Start-up Manual Using Logix Motor Database
Contents
1. MF Connector IAM AM BLACK TS 11 BLACK WHITE 51 12 52 13 53 8 Motor Feedback GREEN AM 1 YELLOW XX AM 2 a BLUE BM 3 RED XX BM 4 a VIOLET IM 5 8 GRAY XX IM 10 BROWN 5VDC 14 WHITE ECOM 6 L Shield Refer to Low Profile Connector illustration lower left for proper grounding techniques Wire color shown for Renishaw RGH22 Linear Incremental Encoder with its Reference MARK actuator installed See Appendix A for Anorad LEA LEB LEC LEM LEU LF LCK Motor wiring Item Number 814039 Rev 2 2 2 Using Logix Motor Database with Anorad Linear Motors Figure 2 Anorad Linear Motor to Ultra3000 Models 2098 DS D 030x xx 075x xx 150x xx 2098 DSD HVxxx xx Interconnect Diagram Cable Shield Clamp Motor Feedback CN2 Connector Ultra 3000 LC Servo Motors with High Resolution Feedback TS ll Thermostat lt H BLACK 0 O 1 2 4 Green Yellow Hall Sense ULE A na l l Feedback BLUE 59 3 Black W 4 Motor Power W D lt ORANGE 53 5 MP Connector V 2 White GND 6 Red lu Motor Power U 7 Motor Feedback Three Phase CN2 Connector Motor Feedback GREEN AM 5 YELLOW AM BLUE BM o S I m a gt VIOLET IM 8 5 GRAY XY IM BROWN a 5VDC WHITE2. 5 59 MainTask El Cg MainProgram A Unscheduled Programs J Motion Groups 51 58 linear motor i motor 3 Ungrouped Axes 2 Trends Data Types ig User Defined Cy Strings 19 Predefined 19 Module Defined 5 1 0 Configuration 4 4 S BJ 2 1756 085 sercos 1 2098 DSD 005 5E drive Axis Properties motor a n x Homing Hookup Tune Dynamics Gains Output Limits Offset FautActions General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Positioning poo Drive Counts 1 0 mm Conversion Constant 2000 based on 200 Counts Motor Millimeter zi AT Drive Gounts Wnwind Paisa 200006 Based on 200 Courte Motor Millmeter Table E Settings for the Conversion Tab Parameter Setting Comment Positioning Mode Linear Conversion Constant 200 5 micron encoder 1000 1 micron encoder 2000 0 5 micron encoder Item Number 814039 Rev 2 2 10 Using Logix Motor Database with Anorad Linear Motors Axis Properties Units Tab Configure parameters in Figure 8 as shown in Setting column Table F and click OK Figure 8 Units Tab 5 RSLogix 5000 Frank v13 in JJ Index ARI L63 Index asal al 4 bebe TE 68 MainTask c MainProgram Unscheduled Programs Motion Groups Configure para
3. Note To update Ultra3000 firmware Ultraware is required 3 The latest version of the LOGIX Motor Data Base The data base can be found at http www rockwellautomation com anorad products linearmotors index html LC Series Linear Motor User Manual Item Number 814036 Control Logix Motion Module Setup and Configuration Manual User Manual 1756 UM006F EN P Item Number 814039 Rev 2 12 Introduction Item Number 814039 Rev 2 Chapter 2 Using Logix Motor Database with Anorad Linear Motors Electrical Connections for The following figures are the motor cable electrical connection for the Anorad Anorad Linear Motor Linear Motors Figure 1 Anorad Linear Motor to Kinetix 6000 Interconnect Diagram Kinetix 6000 IAM inverter or AM LC Servo Motors with High Resolution Feedback oO Motor Feedback Thermostat H Hall Sense w d Feedback y Cable Shield Clamp 4 Green Yellow Motor Power 3 Black MP Connector 2 White Motor Feedback 1 Red U Three Phase MF Connector 0 1 2 3 4 5 6 1 8 9 0 1 2 3 4 5 Low Profile Connector 2090 K6CK D15xx shown Grounding Technique for Feedback Cable Shield Clamp Exposed Shield secured gt under clamp Clamp screws 2 P Turn clamp over to hold small cables secure This diagram is for LC xxx xxx OTTRx motors Motor Power
