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1756-UM525 - Rockwell Automation

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1. YH 144 73mm SO gt 5 698in 12 mm 131 75mm 0 5in gt lt 3 18mm 0 125in 5 187in a N pes LE 7 E Rear Surface of Fa ControlLogix Chassis Standard Depth Housing EE NN Extended Depth Housing m H 4 41682 The depth from front of the module to the back of the chassis is as follows e standard depth housing 147 91mm 5 823in e extended depth housing 157 43mm 6 198in Publication 1756 UM525A EN P June 2003 25 Chapter2 Installing the 1756 HYD02 Module Installing the Bemovable Install the RTB onto the module to connect wiring Terminal Block Shock hazard exists If the RIB is installed onto the module while the field side power is applied the RTB will be electrically live Do not touch the RTBS terminals Failure to observe this caution may cause personal injury The RTB is designed to support Removal and Insertion Under Power RIUP However when you remove or insert an RTB with field side power applied unintended machine motion or loss of process control can occur Exercise extreme caution when using this feature It is recommended that field side power be removed before installing the RTB onto the module Before installing the RTB make certain field side wiring of the RTB has been completed the RTB housing is snapped into pl
2. 24 Suggestions for Using the Extended Depth Housing 25 Cabinet Size Considerations With the Extended Depth EFIousinis s oo aeter e scr 9E 2E tao C e d 25 Installing the Removable Terminal Block 26 Removing the Removable Terminal Block 28 Removing the Module from the Chassis 29 Chapter Summary and Whats Next xt o utate ded be x Rs 30 3 Table of Contents Configuring the 1756 HYD02 Module Using the 1756 HYD02 Module Features Chapter 3 Using RSLogix 5000 Configuration Software 31 Overview of the Configuration Process 32 Creating a New Module nest imeeres 33 Configuring General Module Featuf s ss 52499 c b nm 35 Configuring the Axes Features 24 44 bint ue we te bine tite rad 36 Downloading New Configuration Data 37 Eine COnPISUFADOR sisaria sar EE Sombra riposte 38 Reconfiguring Module Parameters in Run Mode 39 Reconfiguring Module Parameters in Program Mode 39 Chapter Summary and What s INeXES oa iro each poA ER Ed eek 40 Chapter 4 Wat This Chapter Contain Sees d aieo e qp e Seb Chee d 42 Using General Module Features vs doe wx eat ooh EP pad 42 Servo Update Ped cep ecc ask chee ee eS d eto A 42 Module Fault NEDOPHI oo iu ou baa os adratdkoe oo EPIO dre end 43 Bully Software Gonfig rable 2a ooa s d utei d ted owe ate 43 Peer onic Keine 4 tam ac
3. 34 Publication 1756 UM525A EN P June 2003 Configuring the 1756 HYD02 Module Chapter 3 Configuring General You see the seties of wizard screens after the naming screen Use these screens to configure general features on the 1756 HYD02 module Module Features Module Properties Local 1 1756 HYDO2 12 1 Inhibit the connection to the module If you want a Major Fault on the Controller to occur if there is connection failure with the I O module while in Run mode click here This Fault box is empty when you are offline If a fault occurs while the module is online the type of fault will be displayed here Click here to move to the next page Module Properties Local 1 1756 HYDO 12 1 oet the Servo Update Period The correct servo update period is based on the transducer lengths and the number of ke Rl EEN recirculations on each axis associated with crores the module The Feedback tab described on page 58 has a utility that calculates the minimum update period For more information on the Associated Axes see the Configuring the Axes Features beginning on page 36 Publication 1756 UM525A EN P June 2003 35 Chapter3 Configuring the 1756 HYD02 Module Co nfiguring the You must create an axis before you can associate it with a channel on the 1756 HYD02 dule Axes Features eee 1 Create the new axis tag as shown below Module Properties Local 1 1756 HYDO2 12 1 i Click on New Axis to
4. Note that Master Delay Compensation even if explicitly enabled is not applied in cases where a slave axis Is gearing or camming to the master axis command position Since the ControlLogix controller generates the command position directly there is no intrinsic master position delay to compensate for Enable Master Position When checked this field enables the Master Position filter to eliminate high frequency oscillations or spikes Filter from the master position signal being sent to the 1756 HYD02 module High speed axis oscillation typically causes the oscillations and spikes in the signal By removing the high frequency noise the application may be able to accurately operate on true variation of the master position signal Caution should be used when applying filtering since by definition it makes the system less responsive Master Position Filter Bandwidth used on the Master Position filter The servo position loop is also a filter To be effective the Bandwidth master position filter bandwidth should be less than or equal to position loop bandwidth However remember that this filter adds propagation delay Publication 1756 UM525A EN P June 2003 55 Chapter4 Using the 1756 HYD02 Module Features Units Tab Use the Units tab to determine the programming and configuration units used to define your motion axis When RSLogix 5000 software is online and the controller transitions to hard run or the axis loop is on i e active
5. I Si OUT 71 QUT CHASSIS Valve S INT amp INT e RET amp RET Piston type Hydraulic b i CHASSIS Cylinder and LDT S 15V dc Power Supply for LDTs Earth Ground 43474 22 Publication 1756 UM525A EN P June 2003 Installing the 1756 HYD02 Module Chapter 2 Assembling The Removable Removable housing covers the wired RTB to protect wiring connections when Terminal Block and the Housing Publication 1756 UM525A EN P June 2003 the RTB is seated on the module 1 Align the grooves at the bottom of each side of the housing with the side edges of the RTB Side edge of RTB Strain relief area Side edge of RTB 20858 M 2 Slide the RTB into the housing until it snaps into place If additional wire routing space is required for your application use extended depth housing 1756 TBE 23 Chapter2 Installing the 1756 HYD02 Module Choosing the Extended Depth Housing Maximum Area 336 sq mm 36 18AWG wires 23 14AWG wires There are two housing options you must consider when wiring your ControlLogix Hydraulic Servo module When you order an RTB for your I O module you receive a standard depth housing with the RTB If your application uses heavy gauge wiring you can order an extended depth housing This housing does not come with an RTB You can use one of the housings listed below This housing and allows up to this capacity of wires 1756 TBCH
6. Use Exact Match keying when you need the system to verify that the module revisions in use are exactly as specified in the project such as for use in highly regulated industries Exact Match keying is also necessary to enable Chapter 4 46 Using the 1756 HYD02 Module Features Automatic Firmware Update for the module via the Firmware Supervisor feature from a Logix5000 controller EXAMPLE In the following scenario Exact Match keying prevents 1 0 communication e The module configuration is for a 1756 IB16D module with module revision 3 1 The physical module is a 1756 IB16D module with module revision 3 2 In this case communication is prevented because the Minor Revision of the module does not match precisely Module Configuration Vendor Allen Bradley Product Type Digital Input a st fF Module j Catalog Number 1756 IB16D Major Revision 3 Minor Revision 1 Communication is prevented Physical Module Vendor Allen Bradley Product Type Digital Input Module Catalog Number 1756 IB16D Major Revision 3 Minor Revision 2 oon CT A C 1 E IMPORTANT Changing electronic keying selections online may cause the 1 0 Communication connection to the module to be disrupted and may result in a loss of data Publication 1756 UM525A EN P June 2003 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4
7. 3 Minor Revision 2 Cc LL Ln I log a 2 IMPORTANT Changing electronic keying selections online may cause the 1 0 communication connection to the module to be disrupted and may result in a loss of data Publication 1756 UM525A EN P June 2003 51 Chapter4 Using the 1756 HYD02 Module Features Using Axes Features Associated axes can be connected to channels 0 and 1 on the 1756 HYD02 Feature Axis Configuration Motion Group 52 module during initial configuration or on the Associated Axes tab of the module s properties in RSLogix 5000 Miele When configuring Servo Axes features remember the following e The 1756 HYD02 module only works with AXIS SERVO data type tags e When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them After you have created an AXIS SERVO tag you must configure the axis connected to that tag You configure the axis properties on a series of tabs in RSLogix 5000 The
8. Homing tab 60 Hookup tab 62 Limits tab 70 Motion planner tab 54 Offset tab 72 Output tab 68 Reconfiguring parameters in program mode 39 Reconfiguring parameters in run mode 39 oervo tab 57 Tag tab 76 Tune tab 63 Units tab 56 Using the software in troubleshooting 81 82 S Servo update period 42 Specifications 83 85 Publication 1756 UM525A EN P June 2003 Index Spring clamp RTB 17 Status indicators 11 77 80 Drive indicator 80 Feedback FDBK indicator 79 OK indicator 78 T Troubleshooting 7 82 Fault reporting 43 otatus indicators 11 77 80 Drive indicator 80 Feedback FDBK indicator 79 OK indicator 78 Using RSLogix 5000 81 82 W Wiring connections 16 22 Choosing the extended depth housing 24 Connecting LDTs to the 1756 HYD02 module 21 22 Example diagram of 1756 HYD02 wiring 18 Home limit switch input 20 OK contacts 20 Recommendations for wiring RTBs 17 Registration sensors 19 Using the cage clamp RIB 16 Using the spring clamp RTB 17 93 Index 94 Publication 1756 UM525A EN P June 2003 How Are We Doing Your comments on our technical publications will help us serve you better in the future Thank you for taking the time to provide us feedback You can complete this form and mail or fax it back to us or email us at RADocumentComments ra rockwell com Pub Title Type ControlLogix Hydraulic Servo Module Cat No 1756 HYD02 Pub No 1756 UM525A EN P Pub Date June
9. When properly configured this setting and the Feedback Polarity setting ensure that when the axis loop is closed it is closed as a negative feedback system and not an unstable positive feedback system This feature makes sure that programmatic requests to move in a positive direction result in positive motion on the axis Test Feedback Runs the Feedback Test which checks and if necessary reconfigures the Feedback Polarity setting When the test is initiated you must manually move the axis If physically moving the axis is too difficult we recommend that you combine Test Feedback and Test Output amp Feedback features to cause the movement Test Output amp Feedback Runs the Output amp Feedback Test which checks and if necessary reconfigures both the polarity of feedback the Feedback Polarity setting and the polarity of the output to the valve the Output Polarity setting for an axis configured for Servo operation in the General tab of this dialog box Executing any test operation automatically saves all changes to axis properties 62 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Tune Tab The table below lists the configurable features available on the Tune tab Feature Definition Travel Limit sets the axis travel limit during the tune test If the hydraulic module determines that the axis will not be able to complete the tuning process before exceeding the tuning travel lim
10. MDO command is given The ramp rate is specified in V s The value should be selected to allow the axis to change speed rapidly without causing excessive shock Real Time Axis Information The first axis attributes whose status is transmitted along with the actual position data to the Logix Attribute 1 processor Once the attribute is selected the real time axis information is automatically updated in the axis tag structure as long as Auto Tag Update is enabled If a GSV is done to one of these loop status attributes without having selected this attribute via the Real Time Axis Information attribute the attribute value will be static and will not reflect the true value in the hydraulic module Real Time Axis Information The second axis attributes whose status is transmitted along with the actual position data to the Logix Attribute 2 processor Once the attribute is selected the real time axis information is automatically updated in the axis tag structure as long as Auto Tag Update is enabled If a GSV is done to one of these loop status attributes without having selected this attribute via the Real Time Axis Information attribute the attribute value will be static and will not reflect the true value in the hydraulic module Publication 1756 UM525A EN P June 2003 57 Chapter4 Using the 1756 HYD02 Module Features Feature LDT Type Recirculations Calibration Constant Length ocaling Enable Absolute
11. make sure the module is configured and an axis tag has been associated with the module Flashing green The axis is in the normal servo loop inactive state None The servo axis state can be changed by executing light motion instructions oteady green The axis is in the normal servo loop active state None he servo can may be changed by executing motion light Instructions Flashing red light The axis servo loop error tolerance has been exceeded Follow these steps 1 Correct the source of the problem 2 Clear the servo fault condition using the Motion Axis Fault Reset instruction 3 Resume normal operation Steady red light An axis LDT feedback fault has occurred Follow these steps 1 Correct the source of the problem by checking the LDT and power connections 2 Clear the servo fault condition using the Motion Axis Fault Reset instruction 3 Resume normal operation Publication 1756 UM525A EN P June 2003 79 Chapter5 Troubleshooting the 1756 HYD02 Module Using the DRIVE Indicator The module s DRIVE indicators are shown in Figure HYDRAULIC AXO AX 1 FDBK FDBK Drive E c4 c ee indicators DRIVE DRIVE OK 43454 The table below explains the DRIVE indicator DRIVE Indicator Displays If the DRIVE The module status is Take this action indicator displays Off One of the following If the axis is being used and is no
12. s low pass digital output filter The parameters on this tab can be edited in two ways Type parameter changes in the fields available on this tab and use the OK or Apply buttons to save your edits Edit in the Manual Adjust dialog To do so a Click on the Manual Tune button b Use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only when the controller 1s online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must download the edited program to the controller before it can be run The table below lists the configurable features available on the Output tab Feature Definition Velocity Scaling Converts the output of the position loop into equivalent voltage to an external hydraulic axis This conversion normalizes the units of the position loop gain parameters so that variations in feedback resolution drive scaling or mechanical gear ratios do not affect their values The automatic loop tuning procedures typically establish the Velocity Scaling value but these values can be calculated if necessary using the following guidelines Velocity Scaling 100 Speed 100 For example if this axis is usin
13. 336 sq mm 1756 TBE 628 sq mm The figure below shows the difference in terms of capacity between the housing options The housings shown are used with a spring clamp RTB but the capacity for each remains the same regardless of RIB type Standard Depth Housing Extended Depth Housing m et EMEN m fet Maximum Area 628 sq mm LEE LLL cae f I ee 40 14AWG wires RH N NAC 1 PLE E 7 30484 M IMPORTANT The housings use the following maximum areas e standard depth housing maximum area 336 sq mm e extended depth housing maximum area 628 sq mm Publication 1756 UM525A EN P June 2003 Installing the 1756 HYD02 Module Chapter 2 Suggestions for Using the Extended Depth Housing TIP Consider the following when deciding to use an extended depth housing on your 1 0 module It is recommended you use the 1756 TBE when e using gt 36 18AWG wires e using gt 23 14AWG wires Cabinet Size Considerations With the Extended Depth Housing When you use an extended depth housing 1756 TBE the module depth is increased Figure shows the difference in terms of depth between a module using a standard depth housing and one using an extended depth housing
