Home

Synchronized Axes Control Module User Manual

1. Using the Sample Ladder Consider creating a bit and data address table for your own applicaion Program Data and bit addresses associated with the sample program are Address Description N7 0 current state of axis 1 programmed automatic motion N7 1 current state of axis 2 programmed automatic motion N7 4 next state of axis 1 programmed automatic motion N75 next state of axis 2 programmed automatic motion N11 M file initialization parameters N12 0 5 axis 1 advance profile programmed automatic motion N12 6 11 axis 2 advance profile programmed automatic motion N12 12 17 axis 1 retract profile programmed automatic motion N12 18 23 axis 2 retract profile programmed automatic motion N12 24 29 axis 1 advance profile for jog N121 30 35 axis 1 retract profile for jog B3 0 0 copy M file from N11 into module and initialize axis 1 and 2 B3 0 1 copy M file from module into N11 B3 0 3 jog advance B3 0 4 jog retract B3 0 7 enter programming for automatic motion Load the ladder file into the SLC processor Important You can run the sample ladder program from the desktop using pre programmed configuration parameters in file N11 without LDT or drive output connections to the module because the Simulate bit is set by default in each axis Config word in the sample program ATTENTION To guard against equipment damage or personal injury do NOT attempt to operate the module outside of s
2. OSR MOVE FILE 2 0 Source 73 TIK Dest 042 5 71 lt Valve drive power and pumps are ON electronic servo valve is enabled Oneshot blocking valves open Storage HYDRAULICS_OK BIT AXIS1_COMMAND B3 0 B3 2 MOV _ OSR MOVE FILE 2 1 Source 80 80 lt Dest 032 5 71 lt Running Synchronized Axes In Command mode word O e 0 8 16 or 24 for axes 1 2 3 or 4 select Always Active for the Integrator Mode Bits 2 and 3 must both be reset to zero e assign the same Synch A or B to all axes that are synchronized Bits 4 5 Each of the synchronized axes must have the same bit set The axis that moves the farthest is the master for module computations Speed values that you entered for shorter run axes may not be achieved because all synchronized axes must reach the final position at the same time If one of the synchronized axis faults stops the others stop also The module uses the master axis to compute axis decels so all stop at the same point You may apply the above considerations to the previous ladder logic example Back and Forth Motion with State machine Logic Programming for Automatic Operation Publication 1746 6 19 March 1998 5 10 Notes Publication 1746 6 19 March 1998 Objectives Using LED Indicators Correcting Typical Problems Problem C
3. Adjusting P I D Gains PROPORTIONAL GAIN affects the responsiveness of the system Low gains make the system sluggish and unresponsive Gains that are too high make the axis oscillate or vibrate You can adjust the PROPORTIONAL GAIN by slowly increasing it and moving the axis When you see a tendency to oscillate as the axis moves or stops reduce the gain by 10 to 30 percent Finding the Value of the Dead Band Eliminator 4 9 It is usually desirable to have some INTEGRAL GAIN 5 to 50 counts to help compensate for valve null drift or changes in system dynamics Some systems may require larger INTEGRAL GAIN in particular if they are moving a large mass or are nonlinear Too much INTEGRAL GAIN will cause oscillations On the other hand some hydraulic systems do not require INTEGRAL GAIN DIFFERENTIAL GAIN is used mainly on systems which have a tendency to oscillate This happens when heavy loads are moved with relatively small cylinders DIFFERENTIAL GAIN will tend to dampen out oscillations and help the axis track during acceleration and deceleration If you use DIFFERENTIAL GAIN you may be able to increase the PROPORTIONAL GAIN somewhat without causing the system to oscillate A disadvantage to DIFFERENTIAL GAIN is that it amplifies position measurement noise which can cause the system to chatter or oscillate if the gain is too high or there is too much noise The DEAD BAND ELIMINATOR compensates for valve overlap Typically it
4. N 2 70 0 14 Set the state machine to state 1 for all axes when entering auto mode This fill command initializes all four axes One Shot AUTO_MODE_OS AXIS1_NEXT_STATE B3 0 FLL OSR FILE FILL 15 Source 1 Dest N7 4 Length 4 4 Reset the state machine for all axes if not in auto mode In state 0 the auto mode state machine does not write to the module s I O Run state machine example AUTO_MODE AXIS1_NEXT_STATE B3 0 P Le EE FILE FILL 14 Source o Dest N7 4 Length 4 Copy next state to state machine This technique avoids race conditions AXIS1_NEXT_STATE C0P 5 5 5 COPY FILE Source N7 4 Dest N7 0 Length 4 AXIS 1 and 2 STATE 1 Use motion profile words mode accel decel speed and command stored in N12 0 5 axis 1 and N12 12 17 axis 2 Wait for IN POSITION bit to go high Then set NEXT STATE to 2 Oneshot AXIS1_STATE storage Bit AXIS1_MODE EQU B3 1 COP EQUAL OSR COPY FILE Source A N7 0 0 Source N 12 0 3 lt Dest 0 2 0 Source B 1 Length 6 1 lt AXIS2_MOD
5. K Allen Bradley Synchronized Axes Control Module User S Manual Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safery Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or in part without written permission of Allen Bradley Company Inc is prohibited Throughout this manual we use notes to make you awa
6. Com pin 33 V and pin 32 V Connect pin 51 GND to earth ground with 3 8 wire braid as short as possible Typical Fusing of the Interface Module IFM Terminal Block The Interface Module IFM Terminal Block is wired for fusing of V to each LDT Provide proper fusing T500L 250V typical for each axis using fuse clips on the IFM terminal block Example Connections for Temposonics Il Differential Inputs Use differential inputs when connecting LDTs to the IFM terminal block IFM Terminal Block Function Pin Function Axis 1 Temposonics Il Interrogate S Interrogate Int Return 4 Ret 0 Return 3 Ret 1 15V 5 Ir 36 15V 6 V 1F 34 Comm LDT Com 35 If fabricating your own LDT cable see connections on previous page 2 3 Wiring Example We present a 1 axis loop with a differential LDT input You must provide power supplies and servo amplifiers rN 24V Power 15V Power Hydradii ydraulic Supply tor EDTs Configurator C Software on PC c Belden Axis Loop 1 of 4 axis system 8761 Ta a a yrl Connect cable shields of LDT 8770 rH and drive Hae SH terminals Senna on terminal block to earth GND 1741 CP3 Proportional Drive Output Connect signal commons and PS commons saz Amplifier to Com terminals isolatedfrom earth GND IFM Terminal Block Cat No 1492 AIFMQS Important
7. Configuring Your SLC Processor Off line ccc eee eee Using the Sample Ladder Program cece cece eee eae Copy Configuration Parameters to the SLC Processor Copy Configuration Parameters to the Module Back and Forth Motion with State machine Logic Jogging NE AXA ei Responds to Hydraulics ONOR au Running Synchronized AXES cece eee tees Chapter 6 Using LED MOONS 246 its na Se weg eee Z Saas ea Correcting Typical Problems ccc ec cee een 6 1 Appendix A EIBEIAC A a a en ee Aa ae Pe Physical ee ee Environmental GEIETICAHON ne ee aan ne ende ee a Appendix B Wiring Example cc ws a a b 1 Minimizing Interference from Radiated Electrical Noise B 2 Checking Out the Wiring and Grounding 000 B 2 Appendix C Transferring dB ae ae Transferring Motion Commands and Axis Status Transferring Configuration Parameters cece cece ee Using Floating point for Values Above 32 767 0 ees une Using MO and M1 Files for Initial Configuration MO and M1 Memory Map for Ladder LOIC ee Bit Map of Configuration Word e 0 e 16 e 32 e 48 Using I O Image Tables for Commands and Status Bit Map of Command Mode Nod Bit Map of Axis Status WOH Chapter Objectives What Is the 1746 QS Module What Is the Hydraulic Configurator What Is an SLC 500 System Chapter 1 System
8. Important Configuration parameters copied to the module s MO file are not initialized activated until the P command is issued Important This rung will overwrite configuration parameters currently stored in the module If you want to retain configuration parameters stored in the module be sure that you have copied them to the N11 file previous section before activating this rung Set ON to initialize the QS module INITIALIZE MO_PARAMETER_DATA B3 0 C0OP 1 1 COPY FILE LNOV MOVE FILE Source 80 Dest 0 2 5 Dest 0 2 MOV MOVE FILE Set ON to initialize the the QS module INITIALIZE B3 0 Last command has NOT been acknowledged a Publication 1746 6 19 March 1998 5 4 Imitates Operator Auto Mode select SW Run state machine example AUTO_MODE B3 0 14 Publication 1746 6 19 March 1998 Back and Forth Motion with State machine Logic Programming for Automatic Operation This ladder logic example moves axes 1 and 2 back and forth with Go G commands Each move has its own set of motion profile words mode accel decel speed and position The example is a state machine with four automatic states State Description 0 No motion Used when automatic mode is not enabled 1 Moves axis 1 and 2 independently Uses profile command words N12 0 5 axis 1 and N12 12 17 axis 2 2 Syn
9. response Nonlinear valves or valves with excessive 20 overlap may cause oscillation or hunting We recommend using servo valves or servo quality proportional valves Publication 1746 6 19 March 1998 2 6 Regarding the Interface Module Terminal Block Cat No 1492 AIFMQS and Cable Publication 1746 6 19 March 1998 5 Avoid valves with a slow response less than 60 Hz Valves with slow response cause the module to overcompensate for disturbances in the motion of the system Since the system does not respond immediately to the control signal the module continues to increase the drive signal By the time the system begins to respond to the error the control signal has become too large and the system overshoots The module then attempts to control in the opposite direction but again overshoots These valves can cause the system to oscillate around the set point as the module overshoots first in one direction then the other We recommend that you use the Interface Module IFM terminal block Cat No 1492 AIFMQS to connect module I O and power It facilitates power supply shield and fuse connections It is required for CE certification The pre wired cable that connects the IFM terminal block to the module is available in standard sizes as indicated by its part number 1492 ACABLExxxQ where xxx indicates the length in meters length xxx 0 5m 005 1 0m 010 2 5m 025 Important Because the sytem was certi
