MCLM Ladder Valid Values for Accessing Target Position Entry Box CLM Motion Coordinated Linear Move Coordinate System Coordinated sys Motion Control MCLM B Move Type Coordinate System Move Type Position Array Position move position I E Click ellipsis to access MCLM Target Position Entry b Sp
297. s than or equal to the Actual Position Tolerance of the coordinate system At that point the instruction is complete and a queued or MCCM instruction can start Important Make sure that you set the Actual Tolerance to a value that your axes can reach Otherwise the instruction stays in process 1 No Settle Move 1 Move2 2 6 Command Tolerance 0 00 1 00 2 00 3 00 4 00 5 00 600 7 00 The instruction stays active until the command position equals the target position At that point the instruction is complete and a queued MCLM or MCCM instruction can start The instruction stays active until the command position gets within the Command 0 00 1 00 2 00 3 00 4 00 5 00 600 7 00 Tolerance of the coordinate system At that point the instruction is complete and a queued MCLM or MCCM instruction can start If you don t have a queued MCLM or MCCM instruction the axes stop at the target position Logix Designer Application Compares Tothe And Uses the For the 100 of the configured length of the first instruction by using a Command Tolerance termination type 100 of the configured length of the last move Configured Command Tolerance for the coordinate system Configured Command Tolerance for Shorter of the two lengths Command Tolerance length used for the first instruction Shorter of the two lengths Command Tolerance length used for the next to l
298. se to the deceleration point An S Curve velocity profile can overshoot if either e maximum deceleration is decreased while the move is decelerating or close to the deceleration point e maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in 96 of time Operands The MCS instruction supports the following operands e Relay Ladder Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Structur Relay Ladder ed Text Coordinate Sy Motion Control Stop Type Change Decel Decel Rate Decel Units CS Motion Coordinated Stop EN stem DN ER P Jerk PCS Change Decel Decel Jerk Jerk Units Table 39 MCS Instruction Operands Relay Ladder Operand Type Format Description Coordinate System COORDINATE_SYSTEM Tag The Coordinate System operand specifies the set of motion axes that define the dimensions of a coordinate system The coordinate system supports up to three primary axes Motion control MOTION_ Tag Control tag for the instruction INSTRUCTION Stop Type DINT Immediate If you want to Choose this Stop Type Stop all motion for the axes of the coordinate system All 0 For each axis all motion and stop any transform that the coordinate systemis generators includ
299. sed in a Kinematics transform and having special properties When connected to a source system by means of Tool Center Point a Kinematics transform motion commanded at the target system s inputs produces motion in both the source and target systems outputs if the physical axes are connected All Kinematics programmed position motion is based on the Tool Center Point TCP To determine the TCP you must enter information on these Logix Designer application tabs Geometry Enter values for Link Length linear displacement Zero Angle Orientation angular rotation and Base Offsets These values in combination with the selected Geometry type defines the resulting Geometry s end of arm position Offsets Enter value for End effector offset these are included when establishing the final TCP position Transform General term for conversion equations that map values in one coordinate space to values in another coordinate space Translation Robotic term for a linear movement or offset in Cartesian three dimensional space Translation describes the distance between two Cartesian points Zero Angle Offset Offset on a rotary axis in the Joint Coordinate system between where the Kinematics equations were derived and where you want your zero position to be Gather Information about Your Before you begin the configuration steps for the Kinematics transformation Robot 50 function you need to gather specific information abou
300. sets End effector offsets 6 Create the source and target coordinate systems Typical Cartesian Coordinate System Configuration for Articulated Independent Typical Joint Coordinate System Configuration for an Articulated Independent robot robot Coordinate System Proveties cst_Sowce Cortesion Lo iz General Geometry Units Offsets Dynamics Toa General Geumety Units Offsets Juris Tay Motion Group al Dimension 0 Hn sede J4 Joint a ED IP SES 1 42 axis 2 Jnint2 2 9 je Ed IIT NEGET 2 mis Xin Idi acsi Tag Update IV Enable Coordinate System Auto Tag Update Ems cae Lo cw m 7 Save the project Rockwell Automation Publication MOTION UM002D EN P February 2015 51 Chapter 3 Kinematics Coordinate Systems 8 Download the Kinematic project to the controller and then use the MCT instruction to link the Joint coordinate system to the Cartesian coordinate system The Joint to Cartesian reference frame relationship is automatically established by the controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled For additional information about the MCT or MCTP instructions see the Logix5000 Controllers Motion Instructions publication MOTION RM002 For d
301. siDegrees J2 axis 10 111 Position Units Degrees J3 axis 1 0 711 Position Units Degrees If you are configuring a Cartesian coordinate system go to the Dynamics tab to access the Coordinate System Properties Dynamics dialog box Rockwell Automation Publication MOTION UM002D EN P February 2015 27 Chapter 1 Create and Configure a Coordinate System Dynamics Tab The Dynamics dialog box is accessible only if you are configuring a Cartesian coordinate system The Dynamics tab is for entering the Vector values used for Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk and Maximum Deceleration Jerk It is also used for entering the Actual and Command Position Tolerance values Coordinate System Properties My coordinate system General Geomety Units Vector Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Accel Jerk Maximum Decel Jerk Position Tolerance Actual Command Vector Box Offsets Dynamics Tag 0 0 nn UU 0 0 0 0 0 0 0 0 Coordination Units s Coordination Unite s 2 Coordination Units s 2 Coordination Units s 3 lt 1 of Max Accel Time i Courdinalion Urils s 3 lt 1 of Devel Time Coordination Units Coordination Units In the Vector box values are entered for Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk and Maximum Deceleration Jerk The values are used by the Coord