14. Compatible Keying Compatible Keying indicates that the module determines whether to accept or reject communication Different module families communication adapters and module types implement the compatibility check differently based on the family capabilities and on prior knowledge of compatible products Compatible Keying is the default setting Compatible Keying allows the physical module to accept the key of the module configured in the software provided that the configured module is one the physical module is capable of emulating The exact level of emulation required is product and revision specific With Compatible Keying you can replace a module of a certain Major Revision with one of the same catalog number and the same or later that is higher Major Revision In some cases the selection makes it possible to use a replacement that is a different catalog number than the original For example you can replace a 1756 CNBR module with a 1756 CN2R module Release notes for individual modules indicate the specific compatibility details When a module is created the module developers consider the module s development history to implement capabilities that emulate those of the previous module However the developers cannot know future developments Because of this when a system is configured we recommend that you configure your module using the earliest that is lowest revision of the physical module that you believe will be used
15. all pending changes revert to their previously saved state The table below lists the features available on the Tag tab Some of these features cannot be changed on this screen however Fault Type Definition Name Displays the name of the current tag Description Displays the description of the current tag if any is available Tag Type Indicates the current tag type Base e Alias e Consumed Data Type Displays the data type associated with the current tag scope Displays the scope of the current tag For axis tags the scope must be controller scope Style Displays the default style in which to display the value of the tag Note that style is only applicable to an atomic tag a structure tag does not have a display style Ch apter Summary and In this chapter you read about the 1756 HYD02 modules features Whats Next 76 Chapter 5 describes Troubleshooting the 1756 HYD02 Module Publication 1756 UM525A EN P June 2003 What This Chapter Contains Using the Status Indicators Publication 1756 UM525A EN P June 2003 Chapter 5 Troubleshooting the 1756 HYD02 Module This chapter describes how to troubleshoot the 1756 HYD02 module For more information about See page Using the Status Indicators 71 Using the OK Indicator 78 Using the FDBK Indicator 79 Using the DRIVE Indicator 80 Using RSLogix 5000 to Troubleshoot the 81 Module The ControlLogix Hydraulic Servo module uses a single bi colored LED to indicate module OK
16. box use the SERVO tab to configure an external drive configure the drive fault input select up to two axis attributes whose status can be monitored The table below lists the configurable features available on the Servo tab Feature Definition External Drive Select the Hydraulic drive type This drive type selection enables proportional integral and differential PID Configuration position loop gains with Feed Forwards and Directional scaling for the axis loop The Torque and Velocity options are not valid on the 1756 HYD02 module Loop Configuration Currently only Position Servo is available Enable Drive Fault Input When selected this feature enables the drive fault input When the drive fault is detected appropriate action is taken based on the Drive Fault Action specified in the Fault Actions tab of this dialog box On hydraulic systems you can use this input if the valve or hydraulic power unit has an output indicating a fault condition Drive Fault Input Normally Specifies the usual state of the drive fault output pen or Closed Normally Open sources current when a fault is present e Normally Closed sources current when a fault is not present Enable Direct Drive Ramp Check this box to enable direct drive ramp rate control Control Direct Drive Ramp Rate This attribute specifies the rate at which the analog output changes from the current value to the requested value when a Motion Direct Drive On
17. connect wiring to an I O module Linear displacement transducer LDT Feedback device connected to the ControlLogix Hydraulic Servo module that provides axis position data Any LDT used with the ControlLogix Hydraulic Servo module should use an external interrogation signal Publication 1756 UM525A EN P June 2003 Glossary Publication 1756 UM525A EN P June 2003 Major revision A module revision that is updated any time there is a functional change to the module Minor revision A module revision that is updated any time there is a change to the module that does not affect its function or interface Owner controller The controller that creates and stores the primary configuration and communication connection to a module Position loop Part of motion control firmware responsible for comparing measured position with command position to determine a position error and generating a signal to an actuator to reduce any position error that may OCCUf Program Mode In this mode the following events occur Controller program is not executing Inputs are still actively producing data Outputs are not actively controlled and go to their configured program mode Removal and insertion under power RIUP ControlLogix feature that allows a user to install or remove a module or RTB while power is applied Removable Terminal Block RTB Field wiring connector for I O modules RSLogix 5000 Programming software
18. in the system By doing this you 4 Chapter4 Using the 1756 HYD02 Module Features can avoid the case of a physical module rejecting the keying request because it is an eatlier revision than the one configured in the software EXAMPLE In the following scenario Compatible Keying prevents 1 0 communication e he module configuration is for a 1756 IB16D module with module revision 3 3 The physical module is a 1756 IB16D module with module revision 3 2 In this case communication is prevented because the minor revision of the module is lower than expected and may not be compatible with 3 3 Module Configuration Vendor Allen Bradley Product Type Digital Input Module Catalog Number 1756 IB16D Major Revision 3 Minor Revision 3 Communication is prevented Physical Module Vendor Allen Bradley Product Type Digital Input Module Catalog Number 1756 IB16D Major Revision 3 Minor Revision 2 oon mmj H E C C N 48 Publication 1756 UM525A EN P June 2003 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 In the following scenario Compatible Keying allows 1 0 communication e The module configuration is for a 1756 IB16D module with module revision 2 1 The physical module is a 1756 IB16D module with module revision 3 2 In this case communication is allowed because the major revision of the physical module is higher
19. represents the functional capabilities and data exchange formats of the module Typically although not always a later that is higher Major Revision supports at least all of the data formats supported by an earlier that is lower Major Revision of the same catalog number and possibly additional ones Minor Revision A number that indicates the module s specific firmware revision Minor Revisions typically do not impact data compatibility but may indicate performance or behavior improvement You can find revision information on the General tab of a module s Properties dialog box Publication 1756 UM525A EN P June 2003 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 General Tab Revizion D Electronic Keping Compatible keping Disable Keying Exact Match IMPORTANT Changing electronic keying selections online may cause the 1 0 communication connection to the module to be disrupted and may result in a loss of data Exact Match Exact Match keying requires all keying attributes that is Vendor Product Type Product Code catalog number Major Revision and Minor Revision of the physical module and the module created in the software to match precisely in order to establish communication If any attribute does not match precisely I O communication is not permitted with the module or with modules connected through it as in the case of a communication module
20. tabs that are available in the axis properties portion of RSLogix 5000 are described in the rest of this section For more information on how to configure the Axes Servo features or anything else on the 1756 HYD02 module see Chapter 3 Configuring the 1756 HYD02 Module or the RSLogix 5000 online help General Tab The table below lists the configurable features available on the General tab Definition selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters e Servo If the axis is to be used for full closed loop operation This selection maximizes the display of axis properties tabs and parameters oelects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch oelecting none terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Feature Definition Ellipsis button Opens the Motion Group Properties dialog box for the Assigned Motion Group where you can edit the properties of the Assigned Motion Group If no Motion Group is assigned
21. than expected and the module determines that it is compatible with the prior major revision Module Configuration Vendor Allen Bradley Product Type Digital Input Module Catalog Number 1756 IB16D Major Revision 2 Minor Revision 1 Communication is allowed Physical Module Vendor Allen Bradley Product Type Digital Input Module Catalog Number 1756 IB16D Major Revision 3 Minor Revision 2 DaD LL En Bern j 2 IMPORTANT Changing electronic keying selections online may cause the 1 0 communication connection to the module to be disrupted and may result in a loss of data Chapter 4 50 Using the 1756 HYD02 Module Features Disabled Keying Disabled Keying indicates the keying attributes are not considered when attempting to communicate with a module Other attributes such as data size and format are considered and must be acceptable before I O communication is established With Disabled Keying I O communication may occur with a module other than the type specified in the I O Configuration tree with unpredictable results We generally do not recommend using Disabled Keying ATTENTION Be extremely cautious when using Disabled Keying If used incorrectly this option can lead to personal injury or death property damage or economic loss If you use Disabled Keying you must take full responsibility for understanding whether the modul
22. the following parameters offline Enable positive and negative software travel limits e Set maximum positive and negative software travel limits Configure Position Error Tolerance Configure Position Lock Tolerance e Set the module s Output Limit The parameters on this tab can be edited in two ways Type parameter changes in the fields available on this tab and use the OK or Apply buttons to save your edits Edit in the Manual Adjust dialog To do so a Click on the Manual Tune button b Use the increase decrease arrows to edit parameter settings Your changes ate saved the moment increase decrease arrows change any parameter value The parameters on this tab become read only when the controller 1s online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command ot by clicking on the Apply button You must download the edited program to the controller before it can be run The table below lists the configurable features available on the Limits tab Definition Enables software overtravel checking for an axis when Positioning Mode is set to Linear on the Conversion tab If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to t
23. to detect and diagnose problems with the ControlLogix Hydraulic Servo module The software alerts you to fault and other conditions in the following ways Warning Signal in Controller Organizer Fault Message in Status Line Notification in Axis Structure Warning Signal in Controller Organizer The warning signal appears in the module listing as shown below fs RSLogix 5UUU hydl 1756 L1 Ede Edit View Search Logic Communications J Nem Prog jJ D Prowam Mode Fc cn F Ho Forces hk B Controller OK V Battery OK Li T 1 0 Not Responding a N Controller Tags S Controller Fault Handles eo me fas m 1 0 Configuration ip A 2 1756 HYDO2 den C3 Unscheduled Programs N S C53 Motion Grups Le d TT mm E nm Ungrouped Axet 7 ai E Trends C3 Data Types AL pe a E User Dehned Le Shings P Cm Predelified dueBehned 49 1 0 Configuration D 22 ie amp 2 1756 HYDO2 hydaute e Sr wee ees Cam TT 81 Chapter5 Troubleshooting the 1756 HYD02 Module Fault Message in Status Line The module status line appears in the lower left corner of each configuration tab It provides a brief explanation of the module status and reports Faulted when a fault has occurred on the module w Module Properties Local 2 1756 HYD02 12 1 General Connection Associated Axes Module Info Backplane Bequested Packet Interval RP 04m T inhibi
24. to this axis this button is disabled New Group Opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if you have not created a Motion Group tag Module selects and displays the name of the motion module to which the axis is associated Displays none if the axis is not associated with any motion module Module Type This read only field displays the type of motion module if any associated with the axis Displays none if the axis is not associated with any motion module Channel selects and displays the channel either 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module Publication 1756 UM525A EN P June 2003 53 Chapter 4 Feature Output Cam Execution Targets Program Stop Action 54 Using the 1756 HYD02 Module Features Motion Planner Tab The table below lists the configurable features available on the Motion Planner tab Definition Use this field to set the maximum number of output cams that will be used on the axis This value allocates controller memory to allow the motion planner to build CAM association tables Select how a specific axis stops when the controller undergoes a mode change or when a Motion Group Stop MGS instruction is executed Fast Disable The axis is decelerated to a stop using the current configured value for maximum deceleration Loop closure is maintained until the
25. 00 4 2 6kV contact discharges 8kV air discharges Publication 1756 UM525A EN P June 2003 Radiated RF Immunity EFT B Immunity Surge Transient Immunity Conducted RF Immunity Enclosure Type Rating Certifications when product is marked 2 3 4 5 Publication 1756 UM525A EN P June 2003 Specifications Appendix A IEC 61000 4 3 10V m with 1kHz sine wave 8096 AM from 80MHz to 2000MHz 10V m with 200Hz 5096 Pulse 10096AM at 900Mhz IEC 61000 4 4 2kV at bkHz on signal ports IEC 61000 4 5 2kV line earth CM on shielded ports IEC 61000 4 6 10Vrms with 1kHz sine wave 80 AM from 150kHz to 80MHz None open style UL UL Listed Industrial Control Equipment CSA CSA Certified Process Control Equipment CSA CSA Certified Process Control Equipment for Class Division 2 Group A B C D Hazardous Locations CE European Union 89 336 EEC EMC Directive compliant with EN 50082 2 Industrial Immunity EN 61326 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions C Tick Australian Radiocommunications Act compliant with AS NZS 2064 Industrial Emissions This specification represents the maximum LTD input resolution that the 1756 HYD02 module can accept The module does not require that you connect an LDT with this level of resolution Maximum wire size requires the extended depth RTB housing 1756 TBE Use the conductor categor