4. e Motor OverTemperature Sensor options Thermal Switch PTC positive temperature coefficient thermistor e Motor Cooling options No cooling AC ait cooled WC water cooled Motor coils must have Trapeziodal Hall Effect Feedback Sensors When using a 460VAC drive e g 2098 DSD xxx HV020 2094 BM01 etc the Linear Motor Catalogue number will be shown with an H suffix When using a 230VAC drive e g 2098 DSD xxx 020 2094 AMO1 etc the Linear Motor Catalogue number will be shown with an L suffix Configure parameters as shown in Setting column in Table C and click OK Using Logix Motor Database with Anorad Linear Motors 2 7 Figure 6 Drive Motor Tab RS RSLogix 5000 Frank_ 13 JJ Index ACD 1756 L63 i xl File Edit View Search Logic Communications Tools Window Help ome 1 i I Da slejej TL _ Js si denter Redundancy oj Favorites CTimericounter A Input Output K Compare elal eloa Controller Frank v13 Controller Tags Axis Properties motor nl xl Controller Fault Handl a MUN sera 1 Hookup Tune Dynamics Gains Output Limits Offset FautActions Tag 1 64 Tasks General Motion Units Drive Motor E Motor Feedback Aux Feedback Conversion fa MainTask Amplifier C Numb H E MainProgram visos 50 005 5 Unsch
5. 2 12 E FD Guest top anda 2 12 Axis Properties Diae Tab on caute cO peli etai et apte tentata d tpa deal 2 13 Axis Properties Limits I ab ain GWYNO GYG PS IE WA Ee do 2 14 Item Number 814039 Rev 2 ii Table of Contents Item Number 814039 Rev 2 Using This Application Note Requirements Reference Documents Chapter 1 Introduction This application note is designed to help you install integrate and start up your Anorad Linear Motor with Logix You do not have to be an expert in motion control However this note does assume you have a fundamental understanding of basic electronics mechanics as well as motion control concepts and applicable safety procedures The intent of this note is to assist the user in the hardware configuration of the Anorad Linear Motor with Logix Controller Read this entire note before you attempt to installation Doing so will familiarize you with the Logic components effected and their relationship to each other and the system After installation check all system parameters to insure you have configured y y gu your linear motor into your motion system properly Be sure to follow all instructions carefully and lastly but foremost pay special attention to safety concerns 1 RSLogix Version 13 or later 2 Firmware for you ControlLogix Components and your Ultra3000 or Kinetix6000 drives must be compatible with your RSLogix Version
6. 2 Using Logix Motor Database with Anorad Linear Motors Connection Check and The following tabs check that the Motor Power U V W Hall Sensing S1 S2 Tests S3 and the feedback incremental encoder wiring is correct and agrees with Logix motor data base Axis Properties Hookup Tab Configure parameters in Figure 9 as shown in Setting column in Table H and click OK before running tests Figure 9 Hookup Tab fi RSLogix 5000 Frank_ 13 in JJ Index withEthernet ACD 1756 L63 xm xl File Edit View Search Logic Communications Tools Window Help ene TET ME rer pesi lel si sirjej A _ No Forces y M Controller OK F Battery OK a Redundancy H9 o 4 gt Favorites Tmer Caunter Z Inputiouiput Compare a 5 elella Axis Properties motor loj x Controller Frank V13 nome Tags General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FautActions Tag 3 Power Up Handler SE Tasks Test Increment roo d mm Test Marker E MainTask MainProgram Drive Polarity Positive Test Feedback E Unscheduled Programs Test Command amp Feedback zj Motion Groups a linear motor x motor Ungrouped Axes 73 Trends Test