302. ssignment of a coordinate system to a Motion Group e Choose the type of coordinate system you are configuring Change the number of dimensions that is the number of axes Specify the number of axes to transform Assign axes to the coordinate system tag Enable Disable automatic updating of the tag Logix Designer application supports only one Motion Group tag per controller Table 3 General Tab Field Descriptions Item Motion Group Description Motion Group is where you can select and display the Motion Group to which the Coordinate System is associated A Coordinate System assigned to a Motion Group appears in the Motion Groups branch ofthe Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the coordinate system to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis Ellipsis 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 is unavailable New Group New Group opens the New Tag dialog box where you can create a new Motion Group tag This is enabled only if no Motion Group tag has been created Type Type selects and displays the type of coordinate system robot type in the Motion Group Available choices are Cartesian Articulated Dependent Articulat
303. status word when the Slave Coordinate System starts tracking the new Master Axis again The Slave Coordinate System is stopped The Tracking Master is cleared as soon as the stop is initiated the Slave Coordinate System This bit is never set when LockDir NONE Note that the Tracking Master bit on the Slave Coordinate System is not affected by any operation for example MCS MCCD on the Master Axis The Tracking Master bit is always cleared in Time Driven Mode Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 64 MCLM and MCCM Motion Instruction Bits CalculatedDataAvailable Indicates that the requested data has been returned in the Calculated Data array element and that Logix Designer application has updated the output data in the Calculated Data parameter Only one status bit is used to indicate all Calculated Data is available For the CalculatedDataAvailabe status bit the moves in the motion queue are processed in batches The first batch in the motion queue includes all moves in the queue up to and including the first move with a term type TTO or TT1 or a move with a speed of 0 For moves in either Time Driven mode or Mater Driven mode the CalculatedDataAvailable bit is set when or MCCM is enqueued and belongs to the first batch in the queue There are two exceptions Moves wi
304. system and the combination of primary axes that are commanded to move Each axis is commanded to move at a speed that lets all axes reach the programmed endpoint target position at the same time Operands The MCLM instruction supports the following operands Relay Ladder Structured Text Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR MDCC Appendix A Relay Ladder CLM Motion Coordinated Linear Move Coordinate System Motion Control Move Type Position Speed Speed Units Accel Rate Accel Units Decel Rate 2 Decel Units Profile Accel Jerk Decel Jerk Jerk Units Termination Type Merge Merge Speed Command Tolerance Lock Position T Lock Direction Event Distance Calculated Data Table 14 Operands Relay Ladder Operand Type Format Description Coordinate System COORDINATE SYSTEM Tag The Coordinate System operand specifies the set of motion axes that define the dimensions of a Cartesian coordinate system The coordinate system supports up to three primary axes Only those axes configured as primary axes are included in the coordinate velocity calculations Motion Control MOTION Tag Structure used to access instruction status parameters Refer to Motion Control Bits on page 115 INSTRUCTION Move Type SINT INT or DINT Immediate o
305. t Robot the value for X3e offset is entered as the sum of X3e14 X3e2 3 1 5 1 5 The configured value for X3e is 1 5 Figure 16 Example of End effectors for an Articulated Independent Robot Coordinate System Properties Articulated Independent General Geometty Units Offsets Joints Tag Mle 20 X2e 00 X3e 1 5 Side View Base Offsets 30 00 X3b 40 Logix Designer application supports three types of geometries that are often called parallel manipulators e Three dimensional Delta Two dimensional Delta SCARA Delta In these geometries the number of joints is greater than the degrees of freedom and not all the joints are actuated motor driven These un actuated joints are typically spherical joints Rockwell Automation Publication MOTION UM002D EN P February 2015 Configure a Delta Three dimensional Robot Articulated Independent Robot Chapter 4 This illustration shows a four axes Delta robot that moves in three dimensional Cartesian X1 X2 X3 space This type of robot is often called a spider or umbrella robot Figure 17 Delta Three dimensional Robot Baseplate Actuator for axis 4 Meat AS S Forearm assembly nm Actuators for axes 1 3 a Gripper 5 The Delta robot in this illustration is a three degree of freedom robot with an optional fourth degree of freedom used to rotate a part at the tool tip In
306. t always enter a value for the Decel Jerk operand This instruction only uses the value if the Profile is configured as S Curve Use these values to get started DecelJerk 100 96 of Time Jerk Units 2 Jerk Units Unitspersec ofmaximum oftime unitspermasterunit oftime masterdriven 0 1 use this value to get started Scope 190 No enumeration 0 Active Motion 1 Active and Pending Motion Executing the Instruction MCCD isa transitional instruction In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition Motion Control Bits The following control bits are affected by the MCCD instruction Mnemonic Description EN Enable Bit 31 The Enable bit is set when the rung transitions from false to true It resets when the rung transitions from true to false DN Done Bit 29 Error Bit 28 The Done bit resets when the rung transitions from false to true It sets when target position is calculated successfully The Error bit resets when the rung transitions from false to true It sets when target position fails to calculate successfully Motion Type The motion type operand determines which motion profile to change Coordinated Move is the only available option When selected the Coordinated Mo