10. 32 767 If your data such as a position value in a motion command is in the range of 32 767 to 32 768 ladder logic can operate on it directly as integer N values If using values above 32 767 then your ladder logic must substitute floating point files F for integer files N and use compute instructions to change from integer to floating point As a result ladder logic wraps the value from 32 767 to 32 768 signed integer increments the value less negative smaller in absolute value with each increasing count For example we show how ladder logic handles these numbers 32 767 32 770 40 000 and 65 535 max You Want Signed Integer You Want Signed Integer 32 167 32 167 32 770 32 766 32 768 32 768 40 000 25 536 32 169 32 167 65 535 1 The number you want above 32 767 signed integer 65 536 Publication 1746 6 19 March 1998 C4 Using Processor Files Using MO and M1 Files Configuration parameters for MO and MI files can be stored in three for Initial C onfiguration locations on PC disk in SLC processor N files and in module FLASH memory The P command activates the parameters moves them from RAM to control CPU in the module Disk Configuration PC Parameters N Files Configuration MO M1 Files Module s SLC Parameters in Module Control RAM CPU u 05 Module Parameters MO and M1 Memory Map for Ladder Logic MO and MI files both have the same 16 word
11. accumulating Precautions include detect that hydraulic power is Off issue a halt K command to stop axis motion and disable valve null and integrator update lock out any movement commands such as Go or Jog When the hydraulic pumps are turned On your ladder logic should issue a Go G command to its current position This restores Null Drive and Integrator Drive from before the halt command was issued Publication 1746 6 19 March 1998 5 9 ATTENTION When hydraulic system power is lost your ladder logic is responsible for ensuring that valve null and integrator sum do not wind up if the axis is out of position If wind up is allowed the axis will move unexpectedly when hydraulic system is restored Typically the preferred method is to issue a Kill K command when the pump goes off to disable valve null and integrator wind up issue a Go G command to current position or known target when the pump goes on to re enable the integrator and null with values from before the Halt was issued This should minimize unexpected motion when hydraulic power is restored Also your ladder logic must lock out any movement commands such as Go or Jog when the axis is stopped due to loss of hydraulic power Valve drive power and pumps are ON electronic servo valve is enabled Oneshot blocking valves open Storage HYDRAULICS_OK BIT AXIS1_COMMAND B3 0 B3 2 MOV Ferne er e 1
12. can run the Hydraulic Configurator offline to view plots stored data files and access Help screens Chapter Objectives Before You Begin Finding the Value of the Null Drive Chapter Al Tuning an Axis with the Hydraulic Configurator We cover these topics e Before You Begin e Finding the Value of the Null Drive e Moving the Axis to Set Offset Scale Extend and Retract Limits e Getting Ready to Tune the Axes e Tuning Each Axis e Finding the Value of the Dead Band Eliminator e Saving Parameters ATTENTION Great care must be taken to avoid accidents when starting the module for the first time The most common accident is a runaway where the module tries to move the axis to a position beyond the physical limits or in the wrong direction while in closed loop control When the module is first turned on parameters are set to default values You must change these parameters with the Hydraulic Configurator to operate the module in your application ATTENTION Do not attempt to operate the module in closed loop mode until EXTEND and RETRACT limits have been determined and initialized in the module using the Hydraulic Configurator Before starting be sure that 1 Hydraulic Configurator is communicating with the module 2 Important You have identified the type of LDT output To Do this Double click the Config word in the screen s PARAMETER section Click the transducer type that matches your LDT Disabl
13. companies Worldwide representation II uk Z Argentina e Australia e Austria e Bahrain e Belgium e Brazil e Bulgaria e Canada e Chile e China PRC e Colombia e Costa Rica e Croatia e Cyprus e Czech Republic e Denmark e Ecuador e Egypt s El Salvador e Finland e France e Germany e Greece e Guatemala e Honduras s Hong Kong s Hungary s Iceland e India s Indonesia e Ireland e Israel e Italy e J amaica e J apan e J ordan e Korea e Kuwait e Lebanon e Malaysia e Mexico e Netherlands e New Zealand e Norway e Pakistan e Peru e Philippines e Poland e Portugal e Puerto Rico e Qatar e Romania e Russia CIS e Saudi Arabia e Singapore e Slovakia e Slovenia e South Africa Republic e Spain e Sweden e Switzerland e Taiwan s Thailand e Turkey e United Arab Emirates e United Kingdom e United States e Uruguay e Venezuela lt Yugoslavia Allen Bradley Headquarters 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Publication 1746 6 19 March 1998 955132 62 Supersedes Publication 1746 6 19 December 1997 Copyright 1998 Allen Bradley Company Inc Printed in USA
14. he ones for the state machine example rungs 4 10 Axis 1 Jog Extend Jog Pushbutton interlocks Oneshot Jog Advance Limit B3 0 B13 4 C0P _ OSR COPY FILE 3 7 Source N11 3 Dest N12 28 Axis 1 Jog Retract Length 1 Jog Pushbutton Error d interlocks B3 0 Jog Retract Limit Hess IL BEE 4 COPY FILE Source N11 4 Dest N12 34 Length ST Run State Pate ae ce Axis 1 Jog Extend Machine Oneshot Jog Pushbutton Example Axis is jogging Storage interlocks AUTO_MODE AXIS JOGGING Bit AXIS1_MODE B3 0 B3 0 B13 3 B13 4 69P _ OSR COPY FILE 3 14 0 4 Source N12 24 Dest 0 2 0 Length 6 gt Axis is jogging AXIS_JOGGING B1l323 Bergen enge sg gen ge LET esaat 0 Publication 1746 6 19 March 1998 5 8 Run State the motion profile from the start of the jog Axis 1 Jog Retract Machine Oneshot Jog Pushbutton Example Storage interlocks AUTO_MODE Bit AXIS1_MODE B3 0 B3 0 B13 4 FEOP nn Serge OSR COPY FILE hehe 4 14 5 Source N12 30 Dest 0 2 0 Length 6 Axis is jogging AXIS_JOGGING B13 3 k Uu en 0 When the operator releases
15. 5 Drive or variable volume pump e 10 to 10V dc for a proportional or servo amplifier If using servo valves you must convert the module s output from voltage to current Output Polarity In most hydraulic systems the actuator extends with increasing LDT counts when a positive voltage is sent to the output The extend direction is defined as the direction that causes the LDT to return increasing counts moving away from the head You can make these selections in the Config word that affect output e To generate a positive drive output 0 10V dc regardless of move direction you can select Absolute Mode e To extend the actuator by sending a negative voltage to the output you can select Reverse Drive Mode For additional information on the Configuration word select that subject in Help Topics Checking Out the Wiring and Grounding Setting Up the Hydraulics Repeat this procedure to check out each of the four axis loops connected to the IFM terminal block ATTENTION Be sure to remove all power to the SLC processor LDT valve and pump beforehand 1 Disconnect the LDT connector at the head end 2 Disconnect the connector to the IFM terminal block 3 Turn ON the power supplies for the LDT and SLC processor and check the LDT connector and IFM terminal block for 6 15V dc e PS common e 15V dc 4 Observe that the module s fault LED indicates Green 5 Verify continuity between IFM COM terminal 50 and eac
16. 98 3 2 Setting Up Communication Between PC and Module Publication 1746 6 19 March 1998 You must establish communication between Hydraulic Configurator software on your PC and the module 1 Connect your PC to the module with Allen Bradley cable cat no 1747 CP3 one end to a serial port on your PC such as COM1 the other end to the 9 pin D shell connector on the module Windows 95 provides a virtual connection to the serial port without any intervention unless that port is already used by another application Important You may run RSLogix500 and Hydraulic Configurator concurrently on your PC if you have both COMI and COM2 available If only one serial port is available you may use the Communication Interface Card 1784 KTx for the connection between PC and SLC processor Open the Hydraulic Configurator by running QsCfg exe The main screen appears If you also get the message No Motion Controller Detected then check the1747 CP3 cable connection between PC and module match the software hardware COM ports step 3 Otherwise go to step 4 Set the Hydraulic Configurator COM port to match your PC To do this click Tools on the toolbar then Monitor Options from the menu Enter the COM port number you used for your PC cable connection to the module in step 1 To verify communication with the module observe that the Com window screen bottom left displays Online Important You
17. AL GAIN to minimize the end point position error by either of two ways Adjust P and or I until the end position oscillates Then back down to 75 of P Sum Error value no longer decreases with each adjustment Remember to enter an IN POSITION value in the Config word to monitor end position stability 4 7 7 If moving a relatively large mass with a relatively small hydraulic cylinder first investigate the affect of a Integrator Mode selection in the Command mode word active always for accel decels in position or never b Integrator Limit selection in the Config word 20 for a typical hydraulic system 80 for a difficult system Also see step 6 for using INTEGRAL GAIN to help minimize the end point position error For additional information on PID Gains refer to that topic below Adjusting Command word Speed and Acceleration Values Increase the SPEED and ACCELERATION command words gradually while making long moves Use Hydraulic Configurator to plot the moves and look for following errors overshoot or oscillations Eventually when the SPEED and ACCELERATIONS are too high the moves will cause an error on the axis If an overdrive error occurs there is not enough drive capacity to drive the axis at the requested SPEED Should this occur reduce the SPEED If excess Following Error occurs the appropriate FEEDFORWARD configuration parameter must be adjusted for extend and retract moves If excess Follo