7. 63 kai 12 alela Ele et I sepes pode 4 Controller Frank V3 Axis Properties motor Ioj x Controller Tags tun z a Controller Fault Handler LE IE 2 Power Up Handler Tasks CO Manual Adjust MainTask MainProgram 22 Unscheduled Programs Motion Groups Mazmun linear motor E s Wi awm fM Hy PS igrouped Axes Trends 3 Data Types Ca User Defined Strings B Ca Predefined i Module Defined I O Configuration For Anorad Linear motors this field data entry is limited to integer values between 0 150 percent For standard motors NC cooling this value can be set up to 100 for AC air cooled motors this value can be set up to 120 for WC water cooled motors this value can be set up to 150 Note Increasing or decreasing the motor continuous current rating does not change the drives s continuous current limiting Item Number 814039 Rev 2 Table A Ultra 3000 Connectors to other Anorad Linear Motors Appendix A Motor Type O si S2 S3 U w LEA LEB LEM Cable end BLU ORN WHT RED BLK WHT LEC Cable end BLU WHT ORN RED BLK WHT LCK Cableend ORN BLU WHT RED BLK WHT LC Series Cable end WHT BLU ORN RED WHT BLK LF Cable end BLU WHT ORN BLK RED BLK GRN BLK WHT The motor commution phasing and Hall sensor wiring shown is Table A is such that positive direction is whe
8. 9 5 Connector Au Lagi Power in 7 BM 3 2 Aux 5V Common 4 E BM 4 Note 1 IM 5 8 IM TI 10 5bVDC 14 ECOM 6 ield Note 1 Auxiliary 5V power is required to maintain encoder position when the main AC power is disconnected To avoid a separate 5V dc auxiliary logic power supply the 24V to 5V converter breakout board 2090 U3CBB DMxx is used to wire the control interface CN1 connector 2 Refer to Low Profile Connect illustration lower left for proper grounding techniques Grounding Technique for Wire color shown for Renishaw RGH22 Feedback Cable Shield Linear Incremental Encoder with its Reference MARK actuator installed Low Profile Connector 2080 K6CK D15xx shown Clamp Exposed Shield secured under clamp ci Clamp screws 2 i Turn clamp over to hold small cables secure This diagram is for LC xxx xxx OTTRx motors See Appendix A for Anorad LEA LEB LEC LEM LEU LF LCK Motor wiring Item Number 814039 Rev 2 2 4 Using Logix Motor Database with Anorad Linear Motors Item Number 814039 Rev 2 Motor Phasing When the motor power and Hall sensor wiring is connected as shown one of the previous figures the positive direction of motion is when the motor coil is moving toward its power cable as shown in Figure 4 The feedback incremental linear encoder should be wired such that the position feedback is positive Phase A leads Phase B when the motor is moving in t
9. ANORAD Using Logix Motor Database with Anorad Linear Motors START UP MANUAL March 2005 Revision 2 Item Number 814039 je Rockwell Anorad Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this motor assembly must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety reguirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and reguirements associated with any particular installation Rockwell Automation Anorad does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Anorad Corporation is prohibited Throughout this manual we use notes to make you aware of safety considerations Identifies information about practices ot circumstances ATTENTION P that can lead to personal injury or death property damage or economic loss Attention statements help you to identify a hazard avoid a hazard recognize the consequences IMP