26. 2003 Part No 957678 84 Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Overall Usefulness 1 2 3 How can we make this publication more useful for you 2 3 Can we add more information to help you Completeness all necessary information procedure step Illustration feature Is provided example guideline other explanation definition Technical Accuracy 1 2 9 Can we be more accurate all provided information Clarity 1 Ze How can we make things clearer all provided information is easy to understand Other Comments You can add additional comments on the back of this form Your Name Your Title Function Would you like us to contact you regarding your comments Location Phone No there is no need to contact me Yes please call me Yes please email me at Yes please contact me via Return this form to Rockwell Automation Technical Communications 1 Allen Bradley Dr Mayfield Hts OH 44124 9705 Fax 440 646 3525 Email RADocumentComments ra rockwell com Publication CIG C0521D EN P July 2007 PLEASE FASTEN HERE DO NOT STAPLE Other Comments PLEASE FOLD HERE BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE Rockwell Automation 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES PLEASE REMOVE Rockwell Automation
27. 7 ordered and received an RTB or IFM and its components for your application IMPORTANT RIBs and IFMs are not included with your module purchase You must order them separately For more information contact your local distributor or Rockwell Automation representative Physical Features of the ControlLogix Hydraulic Servo Module ControlLogix Backplane Connector 10 Removable Indicators Terminal Block Locking tab 2 3 D E e o a q o Oo a o o emo o o amp Top and Connector le e ce B bottom pins e 3 Slots for guides o o keying the cg o o RTB E 2 5 Q dii amp amp o o e e o o amp o o ro ON 41623 Publication 1756 UM525A EN P June 2003 Certifying Agency Approvals Publication 1756 UM525A EN P June 2003 What is the 1756 HYD02 Module Chapter 1 The table below lists the physical features on the ControlLogix Hydraulic Servo module ControlLogix Hydraulic Servo Module Physical Features Feature ControlLogix backplane connector Connectors pins Locking tab Slots for keying Status
28. 756 UM001 Logix5000 Controller User Manual Provides information for using your Logix5000 controller and its components 1 56 RM003 Logix5000 Controller Instruction Set Reference Provides descriptions of all the instructions Manual supported by the RSLogix 5000 programming software To view ot order the publications listed above visit e http literature rockwellautomation com 8 Publication 1756 UM525A EN P June 2003 What the Module Does Publication 1756 UM525A EN P June 2003 Chapter 1 What is the 1756 HYD02 Module This chapter describes the ControlLogix Hydraulic Servo module For more information about See page What the Module Does 9 Using A ControlLogix Hydraulic Servo Module in 10 the ControlLogix System Certifying Agency Approvals 11 Preventing Electrostatic Discharge 12 Removal and Insertion Under Power 12 THe 1756 HYD02 module is typically used for accurate positioning and control of a hydraulic cylinder The module can be wired to a linear displacement transducer LDT for feedback and a proportional or servo valve for control of a hydraulic axis and connects to a hydraulic system to close a high speed position loop Each Logix controller can support up to 16 1756 HYD02 modules Each 1756 HYD02 module can control up to two axes The 1756 HYD02 module monitors the position feedback via the linear displacement transducer LDT input and generates an analog command reference for the valve to make s
29. ControlLogix Hydraulic servo Module User Manual Catalog Numbers 1756 HYD02 Rockwell ALLEN BRADLEY ROCKWELL SOFTWARE Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual
30. Feedback 58 Feedback Tab Use the Feedback tab to select a feedback type RSLogix 5000 displays multiple feedback types for the 1756 HYD02 module At this release of the 1756 HYD02 module only the LDT type is available The table below lists the configurable features available on the LDT feedback option Definition Selection determines what type of LDT provides feedback to the 1756 HYD02 module PWM also called Gated or DPM e Start Stop Rising Edge e Start Stop Falling Edge Recirculations is the process of acquiring a measurement from an LDT You can repeat the measurement process several times for each interrogation The repetition of the measurement process is done automatically inside LDTs with PWM type output When configuring the LDT you can select the number of times the process is repeated that number is used in this field Note that this field is enabled only if you have chosen PWM for LDT Type The calibration constant also called Gradient on some LDTs is a number that is engraved on each LDT by the manufacturer It specifies the characteristics of that individual transducer Because each transducer has its own calibration constant this number is used to calculate the conversion constant for the axis the conversion constant changes when an LDT is changed on an axis To calculate the Minimum Servo Update Period use one of the following formulas For us in For m s Minimum Servo Length in X Calibration Constant
31. Module Major Fault On Controller If Connection Fals While in Run Mode Module Fault Code 1680115 Electronic Keying Mismatch Electronic keying product type mismatch Explanation of the module fault Notification in Axis Structure Use the Tag Monitor to view controller tags A fault has occurred for any point that lists the number one 1 in the Fault line S hydt contote Show Show Al Son Tag Name Tag Mame F Value Force Mask Stile Type AMS SERVO Hex DINT Decimal BOOL The number one 1 Decmal BOOL TET Decmal GOOL Indicates a fault l16 0000_0000 Hes DINT ol Decimal G0OL Decal BOOL 0 Decnal BOOL i 0 Decma BOOL zd E Hex DINT x Decmal BOUL E Decimal B00L K A Decmal BOOL LesttJogStatus Decal BOOL estt GearingStatus Decma BOOL E ES Decimal BOOL Decimal BOOL E Decimal BOOL 3 m _ aJ monitor Tags A Etras 7 la emos Chapter Summ ary and In this chapter you read about Troubleshooting the 1756 HYD02 Module Wh a t s Next Appendix A lists the module Specifications 82 Publication 1756 UM525A EN P June 2003 Publication 1756 UM525A EN P June 2003 Specifications Number of axes servo loop Type Gain resolution Absolute position range Rate Module location Module keying Power dissipation Thermal dissipation Backplane current LDT input Type sample rate Resol
32. 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 awate of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product 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 ATTENTION STH ava Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present PTT ava Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures em A AN A A Allen Bradley Rockwell Automation and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Preface What is the 1756 HYD02 Module Installing the 1756 HYD02 Module Publication 1756 UM525A EN P June 2003 Table of Contents Usmo Dis IATA les putaret 9 doeet nnno bindet d reos bo
33. Search Logic Comm alaja e ue gt Use this pull down menu to HemHur nf M Rimning switch to Program mode No Forces Bo Offline No Edits Program Mode Test Mode 4 y Controller Properties 2 Make any necessary changes 3 Download the new configuration m RSLogix 5000 High 5peed Anal File Edit View Search Logic Comm Use this pull down menu to download the new configuration Ma Forces Ma Edits Go Online Upload Download Eroorann Hode Bor Mode Test Mode Elear Raute Bo lin aulis Controller Properties 4 Return to Run Mode if necessary Publication 1756 UM525A EN P June 2003 39 Chapter3 Configuring the 1756 HYD02 Module Chapter Summary and In this chapter you read about Whats Next configuring ControlLogix Hydraulic Servo modules editing module configuration configuration tags Chapter 4 explains Using the 1756 HYD02 Module Features 40 Publication 1756 UM525A EN P June 2003 Chapter 4 Using the 1756 HYD02 Module Features This chapter describes the 1756 HYD02 module s configurable features For more information about See page What This Chapter Contains 42 Using General Module Features 42 servo Update Period 42 Module Fault Reporting 43 Fully Software Configurable 43 Electronic Keying 44 Using Axes Features 52 General Tab 52 Motion Planner Tab 54 Units Tab 96 oervo Tab 57 Feedback Tab 50 Conversion Tab 59 Homing Tab 60 Hookup Ta
34. Support www rockwellautomation com Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your product up and running United States 1 440 646 3434 Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide
35. YD02 Module Features Homing Tab The table below lists the configurable features available on the Homing tab Feature Definition Mode Select one of the following homing modes Active The homing sequence automatically moves the axis to find the home switch Active homing sequences use the trapezoidal velocity profile Passive Homing redefines the absolute position of the axis on the occurrence of a home switch Passive homing is most commonly used to calibrate uncontrolled axes although It can also be used with controlled axes to create a custom homing sequence Passive homing for a given home sequence works similar to the corresponding active homing sequence except that no motion is commanded the controller just waits for the switch events to occur Absolute The absolute homing process applies the configured Home Position to the reported position of the absolute feedback device to establish the true absolute position of the axis The only valid Home Sequence for an absolute Homing Mode is immediate The following examples assume that an initial motion is in a positive axial direction e Active Homing Configurations e Active Immediate Home e Active Bi directional Home with Switch e Active Uni directional Home with Switch e Passive Homing Configurations e Passive Immediate Home e Passive Home with Switch Position This value listed in position units specifies the axis absolute position after the specified homing se
36. a Customer Support case number call the phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for the States return procedure 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 Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 1756 UM525A EN P June 2003 PN 957678 84 Copyright 2003 Rockwell Automation Inc All rights reserved Printed in the U S A
37. ace on the RTB the RTB housing door is closed the locking tab at the top of the module is unlocked 1 Align the top bottom and left side guides of the RTB with the guides on the module gt O oN E S E W EN EU LL Top guide Left side guides Bottom guide 20853 M 26 Publication 1756 UM525A EN P June 2003 Installing the 1756 HYD02 Module Chapter 2 2 Press quickly and evenly to seat the RTB on the module until the latches snap into place Locking tab 20854 M 3 Slide the locking tab down to lock the RTB onto the module Publication 1756 UM525A EN P June 2003 2 Chapter2 Installing the 1756 HYD02 Module Removing the Removable Terminal Block ATTENTION A If you need to remove the module from the chassis you must first remove the RTB from the module Shock hazard exists f the RTB is removed from the module while the field side power is applied the module will be electrically live Do not touch the RTB s terminals Failure to observe this caution may cause personal injury The RIB is designed to support Removal and Insertion Under Power RIUP However when you remove or insert an RTB with field side power applied unintended machine motion or loss of process control can occur Exercise extreme caution when using this feature It is recommended that field side power be removed before removing th
38. an axis is commanded to reverse direction mechanical lost motion in the machine may result in a small amount of actuator motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved The Reversal Offset specifies a directional offset that is added to the motion planner s command position as It is applied to the associated axis loop to compensate for mechanical lost motion When the commanded velocity changes sign a reversal the ControlLogix controller adds or subtracts the Reversal Offset value from the current commanded position the axis immediately moves the motor to the other side of the lost motion window and engages the load The application of this directional offset is completely transparent and does not affect the value of the Command Position attribute If a value of zero is applied to the Reversal Offset the feature is effectively disabled Once enabled by a non zero value and the load is engaged by a reversal of the commanded motion changing the Reversal Offset can cause the axis to shift as the offset correction is applied to the command position Backlash Compensation Eliminates backlash induced instability while maintaining full system bandwidth This algorithm value otabilization Window should be commensurate with the amount of backlash in the mechanical system Mechanical backlash is a common problem in applications that use mechanical gearboxes Until the inpu
39. arUp Handler EE Tasks fal MainTask B C MainProgram 5 Prom Tags En MairRoutine EI Urrzchseduled Progar 1 Mabon Groups E Ungrouped ines 7 Trends L1 Data Types E User Deere F a ulnngs 18 STRING Cg Pirsleliner CR Module Defined Ell M0 Configuration A Right click on the 1756 HYD02 Hem Modde module Cut Edt properties for aalacter COP B Select Properties Saa an Cross Reference Properties BS Module Properties Local 1 1756 HYD02 12 1 C Click on the tab of the page you eneral Connection Associated Axes Module Into Backplane want to view or reconfigure Type 1756HYD02 2 Axis Hydraulic Servo Vendor Allen Bradleu Mame Hydraulic Slot Desenptionc z ix Revision f2 fi E Electronic Keying Compatible Module Status Offline 38 Publication 1756 UM525A EN P June 2003 Configuring the 1756 HYD02 Module Chapter 3 Reconfiguring Module Your module can operate in Remote Run mode or Hard Run mode You can ly change any configurable features that are enabled by RSLoegix 5000 in Parameters in Run Mode cons i Remote Run mode If any feature is disabled in either Run mode change the controller to Program mode and make the necessary changes Reconfiguring Module Follow these steps to change configuration in Program mode Parameters in Program Mode 1 Make sure the module is in Program Mode S RSLoyix 5000 HSA_TeslPruyran File Edit View
40. axis motion has stopped at that time the axis is disabled i e Drive Enable is disabled and the axis loop is disabled Fast Shutdown The axis is decelerated to a stop using the current configured value for maximum deceleration Once the axis motion is stopped the axis is placed in the shutdown state i e Drive Enable is disabled the loop is disabled and the OK contact is opened To recover from this state a reset Instruction must be executed Fast Stop The axis is decelerated to a stop using the current configured value for maximum deceleration Loop closure is maintained after the axis motion has stopped This mode is useful for gravity or loaded systems where closed loop control is needed at all times Hard Disable The axis is immediately disabled i e Drive Enable is disabled the axis loop is disabled but the OK contact is left closed Unless the drive is configured to provide some form of dynamic breaking this selection results in the axis coasting to a stop Hard Shutdown The axis is immediately placed in the shutdown state i e Drive Enable is disabled the axis loop is disabled but the OK contact is left open Unless the drive is configured to provide some form of dynamic breaking this selection results in the axis coasting to a stop To recover from this state a reset instruction must be executed Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Feature Definition Mas