18. Axisl 70 N files contain Commanded Position 272 Commanded Position 8 words of Target Position es Target Position axis status Actual Position Ladder Logic Actual Position LDT Counts Compiles FP LDT Counts Status Bits rom Integer i Drive Output and stores data mo Actual S peed in F files Actual Speed Drive Null ae Drive Null Transferring Configuration Parameters Configuration parameters are defined as integer N values Each of four N files contains the 16 word configuration parameters for an axis The 16 words define the axis static characteristics At power up or when directed by a ladder logic command ladder logic copies N files into the MO file for transfer to the module Using Processor Files C 3 Module s MO File A Axisl Nx 0 Each N file contains 16 words gt gt gt of Configuration Parameters IR gt gt gt 16 word Files for Axis Ladder Logic ar Axis Configuration S COET Configuration Parameters ISE Parameters gt gt gt gt gt gt When commanded ladder logic copies 16 words of axis configuration parameters from the module s MI file to processor N files Axis 4 Nx 48 Module s M1 File Each N file con Axis1 Nx 0 tains 16 words l gt gt gt of Configuration 16 word Files gt gt gt 16 word Files Parameters for Axis Ladder Logic for Axis Configuration COPY Configuration Parameters instructions Parameters Pa gt gt gt gt gt gt Using Floating point for Values Above
19. Connections to LDTs and 4 axis Terminal Block Temposonics II RPM or DPM Interro Common 15V dc PS Chapter 2 Setting Up the Hardware This chapter helps you install the hardware with these tasks e connecting LDTs to the Interface Module IFM terminal block e minimizing interference from radiated electrical noise e connecting outputs to output devices e checking out the wiring and grounding e setting up the hydraulics e regarding the Interface Module IFM terminal block and cable We assume that you will use one of the following types of LDT Temposonics Il RPM TTSRxxxxxxR or DPM TTSRxxxxxxDExxx e Balluff BTL 2 L2 or BTL 2 M2 e Santest GYRP or GYRG e Gemco Quick Stick II 951VP or 951 RS We illustrate connections for these types of LDTs There are other suppliers with compatible LDTs Balluff Santest Gemco Quick Stick I BTL 2 L2 amp 2 M2 GYRP amp GYRG 951VP w PWM Output Interro Return B BLK PS Common C RED 15V dc PS K GRY Interrogate E BRN Return F BLU Return A WHT Interrogate G D H RS232RXD J PUR 2nd PS COM 951RS has pulse trigger Return gate 4AE 15V ps gate dePS Common Interrogate The views are looking atthe connector on the LDT head LDT Connections for fabricating your own LDT cable Function Temposonics II Balluff Santest Gemco Quick RPM or DPM BTL 2 L2 amp M2 GYRP GYRG Stick 951VP RS Return note 1 4 Pin
20. E COP COPY FILE Source N12 12 Dest 02 8 Length 6 7 Last command has not been acknowledged AXIS_WAIT_ACK B13 0 ir re ni m paian Last command ACTUAL POSITION is has not been within IN POSITION acknowledged units of COMMAND AXIS_wAIT_ACK POSITION AXIS1_NEXT STATE B13 0 1 2 HEHMOV So Ze 4 1 I 1 MOVE FILE 0 64 Source 2 2 lt Dest N7 4 3 lt AXIS2_NEXT STATE MOV MOVE FILE Source a 2 lt Dest N7 5 3 lt Publication 1746 6 19 March 1998 AXIS 1 and 2 STATE 2 N12 6 11 axis 1 AXIS1_STATE EQUAL Source A a B AXIS 1 and 2 STATE 3 Wait for 5 seconds AXIS1_STATE EQUAL Source A Saures B Publication 1746 6 19 March 1998 Use motion profile words and N12 18 23 Wait for IN POSITION bit to go high mode accel axis decel E Then speed and command stored in set NEXT STATE to 3 Oneshot storage Bit AXIS1_MODE Boa Dest Lengt 4 Last command has not been acknowledged AXIS_WAIT_ACK B13 0 Last command has not been acknowledged AXIS_wAIT_ACK B13 0 ACTUAL POSITION is within IN POSITION units of COMMAND Pan AXIS1_NEXT STATE MOVE FILE L oO u a MOVE FILE Source Then set the NEXT_STATE to 1 Axis 1 S
21. ONAL INTEGRAL or DIFFERENTIAL gains The axis does not finish moves or moves differently than expected The SLC processor is issuing unintended commands Use the Hydraulics Configurator command queue to monitor commands sent by the SLC processor to the module Confirm that only the expected commands are being sent Publication 1746 6 19 March 1998 6 2 Notes Publication 1746 6 19 March 1998 Electrical Physical SLC Processor Appendix A Module Specifications For use with SLC 5 03 or SLC 5 04 processors Backplane Power Requirements 1 0 A at5V dc 200 mA at 24V dc I O Chassis Location Any I O chassis slot except slot 0 I 0 Image Table Usage Input 32 16 bit words Output 32 16 bit words Configuration Parameters MO and M1 64 word files 16 words per axis Differential interface to LDTs LDT Input Pulse width modulated DPM or start stop pulse RPM with external interrogation Analog Output 10 to 10V dc 5 mA Output Resolution 12 bit Module Update Time 2 ms Fail Safe Timers Drive Output Disable 15 microseconds Retriggered by activity on the module s internal bus If not retriggered within 15 microseconds timer disables the drive outputs When internal bus activity resumes drive outputs are re enabled Software Reset 30 milliseconds If the microprocessor fails to retrigger the onboard watchdog timer the 30 millisecond reset timer expires and r
22. Overview This chapter presents a conceptual overview of how you use the 1746 QS module in an application The 1746 QS Synchronized Axes Module provides four axes of closed loop synchronized servo positioning control and lets you change motion parameters while the axis is moving The module has four optically isolated inputs for signals from linear displacement transducers LDTs and four optically isolated 10 volt outputs that interface with proportional or servo valve amplifiers The module s microprocessor provides closed loop control The module reads the axis position and updates the drive output every two milliseconds for precise positioning even at high speeds The module is designed for use with the Hydraulic Configurator a software product that you can obtain from the Allen Bradley website on the Internet The Hydraulic Configurator is an interactive executable that lets you configure the module and tune its axes With it you can e configure axes and store configuration parameters e tune each axis independent of the ladder program store multiple commands to initiate repetitive axis motion e display a log of the last 64 motion commands sent to the module observe and or store plots of each axis access help screens that explain and or describe module features Important The Hydraulic Configurator saves considerable time when tuning axes and troubleshooting faults Thereafter your ladder logic sequences module ope
23. PID gains are adjustable and can be applied selectively The module also provides two different feedforward algorithms EXTEND RETRACT FEEDFORWARD and EXTEND RETRACT ACCELERATION FEEDFORWARD These feedforward terms provide additional drive output to help the axis follow the target freeing the PID loop to correct for system nonlinearity and changes in load Actual Position Proportional Gain Position Error fa gt Accumulator Integral Gain Da Integrator Target t Change in Error Differential Gain _ Drive Posi Differentiator Target gt Change in Positi Feedforward ge in Position Generator Velocity y i E Accel L E Change in Velocity gt Feedforward eee Acceleration Deadband Eliminator Diagram of the Control Loop Programming A sample ladder program for the module is available from Allen Bradley s website on the Internet You can download it as an executable file to your PC s disk drive and transfer it to your SLC processor But you must modify it for your application Publication 1746 6 19 March 1998 1 4 What Are Typical Applications System Requirements Publication 1746 6 19 March 1998 Ladder logic transfers motion commands to the module and axis status from the module thru the I O image table Ladder logic also copies configuration parameters to the module s MO file at
24. TEGRAL GAIN to zero and the PROPORTIONAL GAIN to a small value between 1 and 5 then make long slow moves in both directions Adjust the EXT FEEDFORWARD and RET FEEDFORWARD until the axis tracks within 10 in both directions In hydraulic systems the EXTEND and RETRACT FEEDFORWARD terms typically differ by the ratio of the extend and retract piston areas Alternately you can find the appropriate value for the FEEDFORWARD terms by making moves with the axis ata SPEED of 1 000 The amount of output drive required to maintain this SPEED is the correct value for the FEEDFORWARD parameter Using Acceleration Feedforwards The ACCELERATION FEEDFORWARD terms are particularly useful for axes which move large masses with relatively small cylinders This combination delays the start of movement and the ACCELERATION FEEDFORWARD terms can help compensate for this delay ACCELERATION FEEDFORWARDS are easiest to adjust with the PID gains set low After commanding a move plot it using Hydraulic Configurator and look for a following error during the acceleration Increase the ACCELERATION FEEDFORWARD until the error is minimized For large masses the ACCELERATION FEEDFORWARD can be in the tens of thousands Important When tuning acceleration feedforward terms you can plot multiple axis moves and observe the Sum Error value found in the window on the plot screen Repeat axis moves and adjust this term until the Sum Error value reaches a minimum
25. The module s analog outputs require an external amplifier to drive the valve 1746 05 module Connect this shield to internal common Piston type Hydraulic Cylinder and Linear Displacement Transducer LDT Cable 1492 U Grounding exception ACABLE xxxQ Ae ee oer Oa a YOR ee eg Minimizing Interference Important Signals in this type of control system are very susceptible to from Radiated Electrical radiated electrical noise The module is designed to detect loss of sensor Noise and sensor noise conditions for any of the four axes when position values are lost or corrupted The Hydraulic Configurator displays these conditions in the Status word window The resulting hard or soft stop depends on how you configured autostop conditions See Hydraulic Configurator Config word and click on autostop Help To minimize interference from radiated electrical noise with correct shielding and grounding e Connect LDT cable shields and drive output cable shields all shields at one end only to IFM terminal block SH terminals and connect the IFM terminal block GND terminal 51 to earth ground Keep LDT signal cables far from motors or proportional amplifiers e Connect all of the following to earth ground power supply cable shields one end only LDT flange frame and machine I O chassis AC ground e Use shielded twisted pairs for all connections to inputs and outputs