10. Controller Tags CI Controller Fault Handler 3 Power Up Handler 3 6 Tasks 21 68 MainTask Bl Cg MainProgram E Unscheduled Programs 5 Motion Groups linear motor x motor Ungrouped Axes H E Trends 2 9 Data Types Item Number 814039 Rev 2 Axis Properties motor inl x Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Feedback AT Cycles po per Milimeter z Interpolation Factor Table D Settings for the Motor Feedback Tab Parameter Setting Comment Feedback Type TTL Cycles 50 5y Encoder 250 1p Encoder 500 0 5 Encoder per Millimeters Interpolation Factor 4 Using Logix Motor Database with Anorad Linear Motors 2 9 i a RSLogix 5000 Frank_ 13 in JJ Index ACD 1756 L63 File Edit View Search Logic Communications Tools Window Help Axis Properties Conversion Tab Configure parameters as shown in Setting column in Table E and click OK Offline No Forces fl RUN BAT F yo pis J EIE gt m gt Favorites KEL A Tmercounter Kon K Compare J Controller Frank V13 Controller Tags 3 Controller Fault Handler A Power Up Handler ex Tasks
11. ECOM Refer to Low Profile Connector Low Profile Connector illustration lower left Grounding Technique for 2090 K6CK D15xx shown for proper grounding techniques Feedback Cable Shield Wire color shown for Renishaw RGH22 Linear Incremental Encoder with its Reference MARK actuator installed Clamp Exposed Shield secured under clamp Turn clamp over to hold small cables secure Clamp screws 2 This diagram is for LC xxx xxx OTTRx motors See Appendix A for Anorad LEA LEB LEC LEM LEU LF LCK Motor wiring Item Number 814039 Rev 2 Using Logix Motor Database with Anorad Linear Motors 2 3 Cable Shield Clamp Figure 3 Anorad Linear Motor to Ultra 3000 Models 2098 DSD 005x xx 010x xx 020x xx Interconnect Diagram Motor Feedback CN2 Connector LC Servo Motors with Ultra 3000 High Resolution Feedback BLACK TS 11 Thermostat TY BLACK 0 1 WHITE 51 12 1 32 2 Hall Sense BLUE 2 13 Motor Power yw 3 Black lt w il Feedback ORANGE 53 8 5 Connector 2 White V GND 6 1 Red U Motor Feedback U U lt lt us 8 CN2 Connector otor Fower 9 0 1 Motor Feedback 2 N O Relay 0 13 0 Relay Output AM 1 4 User 1 0 44 N O Relay Output AM
12. ORTANT Identifies information that is critical for successful application and understanding of the product Table of Contents Table of Contents Tennant User Tno Ea ON ton sit nu heh dy ci dt vare rob guest fob ear YAA RY cried And ack aad i Table of Contents Introduction Using etatis hieme SERT e tes Pa Va RARUS Tanta eb ate 1 1 A E IU pa PP Rid mS A 1 1 Reference DocutneNhts UP LU DI a ACA A fS O 1 1 Using Logix Motor Database with Anorad Linear Motors Electrical Connections for Anorad Linear MOTO 1 ierra e Ong ace Pacta e Ra yy 2 1 ij ves eo bees tcm Mes daas hte esc E 2 4 bla OPE eo i adco aO puppe 2 5 Commission tbe Linear Motor Connection iis ose er eq o Xs Red e SR wie ORE 2 6 Axis Properties Motor 1 star retard pac ideo do S drach tnde oue hele Wd 2 6 Axis Properties Motor Feedback Tab iiu dea dar RR ee bere b oed s obe s e a ts 2 8 Axis Properties Conversion Lab ii esos ERR EP A Estee AER RR o apte ed 2 9 Axis Properties Upits Pa A E SD PE AP 2 10 Mery Direction ahd Resolution coto asd YY Ip aie dea ied c an iid ree 2 11 CGontnecHotm Check and is oa rage x lec e ace tut ula ed a uc e dd 2 12 Azis Properties Phor bee DUC PERLE iU E uera au
13. Setup Table H Test Setup Parameter Test increment 100 0 mm suggested Drive Polarity Positive 1 Press the Test Feedback button and then move the axis by hand at least 100mm when prompted 2 Position the stage so that it can move 100 mm in the forward or reverse direction 3 Press the Test Command amp Feedback button and follow instructions on screen Item Number 814039 Rev 2 Using Logix Motor Database with Anorad Linear Motors 2 13 5000 Frank Y13in JJ Index withEthernet ACD 1756 L63 Axis Properties Tune Tab When the Hookup Tab Test Feedback and Test Command and Feedback