307. t sets when the coordinated move fails to initiate successfully It can also be set with the Done bit when a queued instruction encounters a runtime error IP In Process Bit 26 The In Process bit sets when the coordinated move is successfully initiated It resets when thereisa succeeding move and the coordinated move reaches the new position or e there is no succeeding move and the coordinated move reaches the termination type specifications or the coordinated move is superseded by another MCCM or instruction with a Merge Type of Coordinated Move or e terminated by an MCS or an MCSD instruction AC Active Bit 23 When you have a coordinated move instruction queued the Active bit lets you know which instruction is controlling the motion It sets when the coordinated move becomes active It is reset when the Process Complete bit is set or when the instruction is stopped PC Process Complete Bit 27 The Process Complete bit resets when the rung transitions from false to true It sets when there is no succeeding move and the coordinated move reaches the new position or e there is a succeeding move and the coordinated move reaches the termination type specification ACCEL Acceleration Bit 01 The Acceleration bit sets while the coordinated move is in acceleration phase It resets while the coordinated move is in the constant velocity or deceleration phase or e when coordinated motion c
308. t your robot and application parameters Specifications for your robot can be found in the documentation provided by the manufacturer other required information is application dependent You need to know this information before you begin configuring motion control Robot geometry type Zero angle orientation e Work envelope Link lengths Base offsets End effector offsets Arm solution Rockwell Automation Publication MOTION UM002D EN P February 2015 Kinematics Coordinate Systems Chapter 3 Summary of Kinematic Steps After you create a Joint target coordinate system tag for your Motion control project there are general steps to follow for Kinematics 1 Determine and then configure the type of coordinate system you need for your robot For help in determining your coordinate system type see page 52 2 Establish the Joint to Cartesian reference frame relationship For more information regarding the joint to Cartesian reference frame see the section about the type of robot you are using WARNING The correct relationship between the Joint reference frame and the Cartesian reference frame must be established Failure to do this can allow your robot to move to unexpected positions causing machine damage and or injury or death to personnel 3 Calibrate your robot if applicable Identify your robot work envelope 5 Determine and then configure the following parameters Linklengths Base off
309. tal respectively Rockwell Automation Publication MOTION UM002D EN P February 2015 17 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR 118 Figure 51 MCLM Ladder Instruction with Move Type of Absolute Motion Coordinated Linear Move EN 5 Coordinate System coordinate sys C Motion Control MCLM O DN2 Move Type is Absolute Move Type 0 yp ER2 Position move position Q axis 10 0 IP5 Position defined in absolute axis1 10 0 units Speed 10 AC Speed Units Units per sec PC5 Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Termination Type Merge Merge Speed Command Tolerance Lock Position Lock Direction Event Distance Calculated Data a CLM 5 Units per sec2 5 Units per sec2 Trapezoidal MyACCelJerk 00e 100 Units per sec3 D Disabled Current ct Motion Coordinated Linear Move Coordinate System Motion Control Move Type Position axisO axis Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Termination Type Merge Merge Speed Command Tolerance Lock Position Lock Direction Event Distance Calculated Data A A Rockwell Automation Publication MOTION UM002D EN P February 2015 coordinate_sys MCLM 1 1 move_position 2 5 0 15 0 10 Units p
310. ter radius position array defines a position along the circle For a non full circle case the Position parameter array defines the endpoint of the arc For a full circle case the Position parameter array defines any second point along the circle except the endpoint Incremental Via The sum of the via center radius position array and the old position defines the position along the circle For a non full circle case the sum of the Position parameter array and the old position defines the endpoint of the arc For a full circle case the sum of the Position parameter array and the old position defines any second point along the circle except the endpoint Absolute Center The via center radius position array defines the center of the circle For a non full circle case the Position parameter array defines the endpoint of the arc For a full circle case the Position parameter array defines any second point along the circle except the endpoint Incremental Center The sum of the via center radius position array and the old position defines the center of the circle For a non full circle case the sum of the Position parameter array and the old position defines the endpoint of the arc For a full circle case the sum of the Position parameter array and the old position defines any second point along the circle except the endpoint Rockwell Automation Publication MOTION UM002D EN P February 2015 145 AppendixA Motion Coordinated Instructions MCLM M
311. th a speed of 0 although belonging to the first batch do not have their CalculatedDataAvailable bit set Their CalculatedDataAvailable bit is set after their Speed is changed to nonzero with a MCCD Moves with a term type TT2 through TT6 do not have their CalculatedDataAvailable bit set if they are the last move in the queue CalculatedDataAvailable bit is cleared by e MAS all or MASD This clears the CalculatedDataAvailable bit of the active MAMs and all enqueued MCLM or MCCMs that contain the specified axis MCS coordinated This only clears the CalculatedDataAvailable bit for all enqueued MCLM or in the coordinate system being stopped MCS all or MCSD This clears the CalculatedDataAvailable bit of all active MAMs that contain any axes in the referenced coordinate system and all enqueued MCLM or MCCMs of the coordinate system being stopped MGS or MGSD is executed goes IP This clears the CalculatedDataAvailable bit of all active MAMs and all enqueued or MCCMs of the group being stopped or shutdown MCD or MCCD is executed goes IP The CalculatedDataAvailable bit is reset and is immediately set again or MCCM is executed goes IP with a merge enabled either Coordinated or Merge All The CalculatedDataAvailable bit of all enqueued MCLM or MCCMs are cleared MCLMs and MCCMs that are blending with the next coordinated motion instruction are still considered to be enqueued even if t