26. al noise 1 Make sure the transducer wiring is separated from all other wiring 2 Add a termination resistor 220 ohm for Temposonics I as close to the transducer as possible 3 Connect the shield at the module end transducer end or both During a move the drive halts for no apparent reason When the module detects a transducer not responding error it stops automatically See Actual Position is erratic above for more information If any of the following conditions are enabled the axis will also halt Following Error Position Overflow Integrator Windup Overdrive Parameter Error Transducer counts field is not indicating transducer location See Red Axis LEDs are on above Transducer counts field changes but output drive does not work See drive halts for no apparen treason above The System is unresponsive and hard to tune This problem could have several causes 1 Is a hose rather than rigid pipe installed between the hydraulic valve and the cylinder The fluid expands the hose rather than moving the cylinder 2 Does the valve have overlap Overlap in hydraulic valves causes a significant dead band and slows the system response Some proportional valve amplifiers have dead band eliminator circuits which make tuning easier The axis oscillates This problem could have several causes 1 The DEAD BAND ELIMINATOR value may be too high 2 Reduce PROPORTI
27. and pump beforehand 1 Disconnect the LDT connector at the head end 2 Turn ON the power supplies for the LDT and SLC processor and check the LDT connector for 15V dc PS common and 15V dc 3 Observe that the module s fault LED indicates Green 4 Verify continuity between all of the following commons e shield of the amplifier output cable to the valve e output common on 15V dc PS that powers the LDT terminal on 24V dc PS that powers the proportional amplifier e all LDT commons 5 Verify NO continuity between drive output commons and earth ground 6 To minimize ground loops verify that all cable shields are grounded at one end only to earth ground Transferring Data Appendix C Using Processor Files This appendix covers these topics e Transferring Data e MO and M1 files for initial configuration e I O image table to write commands and read status while running Overview The module communicates with the SLC processor over the I O backplane Motion commands and axis status for all four axes are transferred across the backplane in groups of 32 16 bit words in output image table O e 0 31 for commands and input image table I e 0 31 for status Ladder logic copies the 8 word per axis motion commands from processor files typically floating point F into the output image table for automatic scan to the module It also copies the 8 word per axis status blocks scanned to the processor s input i
28. chronizes axis 1 and 2 to reach the end point at the same time Uses profile command words N12 6 11 axis 1 and N12 18 23 axis 2 3 Pauses five seconds then returns to state 1 Error detection and recovery logic is application dependent and should include for each axis recovery from module detected errors and axis timeouts The mode words in these profile commands put the module into simulate mode which means it is isolated from LDT inputs and output drive It allows for axis position update and axis plotting You cannot be jogging when you attempt to enter automatic mode and you cannot be in automatic mode when attempting a jog Important If you intend to use this sample program on a live machine module NOT in simulate mode be sure that you have stored valid motion profiles in N12 files initialized the module with valid configuration parameters such as axis limits scale offset and feedforwards Assuming that axes are initialized the setting of bit B3 0 7 simulates an auto operation switch that starts the state machine in state 1 To run this example set HYDRAULICS OK bit in the data table Then set the AUTO_SS bit Valve drive power and pumps are ON electronic servo Run state valve is enabled Axis has received machine blocking valves open valid P command Axis is jogging example HYDRAULICS_OK AXIS1_INITIALIZED AXIS JOGGING AUTO_MODE H Liz B13 3 B3 0 Jit eS ma 1 na 222222 Ji
29. der logic from the Allen Bradley website on the Internet and download it to your PC as an executable file To Access the Internet 1 Access the Allen Bradley website and module software logic at http www ab com mem appsys prodinfo applac appla gssw index html 2 The sample ladder program 130 Kbyte is in the same file as the Hydraulic Configurator 2 9Mbyte 3 Download the Hydraulic Configurator and ladder program to your PC 4 Move the sample program into the subdirectory on your hard drive where your programming software looks for files For example with RSLogix500 C RSI Logix500 QSEXAMPL RSS This procedure uses RSLogix500 version 2 0 or later For other types of programming software the procedure and or prompts may vary You must modify the I O configuration to match your system layout and change associated addresses offline 1 Open file QSEXAMPL RSS from the file pull down window 2 Select the I O Configuration icon and launch it Then select A Processor type ladder sample is SLC 5 04 B Module slot number ladder sample is slot 2 in 4 slot chassis C Module ID is 13627 entered under Other 3 The sample ladder logic creates MO MI files at 64 words each If you move the module to another slot be sure to retain the files 4 Search and replace all addresses that must be changed 5 Save the file as a new file to preserve the original file for backup Publication 1746 6 19 March 1998 5 2
30. dik C floating point C 3 following error 4 6 fusing on Interface Module 2 2 hardware setting up 2 1 hydraulics setting up 2 5 programming for power cycles 5 8 hydraulic configurator communication PC to module 3 2 download software to PC 3 1 setting up 3 1 what it is 1 1 ID of modulel 5 1 input image table C 1 c 2 C 5 Interface Module terminal block 2 2 JP 6 Internet access to 3 1 5 1 J K jog axis 4 4 sample program 5 7 Publication 1746 6 19 March 1998 Index Publication 1746 6 19 March 1998 L ladder logic see sample programs data transfer concepts C 1 download from Internet 5 1 processor files C 1 sample programs 5 2 aana LDT connections to 2 1 2 2 identify type in Hydraulic Configurator 4 1 length resolution off A 1 types 2 1 LED indicators 6 1 M MO M1 files UO configuration in SLC 5 1 ladder to copy parameters to module 5 3 N N files chaptef 5 appendinc_ noise electrical 2 3 null drive finding its value 4 1 0 offset finding its value 4 2 4 3 output connections of module 2 3 P 4 image table polarity 2 4 overview of module and system 1 1 p parameters adjusting while tuning 4 7 4 8 saving 4 10 transferring C 2 processor configure offiine 5 1 profile motion 1 3 commands 4 5 programming 5 45 7 5 9 programming see sample program
31. e Null Drive with N command Enter Null Drive into COMMAND VALUE number field From Command in the CommandBar click the N command 8 If drift persists adjust Null Drive with N commands as in step 7 By moving the axis you will calibrate these configuration parameters with the Hydraulic Configurator e Scale e Offset e Extend and Retract Limits We give you a preferred and an alternate procedure based on whether the drive output is disconnected from or connected to the module You have a diddle box Use the preferred procedure to move the axis with the drive output disconnected Use the alternate open loop procedure with the drive output connected a control box that can electrically drive the valve amplifier You do Not have a diddle box Procedure to Set Scale and Offset with Drive Output Disconnected With the axis drive output disconnected and the LDT on you will move the axis with a diddle box or manually to two known machine positions typically the extend and retract limits There you will use the Hydraulic Configurator Scale Offset Calibration feature to enter ACTUAL POSITION and COUNTS values Important When moving to axis limits be sure to leave space for safety Remember that extend is the direction that returns increasing LDT COUNTS Turn off the power to the module Disconnect the axis drive output to the amplifier Turn the power back on Turn on the
32. e Run shielded cables only in low voltage conduit e Place the SLC 500 processor and I O chassis in a suitable enclosure Publication 1746 6 19 March 1998 2 4 Connecting Outputs to Output Devices Publication 1746 6 19 March 1998 Important To minimize the adverse effects of ground loops you must isolate power supply and signal commons from earth ground as follows 1 Connect power supply commons to IFM Com terminal 50 and LDT commons to LDT Com terminals of the IFM terminal block Be sure that they are isolated from earth ground 2 Connect the cable shield of the servo or proportional amplifier output cable to a zero potential terminal inside the amplifier 3 Use bond wires that are equal in size to signal wires 4 When practical use one power supply to power only your LDTs Note Follow manufacturer recommendations for shielding the output cables of the proportional amplifier Typically pulse width modulated outputs radiate electrical noise originating from the 24V dc power supply so isolate the shields of the amplifier output cable to a OV dc connection inside the proportional amplifier You have a choice of three configurations to match your hydraulics e proportional amplifier integrated with a proportional valve e servo amplifier and variable volume pump or servo valve e Allen Bradley 1305 Drive and hydraulic pump You may use either of the following output voltage ranges e 0 10V dc for an Allen Bradley 130
33. e simulate mode Do this by removing the from its check box in the Config word Leave the other selections at default 3 LDTs are connected and powered up The Null Drive compensates for axis drift This procedure requires operating the module in open loop mode with drive outputs connected to the amplifier In this procedure you will increase the drive output until the axis stops drifting Then you will initialize that value in the module with an N command Publication 1746 6 19 March 1998 42 Moving the Axis to Set Scale Offset Extend and Retract Limits Publication 1746 6 19 March 1998 Turn off the power to the module Connect the axis drive output to the amplifier Turn the power back on A U N Turn on the hydraulics If the axis drifts go to step 5 If not you are done Go to the next procedure Moving the Axis 5 Find the Null Drive value to stop axis drift a Estimate a drive output mV required to hold zero motion b Command the module to output that value with the O command Select axis and enter value into COMMAND VALUE number field From Command in the CommandBar click the O command c Repeat until the value produces no drift This is the Null Drive 6 Zero the open loop output with the K Kill command To do this Click K in the ToolBar u Important The axis will resume its initial drift until you do step 7 7 Command the module to output th