41. b 62 Tune Tab 63 Dynamics Tab 64 Gains Tab 65 Output Tab 68 Limits Tab 70 Offset Tab 72 Fault Actions Tab 74 Tag Tab 76 Publication 1756 UM525A EN P June 2003 41 Chapter4 Using the 1756 HYD02 Module Features What This Chapter Contains This chapter is broken into the two sections Section Description Begins on page Using General This section describes features that affect the 42 Module Features module in a general sense For example the 1 56 HYD02 module offers electronic keying options that you can configure to set the degree of protection your application needs against using the wrong 1756 HYD02 module Using Axes This section describes features that are specific to 52 Features the axes connected to channels 0 and 1 on the 1756 HYD02 module Usi ng G eneral The general module features include Module Features e Servo Update Period Module Fault Reporting Fully Software Configurable Electronic Keying Servo Update Period Servo update period is the period at which the position feedback is sampled and the loop is closed to generate a new output value The time of this period is a user defined setting You can choose from one of the following settings e 250Us e 500Us e 1000us e 1500us e 2000us With LDTs the minimum Servo Update Period is dependent on the length of the transducer Use the Calculated Values tool on the Feedback tab of the Axis properties dialog in RSLogix 5000 in conjunction wit
42. create a new axis tag that me mi will contain the axis data The New Tag pop up nons ml screen appears as shown below The new axis tag must be 2 named of the AXIS SERVO data type ofthe controller scope m DIT SS DIETS Ax 5 SERVU H DB 2 dacumentation cantraller La Ea 2 Access the axis properties as shown below Module Properties Local 1 1756 HYDO 12 1 jon m A Associate the channel s with the new Belvo tags El axis tag B Click on the ellipsis to access the axis properties wizard 36 Publication 1756 UM525A EN P June 2003 Configuring the 1756 HYD02 Module Chapter 3 3 Configure the axis properties on the wizatd screens that appear The General screen is shown below Axis Properties Servo_tags BE x Tune Dynamics Gains Output Limits Offset Fault Actions Tag Click on the necessary tab and make changes to General Motion Planner Units Servo Feedback Conversion Homing Hookup the axis properties Axis Configuration Servo Motion Group none gt El New Group Associated Module Module Hudraulic module i Module Type 1756 HYDO Channel Cancel Apply Help For a full description of all the configurable features available on the Axis properties wizard see the Using Axes Features section beginning on page 52 Downloading New After you have changed the c
43. e being used can fulfill the functional requirements of the application EXAMPLE In the following scenario Disable Keying prevents 1 0 communication e The module configuration is for a 1 56 IA16 digital input module The physical module is a 1756 IF16 analog input module In this case communication is prevented because the analog module rejects the data formats that the digital module configuration requests Module Configuration Vendor Allen Bradley Product Type Digital Input Module Catalog Number 1756 IA16 Major Revision 3 Minor Revision 1 Communication is prevented Physical Module Vendor Allen Bradley Product Type Analog Input Module Catalog Number 1756 IF16 Major Revision 3 Minor Revision 2 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 EXAMPLE In the following scenario Disable Keying allows 1 0 communication e The module configuration is for a 1 56 IA16 digital input module The physical module is a 1756 IB16 digital input module In this case communication is allowed because the two digital modules share common data formats Module Configuration Vendor Allen Bradley Product Type Digital Input Module Catalog Number 1756 IA16 Major Revision 2 Minor Revision 1 Communication is allowed Physical Module Vendor Allen Bradley Product Type Digital Input Module Catalog Number 1756 IB16 Major Revision
44. e inm Do Sox ea ee aes toe uses 44 Une IX PMR a Baas ne moitie ados 52 C R ALES A nt edd bua el 52 Motoa Planner Dac oo enu ir ES ne Pr dor tear ae ra 54 LES Tibe esteso oq eb mecs ovato RE Eu eS ados 56 D MO TIME 57 Feedback Palas msc s putei aa ith det wa ud Ced Lr Ere cst 58 Convencion Ed asa ouest doter tice booed bt amp eer eo rte t 4 59 FTormino Tabi ante buo fot adhe hae oar zt erede pe LER rion ad 60 Hookup Abies 9d tx PESE pU E CSV EP EE PET 62 Toae ECRIRE Le Ca DIR M do ati idee 63 I2y name STADE ES LM no Aen eive a a on died nd d Oe acra 64 33H SE de Stetit ne a IP esa Oe ean ba qe e Eas 65 COG Ld o EEE selec apices a bates Drain EE de tet eb e dio 68 Bo LI RECENTE TOIT T oe on ovate tae is essa ae 70 et LAD 5 wctas bea E eet sd atte ot ed eras ets an ae 72 Paule ARCHOS TaD ac weer oR Soe hE SEES Oe Rea OER us 74 Ta e eer nee ee acer ee re 0 rere eer ear ce wee eee 76 Chapter Summary and Wiiat SING wih indeed beeen etait 76 Publication 1756 UM525A EN P June 2003 Troubleshooting the 1756 HYD02 Module Specifications Glossary Index Publication 1756 UM525A EN P June 2003 Table of Contents Chapter 5 Wiat This Ghapter Contains So weds Oi Ed be dp Dea Fr U sitis the Status dicato o aco ac o Gunn es oo p EUR mado es Fn Usne the Ok Tadia iud sob RERO E de gd mass 78 Usine the PD DK IndicatOE 29 2490 EAE EUH EXON BAUER eue 79 Usine tie DISLVE Trneicatok us enr ep e etant be e 80 Using RSLogix 5000 to Troubleshoot
45. e module 1 Unlock the locking tab at the top of the module 2 Open the RTB door using the bottom tab 3 Hold the spot marked PULL HERE and pull the RTB off the module IMPORTANT 28 Do not wrap your fingers around the entire door A shock hazard exists ss 8 20855 M Publication 1756 UM525A EN P June 2003 Removing the Module from the Chassis Publication 1756 UM525A EN P June 2003 Installing the 1756 HYD02 Module Chapter 2 Follow the steps below to remove the 1756 HYD02 module from the ControlLogix chassis 1 Push in the top and bottom locking tabs LAA LA Locking tabs EZA L LLL LE GLEE 2 Pull module out of the chassis 20856 M 29 Chapter2 Installing the 1756 HYD02 Module Chapter Summary and In this chapter you read about Installing the 1756 HYD02 Module Chapter 3 What s Next explains Configuring the 1756 HYD02 Module 30 Publication 1756 UM525A EN P June 2003 Using RSLogix 5000 Configuration Software Publication 1756 UM525A EN P June 2003 Chapter J Configuring the 1756 HYD02 Module This chapter describes how to configure a Con
46. e module until it snaps in place U shaped D Keying Band 20850 M 3 Key the RTB in positions that correspond to unkeyed module positions Insert the wedge shaped tab on the RTB with the rounded edge first Push the tab onto the RTB until it stops When keying your RIB and module you must begin with a wedge shaped tab in position 6 or 7 Wedge shaped Keying Tab 20851 M Publication 1756 UM525A EN P June 2003 15 Chapter2 Installing the 1756 HYD02 Module Connecting Wiring 16 This module uses an RTB or a Bulletin 1492 Interface Module AFM to connect all field side wiring Use an extended depth cover 1756 TBE for applications with heavy gauge wiring or requiring additional routing space The maximum wire gauge that can be used with the 1756 HYD02 module is 14 AWG 2 08 sq mm stranded If you are using an RTB to connect wiring to you module follow the directions beginning below An IFM has been prewired before you received it If you are using an IFM to connect wiring to the module consult the documentation that came with it to connect wiring skip this section and move to page 23 Two Types of RTBs each RTB comes with housing e Cage Clamp Catalog number 1756 TBCH e Spring Clamp Catalog number 1756 TBSH or TBS6H Cage Clamp 1 Insert the wire into the termina
47. e on a hydraulic axis it is necessary to compensate for the effect of drive offset Cumulative offsets of the hydraulic module s DAC output and the Axis Input result in a situation where a zero commanded analog output value causes the axis to drift If the drift is excessive it can play havoc on the Hookup Diagnostic and Tuning procedures as well as result in a steady state non zero position error when the axis loop is closed Click on this button to access the Offset tab of the Manual Tune dialog for online editing The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Fault Actions Tab You must set the action if any of the faults listed in Table occurs The possible options are e Shutdown Disable Drive e Stop Motion e Status Only When this option is chosen for any fault condition the fault does not cause the axis to stop its current motion However new motion is prevented from starting The table below lists the faults that may occur Definition opecifies the fault action to be taken when a drive fault condition is detected for an axis with the Drive Fault Input enabled in the Servo tab of this dialog that is configured as Servo in the General tab of this dialog opecifies the fault action to be taken when excessive feedback noise is detected opecifies the fault action to be taken when feedback loss condition
48. er you use the Calculate button on this tab Calculated Calculation derived from values based on the configuration values entered for the LDT Values Minimum Servo Update Period You can use the calculate button located on the Feedback tab to calculate the appropriate K constant value The calculated K constant is derived based on the LDT configuration values entered on the Feedback tab and must be taken from that tab and used here Conversion Tab Use this tab to view the Positioning Mode and configure the Feedback Resolution for an axis The table below lists the configurable features available on the Conversion tab Feature Definition Positioning Mode The Linear positioning mode is the only positioning mode available on the 1756 HYD02 module This mode provides a maximum total linear travel of 230 000 feedback counts With this mode the unwind feature is disabled and you can specify the positive and negative travel limits for the axis to limit the linear travel distance traveled by the axis Conversion Constant Type the number of feedback counts per position unit This conversion or K constant allows axis position to be displayed and motion to be programmed in the position units set in the Units tab The conversion constant is used to convert axis position units into feedback counts and vice versa You can calculate this value on the Feedback tab Publication 1756 UM525A EN P June 2003 59 Chapter4 Using the 1756 H
49. esponding distance When the axis stops moving it is in the Home Position opeed The moving axis speed used in the first leg of an active homing sequence The homing speed specified should be less than the maximum speed and greater than zero Publication 1756 UM525A EN P June 2003 61 Chapter4 Using the 1756 HYD02 Module Features Feature Definition Return Speed The moving axis speed in the return leg s of an active homing sequence The home return speed specified should be less than the maximum speed and greater than zero Hookup Tab Use this tab to configure and initiate axis hookup test sequences for the axis The table below lists the configurable features available on the Hookup tab Feature Definition Test Increment opecifies the distance the axis travels when executing the Output amp Feedback test Feedback Polarity Polarity of the LDT feedback Positive Negative When you execute either the Feedback Test or the Output amp Feedback Test this field is automatically set When properly configured this setting makes sure that axis Actual Position value increases when the axis is moved in the user defined positive direction This feature makes sure that programmatic requests to move in a positive direction result in positive motion on the axis Output Polarity Polarity of the analog output to the drive Positive Negative When you execute the Output amp Feedback Test this field is automatically set
50. essure is twice the valve rated pressure and 57 of the maximum speed where the maximum pressure is three times the valve rated pressure This provides sufficient head room for the axis to operate at all times within the speed limitations of the motor Any change in value caused by manually changing the spin control is instantly sent to the controller The maximum acceleration rate of the axis in Position Units second it is initially set to approximately 8596 of the measured tuning acceleration rate by the tuning process This provides sufficient head room for the axis to operate at all times within the acceleration limits of the cylinder or axis Any change in value caused by manually changing the spin control is instantly sent to the controller The maximum deceleration rate of the axis in Position Units second it is initially set to approximately 8596 of the measured tuning deceleration rate by the tuning process This provides sufficient head room for the axis to operate at all times within the deceleration limits of the cylinder or axis Any change in value caused by manually changing the spin control is instantly sent to the controller Publication 1756 UM525A EN P June 2003 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Gains Tab Use this tab to perform the following offline functions Adjust gain values that have been automatically set by the tuning process that is in
51. face number matches 1756 DMD30 1756 SD3000 Dive Interface the label on the 1756 DMF 20 1756 SF3000 Drive Interface 1756 DND 1756 DeviceNet Scanner side of your module 1756 ENDT 1756 10 100 Mbps Cthemet Bridge Tvasted Pas Media 1756 ENET A 1756 Ethernet Commurscabon Interface 1756 ENETA 1756 Ethernet Bridge 1756 EWEB A 1756 10 100 Mbps Ethernet Bridge w Enhanced Web Services 1756 HSC 1756 High Speed Counter A Select the Hydraulic DESDE 2 Aas Hydraulic Servo Servo module 17564416 16 Pont 79V 132V AC Input Show Vendor an IV Uther V Specialty 1 11 Select All Iv Ansdog v Digital v Communication v Motion v Copuoller Clear All C Click here 4 Begin configuration on the naming screen Module Properties Local 1 1756 HYDO 12 1 Type 1755 HYDU2 2 Asie Hydraulic Serva Vendor Allen Bradley A Name the module Name P gt Hydraulic Slot E Select the slot in which Desc your module resides B Add a description optional Ed Revision op Electronic Keying Compatible Module eF F Choose an Electronic C Make sure the Minor Keying method A detailed Revision number matches explanation of this field is the label on the side of your provided on page 44 module Caneel If you are altering the If you are using default default configuration configuration click here and you are click here finished configuring your module 30 to page 35 Go to page 37
52. g position units of inches and the hydraulic system is designed such that with an input of 10096 e g 10 Volts the axis goes 55 6 inches per second the Velocity Scaling attribute value would be calculated as Velocity Scaling 10096 55 6 1 896 Inches Per Second 68 Publication 1756 UM525A EN P June 2003 Feature Direction Scaling Ratio Enable Low pass Output Filter Low pass Output Filter Bandwidth Manual Adjust Publication 1756 UM525A EN P Using the 1756 HYD02 Module Features Chapter 4 Definition The directional scaling ratio compensates for the difference in the maximum speed in the extend vs retract direction on single ended hydraulic cylinders Different piston areas on the cap blind end compared to the rod end of the cylinder cause the speed difference Hydraulic Cylinder Rod End Cap End Rod Piston Cap End Area Cylinder Radius x pi Rod End Area Cylinder Radius x pi Rod Radius x pi Depending on your Feedback Polarity Setting o Cap End Area Directional Scaling Ratio Ra End ASA irectional Scaling Ratio Rod End Area Or Directional Scaling Ratio RoC No Area cornes i 7 Cap End Area To find this value you can run the auto tune routine in both directions and find the ratio of the velocity scaling in the two directions Enables the axis loop s low pass digital output filter During tuning if the controller detects a high degree of t