tests have successfully passed proceed with Tune Tab Configure parameters in Figure 10 as shown in Setting column Table I Leave all other Tune options off at first and follow normal tuning procedures found in Control Logix Motion Module Setup and Configuration Manual User Manual 1756 UM006F EN P You may find you have to reduce the Velocity Loop Proportional Gain to maintain stability Figure 10 Tune Tab jew Search Logic Communications Tools Window Help To E apg g amp 2 Run Mode y amp Controller OK Battery OK E 1 0 OK 70 l resni sple eC Favorites TimeriCounter Input Output Compare Controller Frank 913 Controller Tags Controller Fault Handler CA Power Up Handler E Tasks 21 69 Ma
14. atus 0 Decimal BOOL S Unscheduled Programs E otor HomeE ventStatus 0 Decimal BODL E si 9 molor DutpulCamStatus 1680000 0000 Hex DINT T nomm motor OutputCamPendingStatus 16 0000 0000 Hex DINT ZA Ungrouped Axes i motor DutputCamLockStatus 1640000 0000 Hex DINT H E Trends gr E motor QutputCamT ransitionStatus 16 0000 0000 Hex DINT S Data Types D ator ActualPosition Float REAL aoa ei motor StrobeActualPosition 0 0 Float REAL m Predefined or StartActualPosition 206 0305 Float REAL Cg Module Defined motor AverageVelacity 0 0 Float REAL E 3 10 Configuration motorActualvelocity 0 0 Float REAL f 2 1756 5 sercos motor Actuslhcceleaion 0 0 Float O REAL Sl 1 2098 DSD 005 SE drive SD GU ue mos S i 1 With the drive DISABLED move the axis and verify that the ActualPostion tag increases in value as you move in the positive direction If the direction of travel does not match what has been defined by the motor power and Hall Sensing wiring then you can change the direction by changing the encoder wiring using Table G Table G Changing Direction by Changing Encoder Wiring Move To Encoder Phase Drive CN2 pin Encoder Phase Drive CN2 pin 1 3 2 4 3 1 4 2 2 Move the axis a know distance and verify that the ActualPosition tag moves the correct distance in millimeters Item Number 814039 Rev 2 2 1
15. eduled Programs Motor Catalog Number LCO50200D0TTRL Change Catalog 21 259 Motion Groups linear motor Loop Configuration Position Servo z ga omm ages Drive Resolution Drive Counts per Motor Millimeter Calculate H E Trends Iv Drive Enable Input Checking Sj Data Types T Drive Enable Input Fault Strings Real Time Axis Infomation j 2 iau Attribute 1 Position Feedback z 71 3 1 0 Configuration Attribute 2 me 8 2 1756 085 sercos fl 1 2098 DSD 005 5E drive Table C Settings for the Drive Motor Tab Parameter Setting Comment Loop Configuration Position Servo Drive Resolution 200 5p Encoder 1000 1p Encoder 2000 0 5 Encoder Drive Counts per Motor Millimeter Real Time Axis Information Attribute 1 Position Feedback Item Number 814039 Rev 2 2 8 Using Logix Motor Database with Anorad Linear Motors fo RSLogix 5000 Frank V13 in JJ Index ACD 1756 L63 Axis Properties Motor Feedback Tab Configure parameters in Figure 7 as shown in Setting column in Table D and click OK Figure 7 Motor Feedback Tab File Edit View Search Logic Communications Tools Window Help Offline fl F RUN Redundancy W9 gep puel aalala a E Jet Ee FOA EG 4 Favorites A Timer Counter A Input Output Compare 3 6 Controller Frank V13
16. he positive direction Figure 4 Positive Motor Direction When properly wired this is considered the positive direction of motion Using Logix Motor Database with Anorad Linear Motors 2 5 Installation 1 Create a directory in your RSLogix computer named c motors 2 Download the LOGIX Motor Database motion V3 18 1 db or later from the Rockwell Automation Anorad website and Save to the directory created in step one 3 Install the LOGIX Motor Database go to the RSLogix Menu bar click on Tools Options and then select Motion on the left hand window tree the Options window shown in Figure 5 will be displayed 4 Select User Specified and Browse to point to the Logix Motor Data Base file and press OK Figure 5 Options Window Workstation Options i Tag Editor Display E Ladder Editor Display gt Font Color Item Number 814039 Rev 2 2 6 Using Logix Motor Database with Anorad Linear Motors Commission the Linear Motor connection Item Number 814039 Rev 2 Using the following menus apply the settings as shown in the tables and text following Axis Properties Drive Motor Tab 1 On Driver Motor Tab Figure 6 Click on Change Catalog button and select the Motor Catalogue Number that corresponds to the motor you are commissioning Note that each Anorad Linear Motor Catalogue Number represents a motor coil frame length and winding type that can be used with the following motor options
17. inTask El Cg MainProgram 23 Unscheduled Programs 3 Motion Groups ca linear motor gt motor 22 Ungrouped Axes 28 Trends Data Types Cy User Defined 8 Ca Strings Cy Predefined Ca Module Defined 1 0 Configuration E amp B 2 1756 MOBSE sercos g 1 2098 050 005 5 drive be AXIS SERVO DRIVE 1 Axis Properties motor loj x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Output Limits Offset FautActions Start Tuning Homing Hookup Tune Dynamics Gains in 500 mms Torgue Force 150 0 Rated Direction Forward Bi directional z Damping Factor 08 Travel Limit Speed Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feedforward Acceleration Feedforward Torque Offset Output Filter Table Setting for Tune Tab Parameter Setting Units Note Travel Limit 100 mm Suggested Speed 250 mm sec Torque Force 50 Rated Direction Forward Bi directional Damping Factor 0 8 default Item Number 814039 Rev 2 2 M Using Logix Motor Database with Anorad Linear Motors Axis Properties Limits Tab The Continuous Torque Force Limit setting shown in Figure 11 Limits Tab should be set to reflect the motor cooling configuration Figure 11 Limits Tab RSLogix 5000 Frank_ 13 in JJ Index ACD 1756 L
18. meters as shown in Setting column in Table F and click OK Table F Settings for the Units Tab Parameter Units Setting mm Average Velocity Timebase 0 25 seconds Item Number 814039 Rev 2 Using Logix Motor Database with Anorad Linear Motors 2 11 Select Controller tags and Monitor the motor ActualPostion tag Verify Direction and Resolution fo RSLogix 5000 Frank V13 in JJ Index ACD 1756 L63 File Edit View Search Logic Communications Tools Window Controller Tags Frank Y13 controller Run Mode gt ME Controller OK Battery OK 1 0 OK No Forces No Edits Redundancy 4 ki aa 7 cess s aj H menim 4 Favorites ADIA si FEN i Compare 3 Controller Frank 13 Scope Frank Vi3teontroller v Show Show z Sort Tag Name z Controller Tags e Controller Fault Handler gi otor W atchE ventStatus 0 Decimal BOOL 21 Power Up Handler Ri otor RegE ventlArmedStatus 0 Decimal BODL 1 3 a M otor RegE Status 0 Decimal BOOL 2 68 MainProgram otor RegE vent2ArmedStatus 0 Decimal BOOL ES Program Tags otor RegE vent2Status 0 Decimal BOOL Ba Index ator HomeE ventArmedSt
19. n the motor coil is moving towards its power cable Item Number 814039 Rev 2 Anotad Rockwell Automation 100 Precision Drive Shirley NY 11967 4710 Web site http www anorad com E mail anorad anorad com Technical Support Tel 631 344 6600 Fax 631 344 6660 email techsupport anorad com 4X Anorad item Number 814039 Rev 2 March 2005 O 2005 Rockwell International Corporation Printed in the U S A
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