34. ed motion could occur if the wrong axis is highlighted 6 Open the status bits window Ctrl B and check the STATUS word for errors while the axis is moving 7 View captured axis plots click in the ToolBar Observe the Sum Error value displayed in the window There is no substitute for experience when tuning an axis This section offers some guidelines tips and suggestions for tuning your system While helpful for many systems they may not be the best for a particular system We help you with General Procedure for Tuning an Axis e Adjusting Command word Speed and Acceleration values e Adjusting Feedforward Parameters e Using Acceleration Feedforwards e Adjusting PID Gains General Procedure for Tuning an Axis Use this generalized procedure with the Hydraulic Configurator Move the axis using stored commands 1 and 2 e Observe the axis plot for each move e Adjust one configuration parameter at a time in the order given 1 Observe plots of axis moves between the two positions that you set up with stored commands in the previous section Getting Ready Observe following error overshoots and oscillations For adjusting command values and configuration parameters refer to Adjusting Command word Speed and Acceleration Values page 4 7 Publication 1746 6 19 March 1998 Publication 1746 6 19 March 1998 The Following Error will probably vary as indicated by diverging plots of target and actual sp
35. eeds during acceleration or deceleration Actual Speed dark blue Following Error Target Speed pink To achieve a nearly constant steady state Following Error increase the PROPORTIONAL GAIN until the plots of target and actual speeds become parallel during acceleration or deceleration To minimize the Following Error use the auto Adjust Feedforward E command With each E command the module boosts prescales the drive output by increasing the FEEDFORWARD term This brings the plots of target and actual positions to coincide Target P osition powder blue Actual Position red Following Error For additional information refer to Feedforward Parameters below For critical tuning adjust the ACCELERATION FEEDFORWARD term To do this observe the Sum Error value found in the window on the plot screen Repeat axis moves with adjustments until Sum Error value reaches a minimum Too much ACCELERATION FEEDFORWARD will increase the Sum Error value Important Critical tuning may increase pressure spikes If the axis load is too large consider lowering your expectations of machine performance and use smaller accel decel values in the motion command Using the S curve feature Command Mode is another alternative For additional information on Acceleration Feedforward refer to Using Acceleration Feedforward below For end point stability adjust the PROPORTIONAL GAIN and INTEGR
36. eering units as used in steps 6 and 8 11 Transfer the parameters to the module using the P Command 12 Repeat this procedure for each axis in use Alternate Open loop Procedure to Set Scale and Offset You will move the axis with the module in open loop mode to two known machine positions typically the extend and retract limits There you will use the Hydraulic Configurator Scale Offset Calibration feature to enter ACTUAL POSITION and COUNTS values ATTENTION A Drive outputs will be connected to the amplifier B Open loop operation will ignore all limits Be prepared to instantly remove drive power C To avoid surprises read the entire procedure before starting 1 Turn off the power to the module 2 Connect the axis drive output to the amplifier Publication 1746 6 19 March 1998 4 4 Publication 1746 6 19 March 1998 3 Turn the power back on 4 Turn on the hydraulics If the axis drifts go back to the Null Drive procedure If not go to step 5 5 To move the axis to the first position either extend or retract a Estimate drive output mV that would generate a slow safe speed Enter it into the COMMAND VALUE number field Note In open loop mode this field sets the module output In closed loop mode this field sets the commanded position b Command the module to output that value with the O command The axis should start to move u 6 To stop axis motion a Zero the COMMAND VALUE nu
37. esets the CPU This has the same effect on the module as powering up LED Indicators Module Run status Grn Module OK Off SLC not communicating Flash Grn Updating FLASH memory Module Fault status Red Fault or Power up reset Gm Module power OK Axis status one LED per axis Red LDT error Gm Axis OK FlashRed Axis motion error Off Axis not initialized Compatible LDT Input Devices Linear Displacement Transducer such as Balluff BTL 2 L2 or M2 Gemco Quick S tick Santest GYRP or GY Temposonics with DPM or RPM ep LDT Range and Resolution 230 inches 0 004 inch 120 inches 0 002 inch 60 inches 0 001 inch oO T Cable Length RPM type 150 ft DPM type 200 ft nterface Module IFM Terminal Block IFM 1492 AIFMQS required for CE certification Cable 1492 ACABLExxxQ to DB 26 connector on module and Cable where xxx cable length in meters for 2 5m cable xxx 025 odule Cable 1 0 to IFM DB 26 subminiature 1492 AC ABLE Connections Configuration Diagnostics DB 9 1746 CP 3 odule ID Code 13627 Publication 1746 6 19 March 1998 A 2 Module Specifications Environmental Operating Temperature 0 C to 60 C 32 F to 140 F Storage Temperature 40 C to 85 C 40 F to 185 F Relative Humidity 5 to 93 without condensation Certification Agency Certification when marked on CE marked for all applicable di
38. fied with a shorter cable you must re certify the system if using the 2 5 m cable Publication 1492 5 1 describes the IFM terminal block and cables For information on the entire line of Allen Bradley Interface Modules and associated cables for wiring analog systems refer to publication 1492 2 15 Chapter 3 Setting Up Your PC for the Hydraulic Configurator Chapter Objectives This chapter helps you do the following e Obtain the Hydraulic Configurator from the Internet e Set up communication between your PC and the module Obtaining the Hydraulic You can download the Hydraulic Configurator from our website to Configurator from the your PC You can also download ladder logic and transfer it to your Internet SLC processor but we cover that in chapter 6 System requirements for the Hydraulic Configurator are Windows 95 series A or B and 4M available disk space To Access Our Website Access the Allen Bradley website and 1746 QS software at http www ab com mem appsys prodinfo applac appla OSsw index html The Hydraulic Configurator is stored there as a self extracting Winzip executable To Load the Hydraulic Configurator 1 Download the Hydraulic Configurator 1746 QS EXE onto your hard drive 2 Run 1746 QS EXE The Winzip self extractor will ask you where you want to store the Hydraulic Configurator 3 Launch it using the file QsCfg exe 4 Set up a shortcut optional Publication 1746 6 19 March 19
39. g strokes or high speeds 02 01 Bit02 Bit01 Divide counts by 0 I 2 1 0 4 1 A 8 Integrator limit to help prevent drive output saturation If integrator limit integrator windup bit in status word is set and 0 integrator value is held to the limit 1 limit is 80 of full drive 0 limit is 20 of full drive Motion control command words for all four axes are sent to the module through the output image table and axis status words of all four axes are returned from the module through the input image table The ladder program may write 32 command words for all four axes from an integer file to the output image table by a COPY instruction and may read 32 status words for all four axes from the input image table by a COPY instruction into another integer file Eight output image words per axis for commands and eight input words per axis for status are addressed as follows Your Ladder Logic Must To These Output Image Addresses Write These Parameters Axis1 Axis 2 Axis 3 Axis 4 Moe 00 Oes OG Ove 24 Acceleration O e 1 0 e 9 O e 17 O e 25 Deceleration O e 2 0 e 10 O e 18 O e 26 Speed 0 e 3 O e 11 0 e 19 06 21 Position Command Value O e 4 O e 12 O e 20 O e 28 Command O e 5 0 e 13 O e 21 0 e 29 Reserved 0 e 6 O e 14 O e22 O e 30 Reserved O e 7 0 e 15 O e 23 O e 3l Your Ladder Logic Must At These Input Image Addresses Read These Para
40. h of e shield of the amplifier output cable to the valve e output common on 15V dc PS that powers the LDT e terminal on 24V dc PS that powers the proportional amplifier 6 Verify NO continuity between drive output commons connected to IFM terminals 3 7 11 15 and earth ground 7 To minimize ground loops verify that all cable shields are grounded at one end only to SH terminals of the IFM terminal block and that GND terminal 51 of the IFM is connected to earth ground 1 Design for adequate pressure and volume Hydraulic systems must have enough pressure and fluid volume accumulator to move the desired load the commanded distance and speed Inadequate pressure or volume will cause the axis to lag the target position as the controller attempts to move the axis faster than the system can move Consider monitoring system pressure or providing a low limit approx 80 pressure switch 2 Avoid flexible hose Use no flexible hose between the valve and the cylinder being controlled Flexible hose will swell and contract as the valve opens and closes causing oscillation and loss of control 3 Mount valve and cylinder in correct orientation To avoid problems from entrapped air mount the valve directly to the cylinder and positioned above it Mount pressure sensors beneath the cylinder 4 Use linear valves with minimal overlap If using proportional valves they should have less than 3 overlap and a linear not curvilinear
41. his valve Repeat steps 1 6 with negative values for opposite direction Determine DEAD BAND ELIMINATOR value It is the larger of the values from step 6 regardless of sign Enter the value of the DEAD BAND ELIMINATOR in the number field in the Parameter section of the main screen 10 Transfer the parameter to the module using the P Command At any time during tuning you can save configuration parameters For PC backup save the file of configuration parameters from the Hydraulic Configurator with the Save as function Store them in integer N files of the SLC processor to insure that the ladder program matches the configuration parameters issue a ladder logic command to copy the M1 file of configuration parameters from the module into SLC processor integer N files For ladder logic examples refer to chapter 5 Chapter Objectives Obtaining Sample Ladder Program from the Internet Configuring Your SLC Processor Off line Chapter 5 Using Ladder Logic This chapter covers e Obtaining sample ladder program from the Internet e Configuring your SLC processor off line e Using the sample ladder program RSExampl RSS to copy configuration parameters to the SLC processor copy configuration parameters to the module operate axis movement automatically jog the axis respond to loss or restoration of hydraulic power run multiple synchronized axes You can obtain sample lad