53. h the response of your hydraulic application to calculate suggested minimum update periods The coarse update period of the associated motion group must be at least 3x the maximum configured 1756 HYD02 module servo update period or RSLogix 5000 will generate an error 42 Publication 1756 UM525A EN P June 2003 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Module Fault Reporting The 1756 HYD02 module provides hardware and software indication when a module fault has occurred The module s LED fault indicator and the RSLogix 5000 programming software graphically display faults the software also offers a message describing the nature of the fault This feature allows you to determine how your module has been affected and what action should be taken to resume normal operation For more information on using RSLogix 5000 to troubleshoot your module see Chapter 5 Troubleshooting the 1756 HYD02 Module Fully Software Configurable The RSLogix 5000 software offers a custom easily understood interface for users to write configuration All module features are enabled or disabled through the configuration portion of the software You can also use the software to interrogate any module in the system to retrieve serial number revision information catalog number vendor identification ertot fault information diagnostic counters By eliminating such tasks as setting hardware switche
54. he analog output hence the Position and or Velocity Error values are significantly reduced When used in conjunction with the Feedforward Gains Velocity the Feedforward Gains Acceleration allows the following error of the hydraulic closed loop system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time Remember however because the output is scaled in velocity the Feedforward Gains Acceleration calibration is application dependent Integrator Hold The integrator is always enabled With this setting the position loop temporarily disables the integrators while the command position is changing Point to point moves use this feature to minimize the integrator wind up during motion Manual Tune This button accesses the Gains tab of the Manual Tune dialog for online editing The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the other parameters in this table Publication 1756 UM525A EN P June 2003 67 Chapter4 Using the 1756 HYD02 Module Features Output Tab Use the Output tab for offline configuration of the following e Scaling values that are used to generate gains The analog loop
55. hic below shows this sequence otep A Speed step B Step C Return Offset opeed Switch ON Switch OFF e Forward Uni directional The following events occur Home Position a The axis moves forward at the rate specified in the Speed field until a homing event occurs I e a switch turns ON b When the switch turns ON the axis continues forward at the rate specified in the Return Speed field until the switch turns OFF c If an Offset value is specified the axis continues forward the corresponding distance When the axis stops moving it is in the Home Position Reverse Bi directional The following events occur a he axis moves in reverse at the rate specified in the Speed field until a homing event occurs i e a switch turns ON b When the switch turns ON the axis moves forward at the rate specified in the Return Speed field until the switch turns OFF c If an Offset value is specified the axis continues moving forward the corresponding distance When the axis stops moving it is in the Home Position e Reverse Uni directional The following events occur a he axis moves in reverse at the rate specified in the Speed field until a homing event occurs i e a switch turns ON b When the switch turns ON the axis continues in reverse at the rate specified in the Return Speed field until the switch turns OFF c If an Offset value is specified the axis continues in reverse the corr
56. his fault is specified by the Soft Overtravel setting on the Fault Actions tab Software overtravel limits are disabled during the tuning process When Soft Travel Limits are enabled the travel limits are active even if the axis has not been honed or before an absolute home position has been established Under this condition maximum positive and maximum negative travel limit positions are not necessarily related to user defined references Type the maximum positive position to be used for software overtravel checking in position units The Maximum Positive limit must be greater than the Maximum Negative limit Type the maximum negative position to be used for software overtravel checking in position units The Maximum Negative limit must be less than the Maximum Positive limit Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Feature Definition Position Error Tolerance opecifies how much position error the axis loop tolerates before issuing a position error fault This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 position units means that a position error fault will be generated whenever the position error of the axis is greater than 0 75 or less than 0 75 position units This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value prov
57. ich controls power to the associated pumps The OK contacts are rated to drive an external 24V pilot relay for example Allen Bradley 700 HA32724 whose contacts can be incorporated into the E Stop string 24V dc Field Power Supply OK Pilot Relay From 1756 HYD02 c se cani pu 43397 OK Pilot Relay eua EM 24V AC DC Contacts Stop CRT a 1 Pa ypica 43398 CR1 20 Publication 1756 UM525A EN P June 2003 Temposonics Il RPM or DPM Ground 12V dc Interrogate Output Pulse Installing the 1756 HYD02 Module Chapter 2 Connecting LDTs to Your Hydraulic Module Because the number of LDTs that you can connect to your 1756 HYD02 module is continually changing we cannot list all the available LDTs here Figure shows the connections for two example LDT types Temposonic and Balluff that were available for connection to the 1756 HYD02 module at the time of this printing MIRI PFemember there are other suppliers with compatible LD Ts Before connecting an LDT to your module we recommend you make sure it is the best available LDT for your application Also when wiring an LDT to your module always follow the LDT manufacturers instructions on making connections Balluff BTL type 24V Connections Interrogate Pulse nd Output Pulse 4 Ground Output Interrogate No shield connections on these examples Table lists the LDT connections LDT Connec
58. ides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 12096 to 15096 of the position error while the axis is running at its maximum speed Position Lock Tolerance opecifies the maximum position error the hydraulic module accepts to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units Output Limit Provides a method of limiting the maximum analog output voltage of a physical axis to a specified level The analog output for the axis as a function of position loop error both with and without analog output limiting The analog output limit may be used if the valve cannot accept the full 10V range of the analog output In this case the analog output limit value effectively limits the maximum command sent to the valve For example if the valve can only accept command signals up to 7 5V set the analog output limit value to 7 DV Manual Adjust This button accesses the Limits tab of the Manual Tune dialog for online editing The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offli
59. indicators Top and bottom guides Description The interface to the ControlLogix system it connects the module to the backplane Input output and grounding connections are made to the module through these pins with the use of an RTB The locking tab anchors the RTB on the module maintaining wiring connections olots mechanically key the RTB to prevent you from making the wrong wire connections to your module Indicators display the status of communication module health and presence of input output devices Use these indicators to help in troubleshooting Guides provide assistance in seating the RTB onto the module If the ControlLogix Hydraulic Servo module has obtained any agency approvals for example CE CSA UL the module label is marked as such Full Class Division 2 Compliance The ControlLogix Hydraulic Servo module maintains CSA Class I Division 2 system certification The module can be placed in an environment other than only 100 hazard free The 1756 HYD02 module should not be pulled under power nor should a powered RIB be removed in a Class Division 2 environment 11 Chapter 1 What is the 1756 HYD02 Module Preventing Electrostatic Discharge Removal and Insertion Under Power Chapter Summary and What s Next 12 The 1756 HYD02 module is sensitive to electrostatic discharge ATTENTION This equipment is sensitive to electrostatic discharge which can cause internal damage and affect
60. is detected ATTENTION If a feedback fault occurs the 1756 HYD02 module cannot control the axis We recommend you use either the shutdown or disable drive option for this setting If used the stop motion and status only options may cause dangerous conditions when a feedback fault occurs opecifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo on the General tab opecifies the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured on the Limits tab that is configured as Servo on the General tab Publication 1756 UM525A EN P June 2003 Fault Shutdown Disable Drive Stop a Motion Status Only Using the 1756 HYD02 Module Features Chapter 4 Table describes the possible actions if any of the faults listed in Table occurs Definition If a fault action is set to Shutdown when the associated fault occurs e servo action status is immediately disabled e the drive output is zeroed and e the appropriate drive enable output is deactivated Furthermore this fault action opens the OK contact associated with the hydraulic module that can be used to open the E stop string to the hydraulic power unit shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly and complete
61. it it will terminate the tuning profile and report that this limit was exceeded speed sets the maximum speed for the tune process This value should be set to the desired maximum operating speed of the axis in engineering units prior to running the tune test Direction sets the direction of the tuning motion profile Negative indicates reverse direction positive indicates forward direction Tune Selects the gains to be determined by the tuning test Position Error Integrator Velocity Feedforward e Output Filter Velocity Error Integrator Start Tuning Begins the tuning test If the tuning process completes successtully the following attributes are set Gains tab Set the following attributes here e Velocity Feedforward Gain if checked under Tune above Position Proportional Gain and Position Integral Gain if checked under Tune above Dynamics tab Set the following attributes here e Maximum Velocity e Maximum Acceleration e Maximum Deceleration e Output tab Set the following attributes here e Velocity Scaling e Low Pass Output Filter see Note below Limits The Position Error Tolerance attribute is set on this tab You can use this selection to adjust bandwidth values as needed During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Executing a Tune operation automaticall
62. l 2 Turn the screw clockwise to close the terminal on the wire d D J a QD D d Q KD D D D D 4 Strain relief area 20859 M 1 The Bulletin 1492 IFM may not be used in any application that requires agency certification of the ControlLogix system Use of the IFM violates the UL CSA and FM certifications of this product Publication 1756 UM525A EN P June 2003 Publication 1756 UM525A EN P June 2003 Installing the 1756 HYD02 Module Chapter 2 Spring Clamp 1 Insert the screwdriver into the outer hole of the RTB 2 Insert the wire into the open terminal and remove the screwdriver BIS BEBE Ex Ed Ex e Een ex e bed Ee Fe re rel e end p e jo Le LT IEE EET otrain relief area ze Recommendations for Wiring Your RTB TIP Consider the following when wiring your RTB Begin wiring the RIB at the bottom terminals and move up Usea tie to secure the wires in the strain relief area of the RTB he jumper bar part number is 97739201 Contact your local Rockwell Automation sales representative to orde
63. le fault has occurred e The OK contact has opened 78 Take this action Apply chassis power Verify the module is completely inserted into the chassis and backplane Configure the module to begin communications If you have configured the module check the slot number in the 1756 HYD02 Properties dialog box None If a Non Volatile Storage NVS update is in progress complete the NVS update If an NVS update is not in progress follow these steps 1 Check the Servo Fault word for the source of the error 2 Clear the servo fault condition using the Motion Axis Fault Reset instruction 3 Resume normal operation 4 f the flashing persists reconfigure the module Follow these steps 1 Reboot the module 2 f the solid red persists replace the module Publication 1756 UM525A EN P June 2003 Troubleshooting the 1756 HYD02 Module Chapter 5 i i The module s FDBK indicators are shown in Figure Make sure that an Using the FDBK Indicator g y transducer used with the 1756 HYD02 module uses an external interrogation signal HYDRAULIC AX 0 AX 1 Feedback indicators FDBK FDBK j L DRIVE DRIVE L OK 43454 The table below explains the FDBK indicators FDBK Indicator Displays If the FDBK The module status is Take this action indicator displays Off The axis is not used If you are using this axis
64. lling the 1756 HYD02 Module Publication 1756 UM525A EN P June 2003 Chapter 2 Installing the 1756 HYD02 Module What This Chapter Contains This chapter describes how to install the 1756 HYD02 module Note the Power Requirements Publication 1756 UM525A EN P June 2003 For information about See page Installing the Module 14 Keying the Removable Terminal Block 15 Connecting Wiring 16 Assembling The Removable Terminal Block and 23 the Housing Installing the Removable Terminal Block 26 Removing the Removable Terminal Block 28 Removing the Module from the Chassis 29 The 1756 HYD02 module mounts in a ControlLogix chassis and uses a removable terminal block RTB to connect all field side wiring Before you install your module make sure you install and ground a ControlLogix chassis and power supply order and receive an RTB and its components for your application For more information on all the ControlLogix chassis and power supplies see the ControlLogix Selection Guide publication 1756 8G001 This module receives power from the 1756 chassis power supply and requires two sources of power from the backplane e 700mA at 5 1V e 2 5 mA at 24V Add this current to the requirements of all other modules in this chassis to prevent overloading the backplane power supply 13 14 Chapter2 Installing the 1756 HYD02 Module Installing the Module You can install or remove the module while chassis power is a
65. lution Load Maximum offset Gain error All other outputs Type Operating voltage Maximum Operating current Isolation Voltage User to System RTB keying Field wiring arm RTB screw torque cage clamp Conductors Wire size Category Screwdriver blade width for RTB Environmental Conditions Operating Temperature Storage Temperature Relative Humidity Vibration shock Emissions ESD Immunity Analog voltage 10V dc 16 bits 5 6 kOhms resistive minimum 25 mV 4 Solid state isolated relay contacts 24V dc nominal 26 4V dc 75 mA 30V continuous User defined 36 position RTB 1756 TBCH or TBS6H 7 4 4 inch pounds 0 4Nm maximum 22 to 14 AWG 0 324 to 2 08 sq mm stranded 3 64 inch 1 2 mm insulation maximum 28 4 1 8 inch 3 2mm maximum IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock 0 to 60 C 32 to 140 F IEC 60068 2 1 Test Ab Un packaged Non operating Cold IEC 60068 2 2 Test Bb Un packaged Non operating Dry Heat IEC 60068 2 14 Test Na Un packaged Non operating Thermal Shock 40 to 85 C 40 to 185 F IEC 60068 2 30 Test Db Un packaged Non operating Damp Heat 5 to 95 non condensing IEC60068 2 6 Test Fc Operating 2g 10 500Hz IEC60068 2 27 Test Ea Unpackaged shock Operating 30g Non operating 50g CISPR 11 Group 1 Class A IEC 610
66. ly as possible If a fault action is set to Disable Drive when the associated fault occurs e servo action status Is immediately disabled e the drive output is zeroed and e the appropriate drive enable output is deactivated If a fault action is set to Stop Motion when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action status or the hydraulic modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared If a fault action is set to Status Only when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate ATTENTION Selecting the wrong fault action for your application can cause a dangerous condition Keep clear of moving machinery Publication 1756 UM525A EN P June 2003 15 Chapter 4 Using the 1756 HYD02 Module Features Tag Tab Use this tab to change the name and description of the axis When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you save your changes