312. the Alternate Methods for Establishing the Joint to Cartesian reference frame relationship Methods to Establisha The following methods let you establish a reference frame for an Articulated Reference Frame Independent robot For each Use one of these methods to establish the reference frame Incremental axis Each time the robot s power is cycled Absolute axis Only when you establish absolute home Method 1 establishes a Zero Angle Orientation and lets the configured travel limits and home position on the joint axes remain operational Use this method if you are operating the axes between the travel limits determined prior to programming a Motion Redefine Position MRP instruction and want these travel limits to stay operational Method 2 uses a MRP instruction to redefine the axes position to align with the Joint reference frame This method can require the soft travel limits to be adjusted to the new reference frame Rockwell Automation Publication MOTION UM002D EN P February 2015 57 Chapter 4 Articulated Independent Robot Method 1 Establishing a Reference Frame Each axis for the robot has the mechanical hard stop in each of the positive and negative directions Manually move or press each axes of the robot against its associated mechanical hard stop and redefine it to the hard limit actual position provided by the robot manufacturer J1 is the axis at the base of the robot that
313. the robot shown in our example the p End Effector Offsets end effector values are Xe f20 e Xle 2 0 ie fo Qe 30 P do Base Offsets x2 pn ho Cancel Appl Help Rockwell Automation Publication MOTION UM002D EN P February 2015 101 Chapter 5 Articulated Dependent Robot Notes 102 Rockwell Automation Publication MOTION UM002D EN P February 2015 Chapter 6 Establish the Reference Frame for a Cartesian Gantry Robot Configure a Cartesian Gantry Robot Topic Page Establish the Reference Frame for a Cartesian Gantry Robot 103 Identify the Work Envelope for a Cartesian Gantry Robot 104 Define Configuration Parameters for a Cartesian Gantry Robot 104 Use these guidelines when configuring a Cartesian Gantry robot For a Cartesian Gantry robot the reference frame is an orthogonal set of X1 X2 and X3 axes positioned anywhere on the Cartesian robot All global coordinate measurements points are relative to this reference frame Typically the reference frame is aligned with the X1 X2 and X3 axes of the machine Figure 48 Cartesian Reference Frame Cartesian XYZ reference frame ore KY To establish a Local coordinate system with axes positions different from the reference frame use the Motion Redefine Position MRP instruction to reset the position register You can also use the Offset Vector in the MCT transform instruction to
314. 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 lag 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 Tag being set indicates that one of the associated axes has that fault Physical Axis Fault Module Fault Config Fault Axis Inhibit Status BOOL Tag If this bit is e ON axis in the coordinate system is inhibited OFF None of the axis in the coordinate system are inhibited Command Pos Tolerance Status BOOL Tag Use the Command Position Tolerance Status bit to determine when a coordinate 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 remains set after an instruction completes The bit is reset when a new instruction is started Command Position Tolerance REAL GSV Coordination Units SSV The Command Position Tolerance attribute value is a distance unit used when instructions for example MCLM and MCCM specify a Termination Type of Command Position 256 Rockwell Automation Publication MOTION UM002D EN P February 2015 Coordinate System Attributes Appendix B
315. tinues The MAM on Z continues Axes ABC stop due to canceling the transform MCS on 53 200 Coordinated Transform T1is canceled MCLM instruction on CS2 continues The MAM on Y continues The MAM on continues The MAM on Z continues Axes ABC stop due to canceling the transform Master Driven Speed Control MDSC and the MCS Instruction If an MCS is issued when in Master Driven Mode a switch is made to Time Driven Mode and the axes are stopped in Time Driven MCS resets the IP bit of the Master Driven Coordinate Control instruction Other stop types do not reset the IP bit The MCS All instruction clears the pending Master Axis for all future coordinated motion instructions However MCS ALL on the Master axis does not break the MDSC link The AC bit of the MDCC instruction is reset when the axis is stopped The instruction queue is cleared when an MCS All or MCS Coordinated is executed goes IP The status bit CalculatedData Available in an active motion instruction status word for an MCLM or MCCM instruction clears when an MCS is executed goes IP The CalculatedData is not recomputed Note that ifa stop is issued very close to the programmed endpoint the actual stop can be beyond the programmed endpoint especially if run in Master Driven Mode Arithmetic Status Flags Not affected Rockwell Automation Publication MOTION UM002D EN P Febr
316. tion B see the figure below At position the system is in a left arm solution Programming a Cartesian move from Xj Y to B means that the system moves along the straight line see the illustration from A to B while maintaining a left arm solution If you want to be at position B in a right arm solution you must make a joint move in J1 from 0 to 05 anda joint move in J2 from a to 0 Right Arm Left Arm Plan for Singularity A singularity occurs when an infinite number of joint positions mathematical solutions exist for a given Cartesian position The Cartesian position ofa singularity is dependent on the type of the robot geometry and the size of the link lengths for the robot Not all robot geometries have singularity positions For example singularities for an Articulated Independent robot occur when therobot manipulator folds its arm back onto itself and the Cartesian position is at the origin the robot is fully stretched at or very near the boundary of its workspace An error condition is generated when a singularity position is reached WARNING Avoid programming your robot towards a singularity position when programming in Cartesian mode The velocity of the robot increases very rapidly as it approaches a singularity position and can result in injury or death to personnel Rockwell Automation Publication MOTION UM002D EN P February 2015 85 Chapter 4 Articulated Independent Ro
317. tion in the coordinated motion queue is either trying to change the Master MDSC Invalid Mode or Master Change Axis or changing the mode from MDSC mode to Time Driven mode or from Time Driven mode to MDSC mode 106 Merge To Current Using Seconds Illegal You cannot use merge to current when dynamics is programmed in seconds You get an error if certain Motion Instructions overlap while Motion Stop Instructions are active In this case an instruction is actively stopping and a second instruction is initiated that overlaps the active instruction The table below lists some of the overlap instances that generate errors In this case Error 7 Shutdown State Error Error 61 ExErr 10 Connection Conflict Transform Axes Moving or Locked By Other Operation Error 78 Not Allowed While Stopping Table 76 Active Stopping Instruction MGS MGSD MCS MAS Initiated Second Stop Mode Stop Mode Stop Type Stop Type StopType All All Stop Types Stop Type All Instruction Fast Stop Fast Disable Programmed Coordinated Coordinated Except Stop Move Transform All MAAT Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MRAT Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 266 Rockwell Automation Publication MOTION UM002D EN P February 2015