42. hydraulics Ln Aa WwW Nme Move the axis to the first position with the diddle box It doesn t matter whether the first position is an extend or retract 6 In the Scale Offset Calibration window from Tools in command bar a Enter the desired position value into the Actual Position field for the First Position For example 4000 b In corresponding First Position Counts field click Use Current 7 Move the axis from the first position to the second 8 In the Scale Offset Calibration window from Tools in CommandBar a Enter the desired position value in the Actual Position field for the Second Position For example 40 000 b In corresponding Second Position Counts field click Use Current The New Parameters area of the window will show the calculated values for the Config word Scale and offset Set extend retract limits later 9 Confirm that the displayed New Parameters step 8 are valid Then a Click Apply to enter the values into configuration parameter words b Click Done to close the editor window Important You must set the EXTEND and RETRACT LIMITS after setting the scale and offset The Scale Offset Calibration tool will re calculate any existing EXTEND and RETRACT LIMITS automatically when you use it to set a scale and offset 10 For each axis enter the desired end point values for the EXTEND and RETRACT LIMITS in the screen s PARAMETER section Enter them in the same engin
43. iles contain 8 word motion control commands 1746 05 Module gt gt gt gt gt gt Axis Status During a Motion Profile Input Image Scan gt gt gt gt gt gt Publication 1746 6 19 March 1998 Transferring Motion Commands and Axis Status Motion commands and axis status can be integer or floating point values Important If your application requires position values gt 32 767 you must use floating point values and your ladder logic instructions must compute floating point numbers from integer e store values in floating point F files Each of four files contains the 8 word motion command for an axis The eight words define the axis motion profile When directed by a ladder logic command ladder logic moves the files into the output image table for transfer to the module The example shows floating point files with compute instructions Ns 4 7 24 Output Image Table 1746 05 Module Axis 2 F7 8 Axis1 70 gt gt gt gt gt gt Mode gt gt gt Mode gt gt gt Accel Ladder Logic Accel Output Commands Decel Compute FP Decel Image for Motion Sdn to Integer P Scan Profiles osition osition Command _ Command ae reserved 2 reserved 2 When directed by a ladder logic command ladder logic moves eight words of axis status from the input image table to processor files The example shows floating point with compute instructions and floating point files Input Image Table
44. imulate mode without first initializing valid configuration parameters in the module If you have already initialized the module with valid configuration parameters that suit your machine you should copy them from the module into the N11 file Refer to Copy Configuration Parameters to the SLC Processor next If you have NOT initialized the module with valid configuration parameters copy the N file of the sample program to the module to initialize axis 1 and 2 with pre programmed configuration parameters Refer to Copy Configuration Parameters to the Module next Publication 1746 6 19 March 1998 5 3 Copy Configuration Parameters to the SLC Processor INITIALIZE GET from OS Module Enable this rung to copy configuration parameters to the SLC N file after you change them with the Hydraulic Configurator Set ON to read parameters after tuning Parameters for Axis 1 GET_PARAMETERS CONFIG1 B3 0 C0OP COPY FILE 1 Source M1 2 0 Dest N11 0 Length 64 gt Set ON to read parameters after tunin g GET_PARAMETERS B3 0 Copy Configuration Parameters to the Module This rung copies configuration parameters from SLC N11 file to the module s MO file and issues the P command for axis 1 and 2 The P command is the decimal value 80 that is moved to output image Command words O 2 5 axis 1 and O 2 13 axis 2
45. is required if the valve has relatively e large overlap up to 20 e slow speed less than 40 Hz e large capacity for its application For a description of how Dead Band Eliminator affects the system refer that subject under Hydraulic Configurator Help Topics Important Use this procedure only if your valve needs the DEAD BAND ELIMINATOR If not go to the next section Saving Parameters This procedure requires operating the module in open loop mode with drive outputs connected to the amplifier In this procedure you will increase the drive output until the axis just moves in one direction then in the other 1 Select the axis and enter a small positive value such as 200 mV in the COMMAND VALUE number field 2 Issue the open loop output command O 3 Look for axis motion 4 Important If necessary be prepared to stop axis motion To stop Enter zero in the COMMAND VALUE number field Issue the open loop output command O 5 Slowly increase the value that you entered in the COMMAND VALUE number field and repeat steps 2 and 3 until the axis just starts to move Important Observe if the axis moved in the intended direction If in the wrong direction check drive wiring polarity and hydraulic plumbing before reversing the drive mode in the Config word Publication 1746 6 19 March 1998 4 10 Saving Parameters Publication 1746 6 19 March 1998 Back down the value below no motion Write down t
46. k 2 Gray pin 5 F Blue Return note 1 3 Gray 5 Green pin 7 E Brown Interrogate 10 Green 3 Pink pin 6 A White Interrogate 9 Yellow 1 Yellow pin 4 K Gray UTS TE PS Common 1 White 6 Blue pin 3 B Black 15V dc PS 5 Red 7 Brown pin 1 C Red and wires of the same function should be a twisted pair within the cable note 1 We use the term Return for gate out pulse trigger or square wave Gemco and start stop Balluff M2 LDT signals Publication 1746 6 19 March 1998 Temposonics II RPM or DPM Axis Loop 1 Publication 1746 6 19 March 1998 Typical Connections to the Interface Module IFM Terminal Block Pin assignments of the IFM terminal block for I O power shield and ground connections are as follows For example we show connections for one axis with a Temposonics LDT and power supply 15V Power Supply C 5 Axis Loop 2 Axis Loop 3 Axis Loop 4 t Ret Ret Out Out Ret Ret Out Out Ret Ret Out Out m 2 3 N SH SH au u SH SH an u SH SH Internal Connections V 32 is connected to 34 38 42 46 through fuses that you provide V 33 is connected to 36 40 44 48 through fuses that you provide PS Com 50 is connected to all LDT Com 35 39 43 47 Earth GND 51 is connected to all SH 18 19 22 23 26 27 30 31 Connect the 15V dc power supply to pin 50
47. ly set up and tune each axis independent of your ladder program reduced cycle time you can increase axis speed for faster operation smoother operation for longer machine life you can profile acceler ations and decelerations of the hydraulic actuator to limit pressure spikes faster change over to new parts you can store setups configuration parameters for quick an accurate change over between parts Monitoring Axis Position The module has four LDT inputs You configure each axis for an LDT with a Pulse Width Modulated output DPM or a Start Stop output RPM by changing axis configuration parameters Controlling Axis Output The module is a targeting controller every two milliseconds its micro processor updates TARGET POSITION and target SPEED values For point to point moves TARGET POSITIONS are generated so that resulting speed accelerations and decelerations follow either a trapezoidal or s curve profile The MODE ACCELERATION DECELERATION SPEED and COMMAND VALUE requested position are used to generate the profile You send these command words to the module through the processor s output image table You may change them on the fly while the axis is moving Max Speed d Spee Command Value Final Position Time Motion Profile The module compares ACTUAL POSITION with TARGET POSITION to determine position error Every update it uses the position error to adjust drive output
48. mage table into processor files Ladder logic also copies 16 words per axis of configuration parameters from integer N files to the module s 64 word MO file at power up or when initiated by an operator Ladder logic also copies the same configuration parameters updated in the module by the Hydraulic Configurator by copying them from the module s 64 word M1 file to integer N files in the SLC processor This example shows motion commands and axis status as floating point numbers Processor Backplane 1 0 Module Input Image l e 0 Float pt Files 132 1 4005 Module lt 769 Compute hes Motion commands and axis status Float pt Files Instructions Outputlmage are transferred every I O scan F7 0 0 e 0 gt 731 06 31 lt lt To save configuration changes COP MIFie Nx 0 Configuration parameters are copied by ladder program once at power up or when initiated by an operator coP MO File To transfer configurations at powerup gt gt Integer File NX63 If using multiple sets of configuration parameters you can set up library files for them in SLC processor memory or in the Hydraulic Configurator Ladder program can read configuration parameters from the module loaded with the Hydraulics Configurator and download a set each time you want run a different multi axis configuration recipe Publication 1746 6 19 March 1998 Using Processor Files A F f
49. mber field b Command the module to zero its output with an O command 7 In Scale Offset Calibration window from Tools in CommandBar a Enter the desired position value in the Actual Position field for the First Position For example 40 000 b In corresponding Counts field click Use Current 8 To move the axis to the second position a Command the module to output a negative value such as 200 with the O command as with step 5b The axis should start to retract If not verify that the value is 9 To stop axis motion a Zero the COMMAND VALUE number field b Command the module to zero its output with an O command 10 In the Scale Offset Calibration window from Tools in command bar a Enter the desired position value in the Actual Position field for the Second Position For example 4000 b In corresponding Counts field click Use Current The New Parameters area of the window will show the calculated values for the Config word Scale and offset Set extend retract limits later 11 Confirm that the displayed New Parameters step 10 are valid Then a Click Apply to enter the values into configuration parameter words b Click Done to close the editor window Important You must set the EXTEND and RETRACT LIMITS after setting the scale and offset The Scale Offset Calibration tool will re calculate any existing EXTEND and RETRACT LIMITS automatically when you