67. ne edits to the above parameters Publication 1756 UM525A EN P June 2003 71 Chapter4 Using the 1756 HYD02 Module Features Feature Friction Deadband Compensation Friction Compensation Friction Deadband Compensation Window 72 Offset Tab Use the Offset tab to make offline adjustments to the following values Deadband Compensation Velocity Offset Output Offset The parameters on this tab can be edited in two ways Type parameter changes in the fields available on this tab and use the OK or Apply buttons to save yout edits e Edit in the Manual Adjust dialog To do so a Click on the Manual Tune button b Use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only when the controller 1s online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must download the edited program to the controller before it can be run Table lists the configurable features available on the Offset tab Definition The percentage of output level added to the current positive value or subtracted from the current negative value for the purpose of moving an axis that is stuck in place due to static friction The defa
68. normal operation Follow these guidelines when you handle this equipment e Touch a grounded object to discharge potential static Wear an approved grounding wriststrap Do not touch connectors or pins on component boards Do not touch circuit components inside the equipment If available use a static safe workstation e When not in use store the equipment in appropriate static safe packaging You can install or remove the module while chassis power is applied if you observe the following precautions WARNING When you insert or remove the module while backplane power Is on an electrical arc can occur This could cause an explosion in hazardous location installations Be sure that power is removed or the area is nonhazardous before proceeding However as stated on the previous page the 1756 HYD02 module should not be pulled under power nor should a powered RTB be removed in a Class Division 2 environment Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector Worn contacts may create electrical resistance that can affect module operation We do not recommend removing and inserting the 1756 HYD02 module while under power if the servo loop is closed Make sure the servo loop is open that is flashing green feedback indicator before removing or inserting the module under powet In this chapter you read a description of the 1756 HYD02 module Chapter 2 describes Insta
69. nt velocity If the master axis accelerates or decelerates the tracking error is non zero and proportional to the acceleration or deceleration rate and also proportional to the square of the total position update delay time If your application does not require zero tracking error between the master and the slave axis disable the Master Delay Compensation feature to eliminate the disturbances the extrapolation algorithm introduces to the slave axis When the Master Delay Compensation feature is disabled bit cleared the slave axis appears to be more responsive to the masters movements and runs generally smoother than when Master Delay Compensation feature is enabled bit set However when the master axis is running at a constant velocity the slave lags the master by a tracking error that is proportional to the speed of the master oince the master axis position is measured in discrete feedback counts and is inherently noisy the extrapolation process amplifies that noise according to the total position update delay The greater the delay the greater the noise introduced by the extrapolator This feature also includes an extrapolation filter to filter the noise introduced by the extrapolation process The time constant of the filter is fixed at 4x the total position update delay independent of the Master Position Filter Bandwidth which again is a function of the Coarse Update Period and the SERCOS Update Period if a AXIS SERVO DRIVE data type
70. ogix 5000 does not automatically update the field after you use the Calculate button on this tab LDT length defines the stroke of travel of the hydraulic cylinder LDT length is used with the number of recirculations to calculate the minimum servo update period scaling defines the relationship between the transducer unit of measure as defined in the transducer length field and the user s unit of measure e g 39 37 inches meter defined on the Units tab Absolute Feedback is always enabled for LDT Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Feature Definition Absolute Feedback The absolute offset is used to place the machine zero point at the desired location relative to the zero point of the Offset LDT The LDT zero point is inside the transducer head and physically unattainable Calculated Calculation derived from values based on the configuration values entered for the LDT Values Conversion Constant The calculated conversion K constant is derived based on the LDT configuration values entered on the Feedback tab After proper LDT values are entered and the Calculate button is selected the resultant K value is calculated This K value must be taken from this tab and entered in as the Conversion constant on the Conversion tab You must type the new conversion constant in the Conversion Constant field on the Conversion tab RSLogix 5000 does not automatically update the field aft
71. on Configuring the axes features 36 Dynamic reconfiguration 38 Editing configuration 38 39 Overview of the process 32 Reconfiguring parameters in program mode 39 Reconfiguring parameters in run mode 39 Using RSLogix 5000 31 40 D Documentation For other ControlLogix products used with the 1 56 HYD02 module 8 Dynamic reconfiguration 38 E Electronic keying 34 44 Electrostatic discharge ESD Preventing 12 Extended depth housing for RTBs 24 Cabinet size considerations 25 F Fault reporting 43 H Home limit switch input wiring 20 Inhibiting the module 35 Interface module IFM 10 16 K Keying Electronic 34 44 Mechanical 15 L Linear displacement transducer LDT 9 Connecting the LDT to the 1756 HYD02 module 21 22 Mechanical keying 15 Module identification information Retrieving 43 0 OK contact wiring 20 P Physical features of the 1756 HYD02 module 10 11 Preventing electrostatic discharge ESD 12 Registration sensor wiring 19 Removable terminal block RTB 10 Assembling 23 Cage clamp 16 Installation 26 27 Mechanically keying the RTB 15 Hemoval 28 opring clamp 17 Types available with the 1756 HYD02 module 16 Publication 1756 UM525A EN P June 2003 Removal and insertion under power RIUP 12 14 RSLogix 5000 31 40 Configuring the axes features 36 Conversion tab 59 Dynamics tab 64 Electronic keying 34 Fault actions tab 74 Feedback tab 58 Gains tab 65 General tab 52
72. on Gains Differential to produce a component to the analog output or Velocity Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Position Gains Differential results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Position Gains Differential leads to high frequency instability and resonance effects Feedforward Gains Feedforward Gains Velocity scales the current Command Velocity by the Feedforward Gains Velocity and Velocity adds it as an offset Hence the Feedforward Gains Velocity allows the following error of the hydraulic closed loop system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Feedforward Gains Velocity is 10096 However you may need to adjust the value to accommodate axes with non linear characteristics and other application considerations Feedforward Gains Feedforward Gains Acceleration scales the current Command Acceleration by the Feedforward Gains Acceleration Acceleration and adds it as an offset to the analog output generated by the position loop With this done the position loops do not need to generate much of a contribution to t
73. onfiguration data for a module the change does Configuration Data that information This downloads the entire program to the controller overwriting any existing programs So RSLogix 5000 High_Speed_Anal File Edt View Search Logic Comm Use this pull down niline RUN menu to download the No Forces pones Uploa new configuration Bees Download Emgan Hode Bor Mode Test Hode I SEI Rants Bo lo Baule Controller Properties This completes the download process Publication 1756 UM525A EN P June 2003 not actually take effect until you download the new program which contains Chapter3 Configuring the 1756 HYD02 Module Editing Co nfiguration After you set configuration for a module you can review and change it You can change configuration data and download it to the controller while online This is called dynamic reconfiguration Your freedom to change some configurable features though depends on whether the controller is in Remote Run mode or Program mode Mittal though you can change configuration while online you must go offline to add or delete modules from the program The editing process begins on the main page of RSLogix 5000 fe Hs Logex SUU DUS documental File Edt View Seach Loge Commerical alrite x eje 1e Ulttlinc J AUN m No Forcas P F OF 1 No Edits A z bH Corio Tags Eu Controller Faut Handler 9 Fow
74. pplied The module is designed to support Removal and Insertion Under Power RIUP However when you remove or insert an RTB with field side power applied unintended machine motion or loss of process control can occur Exercise extreme caution when using this feature 1 Align circuit board with top and bottom chassis guides RN Z _ 2 i E E E EN SE v SE PK eae 7 Printed Circuit Board M i 4 e po oe 20861 M 2 Slide module into chassis until module tabs click Locking Tab 20862 M Publication 1756 UM525A EN P June 2003 Installing the 1756 HYD02 Module Chapter 2 Keying the Bemovable Key the RTB to prevent inadvertently connecting the incorrect RTB to your Terminal Block module When the RTB mounts onto the module keyed positions match up For example if you place a U shaped keying band in position 4 on the module you cannot place a wedge shaped tab in 4 on the RTB or your RTB will not mount on the module Use a unique keying pattern for each slot in the chassis 1 Insert the U shaped band with the long side near the terminals 2 Push the band onto th
75. quence has been completed In most cases this position will be set to zero although any value within the software travel limits can be used After the homing sequence is complete the axis is left in this position Offset Type the desired offset if any in position units the axis is to move upon completion of the homing sequence to reach the home position In most cases this value will be zero sequence select which event sets the Home Position Immediate Sets the Home Position to the present actual position without motion Switch Sets the Home Position when axis motion encounters a home limit switch Limit Switch Specifies the usual state of the home limit switch e Normally Open e Normally Closed 60 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Feature Definition Active Home For active homing sequences except for the Immediate Sequence type select the desired homing direction sequence Group Direction e Forward Bi directional The following events occur a The axis moves forward at the rate specified in the Speed field until a homing event occurs I e a switch turns ON b When the switch turns ON the axis reverses its direction at the rate specified in the Return Speed field until the switch turns OFF c If an Offset value is specified the axis continues in reverse for the corresponding distance When the axis stops moving it is in the Home Position The grap
76. r additional jumper bars if necessary Order and use an extended depth housing that is cat no 1756 TBE for applications that require heavy gauge wiring For more information see page 24 17 Chapter2 Installing the 1756 HYD02 Module ENABLE 0 s O7 j ENABLE 1 DRVFLFO 1e Qj DRVFLT 1 To valve or pump CHASSIS 12 Grill CHASSIS Wiri ng the Use the wiring example in Figure to wire to your module 1756 HYD02 Module OUT 0 2S l 0UT 1 N OUTO O Os 0UTA x General cable C0720 To valve driver amplifier ENABLE 0 le CO Gs ENABLE 1 To hydraulic control unit General cable C0721 or pX x x INCOM 465 Gi IN COM ity xK x General cable C0720 Io aome HOME 0 65 Gs HOME 1 limit switch REG24V 0 18 Q 7 REG24V 1 REGSV 0 Loc Gish REGSV 1 x x General cable C0720 be 40K 220 Ge OK CHASSIS 24C 23 CHASSIS HNT 0 28 Sz INT 1 5 INT 0 26 Oy INT 1 joi E js X General cable C0722 To LDT LDT CMN 4S LDT CMN CHASSIS B Coss CHASSIS IL x 1 General cable C0720 To E stop relay coil U NOTES 1 This is a general wiring example illustrating Axis 1 wiring only Other configurations are possible with Axis wiring identical to Axis 1 2 Make su
77. ration that would engage the teeth of the gearbox Properly configured with a suitable value for the Backlash Stabilization Window this algorithm entirely eliminates the gearbox buzz without sacrificing any axis performance The Backlash Stabilization parameter determines the width of the window over which backlash stabilization is applied In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Patent Pending Velocity Offset Provides a dynamic velocity correction to the output of the position loop in position units per second Because the position loop output value is updated synchronously every Coarse Update Period the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming Position loop is still closed and compensates for velocity offset values by changing position error Position error faults are possible Publication 1756 UM525A EN P June 2003 73 Chapter4 Using the 1756 HYD02 Module Features Feature Output Offset Manual Adjust Fault Type Drive Fault Feedback Noise Feedback Position Error Soft Overtravel 74 Definition Corrects the problem of axis offset by adding a fixed voltage value not to exceed 10V to the analog output value Use a value to achieve near zero axis velocity when the uncompensated analog output value IS Zero When interfacing to a valv
78. re that any transducer connected to the 1756 HYD02 module uses an external interrogation signal 43394 3 Do not exceed the specified isolation voltage between power sources 18 Publication 1756 UM525A EN P June 2003 Installing the 1756 HYD02 Module Chapter 2 Wiring Registration Sensors The registration inputs to the servo module can support 24V or 5V registration sensors These inputs should be wired to receive source current from the sensor Current sinking sensor configurations are not allowed because the registration input common IN COM is shared with the other 24V servo module inputs 24V Registration Sensor 24N dc Field Power Supply 24 Volt Registration sensor Supply General cable REG24V Output rom EB HYD co Qm OX m av m 43395 5V Registration Sensor 5V dc Field Power Supply 5 Volt Registration sensor Supply General cable REGSV Output From 1756 HYD02 em en Publication 1756 UM525A EN P June 2003 43395 19 Chapter2 Installing the 1756 HYD02 Module Wiring the Home Limit Switch Input The home limit switch inputs to the servo module are designed for 24V nominal operation These inputs should be wired for current sourcing operation 24V dc Field Power Supply c From 1756 HYD02 gt es d E jm 43396 Wiring the OK Contacts A set of isolated solid state OK relay contacts is provided for optional interface to an E stop string wh