318. tion provides you with examples and illustrations to help you understand the velocity profiles for collinear moves programmed with MCLM instructions Velocity Profiles for Collinear Moves with Termination Type 2 or 6 This illustration shows the velocity profile of two collinear moves by using a Command Tolerance 2 termination type The second MCLM instruction has a lower velocity than the first MCLM instruction When the first MCLM instruction reaches its Command Tolerance point the move is over and the PC bit is set Rockwell Automation Publication MOTION UM002D EN P February 2015 43 Chapter 2 Cartesian Coordinate System Figure 4 Velocity Profile of Two Collinear Moves When the Second Move has a Lower Velocity thanthe First Move and Termination Type 2 or 6 is Used The PC bit is set MCLM1 is over Command Tolerance Point Programmed endpoint of MCLM1 instruction Position This illustration show the velocity profile of two collinear moves by using a Command Tolerance 2 termination type The second MCLM instruction has a higher velocity than the first MCLM instruction When the first MCLM instruction reaches its Command Tolerance point the move is over and the PC bit is set Figure 5 Velocity Profile of Two Collinear Moves When the Second Move has a Higher Velocity thanthe First Move and Termination Type 2 or 6 is Used MCLM2 pM The PC bit is set MCLM1 is Over MCLM1 Programmed Endpoint of MCLM
319. tion 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 The numerator can be entered as a float or an integer The denominator must be entered only as an integer 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 dialog box and the coordination units are defined in Coordinated System Properties Units dialog box These values are dynamically updated when changes are made to either axis position units or coordination units Rockwell Automation Publication MOTION UM002D EN P February 2015 25 Chapter 1 26 Create and Configure a Coordinate System Offsets Tab The Offsets tab of the Coordinate System Properties dialog box is where you define the end effector and base offset values for the robotic arm This tab shows the top and or sides view of a typical robotic arm based on the type of coordinate system and coordinate Transform dimension values specified on the General tab The number of available offset fields in each box is determined by the number of axes associated with the coordinate system z Coordinate System Properties joint_coordinate_system General Geometry Units Offsets
320. truction are changed if you execute a succeeding MDCC instruction before a new MCLM or MCCM instruction is activated The MDCC becomes active AC bit is set only when all queued motion is complete and the motion queue is empty Rockwell Automation Publication MOTION UM002D EN P February 2015 229 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR All motion in the queue keeps using the same Master Axis even if there is a pending MDCC with a different master The values in the pending MDCC instruction are only used when the next MCLM or MCCM instruction is activated on the Slave Coordinate System when the queue is empty or an MCLM or MCCM is executed goes IP with a Merge type of Allor Coordinate Note that this is because the merge empties the queue Operands The MDCC instruction supports the following operands Relay Ladder Structured Text Relay Ladder MDCC Motion Master Driven Coordinated Control Slave System 9 Master Axis 3 Motion Control Master Reference Table 61 Operands Relay Ladder Operand Type Format Description Slave System COORDINATE SYSTEM Tag The Coordinate System that the Master Axis controls when the motion planner is in Master Driven mode Ellipsis launches the Coordinate System properties dialog Upon verification you receive a verification error if the Slave is a non Cartesian Coordinate System or if the Mast
321. ts Incompatible combinations of Time and Master Driven Mode An error occurs when you verify the routine Not Implemented Not Implemented Not Implemented New Enumeration Not Implemented New Enumeration 254 Rockwell Automation Publication MOTION UM002D EN P February 2015 Appendix B Coordinate System Attributes Use this appendix for information about the attributes used in a coordinate system How to Access Attributes The Access column shows how you can access the attribute 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 Data Type Actual Position Tolerance Config Fault Coordinate Motion Status 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 Status BOOL Tag Use the Act
322. ts 2 You can cause a coordinate system to overshoot its programmed speed if you decrease the acceleration jerk while the coordinate system is accelerating This change keeps to overshoot to no more than 5096 of the programmed speed Maximum Acceleration REAL GSV Coordination Units Sec SSV The Maximum Acceleration attribute value is used by motion instructions for example MCLM and 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 s for example MCLM and 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 are created as part of the Coordinate System 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 assoc
323. ts of the specified coordinate system or as a percentage of the maximum values defined in the coordinate system 0 Units per Sec 1 of Maximum 4 Units per MasterUnit 7 Master Units Decel Rate SINT INT DINT or REAL Immediate or tag The Decel Rate operand defines the maximum deceleration along the path of the coordinated move coordination units Decel Units SINT INT or DINT Immediate The Decel Units operand defines the units applied to the Decel Rate operand either directly in coordination units of the specified coordinate system or as a percentage of the maximum values defined in the coordinate system 0 Units per Sec 1 of Maximum 4 Units per MasterUnit 7 Master Units Profile SINT INT or DINT Immediate The Profile operand determines whether the coordinated move uses a trapezoidal or S Curve velocity profile 0 Trapezoidal 1 S Curve Refer to Velocity Profiles on page 122 Accel Jerk SINT INT DINT or REAL Immediate or tag You must always enter values for the Accel and Decel Jerk operands This instruction only uses the values if the Profile operand is configured as S Curve Decel Jerk SINT INT DINT or REAL Accel Jerk defines the maximum acceleration jerk for the programmed move For more Jerk Units SINT INT or DINT information on calculating Accel Jerk see the Jerk Units section below Decel Jerk defines the maximum deceleration jerk for the programmed move For more information on calculating Dec
324. ttribute of A instructions only once Re use of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury IMPORTANT You can use this instruction with the following controllers 1756 L6x controllers 1756 L7x controllers 1769 L18ERM controller 1769 L27ERM controller 1769 L30ERM controller 1769 L33ERM controller 1769 L36ERM controller Operands The MCT instruction supports the following operands Relay Ladder Structured Text Rockwell Automation Publication MOTION UM002D EN P February 2015 205 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Relay Ladder CT Motion Coordinated Transform Source System P DN5 Target System m ER2 Motion Control IP5 Orientation Translation Table 49 MCT Operand Descriptions Relay Ladder Operand Type Format Description Source System COORDINATE SYSTEM Tag System that you use to program the moves Typically this is the Cartesian coordinate system Target System COORDINATE SYSTEM Tag Non Cartesian coordinate system that controls the actual equipment Motion Control MOTION INSTRUCTION Tag Control tag for the instruction Orientation REAL 3 Array Do you want to rotate the target position around the X1 X2 or X3 axis If Then No Leave the array values at zero Yes Enter the degree
325. ual Pos Tolerance Status bit to determine when a coordinate move is 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 Actual Position REAL 8 Tag Array of actual position of each axis associated to this motion coordinate system in Coordinate Units Rockwell Automation Publication MOTION UM002D EN P February 2015 255 AppendixB Coordinate System Attributes Attribute Data Type Access Description Actual Position Tolerance REAL GSV Coordination Units SSV The Actual Position Tolerance attribute value is a distance unit used when instructions for example MCLM and MCCM 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 Ifthis bitis on Then this axis is inhibited 0 0 1 1 2 2 Axes Servo On Status DINT GSV Shows which axes in
326. uary 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Fault Conditions None Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 Extended Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 It has information about how to use the extended error codes MCS Changes to Status Bits The instruction changes these status bits when it executes Table 43 MCS Status Bit Tags and Types Inthe tag for the Axis This bit CoordinatedMotionStatus TransformStateStatus When the stop type is Turns p Off when the coordinated move stops Coordinated Move Unchanged All Off e Coordinated Transform ControlledByTransformStatus Coordinated Move Off when the axes stop and the PC bit of the MCS instruction turns on All e Coordinated Transform Off Coordinate system MotionStatus p gt Off when the coordinated move stops AccelStatus p Off DecelStatus On during the stop and then off when the stop completes StoppingStatus gt On during the stop and then off when the PC bit turns on MoveStatus p gt Off MovelransitionStatus Off MovePendingStatus Off TransformSourceStatus Coordinated Move Unchanged gt All Off Coordinated Transform TransformTargetStatus Coordinated Move Unchanged gt All Off e Coor
327. uary 2015 95 Chapter 5 Articulated Dependent Robot Methods to Establish a Reference Frame 96 The following methods let you establish a reference frame for an Articulated Independent robot For each Use one of these methods to establish the reference frame Incremental axis Each time the robot s power is cycled Absolute axis Only when you establish absolute home Method 1 establishes a Zero Angle Orientation and lets the configured travel limits and home position on the joint axes remain operational Use this method if you are operating the axes between the travel limits determined prior to programming a Motion Redefine Position MRP instruction and want these travel limits to stay operational e Method 2 uses a Motion Redefine Position MRP instruction to redefine the axes position to align with the Joint reference frame This method can require the soft travel limits to be adjusted to the new reference frame Method 1 Establishing a Reference Frame Each axis for the robot has the mechanical hard stop in each of the positive and negative directions Manually move or press each axes of the robot against its associated mechanical hard stop and redefine it to the hard limit actual position provided by the robot manufacturer J1 is the axis at the base of the robot that rotates around X3 When the robot is moved so that Link is parallel to the X3 axis and Link2 is parallel to X1 axis as shown in Articulated Dep
328. uates to 5 revolutions unwinds for Axis0 and 2 5 revolutions unwinds for Axis1 The position increments for this move are positive Therefore the axes move in a positive direction with Axis0 moving from 0 to 1 and Axisl moving from 0 to 2 In this example the endpoint is not required to fit within the absolute position defined by the rotary unwind of the axes The path of the coordinated motion is determined in linear space but the position of the axes is limited by the rotary configuration Velocity Profiles The Profile operand determines whether the coordinated move uses a trapezoidal or S Curve velocity profile The ControlLogix motion controller provides trapezoidal linear acceleration and deceleration and S Curve controlled jerk velocity profiles A guide to the effects of these motion profiles on various application requirements is given in Table 18 122 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Table 18 Velocity Profile Effects Profile ACC DEC Motor Priority of Control Type Time Stress Highest to Lowest Trapezoidal Fastest Worst Acc Dec Velocity Position S Curve 2X Slower Best Jerk Acc Dec Velocity Position Trapezoidal The trapezoidal velocity profile is the most commonly used profile because it provides the most flexibility in programming subsequent motion
329. uction 184 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Motion Coordinated Change Dynamics MCCD Table 36 Coordinate Motion Status Bits Bit Name Meaning CoorMotionLockStatus Set when an axis lock is requested for an MCLM or MCCM instruction and the axis has crossed the Lock Position Cleared when an MCLM or MCCM is initiated For the enumerations Immediate Forward Only and Immediate Reverse Only the bit is set immediately when the MCLM or MCCM is initiated When the enumeration is Position Forward Only or Position Reverse Only the bit is set when the Master Axis crosses the Lock Position in the specified direction The bit is never set if the enumeration is NONE The CoordMotionLockStatus bit is cleared when the Master Axis reverses direction and the Slave Axis stops following the Master Axis The CoordMotionLockStatus bit is set again when the Slave Coordinate System resumes following the Master Axis The CoordMotionLockStatus bit is also cleared when an MCCS is initiated Coordinated Motion only supports the queueing of one coordinated motion instruction Therefore the MovePendingStatus bit and the MovePendingQueucFullStatus bit are always the same Master Driven Speed Control MDSC and Motion Direct Command Support The Motion Direct commands are not available in the instruction tree f
330. ulti segment path move Similarly when you program the move time directly in seconds in Time Driven Mode a move of the duration of X seconds with a zero departure results in a programmed delay of the specified time IMPORTANT Instructions with zero length cause velocity of the multi axis instruction preceding the one with zero length to decelerate to zero at its endpoint To avoid this behavior it is suggested that you eliminated moves with zero length from your program A zero length move with a duration of zero time completes in the minimum time possible which is 1 coarse iteration Dwells You have the option to program a dwell by using Time Based Programming in either Time Driven Mode or MDSC Mode when a zero length move see Zero Length Move below is programmed The acceleration deceleration and jerk parameters are ignored when a zero length move is programmed Therefore 172 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A when in time driven mode the duration of the dwell is in seconds When in MDSC mode the duration of the dwell is programmed in units of Master Distance In MDSC mode the dwell starts either at the Master Lock Position or immediately depending on the programmed Lock Direction parameter and continues for a duration as specified in the Speed parameter Time Based Programming Errors
331. umn is entitled Target Position When the Move Type is Incremental the target column is entitled Target Increment and the Set Targets Actuals button is unavailable grayed out Arithmetic Status Flags Not affected 132 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Fault Conditions None Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 Runtime Error Conditions The slave move must start at rest if Speed Units Seconds or Master Units Any of the following conditions can cause this error MCLM with Merge Coordinated Motion or Merge All Motion and Speed Seconds or Master Units is started while another MCLM is in progress MCLM uses Term Type 4 or 5 and Speed Seconds or Master Units Extended Error Codes Extended Error codes help to further define the error message given for this particular instruction Their behavior is dependent upon the Error Code with which they are associated The Extended Error Codes for Servo Off State 5 Shutdown State 7 Axis Type Not Servo 8 Axis Not Configured 11 Homing In Process Error 16 and Illegal Axis Data type 38 errors all function in the same fashion A number between 0 is displayed for the Extended Error Code This number is the index to the Coordinate System indicating the axis that is in the error condit
332. utine is a sequence of moves that put the robot in an at rest position at the desired left or right arm angles When the SFC leaves this step it turns off the Move_To_Reset_Done bit The SFC goes to the next step when the Move_To_Rest bit turns on This step moves axis J2 to 90 The P1 qualifier limits this to the first scan of the step AM JZ JZ MI Move To Reset 0 90 J2 Vars C Manual Jog Speed Unitspersec 2 Vars C Marnual Jog Accel Unitspersec2 J2 Vars C Manual Jog Decel Unitspersec2 rapezoidal 100 100 o0fTime Disabled Programmed The SFC goes to the next step when the Move To Rest bit turns on This step starts the transform The P1 qualifier limits this to the first scan of the step CT Arm Xl X2 Arm Jl J2 J3 Arm MI Transform rm Orientation Translation This routine is one in a sequence of MCLM instructions that move the Cartesian system The joints of the robot follow the moves The SFC starts the pick and place moves when the Run bit turns on pP This step moves the coordinate system to 0 6 2 The P1 qualifier limits this to the first scan of the step When the move is in process IP the SFC goes to the next step and queues the next move CLM Arm X2 X3 A rm MI Move 0 0 Arm Positions 0 0 Speed Unitspersec Cartesian Vars C Auto_Accel Unitspersecz artesian Vars C uto Decel Unitspersec2 Trapezoidal l Disabled Programmed Bi Tran_003
333. ve option changes the motion of the currently active move in the coordinate system Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Impact of Changes to Acceleration and Deceleration Values on Motion Profile The following graph illustrates what could happen when a MCCD instruction is used to reduce the acceleration as velocity approaches maximum The new acceleration Jerk Rate becomes smaller further limiting the maximum change in acceleration Velocity overshoot occurs due to the additional time required for acceleration to reach zero Another profile is generated to bring velocity back to the programmed maximum Figure 97 Effect of Change to Acceleration Point where acceleration was decreased p Velocity The Effect of Change to Deceleration graph illustrates what could happen when an MCCD instruction is used to reduce the deceleration as velocity and position approach their target endpoints The new deceleration Jerk Rate becomes smaller The time required to decelerate to zero causes velocity to undershoot passing through zero and becoming negative Axis motion also reverses direction until velocity returns to zero An additional profile is generated to bring position back to the programmed target Rockwell Automation Publication MOTION UM002D EN P February 2015 191 Motion C
334. well Automation Publication MOTION UM002D EN P February 2015 Chapter 4 Reference Frame Articulated Independent Robot Topic Page Reference Frame 55 Methods to Establish a Reference Frame 57 Work Envelope 59 Configuration Parameters 61 Delta Robot Geometries 64 Configure a Delta Three dimensional Robot 65 Configure a Delta Two dimensional Robot 73 Configure a SCARA Delta Robot 78 Arm Solutions 83 Configure a SCARA Independent Robot 86 Error Conditions 90 Use these guidelines when configuring an Articulated Independent robot WARNING Before turning ON the Transform and or establishing the reference frame be sure to do the following for the joints ofthe target coordinate system 1 Setandenablethe soft travel limits 2 Enable the hard travel limits Failure to do this can allow the robot to move outside of the work envelope causing machine damage and or serious injury or death to personnel The reference frame is the Cartesian coordinate frame that defines the origin and the three primary axes X1 X2 and X3 These axes are used to measure the real Cartesian positions WARNING Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions causing machine damage and or injury or death to personnel The reference frame for an Articulated Independent robot is at the base of the robot as shown in Figure 1