50. memory map They are addressed in ladder logic as MOe n or Mle n e rack n word Copy these To From these file addresses parameters Axis1 Axis2 Axis3 Axis 4 Scale el e 17 e 33 e 49 Offset 6 7 e 18 e 34 e 50 Extend Limit e3 e 19 e 35 e 51 Retract Limit e4 e 20 e 36 e 52 Proportional Gain NT 6 21 6 31 e 53 Integral Gain e 6 e 22 e 38 e 54 Differential Gain e 7 e 23 e 39 6 55 Extend Feedforward 6 8 e 24 e 40 e 56 Retract Feedforward e9 e 25 e 4l 6 51 Extend Accel Feedforward e 10 6 20 e 42 e 58 Retract Accel Feedforward e ll e 27 e 43 6 50 Dead Band Eliminator 6 12 6 28 e 44 e 60 In Position e 13 e 29 e 45 e 61 Following Error e 14 e 30 e 46 e 62 Auto Stop els 6 31 e 47 e 63 Publication 1746 6 19 March 1998 Using I O Image Tables for Commands and Status Using Processor Files CB Bit Map of Configuration Word e 0 e 16 e 32 e 48 Word Bit Description Number of LDT recirculations bit combination bit 15 8 recirculations 15 12 bit 14 4 recirculations x bit 13 2 recirculations Configuration bit 13 1 recirculation bit map 11 04 Reserved Simulate mode used for debugging 1 Drive outputis set to null LDT inputs are ignored 03 Internally the target position is used as the actual position LDT error bits and LEDs are cleared 0 Simulate mode ignored Divide LDT counts bit combination used to reduce LDT count resolution for lon
51. meters Axis1 Axis2 Axis3 Axis 4 Target Position he l e 9 l e 17 l e 25 Actual Position le 2 l e 10 e 18 l e 26 LDT Counts le 3 ke 1l l e 19 l e 27 Status Bits le l e 12 l e 20 l e 28 Drive Output l e 5 l e 13 ke 21 l e 29 Actual Speed l e 6 l e 14 l e 22 l e 30 Drive Null le l e 15 e 23 l e 31 Publication 1746 6 19 March 1998 C 6 Using Processor Files Bit Map of Command Mode Word Word Command Mode Command word 0 Bit Description 15 0 plots each move of the axis overwwriting previous plot 1 disables axis plot to preserve the last plot 14 08 reserved 07 0 disables S Curve 1 module computes an S curve target for smoother motion 0 disables Quick Mode 06 1 module ramps up to max drive output in open loop maintains it then ramps down in closed loop axis limit 05 04 Synch A B Axes with same bit set are synchronized Integrator Mode bit combination Bit03 Bit02 Integrator is Active 03 02 0 0 always 0 1 during DECEL and IN POSITION 1 0 during IN POSITION 1 1 never Accel Decel Mode bit combination Bit01 Bit00 Accel Decel values define 01 00 0 0 ramp rate in position units sec sec 0 1 ramp rate in 1000 position units sec sec 1 0 distance to SPEED 1 1 time to SPEED Bit Map of Axis Status Word Word Axis Status Status word 4 Publication 1746 6 19 March 1998 Bit Descrip
52. nts cleared 1000 cts 0 axis outside in position window 00 1 lt difference between actual and command positions is less then the in position value A applications of module 1 4 axis connections for control loop 2 3 getting ready to move 4 5 jogging sample program 5 7 stopping axis motion 4 10 synchronized motion 5 9 tuning 4 1 benefits of module 1 2 bits 5 2 C 54C 6 C cables 4 3 Interface Module to QS module 2 6 grounding of 2 3 PC to module 2 3 system 1 2 D 3 calibration set scale and offset 4 3 H 4 ee K Kill 4 2 N Null Drive 4 2 O Open loop 4 2 4 4 P Parameters 4 314 4 command mode word bit map C 6 command words transferring to module C 2 used in tuning 4 7 configure PC com port 3 2 0 for SLC processof 5 1 configuration parameters see parameters configuration word bit map C 5 connections to Interface Module terminal block 2 2 module 2 3 B 1 module outputs 2 4 D data transfer C 1 dead band eliminator find value of 4 9 diddle box 4 2 download from Internet Index E electrical noise minimize 2 3 2 4 2 5 error following 4 6 aoe extend limit set value of 4 2 programming 5 F fault module and axis 6 1 files F floating point C 1 C 3 N integer 5 2 C 2 MO M1C 3 C 4 processor 5 2 Jappen
53. o Output Devices cece eee eee O tput PDA ee en Z ch ee Checking Out the Wiring and Grounding 000005 Setting Up the Hydraulics u ds ee deeiewhedee ounces Regarding the Interface Module Terminal Block and Cable Chapter 3 Chapter Objectives cog eeskiedeae wees Obtaining the Hydraulic Configurator from the Internet To Access Our Website anaua Chapter 4 Chapter ODjectiVeS i 3 9 teaser Z S Z 6 en Before 100 Segih recesii ensins reisen near A oe Finding the Value of the Null Drive ccc eee eee Moving the Axis to Set Scale Offset Extend and Retract Limits Procedure to Set Scale and Offset with Drive Output Disconnected Alternate Open loop Procedure to Set Scale and Offset Getting Ready to Tune the Axes 2 cece eee eee ees Tuning Each AMG isc canes ns General Procedure for Tuning an Axis 0000005 Publication 1746 6 19 March 1998 toc ii Using Ladder Logic Troubleshooting Module Specifications Wiring Without the Interface Module Using Processor Files Publication 1746 6 19 March 1998 Adjusting Command word Speed and Acceleration Values Adjusting Feedforward Parameters csc eee ueeeas Using Acceleration Feedforwards cece eee ee eae Adjusting P I D Gains Finding the Value of the Dead Band Eliminator 005 Saving Parameters of civ ekata satan en Chapter 5 Chapter Objectives une er gases
54. ondition Ladder program cannot access parameters operate the module Chapter 6 Troubleshooting This chapter e Describes the module s LED indicators e Suggests corrective action for typical operating problems Use this table to interpret the module s LED indicated status HYDRAULIC RUNIELT CI CI AXES 1 DJ A H a D SYNCHR AXES Module Run status Green Module OK Off SLC not communicating Flash Grn Updating FLASH memory Module Fault status 2 Red Fault or Power up reset 4 Green Module power OK Axis status one LED per axis Red LDT error loss of input noise Green Axis OK Flash Red Axis motion error Off Axis not initialized Use this table to look up corrective action for typical problems Possible Cause You made errors configuring the module or addressing your ladder logic Corrective Action Check the Following 1 module is not configured properly 2 module s I O slot number and ladder address do not match Red Axis LEDs are on The transducer is not responding to the module 1 Status word to determine which transducer fault has occurred 2 Transducer power supply and wires to the transducer un a move the Actual Position is erratic Incorrect shielding or a defective transducer is causing electrical noise Monitor bits 13 14 and 15 of the axis STATUS word to determine if the module is detecting a transducer error To reduce electric
55. power up It also copies configuration parameters that you enter change with the Hydraulic Configurator from the module s MI file to processor files Thus you can establish a library of configurations recipes in processor files that you can select and download to the module at power up or each time you want to change the setup of your axes We explain the functions of the ladder logic later in this manual Use the module in an SLC based system for control of hydraulic applications where two or more axes must reach their final position at the same time such as plywood presses e roll positioning e palletizers and stackers e forging machines e hydraulic tailgate loaders In addition the module is designed to support independent axes using either servo or proportional amplifiers and retrofit into existing hydraulic systems requiring a positive voltage irrespective of direction Hardware software requirements of this SLC processor system include Component Requirement SLC Processor SLC 5 03 or later Comm Interface Card alternate COM port 1784 KTx Personal Computer 3 9 MByte of disk space PC Operating System Windows 95 PC QS Interface Cable 1747 CP3 Synchronized Axes Module 1746 05 Interface Module terminal block 1492 AIFMQS Interface Module Cable 1492 ACABLE xxxQ Programming Software RSLogix500 LDT RPM or DPM Temposonics Baluff Santest Gemco etc Chapter Objectives
56. ration with the machine The Allen Bradley Small Logic Controller SLC system is a program mable control system with an SLC processor I O chassis containing analog digital and or special purpose modules and a power supply The 1746 QS module occupies one slot of the I O chassis and communicates with the SLC processor over the backplane using 32 words in the SLC processor s output image table and 32 words in the input image table The processor loads or reads the module s configuration parameters using MO or M1 files respectively Your ladder logic sequences synchronized axes movement with machine operation The system can be illustrated as follows Publication 1746 6 19 March 1998 Power Supply Why Use This System How Does It Work Publication 1746 6 19 March 1998 Teer Hydraulic Configurator Software on PC For Setup and Troubleshooting OOTY Cable T aa T Processor Interface Module terminal block 1492 AIFMQS Servo quality Proportional Valve Proportional Amplifier Piston type Hydraulic Cylinder PL and Position monitoring Device P Position Input QO Because you can interact quickly and easily with the module s control of axis motion via the Hydraulic Configurator this control system has these benefits e faster setup and tuning of axes the Hydraulic Configurator lets you quick
57. re of safety considerations ATTENTION statements help you to e identify a hazard e avoid the hazard S recognize the consequences Important Identifies information that is critical for successful application and understanding of the product SLC is a trademark of Allen Bradley Company Inc PKZIP and PKUNZIP are registered trademarks of PKWARE Inc System Overview Setting Up the Hardware Setting Up Your PC for the Hydraulic Configurator Tuning an Axis with the Hydraulic Configurator toc i Chapter 1 Chapter Objectives cc seen nennen nn What Is the 1746 QS Module 0 0 eee eee What Is the Hydraulic Configurator 2222 cece eee eee eee WhatIs an SLC 500 System arena Why Use This System zer er How DOCS IE WOM i etian aaa e a waded wid ey a Controlling Axis Output sasaaa Programming marassa siaaa ea piik ai eaa Mere What Are Typical Applications oaaae System Requirements nunnana Chapter 2 Chapter OPJECHVES swasta asi aau atiii a nenne ee Connections to LDTs and 4 axis Terminal Block LDT Connections for fabricating your own LDT cable Typical Connections to the Interface Module IFM Terminal Block Typical Fusing of the Interface Module IFM Terminal Block Example Connections for Temposonics II Differential Inputs Wiring Example u u saw dee rare dann Minimizing Interference from Radiated Electrical Noise Connecting Outputs t