79. ry for storage of data to implement specific functions such as I O control logic timing and data file manipulation The ControlLogix controller owns and communicates with the ControlLogix Hydraulic Servo module to control hydraulic applications ControlLogix power supply An electrical circuit that filters conditions and supplies appropriate voltages for system components and circuitry Publication 1756 UM525A EN P June 2003 87 Glossary 88 Disable keying An electronic keying protection mode that requires no attributes of the physical module and the module configured in the software to match Download The process of transferring the contents of a project on the workstation into the controller Electronic keying A feature where modules can be requested to perform an electronic check to make sure that the physical module is consistent with what was configured by the software Exact match An electronic keying protection mode that requires the physical module and the module configured in the software to match according to vendor catalog number major revision and minor revision Field side Interface between user field wiring and I O module Inhibit A ControlLogix process that allows you to configure the Hydraulic Servo module but prevent it from communicating with the owner controller In this case the controller behaves as if the module does not exist at all Interface module IFM A module that uses prewired cable to
80. s and jumpers the software makes module configuration easier and more reliable 43 Chapter 4 44 Using the 1756 HYD02 Module Features Electronic Keying The electronic keying feature automatically compares the expected module as shown in the RSLogix 5000 I O Configuration tree to the physical module before I O communication begins You can use electronic keying to help prevent communication to a module that does not match the type and revision expected For each module in the I O Configuration tree the user selected keying option determines if and how an electronic keying check is performed Typically three keying option are available Exact Match Compatible Keying Disable Keying You must carefully consider the benefits and implications of each keying option when selecting between them For some specific module types fewer options are available Electronic keying is based on a set of attributes unique to each product revision When a Logix5000 controller begins communicating with a module this set of keying attributes 1s considered Keying Attributes Attribute Description Vendor The manufacturer of the module for example Rockwell Automation Allen Bradley Product Type The general type of the module for example communication adapter AC drive or digital 1 0 Product Code The specific type of module generally represented by its catalog number for example 1756 IB16l Major Revision A number that
81. sition gains differential 67 Position gains integral 66 Position gains proportional 66 General tab 52 Homing tab 60 Active home sequence group direc tion 61 Limit switch 60 Mode 60 Offset 60 Position 60 Return speed 62 sequence 60 speed 61 Index Hookup tab 62 Feedback polarity 62 Output polarity 62 Test increment 62 Limits tab 70 Output limit 71 Position error tolerance 71 Position lock tolerance 71 Soft travel limits 70 Soft travel limits maximum negative 70 Soft travel limits maximum positive 70 Motion planner tab 54 Master delay compensation 55 Master position filter bandwidth 55 Output cam execution targets 54 Program stop action 54 Offset tab 72 Backlash compensation reversal off set 73 Backlash compensation stabilization window 73 Friction deadband compensa tion friction compensation 72 Friction deadband compensa tion window 72 Output offset 74 Velocity offset 73 Output tab 68 Direction scaling ratio 69 Low pass output filter bandwidth 69 Velocity scaling 68 oervo tab 57 Direct drive ramp rate 57 Drive fault input 57 External drive configuration 57 Loop configuration 57 Real time information 57 Tag tab 76 Tune tab 63 Direction 63 speed 63 Travel limit 63 Units tab 56 Average velocity timebase 56 Position units 56 Index 92 C Cage clamp RTB 16 Class I Division 2 compliance 11 Configurable features of the 1756 HYD02 module Axes features 52 76 General module features 42 51 Configurati
82. status and bi colored LED indicators to show individual feedback FDBK and drive DRIVE status for both axes During power up the module completes an indicator test The OK indicator turns red for 1 second and then turns to flashing green if the module passes all its self tests The module s status indicators are shown below HYDRAULIC AXO AX L FDBK FDBK Py LJ DRIVE DRIVE OK 43454 71 Chapter5 Troubleshooting the 1756 HYD02 Module Using the OK Indicator The module s OK indicator is shown below HYDRAULIC OK indicator AXO AXI L LJ FDBK FDBK DRIVE DRIVE OK 43454 The table below explains the OK indicator OK Indicator Displays If the OK The module status is indicator displays Off The module is not operating Flashing green The module has passed internal diagnostics but it is not light communicating axis data over the backplane oteady green One of the following light Axis data is being exchanged with the module he module is in the normal operating state Flashing red light One of the following e A major recoverable failure has occurred e Acommunication fault timer fault or NVS update is In progress e The OK contact has opened Steady red light One of the following e A potential non recoverab
83. t gear is turned to the point where its proximal tooth contacts an adjacent tooth of the output gear the reflected inertia of the output is not felt at the actuator i e when the gear teeth are not engaged the system inertia is reduced to the motor inertia If the axis loop is tuned for peak performance with the load applied the axis will be at best under damped and at worst unstable in the condition where the gear teeth are not engaged In the worst case scenario the motor axis and the input gear oscillates wildly between the limits imposed by the output gear teeth The net effect is a loud buzzing sound when the axis is at rest If this situation persists the gearbox will wear out prematurely To prevent this condition the conventional approach is to de tune the loop so that the axis is stable without the gearbox load applied Unfortunately system performance suffers The key to this algorithm is a tapered Torque Scaling profile that is a function of the position error of the axis loop The reason for the tapered profile as opposed to a step profile is that when the position error exceeds the backlash distance a step profile would create a very large discontinuity in the torque output This repulsing torque tends to slam the axis back against the opposite gear tooth and perpetuate the buzzing effect The tapered profile is only run when the acceleration command to the axis loop is zero i e when we are not commanding any acceleration or decele
84. t a position only axis type make sure the module is configured an axis tag has e he axis is not used been associated with the module and the axis type Is Servo e The axis is a position only axis type Flashing green The axis drive is in the normal disabled state None The servo axis state can be changed by executing light motion Instructions Steady green light The axis drive is in the normal enabled state None The servo axis state can be changed by executing motion instructions Flashing red light The axis drive output is in the shutdown state Follow these steps 1 Check for faults that may have generated this state 2 Execute the Shutdown Reset motion instruction 3 Resume normal operation Steady red light The axis drive is faulted Follow these steps 1 Check the drive status 2 Clear the Drive Fault condition at the drive 3 Clear the servo fault condition using the Motion Axis Fault Reset instruction 4 Resume normal operation 5 Check the configuration for the Drive Fault e f configured to be normally open and there is no voltage this is the normal condition e f configured to be normally closed and 24V is applied this is the normal condition 80 Publication 1756 UM525A EN P June 2003 Using RSLogix 5000 to Troubleshoot the Module Publication 1756 UM525A EN P June 2003 Troubleshooting the 1756 HYD02 Module Chapter 5 You can also use the RSLogix 5000 programming software
85. ta d 7 Who Should Use This Manual 7 The Purposeor Mais Manta narration EE PS 7 Related Documentation sesanan naana eeaeee 8 Chapter 1 What the Module D OeS ze eet EE RP PEEL IEEE RES See 9 Using A ControlLogix Hydraulic Servo Module in the Contre Toone Sy STE RUE Te a aided tora pain an mete ended 10 Physical Features of the ControlLogix Hydraulic Servo Module 10 Cerine Acen ADDIOVAlS mice sues USE d AP ewer eee RUE 11 Pull Class L Division 2 Compliance vos cite ea et v 11 Prevenune BIeGtEostatie Diseases en same 12 Removal and Insertion Under Power 12 Chapter Summary and Whats TINeXES Gi eG pi ae dede 12 Chapter 2 What This Chapter COMMUNS css LMD EAN Mae 13 Note the Power Requirements errores no ebd d E cU E E e 13 Istalhne the Module quoe ead d e ted Ree uei ape a 14 Keying the Removable Weert B OC oui mare eiit beh rie hebdo e 15 Conneccion WING oui os dedit n d quce me Bd eed sc e nes d darem tex 16 Two Types of RTBs each RTB comes with housing 16 Witing the 1756 HYD02 Module eu ads td p Ro o ero 18 Winne Reotstrati OE Des OES oed reo PERDER ope qa 19 Wiring the Home Limit Switch Input 20 Winne the OR CLODEtaCES sae es bacon da ee aq hae eor e ata 20 Connecting LDTSs to Your Hydraulic Module 21 Assembling The Removable Terminal Block and the Housing 23 Choosing the Extended Depth Housing
86. ted to either of the modules channels Description of how to troubleshoot any problems with the module including the use of status Indicators on the module and software fault messages in RSLogix 5000 specifications for the module Publication 1756 UM525A EN P June 2003 See this section Chapter 1 What is the 1756 HYD02 Module Chapter 2 Installing the 1756 HYD02 Module Chapter 3 Configuring the 1756 HYD02 Module Chapter 4 Using the 1 56 HYD02 Module Features Chapter 5 Troubleshooting the 1756 HYD02 Module Appendix A Preface Preface Related Documentation The following table lists related ControlLogix documentation Publication Publication Description Number 1756 IN580 ControlLogix Hydraulic Servo Module Provides instructions for installing wiring and Installation Instructions troubleshooting your 1756 HYD02 module 1756 IN080 ControlLogix Chassis Installation Instructions Provides instructions for installing a ControlLogix chassis 1 56 IN613 ControlLogix Power Supply Installation Provides instructions for installing a Instructions ControlLogix power supply 1756 IN573 ControlLogix Redundant Power Supply Provides instructions for installing a Installation Instructions ControlLogix redundant power supply 1756 IN574 ControlLogix Redundant Power Supply Chassis Provides instructions for installing a Adapter Module Installation Instructions ControlLogix redundant power supply chassis adapter module 1
87. ted while an axis runs at a specific speed To produce a component of the Velocity Command that ultimately attempts to correct for the position error multiply the Position Gains Proportional by the Position Error oo little Position Gains Proportional results in excessively compliant or mushy axis behavior e oo large a Position Gains Proportional on the other hand can result in axis oscillation due to loop instability To set the gain manually you must first set the velocity output scaling factor in the Output tab of this dialog If you know the desired position loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Position Gains Proportional 16 667 Desired Loop Gain IPM mil If you know the desired gain bandwidth of the position loop in Hertz use the following formula to calculate the corresponding P gain Position Gains Proportional Bandwidth Hertz x 6 28 The typical value for the Position Gains Proportional is 100 Sec The Integral i e summation of Position Error is multiplied by the Position Gains Integral or Pos Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Position Gains Integral improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive in
88. tegral gain however results in system instability In certain cases Position Gains Integral control is disabled One such case is when the analog output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the axis loop automatically disables the integrator during commanded motion The Position Gains Integral is also disabled when the axis actual position is within the deadband compensation window of the target position This keeps the axis from hunting when valves with overlapped spools are used While the Position Gains Integral is typically established by the automatic axis loop tuning procedure in the Tuning tab of this dialog its value may also be set manually Before doing this the Velocity Scaling factor for the axis must be established for the drive system Once this is done the Position Gains Integral can be computed based on the current or computed value for the Position Gains Proportional using the following formula Position Gains Integral 2 025 X 0 001 s ms X Position Gains Proportional Assuming a Position Gains Proportional value of 100 Sec this results in a Position Gains Integral value of 0 25 1 ms s Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Feature Definition Position Gains Differential Velocity Error is multiplied by the Positi
89. ter Delay Master Delay Compensation helps a slave approach zero tracking error when gearing or camming to the Compensation actual position of a master axis When camming or gearing off of actual feedback some delay exists between when the master position data is generated and when the controller acts on that data for a slave This delay causes a slave response to lag behind a master You can compensate for this delay with the Master Delay Compensation The Position Camming and Gearing functions when applied to a slave axis perform Master Delay Compensation to compensate for the delay time between reading the master axis command position and applying the associated slave command position to the output of the slave s axis loop When the master axis Is running at a fixed speed this compensation makes sure that the slave axis command position accurately tracks the actual position of the master axis The Master Delay Compensation algorithm extrapolates the position of the master axis at the predicted time when the command position will be applied to the slave s axis loop The total position update delay created by the Coarse Update Period of the motion group and if the master or the slave involves an AXIS SERVO DRIVE data type it also includes the delay term that is proportional to the SERCOS Update Period The motion planner implements a 1st order extrapolation algorithm that results in zero tracking error while the master axis is moving at consta
90. the Module 81 Warning Signal in Controller Organizer 81 Fault Message m Status Liness versa cv ERES E EEEE 82 Notification in Axis Structure 82 Chapter Summary and W habs Next sca uo Tad aped arena 82 Appendix A Table of Contents 6 Publication 1756 UM525A EN P June 2003 Using This Manual Who Should Use This Manual module as the 1756 HYD02 module Preface This preface describes how to use this manual To effectively use this manual you should be able to program and operate the Rockwell Automation ControlLogix controllers to efficiently use your ControlLogix Hydraulic Servo module In this manual we also refer to the If you need more information about programming and operating the ControlLogix controllers refer to the Log x 5000 Controller User Manual publication number 1756 UM001 The Purpose of This Manual This manual describes how to set up configure and troubleshoot your 1756 HYD02 module The following table lists describes each section in this manual If you are looking for this information Description of the module and what it does otep by step description of how to install and wire the module Description of how to use RSLogix 5000 programming software to configure the module Complete listing of the modules features including the general module features and features that specifically affect the data coming from axes connec
91. the Tune tab Manually configure gains for the position loop The 1756 HYD02 module uses a single digital control loop with proportional integral differential and feed forward gains The parameters on this tab can be edited in two ways Type parameter changes in the fields available on this tab and use the OK or Apply buttons to save yout edits e Edit in the Manual Adjust dialog To do so a Click on the Manual Tune button b Use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only when the controller 1s online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the parameters described in Table can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must download the edited program to the controller before it can be run 65 Chapter4 Using the 1756 HYD02 Module Features Feature Position Gains Proportional Position Gains Integral 66 The table below lists the configurable features available on the Gains tab Definition Position gain is used with position error to correct an axis position The proportional gain specifies the amount of correction velocity command that the controller applies for each unit of position error You must determine how much position error is expec
92. then all the attributes on this tab transition to a read only state When any attribute transitions to a read only state then any pending attribute changes are reverted The table below lists the configurable features available on the Units tab Feature Definition Position Units User defined engineering units rather than feedback counts used to label all motion related values e g position or velocity These position units can be different for each axis Position Units should be chosen for maximum ease of use in your application For example linear axes might use position units of inches or meters whereas rotary axes might use units of revolutions or degrees Average Velocity Timebase Specifies the time in seconds to be used to calculate the average velocity of the axis This value is computed by taking the total distance the axis travels in the amount of time specified and dividing this value by the timebase The average velocity timebase value should be large enough to filter out the small changes in velocity that would result in a noisy velocity value but small enough to track significant changes in axis velocity A value of 0 25 to 0 50 seconds should work well for most applications 56 Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Servo Tab For an axis of the data type AXIS SERVO configured for Servo operation i e closed loop operation in the General tab of this dialog
93. tions for Fabricating Your Own LDT Cable 15V Connections Interrogate Interrogate Pulse Pulse 4 Output 43473 Function 1756 HYD02 RTB Wiring Numbers below Temposonics T Balluff represent terminal numbers RPM or DPM BTL type Channel 0 Channel 1 Wde 15V dc Interrogate 9 Yellow 1 Yellow 1 Yellow Interrogate 10 10 Green 3 Pink 0 Pink 3 Pink Power Supply N A 5 Red LA 12V 7 Brown cL NN 7 Brown 415V 8 White 15V Ground 34 33 1 White 6 Blue 6 Blue 8 White Output Pulse 30 29 8 Purple 2 Gray 2 Gray 32 31 5 Green 5 Green and wires of the same function should be a twisted pair within the cable 7 Do not connect to pins 2 3 4 6 or 7 Publication 1756 UM525A EN P June 2003 21 Chapter2 Installing the 1756 HYD02 Module Figure shows an application wiring example using a 1 axis loop with a differential LDT input The power supplies and servo amplifiers are user supplied 24V Power Supply PC with RSLogix 5000 t 0 Drive Output Servo Or IMPORTANT This Proportional modules analog ControlLogix 1756 HYD02 Amplifier output require an controller external amplifier to drive the valve S 8 f
94. trolLogix Hydraulic Servo module For information about See page Overview of the Configuration Process 32 Creating a New Module 33 Configuring General Module Features 35 Configuring the Axes Features 36 Downloading New Configuration Data 37 Editing Configuration 38 Reconfiguring Module Parameters in Run Mode 39 Reconfiguring Module Parameters in Program 39 Mode You must configure your module upon installation The module does not work until it has been configured PONTS he ControlLogix Hydraulic Servo module can only be used in a local chassis Use RSLogix 5000 software version 12 or greater to configure your ControlLogix Hydraulic Servo module 31 Chapter3 Configuring the 1756 HYD02 Module Ove rview of the Figure shows an overview of the configuration process Configuration Process New Module 1 Select the Hydraulic Servo module 2 Choose a Major Revision General Tab Name Description Slot number Comm format Minor revision Keying choice Make custom Riad configuration Pecitic screens choices here Configuration complete Pop up menu leads to a module s Edita modules configuration configuration here AN properties in A series of tabs in RSLogix 5000 provide access to change a modules configuration data 32 Publication 1756 UM525A EN P June 2003 43466 Configuring the 1756 HYD02 Module Chapter 3 Creating a New Mod
95. ule After you have started RSLogix 5000 and created a controller you must create a new module The wizard allows you to create a new module and configure it IMPORTANT You must be offline when you create a new module 1 If your application is online go offline amp amp HSLoqix 5UUL HYDUZ document Use this pull down menu to go offline A Select 0 Configuration B Right click to see the menu C Select New Module Publication 1756 UM525A EN P June 2003 Rem Run gt I F Running Ho Forces No Edits pid el Contra i Co E Cat 3 Po Tasks ue Me Cm m oj 2 Access the Select Module Type screen y RSLogix 5000 High_Speed_Analog Fie Edt View Search Logc Communi RPM Path AR_KTC T A Rackplane Offline 3j 7 AUN No Forces 13 No dits air Vo i 3 Controller High Speed Anal J Controller Tags 3 Controller Fault Handler C3 Power Up Handler Tasks A MainT ask CB MainProgram A Program Tags Manfloutine C3 Unscheduled Programs O amp Motion Groups C3 Ungrouped Axes E Trends zc Data Types yh User Defined S E Strings iM STRING x CR Prertehned CR Module Defined o pE New Module 33 Chapter3 Configuring the 1756 HYD02 Module 3 Select the module type EE 1756 HY002 2 re B Make sure the Major Revision 1756 DMA50 1756 4500 Drive Interface E 1756 DMB30 1756 SB3000 Dire Inter
96. ult value of this parameter is 096 It is not unusual for an axis to have enough static friction called sticktion that even with a significant position error the axis refuses to budge Friction Compensation is used to break sticktion in the presence of a non zero position error The Friction Compensation value should be slightly less than the value that would break the sticktion A larger value will cause the axis to dither i e move rapidly back and forth about the commanded position This value is not applicable for Ultra3000 drives This window is defined as command position window attribute to command position window attribute While the command velocity is zero and the actual position is within this window the Friction Compensation or Deadband Compensation for Hydraulics is applied proportionally to the position error While the command velocity is non zero the full Friction Compensation is applied Publication 1756 UM525A EN P June 2003 Using the 1756 HYD02 Module Features Chapter 4 Feature Definition Backlash Compensation Use this feature to compensate for positional inaccuracy introduced by mechanical backlash For example Reversal Offset power train type applications require a high level of accuracy and repeatability during machining operations Lost motion is often generated by a number of mechanical components that may introduce inaccuracies and that are subject to wear over their lifetime Hence when
97. uning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth This Hertz bandwidth value filters out high frequency variation of the hydraulic module output to the drive All output from the hydraulic module greater than the Filter Bandwidth setting will be filtered out and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the position loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the position loop Click on this button to access the Output tab of the Manual Tune dialog for online editing The Manual Tune button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters June 2003 69 Chapter4 Using the 1756 HYD02 Module Features Feature Soft Travel Limits Soft Travel Limits Maximum Positive Soft Travel Limits Maximum Negative 70 Limits Tab Use the Limits tab to set
98. ure that the actuator cylinder follows the profile The 1756 HYD02 module closes the position loop at a programmed rate using position feedback as the input and produces a 10V analog output velocity command The module is programmed with motion instructions in the RSLogix 5000 programming software and must be in the same chassis as the ControlLogix controller that controls the module If you distribute motion control that uses the 1756 HYD02 module across different locations place a ControlLogix controller in each chassis that has a 1756 HYD02 module In this case use a 1756 SYNCH module to synchronize motion between the multiple chassis Transducers connected to the 1756 HYD02 must accept external interrogation signals In this case the transducer generates its position information each time that it receives an interrogation pulse Do not use transducers configured for internal interrogation because they will not be properly synchronized to the module Chapter 1 What is the 1756 HYD02 Module Using A ControlLogix Hydraulic Servo Module in the ControlLogix System A ControlLogix Hydraulic Servo module mounts in a ControlLogix chassis and uses a removable terminal block RTB or interface module IFM to connect all field side wiring Before you install and use your module you should have already installed and grounded a ControlLogix chassis and power supply To install these products refer to the publications listed in on page
99. us in Recirculation Minimum Servo Length m X Calibration Constant m s Recirculation Update Period delay approximately 25us X Recirculations Update Period delay approximately 0 000025s X Recirculations These formulas do not assume a pre existing calibration constant or conversion constant Also for an LDT with SSI interface the formulas above apply However the specifications for LDTs with SSI interface vary in nature we recommend that you apply the manufacturers update period recommendations rather than have RSLogix 5000 compute a minimum servo update period If it is a rotary non LDT transducer with SSI interface then the Servo Update Period can be simply defaulted to 250 us Since both axes of the module must be updated at the module s configured servo update rate make sure the selected Servo Update Period on the Associated Axes tab is greater than the largest computed limit value above for the two axes associated with the module To calculate the new conversion constant when an LDT is changed use one of the following formulas If the calibration constant is in us in If the calibration constant is in m s Old conversion constant X New calibration constant Old conversion constant X Old calibration constant New conversion constant _______ New conversion constant Old calibration constant New calibration constant You must type the new conversion constant in the Conversion Constant field on the Conversion tab RSL
100. used to configure and troubleshoot the ControlLogix Hydraulic Servo module 89 Glossary Run mode In this mode the following events occut Controller program is executing Inputs are actively producing data Outputs are actively controlled Service A system feature that is performed on user demand such as fuse reset or diagnostic latch reset Status indicators Indicators on the front of the ControlLogix Hydraulic Servo module that display the general status of the module and specific status of individual feedback and drive conditions for the axes connected to the module System side Backplane side of the interface to the I O module Tag A named area of the controller s memory where data is stored 90 Publication 1756 UM525A EN P June 2003 Numerics 1756 SYNCH module Using with the 1756 HYD02 module 9 A Agency approvals 11 Axes properties Publication 1756 UM525A EN P June 2003 Configuring in RSLogix 5000 36 Conversion tab 59 Conversion constant 59 Positioning mode 59 Dynamics tab 64 Maximum acceleration 64 Maximum deceleration 64 Maximum velocity 64 Fault actions tab 74 Drive fault 74 Feedback 74 Feedback noise 74 Position error 74 soft overtravel 74 Feedback tab 58 Absolute feedback offset 59 Calibration constant 58 LDT type 58 Length 58 Recirculations 58 scaling 58 Gains tab 65 Feedforward gains acceleration 67 Feedforward gains velocity 67 Integrator hold 67 Manual tune 67 Po
101. ution Electrical interface Input impedance Output load Registration inputs Type 24V dc input voltage Maximum on Minimum on Maximum off 5V dc input voltage Maximum on Minimum on Maximum off Input impedance 24V dc input 5V dc input Response time position latched All other inputs Type Input voltage Maximum on Minimum on Maximum off Input impedance Appendix A 2 axes maximum Proportional integral and differential PID with Feed Forwards and Directional scaling 32 bit floating point 230 000 LDT counts 500Hz to 4kHz Selectable 1756 ControlLogix chassis Electronic 5 5W maximum 18 77 BTU hr 5 1V dc 700mA and 24V dc 2 5mA PWM Start Stop rising or falling edge 120MHz 8 33ns Less than 0 001 inch with single recirculation Isolated 5V differential RS 422 signal 215 Ohm differential 100 Ohm minimum Optically isolated current sinking input 24V dc nominal 26 4V dc 18 5V dc 3 5V dc 35V dc nominal 5 5V dc 3 V dc 1 5V dc 1 2 kQ 9 5 KQ 1 servo update period Servo update period is the period at which the position and or velocity feedback is sampled and a new servo loop is closed to generate a new servo output The time of this period is a user defined setting from 250us to 2000us Optically isolated current sinking input 24V dc nominal 26 4V dc 17 OV de 8 5V dc 7 5 KQ 83 Appendix A 84 opecifications Servo output Type Voltage range Voltage reso
102. y information for planning conductor routing as described in the system level installation manual Refer to Industrial Automation Wiring and Grounding Guidelines publication number 1770 4 1 oee the Product Certification link at www ab com for Declarations of Conformity Certificates and other certification details 85 Appendix A Specifications Notes 96 Publication 1756 UM525A EN P June 2003 Glossary Broadcast Data transmissions to all address or functions Bumpless reconfiguration A reconfiguration in which the real time data connection to the module is not closed and reopened Communications are never interrupted and configuration data is applied to the module immediately This works best in a single owner controller system Compatible match An electronic keying protection mode that requires that the physical module and the module configured in the software to match according to vendor and catalog number In this case the minor revision of the module must greater than or equal to that of the configured slot Connection The communication mechanism from the controller to another module in the control system ControlBus The backplane used by the 1756 chassis ControlLogix chassis Hardware assembly that houses devices such as ControlLogix Hydraulic Servo modules ControlLogix controllers and power supplies ControlLogix controller Controller used in the ControlLogix system that uses programmable memo
103. y saves all changes to axis properties ATTENTION This tuning procedure may cause axis motion with the controller in program mode Publication 1756 UM525A EN P June 2003 63 Chapter4 Using the 1756 HYD02 Module Features Feature Maximum Velocity Maximum Acceleration Maximum Deceleration 64 Dynamics Tab The parameters on this tab can be edited in two ways Type parameter changes in the fields available on this tab and use the OK or Apply buttons to save yout edits Edit in the Manual Adjust dialog To do so a Click on the Manual Tune button b Use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value The parameters on this tab become read only when the controller 1s online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the parameters described in Table can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run The table below lists the configurable features on the Dynamics tab Definition The steady state speed of the axis it is initially set to Tuning Speed by the tuning process This value is typically set to about 9096 of the maximum speed rating of the motor We recommend this value be set to 70 of the maximum speed where the maximum pr

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