335. y 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Error Codes See Error Codes ERR for Coordinate Motion Instructions on page 261 Runtime Error Conditions You cannot switch from Time Driven Mode to Master Driven Mode if the master speed is zero unless the slave speed is zero too The slave move must start at rest if Speed Units Seconds or Master Units Any of the following conditions can cause this error MCCM with Merge Coordinated Motion or Merge All Motion and Speed Seconds or Master Units is started while another MCCM is in progress MCCM uses Term Type 4 or 5 and Speed Seconds or Master Units Extended Error Codes Extended Error codes help to further define the error message given for this particular instruction Their behavior is dependent upon the Error Code with which they are associated The Extended Error Codes for Servo Off State 5 Shutdown State 7 Axis Type Not Servo 8 Axis Not Configured 11 Homing In Process Error 16 and Illegal Axis Data type 38 errors all function in the same fashion A number between O 7 is displayed for the Extended Error Code This number is the index to the Coordinate System indicating the axis that is in the error condition For Error Code Axis Not Configured 11 there is an additional value of 1 that indicates that Coordinate System was unable to setup the axis for coordinate motion Rockwell
336. y to 10 10 units at the vector speed of 10 0 units per second with the acceleration and deceleration values of 5 0 units per second The following graph is the path generated by the above assumptions 116 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Figure 50 Resulting Plot of Path 3 5 F This is the total distance travelled along the path of the vector DAxis0 10 5 5 DAxisl 10 5 15 TotaiDist 4 DAwid Y Dz4xil 15811388 The vector speed of the selected axes is equal to the specified speed in the position units per second The speed of each axis is proportional to the distance traveled by the axis divided by the square root of the sum of the squares of the distance moved by all axes The actual speed of 0 is the following percent of the vector speed of the move 0 Speed DaxisO TotalDist 5 15 811388 3162 31 6296 1 Speed Daxisl TotalDist 15 15 811388 9487 94 8796 For the example 0 Speed 3162 10 0 3 162 units sec Axis1 Speed 9487 10 0 9 487 units sec The acceleration and deceleration for each axis is the same percentage as speed The following ladder instructions show the ladder logic necessary to achieve this path by using Move Type Absolute and Move Type Incremen
337. ynamics Lab Manual Adjust rr etr no 30 Motion Planner bese eel DM eee edet edd 31 Tag Lab NEN EE 32 Chapter 2 Program an MCLM Instruction ser arbres n aedis eset peel 34 Blended Moves and Termination 34 Example Ladder Diagram for Blended Instructions 35 Bit State Diagrams for Blended Moves 37 Bit States at Transition Points of Blended Move by Using Actual Tolerance or No 2225 37 Bit States at Transition Points of Blended Move by Using No Decel oec vue teehee uae sere 38 Bit States at Transition Points of Blended Move by Using Command 1 39 Bit States at Transition Points of Blended Move by Using Follow Contour Velocity Constrained or Unconstrained 40 Choose a Termination DES ERET 41 Velocity Profiles for Collinear 43 Symmetrie Profiles user rius kdo qoot ausu bled 45 Triangular Velocity Profile sic rre ete ttt rex 47 Blending Moves at Different 48 MCLM and MCCM Examples 4 251 ct cue EE ehe ipae 48 Chapter 3 Motion Calculate Transform Position 49 Motion Coordinated Shutdown Reset 49 Useful Terms sec outer iud cueste tane dus 50 Gather Infor
338. you execute it Rockwell Automation Publication MOTION UM002D EN P February 2015 219 AppendixA X Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Programming Guidelines Follow these guidelines to use an MCTP instruction Table 54 MCTP Programming Giuidelines and Examples Guideline Examples and notes Toggle the rung from false to true to execute the This is a transitional instruction In a ladder diagram toggle the rung condition in from false to true each time you want to instruction execute the instruction In structured text condition the instruction so In structured text instructions execute each time they are scanned Condition the instruction so that it only executes on a that it only executes on a transition transition Use either of these methods e Qualifier of an SFC action e Structured text construct 220 Rockwell Automation Publication MOTION UM002D EN P February 2015 Motion Coordinated Instructions MCLM MCCM MCCD MCS MCSD MCT MCTP MCSR Appendix A Data Flow of MCTP Instruction Between Two Coordinate Systems The following illustrations show the flow of data when an MCTP Instruction is executed to perform a forward transformation and an inverse transformation The CSI indicator represents a Cartesian coordinate system containing X1 X2 and X3 axes as the source of the MCTP instruction The CS2 indicator represents the joint co
339. you are configuring a Cartesian coordinate system The Motion Planner tab is used to enable or disable Master Delay Compensation enable or disable Master Position Filter and to enter the bandwidth for Master Position Filter Coordinate System Properties my coordinate system General Geometry Units Offsets Dynamics Motion Planner Tag Enable Master Position Filter Master Position Filter Bandwidth 8 1 Hertz Table 7 Motion Planner Tab Field Descriptions Item Description Master Delay Compensation Check or clear this box to enable or disable Master Delay Compensation respectively This value is used to balance the delay time between reading the Master Axis comm position and applying the associated slave command position to the slave s servo loop This feature ensures that the slave coordinate command position accurately tracks the actual position of the Master Axis that is zero tracking error when gearing or camming to the actual position of a Master Axis for Cartesian coordinate motion in Master Driven mode Clear this box to disable Master Delay Compensation The default setting is Enabled If the axis is configured for Feedback only disable Master Delay Compensation In some applications there is no requirement for zero tracking error between the Master and the Slave axis In these cases it can be beneficial to disable the Master Delay Compensation feature to eliminate the disturbances introduce

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