58. rectives product or package Publication 1746 6 19 March 1998 Wiring Example Appendix B Wiring Without the Interface Module We present a 1 axis loop with a differential LDT input You must provide power supplies and servo amplifiers 24V Power Supply Axis Loop 1 of 4 axis system Proportional Amplifier Grounding exception Connect this shield to internal common Piston type Hydraulic Cylinder and Linear Displacement Transducer LDT 15V Power Supply C Connect cable shields to earth ground Connect signal commons and PS commons together isolated from earth ground Pin Numbers of Signal Cable from Belden 1746 QS Module 8761 Signal Common Connector earth ground We present the DB 26 connector pin functions in two ways LDT loop number 1 4 and numerical order 1 26 in the connector by LDT Loop 1 0 Function Interrogate Interrogate Return Return LDT Common Pins for Pins for Pins for Pins for Loopl Loop2 1 Drive Common Drive Output in Numerical Order 1 0 1 0 1 0 Function Function Function SI Reu 21 LDT Common Tass 13 LDT Common 22 alntrogted TR E eums 15 Tani 28 CrRetumd Dive utp ive Common 17 One Output 28 Dre Common Co vive oups 16 Dre Output Publication 1746 6 19 March 1998 B 2 Wiring Without the Interface Module Minimizing Interference from Radiated Elec
59. s Q QS module communication with Pc 3 2 connections to IFM terminal block 2 2 control loop 1 3 how it works 1 2 specificationg A 1 what it is 1 11 quick start see publication 1746 10 3 R retract limit set value of 4 2 4 3 4 4 programming 5 4 5 7 S sample program back forth motion with state machine 5 4 copy parameters to module 5 3 copy parameters to SLC processor5 3 hydraulics on off res ponse 5 8 jogging an axis 5 7 synchronized axes 5 9 saving parameters 4 10 scale finding its value 4 2 3 shielding of cables 2 3 J 2 5 SLC 500 system overview 1 1 requirements 1 4 specifications A 1 Status word bit map C 6 transferring from module C 2 stop axis movement 4 10 T U V terminal block Interface Module 2 2 2 6 troubleshooting 6 1 tuning axis adjusting parameters 4 7 thru 4 9 general procedure null drive procedure 4 1 scale offset procedure 4 2 H 3 W X Y Z wiring 2 3 2 5 B 1 ON Rockwell Automation Allen Bradley a Rockwell Automation Business has been helping its customers improve productivity and quality for more than 90 years We design manufacture and support a broad Allen Bradley range of automation products worldwide They include logic processors power and motion control devices operator interfaces sensors and a variety of software Rockwell is one of the world s leading technology
60. tate 3 Delay TIMER ON DELAY Timer T4 Time Base Preset Accum Axis 1 State 3 belay Complete T4 0 f Asi aaa ai aa GS MOVE FILE DN re Dest MO MOVE FILE Source 4 M0V AXIS 1 and 2 S This example u than used by t 5 7 Jogging the Axes In the sample program Commands for jogging axis 1 are stored in N12 24 29 to advance and N12 30 35 to retract Jog pushbutton addresses are B3 0 3 advance and B3 0 4 retract When either jog pushbutton is pressed extend and retract limits are copied into the jog command position words in the N files the corresponding N file is copied to the output word to the module This provides a target position at the end of travel in each direction When the jog pushbutton is released zero is copied into the jog command speed word allowing the axis to decelerate to a stop and unlatch the jog command You cannot be in automatic mode when attempting a jog and you cannot be jogging when you attempt to enter automatic mode Important If you intend to use this sample program on a live machine module NOT in simulate mode be sure that you have stored valid motion profiles in N12 files initialized the module with valid configuration parameters such as axis limits scale offset and feedforwards TATE 2 ses different motion profile words stored in N12 24 35
61. the jog pushbutton or the interlocks intervene the SPEED for the current move is set to zero The output image table still contains so setting the SPEED to zero will cause the module s target generator to ramp velocity to zero at the DECEL rate The IN POSITION bit in the status word for the axis will not be set unless by circumstances the final actual position is within IN POSITION counts of the AXIS COMMAND POSITION Axis 1 Jog Extend Axis 1 jog Retract Axis is Jogging Jog Pushbutton Jog pushbutton AXIS_JOGGING interlocks interlocks AXIS1 SPEED B13 3 B3 0 B3 0 OLR mern gt SS Ze ZN a CAR 0 Dest EIS 5 Il 6000 lt Axis is Jogging AXIS_JOGGING B1373 4 U 0 Responds to Hydraulics On Off The purpose of this sample is to help you consider how to handle typical events that may occur when hydraulic system power is cycled When hydraulic power is lost and the module remains powered the axis may be allowed to drift or to be moved manually The module interprets this axis motion as following error so when hydraulic power is restored the module attempts to return the axis to the In Position band which may cause significant unexpected motion ATTENTION To guard against unexpected motion when hydraulic power is restored the moment that hydraulic pumps are turned Off your ladder logic should take precautions to help prevent valve null and integrator windup from
62. tion 15 0 LDT inputOK 7 1 LDT inputlost 0 LDT inputOK 14 1 LDT inputnoisy For hard soft stop see config auto stop bit 06 0 LDT inputOK 13 1 LDT input overflow For hard soft stop see config auto stop bit 05 0 output drive power OK 12 1 output drive exceeds D A range insufficient drive power For hard soft stop see config auto stop bits 12 and 04 0 no parameter error detected 11 1 initialization or control parameter is out of bounds For hard soft stop see config auto stop bits 11 and 03 10 0 no position overflow detected 1 actual position exceeded range of 16 bit number display 0 lt integrator windup OK 09 1 integrator value exceeded 20 or 80 see config bit 00 For hard soft stop see config auto stop bits 09 and 01 0 following error OK 08 1 difference between target and actual positions gt max error For hard soft stop see config auto stop bits 08 and 00 07 0 1 toggles to ase valid command or status request received by the module 06 0 module not initialized module is reset 1 lt initialized with P command axis ready for Go command State of target generator bit combination Bit05 Bit04 Target Generator is 05 04 0 0 stopped 0 1 accelerating 1 0 at constant speed 1 1 decelerating 03 0 axis in closed loop 1 axis in open loop caused by O command or hard stop 02 0 axis movement l axis is halted caused by H command hard or soft stop 01 0 axis movement 1 axis speed lt 500 transducer cou
63. trical Noise Checking Out the Wiring and Grounding Publication 1746 6 19 March 1998 Important Signals in this type of control system are very susceptible to radiated electrical noise Minimize interference from radiated electrical noise with correct shielding and grounding as follows Connect LDT cable shields and drive output cable shields all shields at one end only to earth ground Keep LDT signal cables far from motors or proportional amplifiers Connect all of the following to earth ground power supply cable shields one end only LDT flange frame and machine I O chassis AC ground Use shielded twisted pairs for all connections to inputs and outputs Run shielded cables only in low voltage conduit e Place the SLC 500 processor and I O chassis in a suitable enclosure Important To minimize the adverse effects of ground loops you must isolate power supply and signal commons from earth ground as follows 6 Connect power supply commons and LDT commons together Be sure that they are isolated from earth ground 7 Connect the cable shield of the servo or proportional amplifier output cable to a zero potential terminal inside the amplifier 8 Use bond wires that are equal in size to signal wires 9 When practical use one power supply to power only your LDTs Repeat this procedure to check out each of the four axis loops ATTENTION Be sure to remove all power to the SLC processor LDT valve
64. use it to set a scale and offset 12 For each axis enter the desired end point values for the EXTEND and RETRACT LIMITS in the screen s PARAMETER section Enter them in the same engineering units as used in steps 7 and 10 13 Initialize activate axis parameters with the P Command 14 Repeat this procedure for each axis in use Getting Ready to Tune the Axes Tuning Each Axis 4 5 Once you have set scale offset and extend retract limits in open loop mode you can now use the Hydraulic Configurator to tune the axis using closed loop move commands and axis plots We suggest that you 1 Leave un entered configurations parameters at default except for Auto Stop to O00EO hard stop only for LDT faults 2 If not done already initialize the axes with the P command 3 Store two 6 word motion commands in the Stored Command Editor Mode word 00000 This sets integrator to Always Active and accel decel to slow ramp SPEED ACCEL and DECEL values at 20 of typical machine move For safety start slow and increase SPEED gradually COMMAND VALUES to desired end positions for the axis to tune Zero all six command words of the axes not to be tuned 4 Set the plot clock in even numbered seconds 20 max to longer than you expect for the axis to run tuning moves 5 ATTENTION Highlight the axis you want to move before moving the axis back and forth using stored commands 1 and 2 Unexpect
65. wing Error persists ACCEL and DECEL ramps may be too steep for your system response You can reduce their values or increase the ACCEL FEEDFORWARD term Also remember that you can specify either the time or the distance in which the ACCELERATION or DECELERATION must occur After correcting the problem of excess Following Error keep moving the axis back and forth with increasing SPEED values until you reach desired speed Should the system seem a little sloppy try increasing the PROPORTIONAL GAIN until the axis moves with a steady state FOLLOWING ERROR as observed by axis plot and stops at the end point with minimum in position error Remember the parameters are not updated in the module until you issue the P command Adjusting Feedforward Parameters In many hydraulic systems the feedforward parameters EXTEND FEEDFORWARD and RETRACT FEEDFORWARD are the most important parameters for position tracking during a move Use the auto Feedforward Adjust command F to minimize the FOLLOWING ERROR Refer to General Tuning Procedure step 2 For move information refer to these parameters in the Help Topics Publication 1746 6 19 March 1998 Publication 1746 6 19 March 1998 Important When tuning the Feedforward term with command F plot sequential axis moves and compare plots of target position and actual position until the two plots coincide Another way to adjust these parameters is to set the DIFFERENTIAL GAIN and IN

Synchronized Axes Control Module User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents