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2080-UM002 - Rockwell Automation

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1. Controller 1 2 8 Status indicator O 0000 14__ ooto mimjmjm ono 15 im 16 E 17 a 18 a 19 E a 0000 T ao00f L 20 o000 00 ge WOO DOOO OOO OO DOOOOL ay Ce 45017 Fal T 45016 138 12 11 10 9 6 9 8 Rockwell Automation Publication 2080 UM002H EN E November 2015 Hardware Overview Chapter 1 Micro830 48 point controllers and status indicators Controller 12 3 4 8 6 7 8 Status indicator T Ta 7 0000000000 LO i hO 144 0000000000 222220300 QBVS2A20020000000002G05 BAA eeee J e one ala Soegeogs pssst eee See 16 17 O n fe fi 18 19 spegas Na a A i 2 2000000000 F F oo00000000 i 9 IOPDDOSOSGGGGGGOGAIDSSGGSGGGSGGGGTS i
2. 12 345 8 6 7 8 Status indicators a Q O H me eA F J Obooooooooo0 Wssccsseq seb ace coeescsosoescssso 16 OOOoOoOoO0oOo000 BETTE n a a a alatnistalaiaia a 18 2 8 21 22 H H p 23 a O R a 5 L m ere e NN NREN E 24 Obooooooooo q i OSSSSSSSSSSSSSS O EEEO OoOoooooooooO 45918 15141312 11 6 10 8 9 45915 Controller Description Description Description 1 Status indicators 9 Expansion 1 0 slot cover Optional power supply slot 10 DIN rail mounting latch Plug in latch 11 Mode switch Plug in screw hole 12 Type B connector USB port 40 pin high speed plug in connector 13 RS232 RS485 non isolated combo serial port oO at A wt N Removable I O terminal block 14 RJ 45 EtherNet IP connector with embedded yellow and green LED indicators 7 Right side cover Optional AC power supply 8 Mounting screw hole mounting foot Status Indicator Description 16 Input status Description Description 21 Fault status 17 Module status 22 Force status 18 Network status 23 Serial communications status 19 Power status 24 Output status 20 Run status 1 For detailed descriptions of these LED statu
3. E i ww p p 7 var 45917 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Install Your Controller Chapter 3 System Assembly Micro830 and Micro850 24 point Controllers Front 278 45 145 2 444 asl 14 4 79 78 78 33 8 131 IMjeeeeeeeeeeeeeeese 0 tn a z input S E o S S z oo pa 1108 100 90 5 S 0 Soo E Ouiput gt DC DC 24VI1 6A S OK e m o0o009090090990909909990990999090 0 72 131 36 6 228 lt 3 Micro830 Micro850 24pt Controller Expansion 1 0 Slots with Micro800 Power Supply Applicable to Micro850 only Measurements in millimeters Single width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 and Micro850 24 point Controllers Side Micro830 Micro850 24pt Controller Expansion 1 0 Slots with Micro800 Power Supply Applicable to Micro850 only Single width 1st slot Double width 2nd slot Measurements in millimeters 2085 ECR terminator Rockwell Automation Publication 2080 UMO002H EN E November 2015 37 Chapter 3 Install Your Controller 110 38 Micro830 and Micro850 48 point Controllers Front
4. 444 230 278 14 4 78 7 108 108 78 jee 6 6 OO OO OO OO OO EN WIe BO OO oO lij LN input pa o S S ia oo Sl e o S S 100 1 90 a iS l a m pan m o S Ouiput 2 DC DC 24W 1 6A Sl K z gt eoeooooococoecoooheccoeooeooooeoeo 5 i 7 216 __ s Micro830 Micro850 48pt Controller with Micro800 Power Supply Expansion 1 0 Slots Applicable to Micro850 only Single width 1st slot Measurements in millimeters Double width 2nd slot 2085 ECR terminator Micro830 and Micro850 48 point Controllers Side U _ Cee GS e Saas i eS E eee ee 2 c c 2 gt 80 cS gt aa a Sp SS SS G amp D L m mn oom om Micro830 Micro850 48pt Controller with Micro800 Power Supply Measurements in millimeters Expansion 1 0 Slots Applicable to Micro850 only Single width 1st slot Double width 2nd slot 2085 ECR terminator Rockwell Automation Publication 2080 UM002H EN E November 2015 Chapter 4 Wire Your Controller This chapter provides information on the Micro830 and Micro850 controller wiring requirements It includes the following sections To W pic iring Requirements and Recommendation Page 39 Us e Surge Suppressors 40 Re commended Surge Suppressors 42 Grounding the Controller 43 Wi ring Diagrams 43 Co ntroller 1 0 Wiring
5. Voltage category 110V AC 24V DC sink source Operating voltage range 132V 60Hz AC max 16 8 26 4V DC 65 C 149 F 10 26 4V DC 65 C 149 F 16 8 30 0V DC 30 C 86 F 10 30 0V DC 30 C 86 F Off state voltage max 20V AC 5V DC Off state current max 1 5mA 1 5mA On state current min 5 mA 79V AC 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 12 mA 120V AC 7 6 mA 24V DC 6 15 mA 24V DC On state current max 16 mA 132V AC 12 0 mA 30V DC Nominal impedance 12 kQ 50 Hz 3kQ 3 74 KQ 10 kQ 60 Hz IEC input compatibility Type 3 Inrush current max 250 mA 120V AC Input frequency max 63 Hz 186 Rockwell Automation Publication 2080 UM002H EN E November 2015 Output Specifications Specifications Appendix A Attribute 2080 LC50 48AWB 2080 LC50 480WB_ 2080 LC50 480VB 2080 LC50 480BB Relay Output Hi Speed Output Standard Output Outputs 0 3 Outputs 4 and higher Number of outputs 20 4 16 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current 2 0A 100 mA high speed operation 1 0A 30 C continuous max 1 0 A 30 C 0 3 A 65 C standard 0 3 A 65 C standard operation operation Surge current per point See Relay Contacts Ratings on page 178 4 0 A for 10 ms every 1 s 30 C every 2s 65 C Current per common max 5A
6. 0 25 0 2 E 0 15 H S 2 0 1 Positive Error E Negative Error 0 05 0 _ 0 05 1000 10000 100000 Frequency PTO Typical Readings PTO Typical Readings Expected Duty Cycle Typical Duty Cycle 1 27 KQ load Frequency kHz Duty Cycle Minimum Maximum Duty Cycle 5 5 4 90 6 25 5 48 5 10 9 90 11 25 10 5 5 20 19 90 21 25 20 5 5 40 39 90 41 25 40 5 5 55 54 90 56 25 55 5 5 65 64 90 66 25 65 5 5 75 74 90 76 25 75 5 5 95 94 90 96 25 95 5 0 5 4 80 7 50 5 9 10 10 9 80 12 50 11 0 0 20 19 80 22 50 21 0 0 40 39 80 42 50 40 9 10 55 54 80 57 50 55 9 0 65 64 80 67 50 65 9 0 85 84 80 87 50 85 9 10 95 94 90 97 50 95 9 25 5 4 50 11 25 7 25 Rockwell Automation Publication 2080 UM002H EN E November 2015 Specifications Appendix A PTO Typical Readings Expected Duty Cycle Typical Duty Cycle 1 27 KQ load Frequency kHz Duty Cycle Minimum Maximum Duty Cycle 25 10 9 50 16 25 12 3 25 20 19 50 26 25 22 4 25 40 39 50 46 25 42 3 25 55 54 50 61 25 57 3 25 65 64 50 71 25 67 3 25 85 84 50 91 25 87 3 25 95 94 50 100 00 97 0 50 5 4 00 17 50 9 7 50 10 9 00 22 50 14 8 50 20 19 00 32 50 24 7 50 40 39 00 52 50 44 7 50 55 54 00 67 50 59 6 50 65 64 00 77 50 69 6 50 85 84 00 97 50 89 5 50 95 94 00 100 00 98 1 00 5 3 00 30 00 1
7. Device Coil Voltage Suppressor Catalog Number Type Bulletin 100 104K 700K 24 48V AC 100 KFSC50 RC 110 280VAC Jookse 380 480V AC 100 KFSC480 12 55 VAC 12 77V DC 100 KFSV55 MOV 56 136VAC 78 180VDC J 100 KFSV136 137 277V AC 181 250 V DC 100 KFSV277 12 250V DC 100 KFSD250 Diode Bulletin 100C C09 C97 24 48V AC 100 FSc4g RC 110 280V AC 100 FSC280 380 480V AC 100 FSc4go 12 55V AC 12 77V DC 100 FSV55 MOV 56 136V AC 78 180V DC 100 FSV136 137 277V AC 181 250V DC 100 FSV277 278 575V AC 100 FSV575 12 250V DC 100 F D250 Diode Bulletin 509 Motor Starter Size 0 5 12 120V AC 599 K04 MOV 240 264V AC 599 KA04 42 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Recommended Surge Suppressors Wire Your Controller Chapter 4 Device Coil Voltage Suppressor Catalog Number Type Bulletin 509 Motor Starter Size 6 12 120V AC 199 FSMA1 2 RC 12 120V AC 199 GSMA1 3 MOV Bulletin 700 R RM Relay AC coil Not Required 24 48V DC 199 FSMA9 MOV 50 120V DC 199 FSMA10 130 250V DC 199 FSMA11 Bulletin 700 Type N P PK or PH Relay 6 150V AC DC 700 N24 RC 24 48V AC DC 199 FSMA9 MOV 50 120V AC DC 199 FSMA10 130 250V AC DC 199 FSMA11 6 300V DC 199 FSMZ 1 Diode Miscellaneous electromagnetic devices 6 150V AC DC 700 N24 RC limited to 35 sealed VA 1 becomes 100
8. Homing Modes Homing Homing Mode name Homing Mode Description Mode Value 0x00 MC_HOME_ABS_ SWITCH Homing process searches for Home Absolute switch 0x01 MC_HOME_LIMIT_SWITCH Homing process searches for limit switch 0x02 MC_HOME_REF_WITH_ABS Homing process searches for Home Absolute switch plus using encoder reference pulse 0x03 MC_HOME_REF_PULSE Homing process searches for limit switch plus using encoder reference pulse 0x04 MC_HOME_DIRECT Static homing process with direct forcing a home position from user reference The function block will set current position the mechanism is in as home position with its position determined by the input parameter Position 116 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 IMPORTANT _ If axis is powered On with only one direction enabled the MC_Home function block in modes 0 1 2 3 will generate an error and only MC_Home function block mode 4 can be executed See MC_Power function block for more details Conditions for Successful Homing For homing operation to be successful all configured switches or sensors must be properly positioned and wired The correct position order from the most negative position to the most positive position that is from the leftmost to the rightmost in the homing setup diagrams in this section for the switches are 1 Lower Limit switch 2 ABS Home switch 3 Upper Limit
9. Input circuit type 120V AC 12 24V sink source standard 24V sink source high speed Output circuit type Relay 12 24V DC sink transistor standard and high speed Event input interrupt Yes support Power consumption 7 88 W Power supply voltage range 20 4 26 4V DC Class 2 1 0 rating Input 120V AC 16 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 24V DC 1 A per point Surrounding air temperature 30 C 24V DC 0 3 A per point Surrounding air temperature 65 C Isolation voltage 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs 2080 LC30 16AWB Type tested for 60 s 3250V DC 1 0 to Aux and Network Inputs to Outputs 2080 LC30 16QWB Type tested for 60 s 720V DC Inputs to Aux and Network 3250V DC Outputs to Aux and Network Inputs to Outputs 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs to Outputs Type tested for 60s 720 V DC 1 0 to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Rockwell Automation Publication 2080
10. 131 mm 5 16 in O AAAA AAN L I E __ VOOOOOOOODOOOOGOO sle Cy re 45326 Micro850 24 Point Controllers 2080 LC50 24AWB 2080 LC50 240BB 2080 LC50 240VB 2080 LC50 24QWB lt 131 mm 5 16 in gt __ LA LQ IX fs MeseseecececcecesceceO
11. IROType UIF UIF name or Pin ID or ENO Pin ID 45641 The UIF instruction is used to flush remove pending interrupts from the system selected user interrupts The table below shows the types of interrupts with their corresponding flush bits Types of Interrupts Disabled by the UIF Instruction Interrupt Type Element Decimal Value Corresponding Bit Plug In Module UPM4 8388608 bit 23 Plug In Module UPM3 4194304 bit 22 Plug In Module UPM2 2097152 bit 21 Plug In Module UPM1 1048576 bit 20 Plug In Module UPMO 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI 65536 bit 16 STI Selectable Timed Interrupt STIO 32768 bit 15 EIl Event Input Interrup Event 7 16384 bit 14 EIl Event Input Interrup Event 6 8192 bit 13 EIl Event Input Interrup Event 5 4096 bit 12 EIl Event Input Interrup Event 4 2048 bit 11 HSC High Speed Counter HSC5 1024 bit 10 HSC High Speed Counter HSC4 512 bit 9 HSC High Speed Counter HSC3 256 bit 8 HSC High Speed Counter HSC2 128 bit 7 HSC High Speed Counter HSC1 64 bit 6 HSC High Speed Counter HSCO 32 bit 5 Ell Event Input Interrupt Event 3 16 bit 4 Ell Event Input Interrupt Event 2 8 bit 3 Ell Event Input Interrupt Event 1 4 bit 2 Ell Event Input Interrupt Eve
12. UntitledLD POU ix Project Organizer J TH Micro830 D Programs E AKO untitled i Local Variables i Global Variables 4 From the Toolbox double click Direct Contact to add it to the rung or drag and drop Direct Contact onto the Rung UntitledLD POU 5 Double click the Direct Contact you have just added to bring up the Variable Selector dialog Click I O Micro830 tab Assign the Direct Contact to input 5 by selecting IO_EM_DI_05 Click OK ES Variable Selector Name Type Global Scope Local Scope _I0_EM_DI_05 BOOL Micro830 UntitledLD1 User Global Variables Micro830 Local Variables N A System Variables Micro830 1 0 Micro830 Defined Words Micro830 Data Type 7o BOOL s bet e _I0_EM_DO_17 BOOL v _I0_EM_DO_18 BOOL x 10EM 0019 BOOL gt _I0_EM_DI_00 BOOL _ 0_EM_DI_01 BOOL x _l0_EM_DI_02 BOOL x _I0_EM_DI_03 BOOL 5 _I0_EM_DI_04 BOOL z o emor eoo _I0_EM_DI_06 BOOL _I0_EM_DI_07 BOOL im Cha mi no DAMNI Rockwell Automation Publication 2080 UM002H EN E November 2015 217 Appendix Quickstarts 6 To the right of the Direct Contact add a function block by double clicking function block from the Toolbox or dragging and dropping the function block onto the rung UntitledLD POU 7 Double click the function block to open up Instruction Selector dialog Choose HSC You can do
13. Wire size 0 2 2 5 mm 24 12 AWG solid copper wire or 0 2 2 5 mm 24 12 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports 2 on communication ports Wire type Use Copper Conductors only Terminal screw torque 0 4 0 5 Nm 3 5 4 4 Ib in using a 0 6 x 3 5 mm flat blade screwdriver Input circuit type 120V AC 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink standard and high speed 24V DC source standard and high speed Rockwell Automation Publication 2080 UM002H EN E November 2015 185 AppendixA Specifications General Specifications 2080 LC 50 48AWB 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Attribute 2080 LC50 48AWB 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Power consumption 33 W Power supply voltage range 20 4 26 4V DC Class 2 1 0 rating Input 120V AC 16 mA Input 24V 8 8 mA Input 24V 8 8 mA Output 2 A 240V AC Output 2 A 240V AC 2 A Output 24V DC 1 A per point surrounding air 2 A 24V DC 24V DC temperature 30 C 24V DC 0 3 A per point surrounding air temperature 65 C Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 Pilot duty rating C300 R150 Isolation voltage 250V continuous Reinforced nsulation Type Output to Aux and Ne
14. 3 Moving part moves back positive direction in creep velocity to detect home switch On gt Off edge 4 Once home switch On gt Off is detected record the position as mechanical home position and decelerate to stop 5 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis in the Connected Components Workbench software Scenario 2 Moving part is in between Lower Limit and Home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side negative direction 2 When lower limit switch is detected the moving part decelerates to stop or stop immediately according to limit switch hard stop configuration 3 Moving part moves back in positive direction in creep velocity to detect home switch On gt Off edge 4 Once home switch On gt Off edge is detected record the position as mechanical home position and decelerate to stop 5 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis in the Connected Components Workbench software TIP If Lower Limit switch is not configured or not wired the homing motion fails and moves continuously to the left until the drive or moving part fails to move Scenario 3 Moving part on Lower Limit or Home switch before hom
15. HSCID Definition Bits Description 15 13 SC Module Type x00 Embedded x01 Expansion not yet implemented x02 Plug in module 12 8 Module Slot ID 0x00 Embedded x01 0x1F Expansion not yet implemented Ox01 0x05 Plug in module 120 Module internal HSC ID x00 0x0F Embedded x00 0x07 Expansion not yet implemented x00 0x07 Plug in module For Embedded HSC valid HSCID value is only 0 5 HSC Mode HSCAPP HSCMode Description Data Format User Program Access HSC Mode word UINT read write The HSCMode variable sets the High Speed Counter to one of 10 types of operation This integer value is configured through the programming device and is accessible in the control program HSC Operating Modes Mode Type Number 0 Up Counter The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode 1 Up Counter with external reset and hold The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode Counter with external direction Counter with external direction reset and hold Two input counter up and down Two input counter up and down with external reset and hold Quadrature counter phased inputs A and B Quadrature counter phased inputs A and B with external reset and hold Quadrature X4 counter ph
16. Using ANSI CSA Symbols L1 L2 230V AC Disconnect Fuse MCR 230V AC i t output e i circuits Isolation Operation of either of these contacts will Transformer remove power from the external 1 0 Master Control Relay MCR x1 LOVATO 2 circuits stopping machine motion Cat No 700 PK400A1 30V AC Emergency stop Suppressor i Fuse push button Overtrav l Stop Start Cat No 700 N24 ae limit switch ih k O 0 _ sls O o cr F Suppr MCR e MCR 115V AC or Mg 230v Ac 6 1 0 circuits DC Power Supply Use NEC Class 2 for UL Listing MCR Lo Hi a 24V DC t o Line Terminals Connect to terminals of power circuits supply Line Terminals Connect to 24V DC terminals of power supply 44565 30 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Install Your Controller Chapter 3 This chapter serves to guide the user on installing the controller It includes the following topics Topic Page Controller Mounting Dimensions 31 Mounting Dimensions 31 DIN Rail Mounting 33 Panel Mounting 34 Controller Mounting Mounting Dimensions Dimensions Mounting dimensions do not include mounting feet or DIN rail latches Micro830 10 and 16 Point Controllers 2080 LC30 10QWB 2080 LC30 10QVB 2080 LC30 16AWB 2080 LC30 16QWB 2080 LC30 16QV
17. Attribute Number of Inputs High Speed DC Input Inputs 0 3 Standard DC Input inputs 4 and higher Input group to backplane isolation Verified by one of the following dielectric tests 1 414V DC for 2 s 75V DC working voltage IEC Class 2 reinforced insulation Voltage category 24V DC sink source Off state voltage max 5V DC On state voltage nom 24V DC On state voltage range 16 8 26 4V DC 65 C 149 F 10 26 4V DC 65 C 149 F 16 8 30 0V DC 30 C 86 F 10 30 0V DC 30 C 86 F Off state current max 1 5mA On state current min 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 8 8 mA 24V DC 8 5 mA 24V DC On state current max 12 0 mA 30V DC Nominal impedance 3 kQ 3 74 kQ IEC input compatibility Type 3 AC input filter setting 166 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded 1 0 configuration window to reconfigure the filter setting for each input group Isolated AC Inputs 2080 LC30 100WB 2080 LC30 100VB Inputs 0 3 Attribute Value On statevoltage non ss 12 24VAC 50 0Hz tt i zSOSCOCS S Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Rockwell Automation Publication 2080 UMO002H EN E November 2015 Specifications Appendix A Outputs Attribute 2080 LC30 100WB 2080 LC30 100VB Relay Output Hi Speed Output Standard
18. Index CIP Symbolic Client Server 51 54 communication connections 51 communication protocols 51 communications ports 51 Compliance to European Union Directive EMC Directive 20 Low Voltage Directive 20 Compliance to European Union Directives 20 Connected Components Workbench v 9 69 72 93 162 163 connection limits 52 controller description 3 grounding 43 0 wiring 46 minimizing electrical noise 47 preventing excessive heat 26 Controller Error Recovery Model 263 controller load 70 Controller Mounting Dimensions 31 controller password 161 recover 164 controller security 161 D deceleration 83 DF1 point to point connection 57 DHCP Client 51 DIN Rail Mounting 33 DIN rail mounting 33 direction input 83 disconnecting main power 24 E Ell Function Configuration 250 Ell function file 249 Ell Function Status Information 251 Embedded Serial Port Cables 7 Embedded Serial Port Wiring 49 EMC Directive 20 enable and valid status general rules 86 encoder quadrature 138 Endian Configuration 193 error 86 error codes 255 256 Error Conditions 255 Rockwell Automation Publication 2080 UM002H EN E November 2015 276 Index error conditions 255 error handling general rules 86 error recovery model 263 ErrorStop 92 Establishing Communications Between RSLinx and a Micro830 via USB 204 Ethernet configuration settings 64 EtherNet IP Client Server 51 European Union Directive compliance 20 EMC Directive 20 Event I
19. M 0 d el hardware problems in the micro controller The model provides common questions you might ask to help troubleshoot your system Refer to the recommended pages within the model for further help Identify the error code and Is the error description hardware related Refer to page 256 for probable cause and recommended action Are the wire connections tight Tighten wire connections Yes No Is the Power LED on Clear Fault controller have power Check power supplied Yes Yes Refer to page 256 for Correct the condition Is the RUN No probable cause and causing the fault LED on recommended action Is an input LED No accurately showing status Is the Fault Return controller to RUN or LED on any of the REM test modes Yes Refer to page 256 for probable cause and Refer to page 256 for probable cause and recommended action recommended action Test and verify system operation Rockwell Automation Publication 2080 UMO002H EN E November 2015 263 AppendixE Troubleshooting Calling Rockwell If you need to contact Rockwell Automation or local distributor for assistance it Automation for Assistance is helpful to obtain the following prior to calling controller type series letter revision letter and firmware FRN number of the controller e controller indicator status 264 Rockwell Automation Publication
20. Rockwell Automation Publication 2080 UMO002H EN E November 2015 145 Chapter 8 146 Use the High Speed Counter and Programmable Limit Switch Underflow HSCSTS UNF Description Data Format HSC Modes User Program Access HSCSTS UNF bit 0 9 read write 1 For Mode descriptions see HSC Mode HSCAPP HSCMode on page 134 The Underflow status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator has counted through the underflow variable HSCAPP UFSetting This bit is transitional and is set by the HSC sub system It is up to the control program to utilize track if necessary and clear 0 the underflow condition Underflow conditions do not generate a controller fault Count Direction HSCSTS CountDir Description Data Format HSCModes User Program Access HSCSTS CountDir bit 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Count Direction status flag is controlled by the HSC sub system When the HSC accumulator counts up the direction flag is set 1 Whenever the HSC accumulator counts down the direction flag is cleared 0 If the accumulated value stops the direction bit retains its value The only time the direction flag changes is when the accumulated count reverses This bit is updated continuously by the HSC sub system whenever the controller is in a run mode High Prese
21. Rockwell Automation Publication 2080 UMO002H EN E November 2015 v Preface Notes vi Rockwell Automation Publication 2080 UM002H EN E November 2015 Preface Hardware Overview About Your Controller Table of Contents Who Should Use this Manual 0 00 0 cece ce ence cseeeeeeeees iii P tpose of this Manual csc adidas naan Ea E E E E iii Additional Resources 2255 paaa bee E E L Ra iii Chapter 1 Hardware Features sors cso as 5 a Se es Be EN Eee 1 Micro830 Controllers wiacics sagt aS cateteceae sae vieiss heb eRe ede 2 Micro850 Controllers ccs0cotidiescel nin oh ie aageie dank Mates 4 Programming Cables iy san Woy tuntvmndwadeda me ba uereea eta hed Was 6 Embedded Serial Port Gables c 2245 ds 084 4 iad Gs F Embedded Ethernet Support c 2 vans doen tiers ctl vcuienncoie alent 7 Chapter 2 Programming Software for Micro800 Controllers 005 9 Obtain Connected Components Workbench 0065 9 Use Connected Components Workbench 0 eee eee 9 Controller Changes in Run Mode sn ccc sced cneubantvuveaasanenetenss 9 Using Run Mode Change RMC sssssrsesrsrrererrrrrererere 10 Uncommitted Changes sesssseseeseesesceseesereese 11 RMG M mory verdroe poiria ia AE E RA aa 12 Limitations of RMC sssaaa ad A a E a aren 14 Using Run Mode Configuration Change RMCC 45 15 Using Modbus RTU Communication 00 eee 16 Using EtherNet IP Comintinicatiotiesscn0sods
22. Safety Circuits WARNING Explosion Hazard Do not connect or disconnect connectors while circuit is live Circuits installed on the machine for safety reasons like overtravel limit switches stop push buttons and interlocks should always be hard wired directly to the master control relay These devices must be wired in series so that when any one device opens the master control relay is de energized thereby removing power to the machine Never alter these circuits to defeat their function Serious injury or machine damage could result Power Distribution There are some points about power distribution that you should know e The master control relay must be able to inhibit all machine motion by removing power to the machine I O devices when the relay is de energized It is recommended that the controller remain powered even when the master control relay is de energized e Ifyou are using a DC power supply interrupt the load side rather than the AC line power This avoids the additional delay of power supply turn off The DC power supply should be powered directly from the fused secondary of the transformer Power to the DC input and output circuits should be connected through a set of master control relay contacts Rockwell Automation Publication 2080 UMO002H EN E November 2015 About Your Controller Chapter 2 Periodic Tests of Master Control Relay Circuit Any part can fail including the switches in a master control
23. 1 Clear the fault and switch the controller to RUN mode again 2 lf fault is consistent do power cycle for whole motion setup including controller drive and moving mechanism 3 Re download the User Application OxF210 The expansion I O terminator is missing Perform the following 1 Power off the controller 2 Attach the expansion I O terminator on the last expansion I O module on the system 3 Power on the controller OxF230 The maximum number of expansion 1 0 modules has been exceeded Perform the following 1 Power off the controller 2 Check that the number of expansion 1 0 modules is not more than four 3 Power on the controller OxF250 There is a non recoverable error and the expansion I O module s could not be detected Perform the following e Cycle power to your Micro800 controller If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp OxF26z z indicates the slot number of the expansion 1 0 If z 0 then the slot number cannot be identified An expansion I O master fault is detected on the system Perform the following e Cycle power to your Micro800 controller If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySuppor
24. 219 Appendix C 220 Quickstarts 1 On the Initial Value field for the MyCommand variable type 1 See HSC Commands HScCmd on page 151 for more information on the description for each value Assign values to the MyAppData variables Expand the list of MyAppData sub variables clicking the sign Set the values of the different sub variables as shown in the following screenshot Data Type Initial alue gft gt f f MyAppData HSCAPP E MyAppData PlsEnable BOOL FALSE MyAppData HscID UINT 0 MyAppData HscMode UINT MyAppData Accumulator DINT MyAppData HPSetting DINT 40 MyAppData LPSetting DINT 40 MyAppData OFSetting DINT 50 MyAppData UFSetting DINT 50 MyAppData OutputMask UDINT fe MyAppData HPOutput UDINT 1 MyAppData LPOutput UDINT 2 MyCommand USINT wal i MyInfo HSCSTS i MyPLS PLS z MyStatus UINT IMPORTANT MyAppData variable has sub variables which determine the settings of the counter It is crucial to know each one in order to determine how the counter will perform A quick summary is provided below but you can also see HSC APP Data Structure on page 133 for detailed information MyAppData PlsEnable allows the user to either enable or disable the PLS settings It should be set to FALSE disabled if the MyAppData variable is to be used MyAppData HscID allows the user to specify which embedded inputs will be used depending on the mode and the type of ap
25. Ae TT microsso a qelf wie ka Cet ee r SCALER_1 SCALER a Read Write R Programs F HSC_1 Hsc Me a Read Write HSC_cmd_O USINT Read Write He err WO untied i HSCApp_O HSCAPPUE 7 RNE i Local Variables gt Es jH are HSCTS 0 CountEnable 2 BOOLi i Read Write 5 A untitledLo2 HSCSts O ErrorDetected BOOL Read Write HSCSts O CountUpFlaa BOOL__ Read Write a Local Variables HSCSts_O CountDwnFlag BOOL _ Read Write ik Global Variables _ HSCSts_O MadelDone Boo Read Write I HSCSts_O OVF BOOL Read Write 7 B 2 Data Types HSCSts O UNF __ BOOL__ Read Write M ERa Dy f HSCSts_O CountDir BOOL Read Write TR Function Blocks HSCSts_O HPReached BOOL Read Write HSCSts_O LPReached BOOL Read Write HSCSts_O OFCauselnter BOOL f iReadjWrite HSCSts_O UFCauseInter BOOL_ Read Write HSCSts_O HPCauselnter BOOL Read Write H5C5ts_O LPCauselnter BOOL Read Write 7 HSCSts_O PlePosition T i Read Write HSCSts_O ErrorCode E Read Write HS5CSts_O Accumulator DINT Read Write HSCSts_O HP j al Read Write 7 HSE OP JDN z Read Write HSCSts_O HPOutput UDINT Read Write HSCSts_O LPOutput Read Write Counting Enabled HSCSTS CountEnable Description Data Format HSC Modes User Program Access HSCSTS CountEnable bit 0 9
26. Correct the motion profile in the function block or with the requested motion profile re execute the function block when the axis velocity is compatible with the requested motion profile 10 MC_FB_ERR_SOFT_LIMIT This function block cannot execute as it will end up The axis is not operational due to soft limit error moving beyond the soft limit or the function block detected or due to expected soft limit error in a is aborted as the soft limit has been reached function block Check the velocity or target position settings in the Reset the state of the axis using the MC_Reset function block or adjust soft limit setting function block Check the velocity or target position settings for the function block or adjust Soft Limit setting 11 MC_FB_ERR_HARD_LIMIT This function block is aborted as the Hard Limit The axis is not operational due to hard limit error switch active state has been detected during axis detected movement or aborted as the Hard Limit switch Reset the state of the axis using the MC_Reset active state has been detected before axis function block and then move the axis away from movement starts the hard limit switch in the opposite direction Move the axis away from the hard limit switch in the opposite direction 12 MC_FB_ERR_LOG_LIMIT This function block cannot execute as it will end up The axis is not operational due to PTO Accumulator moving beyond the PTO Accumulator logic limit or logic limit error detected
27. Current per common max 5A Turn on time 10 ms 2 5 us 0 1 ms Turn off time max 1 ms 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes Continuous 178 120V AC Make 1800V A 240V AC 7 5A 0 75 A 24V DC 1 0 A 28V A 125V DC 0 22 A Rockwell Automation Publication 2080 UM002H EN E November 2015 Specifications Appendix A Environmental Specifications Attribute Temperature operating Value 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 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions CISPR 11 Group 1 Class A ESD immunity IEC 61000 4 2 6 kV
28. Data Type Dimension Initial Yalue oft ot ot of gt x SCALER_1 SCALER oF Read Write HSC_1 HSC X reo Readwrite HSC_cmd_0 USINT X Readwrite Sca jesca ZIT ay HSCApp_0 PlsEnable BOOL Readwrite HSCApp_O HscID UINT ReadWwrite HSCApp_0 HscMode UINT Readwrite HSCApp_0 Accumulator DINT ReadWwrite HSCApp_0O HPSetting DINT Readwrite HSCApp_0 LPSetting DINT ReadWrite HSCApp_0 0FSetting DINT ReadWwrite HSCApp_0 UFSetting DINT ReadWrite HSCApp_0 OutputMask UDINT Readwrite HSCApp_0 HPOutput UDINT Readwrite HSCApp_0 LPOutput UDINT Readwrite TIP HSC1 HSC3 and HSC5 support mode 0 2 4 6 and 8 only and HSCO HSC2 and HSC4 support all counting modes PLS Enable HSCAPP PLSEnable Description Data Format PLSEnable bit User Program Access read write This bit enables and disables the HSC Programmable Limit Switch PLS function When the PLS function is enabled the setting in e HSCAPP HpSetting e HSCAPP LpSetting e HSCAPP HPOutput e HSCAPP LPOutput are superseded by corresponding data values from PLS data See Programmable Limit Switch PLS Function on page 153 for more information Rockwell Automation Publication 2080 UMO002H EN E November 2015 133 Chapter8 Use the High Speed Counter and Programmable Limit Switch HSCID HSCAPP HSCID Description Data Format User Program Access HSCID Word UINT read write The following table lists the definition for HSCID
29. Deviation REAL Deviation for auto tuning This is the standard deviation used to evaluate the noise band needed for AutoTune noise band 3 Deviation 266 Rockwell Automation Publication 2080 UM002H EN E November 2015 IPID Function Block Appendix F AT_Param Data Type Parameter Type Description Step REAL Step value for AutoTune Must be greater than noise band and less than load ATDynamSet REAL Auto Tune time Set the time to wait for stabilization after the step test in seconds Auto Tune process will be stopped when ATDynamSet time expires ATReset BOOL Determines whether the output value is reset to zero after an AutoTune sequence e True Reset IPIDCONTROLLER output to zero after Auto tune process e False leaves output at load value 1 The application engineer can estimate the value of ATParams Deviation by observing the value of Proces input For example in a project that involves the control of temperature if the temperature stabilizes around 22 C and a fluctuation of 21 7 22 5 C is observed the value of ATParams Deviation will be 22 5 21 7 2 0 4 How to Autotune Before you autotune you need to e Verify that your system is constant when there is no control For example for temperature control process value should remain at room temperature when there is no control output e Configure the set point to 0 e Set Auto Input to False e Set the
30. N network status 254 Normal Operation 254 North American Hazardous Location Approval 23 Index 271 0 output active general rules 86 output exclusivity 84 output status 254 Overview of Program Execution 69 P panel mounting 34 dimensions 34 Performance MSG_MODBUS 198 PID Application Example 270 PID Code Sample 271 PLS Data structure 154 PLS Example 155 PLS Operation 154 position distance input 83 POU Program Organizational Unit 70 power considerations input states on power down 26 isolation transformers 25 loss of power source 26 other line conditions 26 overview 25 power supply inrush 25 power distribution 24 power source loss of 26 power status 253 power supply inrush power considerations 25 preventing excessive heat 26 Priority of User Interrupts 238 program scan cycle 70 programmable limit switch 127 Programmable Limit Switch PLS Function 153 Programmable Limit Switch Overview 127 PTO 75 configurable input output 78 fixed input output signals 78 PTO direction 78 79 PTO pulse 78 79 0 quadrature encoder 138 Quickstarts 199 Rockwell Automation Publication 2080 UM002H EN E November 2015 278 Index relative move versus absolute move general rules 86 RJ 45 Ethernet port 51 RJ 45 ethernet port 7 RS 232 485 combo port 51 RS 232 485 serial port 51 Run Mode Change RMC 10 benefits 10 limitations 14 RMC memory 12 uncommitted changes 11 using 229 Run Mode Configuration Change RMCC 15 loop b
31. Quickstarts 1 Start a new project following the same steps and values as the previous project Set the values for the following variables as follows e HSCAPP PlsEnable variable should be set to TRUE e Seta value only for UFSetting and OFSetting OutputMask is optional depending if an output is to be set or not Your new values should follow the example below jUntitledLD1 VAR Data Type Dimension Alias Initial Value Attribute A HSC 3 ji j EREN Jeg aoai il 4 1 4 m SoRSSSEEEEE 5 Be amp a stem Hk Ms BE 3m see sE g8 i UINT bd In this example the PLS variable is given a dimension of 1 4 This means that the HSC can have four pairs of High and Low Presets Once again your High Presets should be set lower than the OFSetting and the Low Preset should be greater than the UFSetting The HscHP OutPut and HscLPOutPut values will determine which outputs will be turned on when a High Preset or Low Preset is reached 2 You can now build and download the program into the controller then debug and test it following the instructions for the last project Rockwell Automation Publication 2080 UM002H EN E November 2015 Forcing I Os Quickstarts Appendix C Inputs are logically forced LED status indicators do not show forced values but the inputs in the user program are forced Forcing is only possible with I O and does not apply to user defined
32. Rockwell Automation Publication 2080 UMO002H EN E November 2015 Motion Control Chapter 7 Axis States The axis state can be determined from one of the following predefined states Axis state can be monitored through the Axis Monitor feature of the Connected Components Workbench software when in debug mode Motion States State value State Name 0x00 Disabled 0x01 Standstill 0x02 Discrete Motion 0x03 Continuous Motion 0x04 Homing 0x06 Stopping 0x07 Stop Error Axis State Update On motion execution although the motion profile is controlled by Motion Engine as a background task which is independent from POU scan axis state update is still dependent on when the relevant motion function block is called by the POU scan For example on a moving axis on a Ladder POU state of a rung true an MC_MoveRelative function block in the rung is scanned and the axis starts to move Before MC_MoveRelative completes the state of the rung becomes False and MC_MoveRelative is no longer scanned In this case the state of this axis cannot switch from Discrete Motion to StandStill even after the axis fully stops and the velocity comes to 0 H Variable Monitoring Logical Val vA Rockwell Automation Publication 2080 UM002H EN E November 2015 93 Chapter 7 Motion Control 94 Limits The Limits parameter sets a boundary point for the axis and works in conjunction with the Stop param
33. UntitledLD1 System Variables Micro830 1 0 Micto830 Defined Words O Logical Value PhysicalValue Lock DataType Dimension Alias g oft _l0_EM_DO_00 BOOL x 10_EM_D0_01 BOOL x _ 0_EM_DO_02 BOOL X 10_EM_D0_03 BOOL _ 0_EM_DO_04 BOOL x 10_EM_D0_05 BOOL _ 0_EM_DO_06 BOOL X 10_EM_D0_07 BOOL 10_EM_D0_08 BOOL x _ 0_EM_DO_09 BOOL x 10_EM_DI_00 BOOL x 10_EM_DI_01 BOOL x _ 0_EM_DI_02 BOOL x _ 0_EM_DI_03 BOOL 10_EM_DI_04 BOOL x A O o m eam eoo 10_EM_DI_06 BOOL 10_EM_DI_07 BOOL 10_EM_DI_08 BOOL _ 0_EM_DI_03 BOOL _ 0_EM_DI_10 BOOL _l0_EM_DI_11 BOOL _ 0_EM_DI_12 BOOL _l0_EM_DI_13 BOOL q Ea KO KG Ea Ka Ea a 4 Click the Local Variables tab to see any real time changes being made to the variables Expand the MyAppData and MyInfo variable list by clicking the sign 5 Turn On the encoder to see the counter count up down For example if the encoder is attached to a motor shaft then turn on the motor to trigger the HSC count The counter value will be displayed on MyInfo Accumulator MyStatus variable should display a Logical Value of 1 which means that the HSC is running TIP See HSC Function Block Status Codes on page 152 for the complete list of status codes For example if the MyStatus value is 04 a configuration error exists and the controller will fault You need to check your parameters in this case 224 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Quickstarts Appendix C 1
34. Use the High Speed Counter and Programmable Limit Switch Embedded Embedded Embedded Embedded Input Value of CE Bit Accumulator and Counter Action Input 0 HSCO Input 1 HSCO Input 2 HSC0 3 HSCO A B Reset Hold A OFF X TRUE Count Up Acc Value A ON X TRUE Count Down Acc Value Vv OFF X TRUE Count Down Acc Value h ON X TRUE Count Up Acc Value OFF A X TRUE Count Down Acc Value ON A X TRUE Count Up Acc Value OFF v X TRUE Count Up Acc Value ON v X TRUE Count Down Acc Value OFF or ON OFF or ON OFF X X Hold Acc Value OFF OFF ON X X Reset Acc to Zero X X OFF ON X Hold Acc Value X X OFF X FALSE Hold Acc Value 140 Accumulator HSCAPP Accumulator Description Data Format User Program Access HSCAPP Accumulator long word 32 bit INT read write This parameter is the initial HSC Accumulator value that need to be set when starting the HSC This parameter is updated by the HSC sub system automatically when the HSC is in Counting mode reflecting the actual HSC accumulator value High Preset HSCAPP HPSetting Data Format long word 32 bit INT User Program Access read write Description HSCAPP HPSetting The HSCAPP HPSetting is the upper setpoint in counts that defines when the HSC sub system generates an interrupt The data loaded into the high preset must be less than or equal t
35. complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret A S Kar Plaza Ig Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Rockwell Automation Publication 2080 UM002H EN E November 2015 Supersedes Publication 2080 UM002G EN E March 2015 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A
36. read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Counting Enabled control bit is used to indicate the status of the High Speed Counter whether counting is enabled 1 or disabled 0 default Error Detected HSCSTS ErrorDetected Description Data Format HSC Modes JUser Program Access HSCSTS ErrorDetected bit 0 9 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Error Detected flag is a status bit that can be used in the control program to detect if an error is present in the HSC sub system The most common type of error that this bit represents is a configuration error When this bit is set 1 you should look at the specific error code in parameter HSCSTS ErrorCode This bit is maintained by the controller and is set when there is an HSC error This bit can be cleared by the user if necessary Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 Count Up HSCSTS CountUpFlag Description Data Format HSCModes User Program Access HSCSTS CountUpFlag bit 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Count Up bit is used with all of the HSCs modes 0 9 If the HSCSTS CountEnable bit is set the Count Up bit is set 1 If the HSCSTS CountEnable is cleared the Count Up bi
37. HSCSTS ModelDone 00 cece eee ea es 145 Overflow HSCSTS OVE 5ccdearostea vad duds br akuwkisaeies 145 Undertow HSCSTS UNF 42 9324 ein vnnoains dais tore 146 Count Direction HSCSTS CountDir 00 e eee eee 146 High Preset Reached HSCSTS HPReached 0 4 146 Low Preset Reached HSCSTS LPReached 0 00005 147 Overflow Interrupt HSCSTS OFCauselnter 2 4 147 Underflow Interrupt HSCSTS UFCauselnter 4 147 High Preset Interrupt HSCSTS HPCauselnter 148 Low Preset Interrupt HSCSTS LPCauselnter 45 148 Programmable Limit Switch Position HSCSTS PLSPosition 148 Error Code HSCS TS ErrorGode pics cieew dudalen testers 149 Accumulator HSCSTS Accumulator 00 0 cece eens 149 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Controller Security Table of Contents High Preset HSCS TS HP creron en eea eR 149 Low Preset HSCSTS LP stctw cat tariedsia a deed th cee dteed 150 High Preset Output HSCSTS HPOutput 0006 150 Low Preset Output HSCS TS LPOutput eis ss0ecyeasctonees 150 HSC High Speed Counter Function Block 04 151 HSC Commands HScCmd oiseogte Soh oebeenaxteace 151 HSC_SET_STS Function Block 4525 8 epcsetnss sel tata ne Saeed 153 Programmable Limit Switch PLS Function 04 153 PES Data structure 3c osc Aicannen r a ween thasedsier ics 1
38. MoveRelative function blocks For MoveVelocity Stop and Halt function blocks TargetPos is 0 except when the TargetPos set by previous position function blocks is not cleared Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 Data Elements for Axis_Ref Element Data Type Description name CommandPos REAL On a moving axis this is the current position the controller float commands the axis to go to TargetVel REAL The maximum target velocity issued to the axis by a move function float block The value of TargetVel is same as the velocity setting in current function block or smaller depending on other parameters in the same function block This element is a signed value indicating direction information See PTO Pulse Accuracy on page 114 for more information CommandVel REAL During motion this element refers to the velocity the controller float commands the axis to use This element is a signed value indicating direction information 1 See Real Data Resolution on page 112 for more information on REAL data conversion and rounding IMPORTANT Once an axis is flagged with error and the error ID is not zero the user needs to reset the axis using MC_Reset before issuing any other movement function block IMPORTANT The update for axis status is performed at the end of one program scan cycle and the update is aligned with the update
39. See Sample Motion Wiring Configuration on 2080 LC30 xxOQVB 2080 LC50 xxOVB on page 80 for reference The next sections provide a more detailed description of the motion components You can also refer to the Connected Components Workbench Online Help for more information about each motion function block and their variable inputs and outputs Rockwell Automation Publication 2080 UMO002H EN E November 2015 71 Chapter7 Motion Control Input and Output Signals Fixed PTO Input Output Multiple input output control signals are required for each motion axis as described in the next tables PTO Pulse and PTO Direction are required for an axis The rest of the input outputs can be disabled and re used as regular I O Motion Signals PTOO EM_00 PTO1 EM_01 PTO2 EM_02 Logical Name Name on Logical Name Name on Logical Name in Name on in Software Terminal in Software Terminal Software Terminal Block Block Block PTO direction _l0_EM_DO_03 0 03 _I0_EM_DO_04 0 04 1O_EM_DO_05 0 05 Lower Negative Limit switch _l0_EM_DI_00 1 00 _IO_EM_DI_04 I 04 O_EM_DI_08 I 08 Upper Positive Limit switch _I0_EM_DI_01 I 01 _I0_EM_DI_05 I 05 O_EM_DI_09 I 09 Absolute Home switch _IO_EM_DI_02 1 02 _IO_EM_DI_06 I 06 O_EM_DI_10 I 10 Touch Probe Input switch _IO_EM_DI_03 1 03 _IO_EM_DI_07 I 07 O_EM_DI_11 l 11 78 Configurable input output Motion Signals Servo Drive On Input Output Notes
40. Specify baud rate and parity ASCII Parameters Parameter Options Default Baud Rate 1200 2400 4800 9600 19200 38400 19200 Parity None Odd Even None Rockwell Automation Publication 2080 UMO002H EN E November 2015 63 Chapter5 Communication Connections 4 Click Advanced Settings to configure advanced parameters E Advanced Settings Protocol Control Control Line No Handshake v Append Chars 0x0D 0x04 Deletion Mode Ignore Mi Term Chars 0x0D 0x0A Data Bits 8 v Stop Bits 1 v XON XOFF LJ Echo Mode d ASCII Advanced Parameters Parameter Options Default Control Line Full Duplex No Handshake Half duplex with continuous carrier Half duplex without continuous carrier No Handshake Deletion Mode CRT Ignore Ignore Printer Data bits 7 8 8 Stop bits 1 2 1 XON XOFF Enabled or Disabled Disabled Echo Mode Enabled or Disabled Disabled Append Chars 0x0D 0x0A or user specified value 0x0D 0x0A Term Chars 0x0D 0x0A or user specified value 0x0D 0x0A Configure Ethernet Settings 1 Open your Connected Components Workbench project for example Micro850 On the device configuration tree go to Controller properties Click Ethernet B Controller General Memory Serial Port USB Port Ethernet Internet Protocol Port Settings Port Diagnostics 64 Rockwell Automation Publication 2080 UM002H EN E November 2015 Communication Connections Chapter 5 2
41. Under Ethernet click Internet Protocol Configure Internet Protocol IP settings Specify whether to obtain the IP address automatically using DHCP or manually configure IP address subnet mask and gateway address Ethernet Internet Protocol Internet Protocol IP Settings Obtain IP address automatically using DHCP Configure IP address and settings Detect duplicate IP address Save Settings To Controller TIP The Ethernet port defaults to the following out of the box settings e DHCP dynamic IP address e Address Duplicate Detection On IMPORTANT When a DHCP server fails the Micro800 controller allocates IP addresses in the private range 169 254 0 1 to 169 254 255 254 The Micro800 controller verifies its address is unique on the network using ARP When the DHCP server is again able to service requests the Micro800 controller updates its address automatically 3 Click the checkbox Detect duplicate IP address to enable detection of duplicate address 4 Under Ethernet click Port Settings Ethernet Port Settings Port State Set Port State Enabled MAC Address of Port Disabled M Auto Negotiate speed and duplexity Connection Speed Mbps Connection Duplexity Save Settings To Controller 5 Set Port State as Enabled or Disabled 6 To manually set connection speed and duplexity uncheck the option box Auto Negotiate speed and duplexity Then set Speed 10 or 100 Mbps and Duplexity H
42. as applicable for explanations of the degrees of protection provided by different types of enclosure Rockwell Automation Publication 2080 UM002H EN E November 2015 About Your Controller Preventing Electrostatic Discharge This equipment is sensitive to electrostatic discharge which can cause internal damage and affect normal operation Follow these guidelines when you handle this equipment e Touch a grounded object to discharge potential static e Wear an approved grounding wriststrap e Do not touch connectors or pins on component boards e Do not touch circuit components inside the equipment e Use a static safe workstation if available e Store the equipment in appropriate static safe packaging when not in use Safety Considerations Safety considerations are an important element of proper system installation Actively thinking about the safety of yourself and others as well as the condition of your equipment is of primary importance We recommend reviewing the following safety considerations North American Hazardous Location Approval The following information applies when operating this equipment Informations sur l utilisation de cet quipement en environnements in hazardous locations dangereux Products marked CL DIV 2 GP A B C D are suitable for use in Class Division 2 Groups A B C D Hazardous Locations and nonhazardous locations only Each product is supplied with
43. f SCALER_1 SCALER ReadWrite SCA HSC ReadWite H5C_and_Ds USINT Readwrite HSCApp_O HSCAPP on ReadWrite ce Hsc iE pispata_0 PLS gt 1 3 ReadWirite EA P5 T R adwinte i Pisb a dj HstH DNT Readrite gt PlsbaksCCi HecLP DINT Rdadwrits Piba Oi T HstHPoutPut DONT Re adWrite Psbata_OI HstLPourrut UDINT Readwiite resets bre Ps ReadWirite Ej Psota dahs DINT Raaduirite Pba dA NT 7 i Readwrite Pisbata O2 HstHrouipur UDAT Readwrite Pisha fa stt cuPut UINT 3 ReadiWrite Maso o Pis Raadwrite Pisbata aH DNT Readiite Pisda gAs DNT Readvrite Pisbes Ofd HetHPouiPit L INT ReadWrite PLSDats CLS HerL OPd UDINT ReadWrite PLS Operation When the PLS function is enabled and the controller is in the run mode the HSC counts incoming pulses When the count reaches the first preset HSCHP or HSCLP defined in the PLS data the output source data HSCHP Output or HSCLPOutput is written through the HSC mask HSCAPP OutputMask Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 At that point the next presets HSCHP and HSCLP defined in the PLS data become active When the HSC counts to that new preset the new output data is written through the HSC mask This process continues until the last element within the PLS data block is loaded At that point the acti
44. iY EY EY APP_CFG1 CIPAPPCFG APP_CFG1 Service USINT APP_CFG1 Class UINT 245 APP_CFG1 Instance UDINT il APP_CFG1 Attribute UINT 5 Read wr APP_CFG1 MemberCnt USINT Read wr APP_CFG1 Memberld CIPMEMBERID Read wr RMCC EtherNet IP Example Set the New IP Address User Global Variables Micro850 Local Variables RMCC_EIP_LengthTest_SimplePro System Variables Micro850 4 gt Data Type Dimension String Size Initial Value i Ey USINT gt fe iy jy gt liv spa oo E E Req Datal 1 USINT Req Datal 2 USINT 3 Req Datal 3 USINT 168 Req_Datal 4 USINT 192 Req_Datal 5 USINT 0 Req Datal 6 USINT 255 Req Datal 7 USINT 255 Req _Datal 8 USINT 255 Req_Datal 9 USINT 1 Req _Datal 10 USINT J Req Datal 11 USINT 168 Req _Datal 12 USINT 192 Req_Datal 13 USINT 0 Req_Datal 14 USINT 0 Req Datal 15 USINT 0 Req_Datal 16 USINT 0 Req Datal 17 USINT 0 Req Datal 18 USINT 0 Req_Datal 19 USINT 0 Req Data1 20 USINT 0 Req _Datal 21 USINT 0 Rockwell Automation Publication 2080 UM002H EN E November 2015 About Your Controller Chapter 2 For this example the new IP Address is set to the following e IP address 192 168 1 10 e Subnet mask 255 255 255 0 e Gateway address 192 168 1 1 RMCC EtherNet IP Example Set the Message Length User Global Variables Micro850 Local Variables RMCC_EIP_LengthTest_SimplePro System Va
45. servo drive output Active Level Set as High default or Low In position Input Check the option box to enable in position input monitoring Input List of digital input variables for in position input monitoring Select an input Rockwell Automation Publication 2080 UMO002H EN E November 2015 105 Chapter7 Motion Control General Parameters Parameter Active Level Description and Values Set as High default or Low Drive ready input Servo Ready Input Enable flag Check the option box to enable the input Input The list of digital input variables Select an input Active Level Set as High default or Low Touch probe input Configure whether an input for touch probe is used Check the option box to enable touch probe input Input List of digital input variables Select an input Active Level Set the active level for touch probe input as High default or Low PTO Channel Naming Names of embedded PTO channels have the prefix EM embedded and each available PTO channel is enumerated starting from 0 For example a controller that supports three axes will have the following PTO channels available e EM_0 e EM_1 EM 2 Motor and Load Edit the Motor Load properties as defined in the table axisl Motor and Load User Defined Unit Time Motor Revolution Modifying Motor Revolution parameters may cause Axis runaway Pulses per Revolution 200 0
46. upgrade to the latest software revision of Connected interval being configured out of range Components Workbench See Motion Axis Configuration in Connected Components Workbench on page 103 OxF110 There is motion resource missing such as Perform the following Motion_DIAG variable not defined eee e Correct the axes configuration in the user program If fault is consistent upgrade to the latest Connected Components Workbench software revision See Motion Axis Configuration in Connected Components Workbench on page 103 258 Rockwell Automation Publication 2080 UM002H EN E November 2015 Troubleshooting Appendix E List of Error Codes for Micro800 controllers Error Code OxF12z Note z indicates the logic axis ID Description Motion configuration for axis z cannot be supported by this controller model or the axis configuration has some resource conflict with some other motion axis which has been configured earlier Recommended Action Perform the following e Remove all axes and re configure motion with the guidance from the User Manual If fault is consistent upgrade to the latest Connected Components Workbench software revision OxF15z Note z indicates the logic axis ID There is a motion engine logic error firmware logic issue or memory crash for one axis detected during motion engine cyclic operation One possible reason can be motion engine data memory crash Perform the following
47. which is the interrupt triggering the User Interrupt The following diagram shows the selectable fields in the Interrupt configuration window Configure High Speed Counter HSC User Interrupt HSCO 3 Properties Interrupt Type HSC ID HSC Description HSCO_ Program UntitledLD v Parameters UntitiedLD2 Auto Start Fase v Mask for IV Tue v Mask for IH Fake Mask for IN Fake v Mask for IL Tue v Rockwell Automation Publication 2080 UM002H EN E November 2015 157 Chapter 8 158 Use the High Speed Counter and Programmable Limit Switch HSC Interrupt POU This is the name of the Program Organizational Unit POU which is executed immediately when this HSC Interrupt occurs You can choose any pre programmed POU from the drop down list Auto Start HSC0 AS Description Data Format HSC Modes User Program Access AS Auto Start bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 145 The Auto Start is configured with the programming device and stored as part of the user program The auto start bit defines if the HSC interrupt function automatically starts whenever the controller enters any run or test mode Mask for IV HSCO MV Description Data Format HSC Modes JUser Program Access MV Overflow Mask bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 145 The MV Overflo
48. 10 000 000 pulse sec Default 100 000 0 pulse sec Max Acceleration The range is based on Motor and Load parameters See Motor and Load Parameters on page 107 using Range 1 10 000 000 pulse sec Default 10 000 000 pulse sec Max Deceleration The range is based on Motor and Load parameters See Motor and Load Parameters on page 107 using Range 1 100 000 pulse sec Default 10 000 000 pulse sec Max Jerk The range is based on Motor and Load parameters See Motor and Load Parameters on page 107 using Range 0 10 000 000 pulse sec Default 10 000 000 pulse sec Emergency Stop Profile Defines stop type velocity deceleration and jerk values Stop Type Set as Deceleration Stop default or Immediate Stop Rockwell Automation Publication 2080 UMO002H EN E November 2015 109 Chapter7 Motion Control Dynamics Parameters Values Parameter Stop Velocity The range is based on Motor and Load parameters See Motor and Load Parameters on page 107 using Range 1 100 000 pulse sec Default 300 rpm Stop Deceleration The range is based on Motor and Load parameters See Motor and Load Parameters on page 107 using Range 1 10 000 000 pulse sec Default 300 0 rpm Stop Jerk 1 2 v in rpm The range is based on Motor and Load parameters See Motor and Load Parameters on page 107 using Range 0 10 000 000 pulse s
49. 2 0 3 and 0 4 respectively Once completed the cycle resets and repeats from HSCSTS HP 250 An interrupt is an event that causes the controller to suspend the task it is currently performing perform a different task and then return to the suspended task at the point where it suspended Micro800 supports up to six HSC interrupts Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 An HSC interrupt is a mechanism that Micro830 and Micro850 controllers provide to execute selected user logic at a pre configured event Microg3u ae rrugiant mayor run E tl Micro830 Run Controller Mode j Programs ne es 2080 LC30 48QWB E KO untitleato j Local Variables Micro830 PCP untitieaiz Local Variables i Global Variables man Properties Ls DataTypes Interrupt Type Function Blocks HSC ID HSC Description HSCO G er fae Program UntitledLD Communication Ports 2 Serial Port Parameters aoan USB Port Auto Start False Date and Time p_i SS Interrupts Mask for IV Tue v Mask for IH l False w tartuga Mask for IN False w Mask forIL Modbus Mapping False x Tue Embedded 1 0 Plug In Modules Hep lt Empty gt T HSC is used in this document to define how HSC interrupts work HSC Interrupt Configuration In the User Interrupt configuration window select HSC and HSC ID
50. 2015 Specifications Appendix A Environmental Specifications Attribute ESD immunity Value IEC 61000 4 2 V contact discharges V air discharges coo Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV 5 kHz on power ports 2 kV 5 kHz on signal ports 1 kV 5 kHz on communication ports Surge transient immunity IEC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports 1 kV line earth CM on communication ports Conducted RF immunity IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz Isolated AC Inputs 2080 LC50 240WB 2080 LC50 240VB 2080 LC50 240BB Inputs 0 7 Attribute Value On statevoltage nom J122 ac 50 60 o Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Micro850 48 Point Controllers General Specifications 2080 LC 50 48AWB 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Attribute 2080 LC50 48AWB 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Number of 1 0 48 28 inputs 20 outputs Dimensions 90 x 238 x 80 mm HxWxD 3 54 x 9 37 x 3 15 in Shipping weight approx 0 725 kg 1 60 Ib
51. 2080 UM002H EN E November 2015 Appendix F IPID Function Block This function block diagram shows the arguments in the IPIDCONTROLLER function block IPIDCONTROLLER EN ENO Process Output SetPoint AbsoluteError FeedBack ATWarning Auto OutGains Initialize Gains AutoTune ATParameters The following table explains the arguments used in this function block IPIDCONTROLLER Arguments Parameter Parameter Data Type Description Type EN Input BOOL Function block enable When EN TRUE execute function When EN FALSE do not execute function Only applicable to LD EN is not required in FBD programming Process nput REAL Process value measured from the output of controlled process SetPoint nput REAL Set point value for desired process Feedback nput REAL Feedback signal measured from control input to a process Auto nput BOOL Operating modes of PID controller e TRUE controller runs in normal mode e FALSE controller out value equals to feedback value Initialize Input BOOL A change in value True to False or FALSE to TRUE causes the controller to eliminate any proportional gain during that cycle It Also initializes AutoTune sequences Gains Input GAIN_PID Gains for IPIDCONTROLLER See GAIN_PID Data type Rockwell Automation Publication 2080 UM002H EN E Novembe
52. 3 CE Bit Comments Function Count Direction Reset Hold Example 1 1 off on V off off jon 1 HSC Accumulator 1 count 0 1 0 0 Example 2 1 on on V off off jon 1 HSC Accumulator 1 count 1 1 0 0 Example3 on Y off on Hold accumulator value 1 0 1 Example 4 on IV off off 0 Hold accumulator value 1 0 Example 5 on U off on V Jjoff Hold accumulator value 1 0 1 0 Example 6 1 Clear accumulator 0 Blank cells don t care rising edge y falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used 136 Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 HSC Mode 4 Two Input Counter up and down HSC Mode 4 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Up Count Down Not Used Not Used Example 1 f on U off on 1 HSC Accumulator 1 count 1 0 Example 2 on U loff f on 1 HSC Accumulator 1 count 1 0 Example3 off 0 Hold accumulator value Blank cells don t care rising edge Y falling edge TIP Inputs 0 through 11 are available for use as inputs to other functions regardless of the HSC being
53. A B C D Hazardous Locations certified for US and Canada e CE marked for all applicable directives e C Tick marked for all applicable acts e KC Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of Radio Waves Act Clause 3 This product has the CE mark and is approved for installation within the European Union and EEA regions It has been designed and tested to meet the following directives EMC Directive This product is tested to meet Council Directive 2004 108 EC Electromagnetic Compatibility EMC and the following standards in whole or in part documented in a technical construction file e EN 61131 2 Programmable Controllers Clause 8 Zone A amp B e EN 61131 2 Programmable Controllers Clause 11 e EN 61000 6 4 EMC Part 6 4 Generic Standards Emission Standard for Industrial Environments e EN 61000 6 2 EMC Part 6 2 Generic Standards Immunity for Industrial Environments This product is intended for use in an industrial environment Low Voltage Directive This product is tested to meet Council Directive 2006 95 EC Low Voltage by applying the safety requirements of EN 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests For specific information required by EN 61131 2 see the appropriate sections in this publication as well as the following Allen Bradley publications e Industrial Automation Wiring and Grounding Guidelines for Nois
54. At least one EtherNet IP session is established Flashing Red Connection timeout not implemented Steady Red Duplicate IP The device has detected that its IP address is being used by another device in the network This status is applicable only if the device s duplicate IP address detection ACD feature is enabled Flashing Green and Red Self test The device is performing power on self test POST During POST the network status indicator alternates flashing green and red The POWER and RUN indicators are on If a force condition is active the FORCE indicator turns on and remains on until all forces are removed Rockwell Automation Publication 2080 UM002H EN E November 2015 Troubleshooting Appendix E Error Conditions Indicator Behavior All indicators off Probable Error No input power or power supply error If an error exists within the controller the controller indicators operate as described in the following table Probable Cause No line power Recommended Action Verify proper line voltage and connections to the controller Power supply overloaded This problem can occur intermittently if power supply is overloaded when output loading and temperature varies Power and FAULT indicators on solid Hardware faulted Processor hardware error Cycle power Contact your local Allen Bradley representative if the error persists Loose wiring Verify connections
55. Automation Publication 2080 UM002H EN E November 2015 User Interrupts Appendix D 2 In the User Interrupt Configuration window configure this POU as a User Fault routine General Memory Communication Ports Serial Port USB Port Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules lt Empty gt lt Empty gt User Interrupt Instructions Add User Fault Routine Properties Interrupt Type User Fault Routine x UFR ID UFR UFR Description UFR Program Ni UntitledLD click an existing Instruction Used To Page STIS Selectable Use the STIS Selectable Timed Interrupt Start instruction to 241 Timed Start the start the STI timer from the control program rather than starting automatically UID User Interrupt Use the User Interrupt Disable UID and the User Interrupt 242 Disable Enable UIE instructions to create zones in which user interrupts cannot occur UIE User Interrupt 244 Enable UIF User Interrupt Use the UIF instruction to remove selected pending interrupts 245 Flush from the system UIC User Interrupt Use this function to clear Interrupt Lost bit for the selected 246 Clear User Interrupt s STIS Selectable Timed Start STIS Enable IROType SetPoint t STIS name or Pin ID or ENO Pin ID 45638 STIO is used in this
56. BOOL _IO_EM_DI_02 BOOL _l0_EM_DI_03 BOOL 10_EM_DI_04 BOOL J0O_EM_DI_05 BOOL _1O_EM_DI_06 BOOL A gt gt Cancel In many cases the front of the controller is not visible to the operator and Connected Components Workbench is not online with the controller Ifyou want the force status to be visible to the operator then the User Program must read the force status using the SYS_INFO function block and then display the force status on something that the operator can see such as the human machine interface HMI or stack light The following is an example program in Structured Text 1 Read System Information including Force Enable bit 2 SYS_INFO_1 TRUE 3 4 Turn on Warning Light if Forces are Enabled 5 If SYS_INFO_1 Sts ForcesInstall TRUE THEN 6 _IO EM DO_05 TRUE 7 ELSE 8 _IO_EM DO 05 FALSE 9 END_IF If the front of the controller is visible and not blocked by the cabinet enclosure Micro830 and Micro850 controllers have a Force LED indicator 1 0 Forces After a Power Cycle After a controller is power cycled all I O forces are cleared from memory Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C Using Run Mode Ch ange Run Mode Change allows the user to make small changes to the logic of a running project and immediately testing it out on the controller without having to go into Program mode or disconnecting from the controller
57. Baud rate e Parity e Unit address e Modbus Role Master Slave Auto Modbus RTU Parameters Parameter Options Default Baud Rate 1200 2400 4800 9600 19200 38400 19200 Parity None Odd Even None Modbus Role Master Slave Auto Master 4 Click Advanced Settings to set advanced parameters Refer to the table for available options and default configuration for advanced parameters Modbus RTU Advanced Parameters Parameter Options Default Media RS 232 RS 232 RTS CTS RS 485 RS 232 Data bits Always 8 8 Stop bits 1 2 1 Response timer 0 999 999 999 milliseconds 200 Broadcast Pause 0 999 999 999 milliseconds 200 Inter char timeout 0 999 999 999 microseconds 0 RTS Pre delay 0 999 999 999 microseconds 0 RTS Post delay 0 999 999 999 microseconds 0 Configure ASCII 1 Open your Connected Components Workbench project On the device configuration tree go to Controller properties Click Serial Port Rockwell Automation Publication 2080 UMO002H EN E November 2015 Communication Connections Chapter 5 2 Select ASCII on the Driver field Driver Baud Rate Parity Advanced Settings Protocol Control Control Line Deletion Mode Data Bits Stop Bits XON XOFF Echo Mode Controller Serial Port ASCII v 38400 v None v No Handshake v Ignore x 8 1 x 0 0 Append Chars 0x0D 0x0A Term Chars Ox0D 0x04 3
58. CRFSV55 and so on 2 3 4 For use on the interposing relay For use on the contactor or starter Grounding the Controller Wiring Diagrams Rockwell Automation Publication 2080 UMO002H EN E November 2015 A RC Type not to be used with Triac outputs Varistor is not recommended for use on the relay outputs Catalog numbers for screwless terminals include the string CR after 100 For example Cat No 100 FSC48 becomes Cat No 100 CRFSC48 Cat No 100 FSV55 WARNING All devices connected to the RS 232 485 communication port must be referenced to controller ground or be floating not referenced to a potential other than ground Failure to follow this procedure may result in property damage or personal injury This product is intended to be mounted to a well grounded mounting surface such as a metal panel Refer to the Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 for additional information The following illustrations show the wiring diagrams for the Micro800 controllers Controllers with DC inputs can be wired as either sinking or sourcing inputs Sinking and sourcing does not apply to AC inputs High speed inputs and outputs are indicated by O 43 Chapter4 Wire Your Controller 2080 LC30 10QWB Input terminal block HOOQOQHOOOHS I I I IT If 1 DC24 CM0 CM1 CM2 CM3 NC DC24 0 00 0 01 0 02 0 03 NC Output terminal block antes 2080 LC
59. Components Workbench To learn more about conversions and rounding of REAL values see Real Data Resolution on page 112 Rockwell Automation Publication 2080 UMO002H EN E November 2015 111 Chapter 7 112 Motion Control Axis Start Stop Velocity Start Stop velocity is the initial velocity when an axis starts to move and the last velocity before the axis stops moving Generally Start Stop velocity is configured at some low value so that it is smaller than most velocity used in the motion function block e When the target velocity is smaller than Start Stop velocity move the axis immediately at the target velocity e When the target velocity is NOT smaller than Start Stop velocity move the axis immediately at Start Stop velocity Real Data Resolution Certain data elements and axis properties use REAL data format single precision floating point format Real data has seven digit resolution and digit values entered by the user that are longer than seven digits are converted See the following examples REAL Data Conversion Examples User value Converted to 0 12345678 0 1234568 1234 1234567 1234 123 12345678 1 234568E 07 exponential format 0 000012345678 1 234568E 05 exponential format 2147418166 2 147418 E09 0 12345678 0 1234568 If the number of digits is greater than seven 7 and the eighth digit is greater than or equal to 5 then the 7th digit is rounded up For example 21474185
60. Conditions Occasionally the power source to the system can be temporarily interrupted It is also possible that the voltage level may drop substantially below the normal line voltage range for a period of time Both of these conditions are considered to be a loss of power for the system For most applications normal convective cooling keeps the controller within the specified operating range Ensure that the specified temperature range is maintained Proper spacing of components within an enclosure is usually sufficient for heat dissipation In some applications a substantial amount of heat is produced by other equipment inside or outside the enclosure In this case place blower fans inside the enclosure to assist in air circulation and to reduce hot spots near the controller Additional cooling provisions might be necessary when high ambient temperatures are encountered TIP Do not bring in unfiltered outside air Place the controller in an enclosure to protect it from a corrosive atmosphere Harmful contaminants or dirt could cause improper operation or damage to components In extreme cases you may need to use air conditioning to protect against heat build up within the enclosure Rockwell Automation Publication 2080 UM002H EN E November 2015 About Your Controller Chapter 2 Master Control Relay A hard wired master control relay MCR provides a reliable means for emergency machine shutdown Since the master control re
61. Description The user program failed an integrity check while the Micro800 controller was in Run mode Recommended Action Perform one of the following e Cycle power on your Micro800 controller Then download your program using Connected Components Workbench and start up your system e Refer to the Wire Your Controller on page 39 0xF006 The user program is incompatible with the Micro800 controller s firmware revision Perform one of the following e Upgrade the Micro800 controller s firmware revision using ControlFlash e Contact your local Rockwell Automation technical support representative for more information about firmware revisions for your Micro800 controller For more information on firmware revision compatibility go to http www rockwellautomation com support firmware html OxF010 The user program contains a function function block that is not supported by the Micro800 controller Perform the following 1 Modify the program so that all functions function blocks are supported by the Micro800 controller 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode OxF014 A memory module memory error occurred Reprogram the memory module If the error persists replace the memory module 0xF015 An unexpected software error occurred Perform the following 1 Cycle power on your Micro800 controller 2 Build and downlo
62. Ell Event Input Interrupt Event 5 4096 bit 12 Ell Event Input Interrupt Event 4 2048 bit 11 HSC High Speed Counter HSC5 1024 bit 10 HSC High Speed Counter HSC4 512 bit 9 HSC High Speed Counter HSC3 256 bit 8 HSC High Speed Counter HSC2 128 bit 7 HSC High Speed Counter HSC1 64 bit 6 HSC High Speed Counter HSCO 32 bit 5 Ell Event Input Interrupt Event 3 16 bit 4 Ell Event Input Interrupt Event 2 8 bit 3 Ell Event Input Interrupt Event 1 4 bit 2 Ell Event Input Interrupt Event 0 2 bit 1 UFR User Fault Routine Interrupt UFR bit 0 reserved Rockwell Automation Publication 2080 UM002H EN E November 2015 User Interrupts Appendix D a Configure the STI function from the Interrupt Configuration window Using the Selectable Timed Interrupt STI Function Selectable Time Interrupt STI Function Configuration and Status Rockwell Automation Publication 2080 UMO002H EN E November 2015 General Memory Communication Ports Serial Port USB Port Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules lt Empty gt lt Empty gt Add Selectable Timed Interrupt STI Properties Intemupt Type Selectable Timed Intenupt ST STI ID STIO STI Description stio Program Parameters UntitledLD Auto Start False v Set Point o OK Cancel Apply Help The Selectable Timed Interrupt STI provides a mechanism to solve time critical control
63. Embedded Input3 CE Bit Comments Terminals Function Count A Count B Z reset Hold Example wm 1 off 0 off 0 on 1 HSC Accumulator 1 count Example 212 off 0 off 0 off 0 on 1 HSC Accumulator 1 count Example3 off 0 off 0 on 1 Reset accumulator to zero Example 4 on 1 Hold accumulator value Example 5 on 1 Hold accumulator value Example 6 off 0 on 1 Hold accumulator value Example 7 off 0 off 0 Hold accumulator value 1 Count input A leads count input B 2 Count input B leads count inp Blank cells don t care tt rising edge y falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 8 Quadrature X4 Counter HSC Mode 8 Examples Embedded Input 1 HSC0 Embedded Input 1 HSC0 Value of CE Bit Accumulator and Counter Action A B A OFF TRUE Count Up Acc Value A ON TRUE Count Down Acc Value v OFF TRUE Count Down Acc Value h ON TRUE Count Up Acc Value OFF A TRUE Count Down Acc Value ON A TRUE Count Up Acc Value OFF Vv TRUE Count Up Acc Value ON v TRUE Count Down Acc Value OFF or ON OFF or ON X Hold Acc Value X X FALSE Hold Acc Value Rockwell Automation Publication 2080 UM002H EN E November 2015 139 Chapter 8 HSC Mode 9 Examples HSC Mode 9 Quadrature X4 Counter with External Reset and Hold
64. F insulation max Wiring category 2 on signal ports 2 on power ports 2 on communication ports Wire type Use Copper Conductors only Terminal screw torque 0 4 0 5 Nm 3 5 4 4 Ib in using a 0 6 x 3 5 mm flat blade screwdriver Note Use a handheld screwdriver to hold down the screws at the side Input circuit type 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink standard and high speed 24V DC source standard and high speed Power consumption 28 W Power supply voltage range 20 4 26 4V DC Class 2 0 rating Input 120V AC 16 mA Output 2 A 240V AC 2A 24V DC Input 24V 8 8 mA Output 2 A 240V AC 2A 24V DC Input 24V 8 8 mA Output 24V DC Class 2 1 A per point Surrounding air temperature 30 C 24V DC Class 2 0 3 A per point Surrounding air temperature 65 C Isolation voltage 250V continuous Reinforced Insulation Type Output to Aux and Network Inputs to Outputs Type tested for 60s 3250V DC Output to Aux and Network Inputs to Outputs 150V continuous Reinforced Insulation Type Input to Aux and Network Type tested for 60 s 1950V DC Input to Aux and Network 250V continuous Reinforced Insulation Type Output to Aux and Network Inputs to Outputs Type tested for 60 s 3250V DC Output to Aux and Network Inputs to Outputs 50V
65. Gain parameter as follows GAIN Parameter Values GAIN Parameter DirectActing Value According to operation TRUE for example Cooling or FALSE for example Heating DerivativeGain Typically set to 0 1 or 0 0 ProportionalGain 0 0001 Timelntegral 0 0001 TimeDerivative 0 0 Rockwell Automation Publication 2080 UM002H EN E November 2015 267 Appendix F _ PID Function Block Set the AT_Parameter as follows AT_Parameter Values AT Parameter Recommendation Load Every Load provides a saturated process value over a period of time Adjust the load to the value for the saturated process value you want IMPORTANT If a load of 40 gives you a process value of 30 C over a period of time and you want to tune your system to 30 C you should set the load to 40 Deviation This parameter plays a significant role in the autotune process The method of deriving this value is explained later in this section It is not necessary to set this parameter prior to autotuning However if you already know the deviation it is fine to set it first Step Step value should be between 3 Deviation and load The step provides an offset for the load during autotuning It should be set to a value high enough to create a significant change in process value ATDynamSet Set this value to a reasonably long time for the autotune process Every system is different so allow more time to a sys
66. L This wizard helps you install software for Rockwell Automation USB CIP 9 If your hardware came with an installation CD lt 9 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue lt Back Cancel The Wizard searches for new hardware Found New Hardware Wizard Please wait while the wizard searches S Q ral Rockwell Automation USB CIP lt Back Next gt Cancel Rockwell Automation Publication 2080 UM002H EN E November 2015 205 AppendixC _Quickstarts 5 Click Finish when the wizard completes the installation Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for ad Rockwell Automation USB CIP Click Finish to close the wizard lt Back Cancel 6 Open RSLinx Classic and run RSWho by clicking the E icon If the proper EDS file is installed the Micro830 Micro850 controller should be properly identified and show up under both the Virtual Backplane VBP driver and the USB driver which was automatically created RSLinx Classic Gateway RSWho 1 as File Edit View Communications Station DDE OPC Security Window Help 5 amp s lle amp IV Autobrowse By Ea Browsing node 0 found E AB_VEP 1 1789 A17 A Virtual Chassi
67. Limit 00 mm Upper Soft Limit ATTENTION To learn more about the different types of Limits see Limits on page 94 Limits Parameters Parameter Value Hard Limits Defines upper and lower hard limits for the axis When hard limits is reached apply Configure whether to perform a forced PTO hardware stop immediately turn off pulse output or whether to decelerate leave pulse output on and use deceleration values as defined on the Emergency Stop profile Set as any of the following e Forced PTO Hardware Stop e Emergency Stop Profile Lower Hard Limit Click checkbox to enable a lower hard limit Active Level for Lower Hard Limit High or Low Upper Hard Limit Click checkbox to enable Active Level for Upper Hard Limit High or Low Soft Limits Defines upper and lower soft limits values Lower Soft Limit Lower soft limit should be less than upper soft limit 7 1 Click checkbox to enable an lower upper soft limit Upper Soft Limit 2 Specify a value in mm To convert from user units to pulse Travel per revolution Value in user unit Value in pulse x Pulse per revolution 2 The parameter is set as REAL float value in Connected Components Workbench To learn more about conversions and rounding of REAL values see Real Data Resolution on page 112 TIP A red border on an input field indicates that an invalid value has been entered Scroll over the f
68. O modules Rockwell Automation Publication 2080 UM002H EN E November 2015 1 Chapter 1 Hardware Overview IMPORTANT For information on supported plug in modules and expansion 1 0 see the following publications e Micro800 Discrete and Analog Expansion I O User Manual publication 2080 UM003 e Micro800 Plug in Modules User Manual publication 2080 UM004 The controllers also accommodate any class 2 rated 24V DC output power supply that meets minimum specifications such as the optional Micro800 power supply See Troubleshooting on page 253 for descriptions of status indicator operation for troubleshooting purposes Micro830 Controllers Micro830 10 16 point controllers and status indicators 1 2 3 4 5 6 7 8 Status indicator Controller la O a Joooodoogoood 5 ano0 16 z 5 7 CT i 18 Bae 1s i j 20 m 503 0 45031 7 000000000000 13 12 11 10 6 9 7 45030 Micro830 24 point controllers and status indicators
69. OUTPUT Can be configured as any embedded output Servo Drive Ready INPUT Can be configured as any embedded input In Position signal from INPUT Servo motor Can be configured as any embedded input Home Marker INPUT Can be configured as any embedded input from input 0 15 These I O can be configured through the axis configuration feature in Connected Components Workbench Any outputs assigned for motion should not be controlled in the user program See Motion Axis Configuration in Connected Components Workbench on page 103 IMPORTANT If an output is configured for motion then that output can no longer be controlled or monitored by the user program and cannot be forced For example when a PTO Pulse output is generating pulses the corresponding logical variable IO_EM_DO_ xx will not toggle its value and will not display the pulses in the Variable Monitor but the physical LED will give an indication If an input is configured for motion then forcing the input only affects the user program logic and not motion For example if the input Drive Ready is false then the user cannot force Drive Ready to true by forcing the corresponding logical variable O_EM_DI_xx to be true Rockwell Automation Publication 2080 UMO002H EN E November 2015 Motion Control Chapter 7 Motion Wiring Input Output Description Motion Signals PTO pulse Input Output OUTPUT Description PTO pulse from the e
70. Output Outputs 0 1 Outputs 2 3 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA 10 mA Load current max 2 0A 100 mA high speed operation 1 0A 30 C 1 0 A 30 C 0 3 A 65 C standard operation 0 3 A 65 C standard operation Surge current per point Refer to Relay Contacts Ratings on page 167 4 0 A every 1 s 30 C every 2 s 65 C Current per common max 5A 2A Current per controller max 1440V A 2A Turn on time 10 ms 2 5 US 0 1 ms Turn off time max 1 0m 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes Continuous Make 120V AC 1800V A 240V AC 750A 0 75 A 24V DC 1 0 A 1 0 A 28V A 125V DC 0 22 A Environmental Specifications Attribute Value Temperature operating 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 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity IE
71. Output to a decimal value of 1 which when converted to binary is equal to 0001 This means that when a High Preset is reached output OO will turn on and stay on until the HSC is reset or the counter counts back down to a Low Preset The LPOutput works same way as the HP Output except an output will be turned on when a Low Preset is reached Assign Variables to the Function Block 1 Go back to the ladder diagram and assign the variables you have just configured to the corresponding elements of the HSC function block The HSC function block should appear as shown in the screenshot To assign a variable to a particular element in your function block double click the empty variable block On the Variable selector that appears choose the variable you have just created For example for the input element HSC AppDaata select the variable MyAppData Rockwell Automation Publication 2080 UMO002H EN E November 2015 Quickstarts Appendix C 2 Next click the Micro830 controller under the Project Organizer pane to bring up the Micro830 Controller Properties pane Under Controller Properties click Embedded I O Set the input filters to a correct value depending on the characteristics of your encoder Controller General Memory Serial Port USB Port Date and Time Interrupts Startup Faults Modbus Mapping Embedded I O E Motion lt New Axis gt Plug In Modules lt Empty gt lt Empty gt lt Empty gt lt
72. Requirement Micro830 and Micro850 without plug in expansion 1 0 10 16 point 5W 24 point 8W 48 point 11W Plug in modules each 1 44W Expansion 1 0 2085 1Q16 0 85 W system bus power consumption 2085 I032T 0 95 W 2085 IA8 075W 2085 IM8 075W 2085 0A8 0 90 W 2085 0B16 1 00 W 2085 0V16 1 00 W 2085 OW8 1 80 W 2085 0W16 3 20 W 2085 IF4 170W 2085 IF8 175W 2085 0F4 370W 2085 IRT4 200W Calculate Total Power for Your Micro830 Micro850 Controller To calculate Total Power for your Micro830 and Micro850 controller use the following formula Total Power Main Unit Power No of Plug ins Plug in Power Sum of Expansion I O Power Example 1 Derive Total Power for a 24 point Micro830 controller with two plug ins Total Power 8 W 1 44 W 2 0 10 88 W Example 2 Derive Total Power for a 48 point Micro850 controller with 3 plug ins and 2085 IQ16 and 2085 IF4 expansion I O modules attached Total Power 11 W 3 1 44 W 0 85 W 1 7 W 17 87 W Rockwell Automation Publication 2080 UM002H EN E November 2015 273 Appendix G 274 System Loading Calculate External AC Power Supply Loading for your Micro830 Controller To calculate External AC Power Supply Loading e Get total sensor current loading For this example assume it is 250 mA e Calculate Total Power Loading by Sensor using this formula 24V 250 mA 6 W e Derive External AC Power Supply Loadi
73. Sample Motion Wiring Configuration on 2080 LC30 xx0BB 2080 LC50 xx0BB Encoder signal cable Motor power cable Kinetix3 2080 LC30 xxQBB 2080 LC50 xxQBB 46047 Notes 1 Drive Enable Pin 3 and Reset Drive Pin 7 will be operating as sinking inputs when Pin 1 2 connected to of the Power Supply 2 To help you configure Kinetix3 drive parameters so the drive can communicate and be controlled by a Micro830 Micro850 controller see publication CC 0S025 Motion Control Function Motion control function blocks instruct an axis to a specified position distance B oc ks velocity and state Function Blocks are categorized as Movement driving motion and Administrative Administrative Function Blocks Function Block Name Function Block Name MC Power tsti lt SC MC_ReadAxisError MC_Reset MC_ReadParameter MC_TouchProbe MC_ReadBoolParameter MC_AbortTrigger MC_WriteParameter MC_ReadStatus MC_WriteBoolParameter MC_SetPosition Rockwell Automation Publication 2080 UMO002H EN E November 2015 81 Chapter7 Motion Control A Take note of the following WARNING During Run Mode Change RMC the MC_Power function block should be disabled which will power down the axis Otherwise the axis will remain powered even if the function block is deleted e fanew instance of MC_Power accesses the axis the axis will enter the error stop state e If MC_Power is inside a UDFB and
74. T 45037 13 12 0 10 6 9 g 45036 Controller Description Description Description 1 Status indicators 8 Mounting screw hole mounting foot 2 Optional power supply slot g DIN rail mounting latch 3 Plug in latch 10 Mode switch 4 Plug in screw hole 11 Type B connector USB port 5 40 pin high speed plug in connector 12 RS 232 RS 485 non isolated combo serial port 6 Removable 1 0 terminal block 13 Optional AC power supply 7 Right side cover Status Indicator Description Description Description 14 Input status 18 Force status 15 Power status 19 Serial communications status 16 Run status 20 Output status 17 Fault status 1 For detailed description of the different status LED indicators see Troubleshooting on page 253 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Chapter 1 Hardware Overview Micro850 Controllers Micro850 24 point controllers and status indicators 1 2 3 4 5 6 7 8 Status indicators O En mfi nooo WeeeebeecdgeceeceoaO 16S o000 E SS 17 F a ele 21 MANIE a
75. Terminated Shield Chassis Ground green LED 45920 The yellow status LED indicates Link solid yellow or No Link off The green status LED indicates activity blinking green or no activity off Micro850 controllers support Ethernet crossover cables 2711P CBL EX04 Ethernet Status Indication Micro850 controllers also support two LEDs for EtherNet IP to indicate the following e Module status e Network status See Troubleshooting on page 253 for descriptions of Module and Network status indicators Rockwell Automation Publication 2080 UMO002H EN E November 2015 Chapter 1 Hardware Overview Notes 8 Rockwell Automation Publication 2080 UM002H EN E November 2015 Programming Software for Micro800 Controllers Controller Changes in Run Mode Chapter 2 About Your Controller Connected Components Workbench is a set of collaborative tools supporting Micro800 controllers It is based on Rockwell Automation and Microsoft Visual Studio technology and offers controller programming device configuration and integration with HMI editor Use this software to program your controllers configure your devices and design your operator interface applications Connected Components Workbench provides a choice of IEC 61131 3 programming languages ladder diagram function block diagram structured text with user defined function block support that optimizes machine control Obtain Connected Com
76. Travel per Revolution 10 mm Direction Polarity Non inverted Mode Bi Directionai Change Delay Time 10 ms IMPORTANT Certain parameters for Motor and Load are Real values For more information see Real Data Resolution on page 112 106 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 Motor and Load Parameters Parameter User defined unit Description and Values Defines user unit scaling that matches your mechanical system values These units shall be carried forward into all command and monitor axis in user unit values throughout programming configuration and monitoring functions Position Select from any of the following options mm cm inches revs custom unit ASCII format of up to 7 characters long Time Read only Predefined in seconds Motor revolution Defines pulse per revolution and travel per revolution values Pulse per revolution Defines the number of pulses needed to obtain one revolution of the drive motor Range 0 0001 8388607 Default 200 0 Travel per revolution Travel per revolution defines the distance either linear or rotational that the load moves per revolution of the motor Range 0 0001 8388607 Default 1 0 user unit Direction Defines polarity mode and change of delay time values Polarity Direction polarity determines whether the direction signal received by
77. Turn on time 10 ms 2 5 US 0 1 ms Turn off time max 1 ms 1 Applies for general purpose operation only Does not apply for high speed operation Isolated AC Inputs 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB Inputs 0 11 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Relay Contacts Ratings Maximum Volts Amperes Make Amperes Volt Amperes Continuous 1800V A 1 0A 28V A 120V AC 240V AC 750A 0 75 A 24V DC 1 0A 125V DC 0 22 A Rockwell Automation Publication 2080 UM002H EN E November 2015 187 Environmental Specifications Attribute Temperature operating Value 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 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock
78. ace naan endua das Pa Rae wen 126 Chapter 8 High Speed Counter Oveivicwisaks v csewsus oaseiaeuseven cannes 127 Programmable Limit Switch Overview 00 cece eee 127 What is High Speed Counter sens ccieidis blecceesie etd aes 128 Features and Operation sssessessesseseessereessersese 128 HSC Inputs and Wiring Mapping 00 0 cece eee eee 129 High Speed Counter HSC Data Structures 000 000 133 HSC APP D ta Structure i oie ele coh ele UL eas A be ad 133 PLS Enable HSCAPP PLSEnable s34 ex neues ceetee te 133 HSGID HSCAPP HSCID ionice a carer 134 HSC Mode HSCAPP HSCMode 0 00 ce cee eneeeeee 134 Accumulator HSCAPP Accumulator 0cceceeeeee 140 High Preset HSCAPP HPSetting of snack s255 day eae nase 140 Low Preset HISCAPE LP Setting 220 c ancnietea dees euntant 141 Overflow Setting HSCAPP OFSetting 0000 141 Underflow Setting HSCAPP UFSetting 0000 141 Output Mask Bits HSCAPP OutputMask 026 142 High Preset Output HSCAPP HPOutput 0 00 143 Low Preset Output HSCAPP LPOutput 005 143 HSC STS HSC Status Data Seriietiires s nes dessa ecb e8isous 144 Counting Enabled HSCSTS CountEnable 144 Error Detected HSCSTS ErrorDetected 6 0 ee eae 144 Count Up HSCSTS CountUpFlag ss a0esay os 145 Count Down HSCSTS CountDownFlag 0060 145 Mode Done
79. axis use the MC_ResetPosition function block to reset the position to zero IMPORTANT Ifthe feedback axis is in the error state because the configured position limits have been exceeded using the MC_Reset function block to reset the axis may not clear the error as there may still be pulse detected from the encoder 126 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Chapter 8 Use the High Speed Counter and Programmable Limit Switch High Speed Counter All Micro830 and Micro850 controllers except for 2080 LCxx AWB support Overview up to six high speed counters HSC The HSC feature in Micro800 consists of two main components the high speed counter hardware embedded inputs in the controller and high speed counter instructions in the application program High speed counter instructions apply configuration to the high speed counter hardware and updates the accumulator have a basic understanding of the following ATTENTION To use the Micro800 HSC feature effectively you need to e HSC components and data elements The first sections of the chapter provides a detailed description of these components Quickstart instructions see page 199 are also available to guide you through setting up a sample HSC project e Programming and working with elements in Connected Components Workbench The user needs to have a working knowledge of programming through ladder diagram structured text or function block
80. clear 2 Download the program using Connected Components Workbench he user data If the system variable If the fault persists contact your local Rockwell Automation technical support i representative For contact information see SYSVA USER DATA_LOST is set the http support rockwellautomation com MySupport asp controller is able to recover the user program but the user data is cleared If not the Micro800 controller program is cleared e A Micro800 controller revision 1 xx clears he program Note that the system variable SYSVA_USER_DATA_LOST is not available on Micro800 controllers revision 1 xx OxF003 One of the following occurred Perform one of the following e The memory module hardware faulted e Remove the memory module and plug it in again e The memory module connection faulted e Obtain a new memory module e The memory module was incompatible with e Upgrade the Micro800 controller s firmware revision to be compatible with the Micro800 controller s firmware revision the memory module For more information on firmware revision compatibility go to http www rockwellautomation com support tirmware html OxF004 A failure occurred during the memory module Attempt the data transfer again If the error persists replace the memory 256 data transfer module Rockwell Automation Publication 2080 UM002H EN E November 2015 Troubleshooting Appendix E List of Error Codes for Micro800 controllers Error Code OxF005
81. contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV 5 kHz on power ports 2 kV 5 kHz on signal ports Surge transient immunity IEC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports Conducted RF immunity Rockwell Automation Publication 2080 UM002H EN E November 2015 IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz 179 AppendixA Specifications Certifications Certification when Value product is marked 1 c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant
82. diagram to be able to work with the HSC function block and variables block and its elements in the Connected Components Workbench ATTENTION Additional information is available on the HSC function Online Help that comes with your Connected Components Workbench installation This chapter describes how to use the HSC function and also contains sections on the HSC and HSC_ SET_STS function blocks as follows High Speed Counter HSC Data Structures HSC High Speed Counter Function Block HSC_SET_STS Function Block Programmable Limit Switch PLS Function HSC Interrupts Programmable Limit Switch The Programmable Limit Switch function allows you to configure the Overview High Speed Counter to operate as a PLS Programmable Limit Switch or rotary cam switch For more information see Programmable Limit Switch PLS Function on page 153 Rockwell Automation Publication 2080 UM002H EN E November 2015 127 Chapter8 Use the High Speed Counter and Programmable Limit Switch What is High Speed Counter 128 High Speed Counter is used to detect narrow fast pulses and its specialized instructions to initiate other control operations based on counts reaching preset values These control operations include the automatic and immediate execution of the high speed counter interrupt routine and the immediate update of outputs based on a source and mask pattern you set The HSC functions are different than most other controller
83. download before entering RMC accept the changes the output on the controller will remain ON N WARNING If you delete the output rung when in Run Mode Change and See Using Run Mode Change on page 229 for an example on how to use this feature 14 Rockwell Automation Publication 2080 UM002H EN E November 2015 About Your Controller Chapter 2 Using Run Mode Configuration Change RMCC Run Mode Configuration Change RMCC is a productivity enhancement feature introduced in Release 9 for Micro820 Micro830 Micro850 controllers It allows users to reuse an identical program with multiple controllers simply by changing the address configuration of a controller within the program during run mode Micro820 Micro830 Micro850 controller firmware revision 9 xxx or higher is required to use this feature RMCC can be used to change the address configuration of the controller during run mode when the communication protocol is set to Modbus RTU for serial ports or EtherNet IP for the Ethernet port RMCC uses a CIP Generic message which can only be sent from within a controller program and not from an external device to the controller CIP Generic Message Instruction for Run Mode Configuration Change MSG_CIPGENERL Moa CIPGENENE CTR_CFG1 Sts1 APP_CFG1 Res_Length1 Target_Cfgl Req_Data1 Reg_Lenath1 Res_Datal Run Mode Configuration Change RMCC can only be performed by the controller that is sending the messag
84. ensure that there is no damage to the hardware used in the process IF RMIN lt RIN lt RMAX then ROUT RIN IF RIN lt RMIN then ROUT RMIN IF RIN gt RMAX then ROUT RMAX e PID Feedback This user defined function block acts as a multiplexer IF FB_RST is false FB_ OUT FB_IN If FB_RST is true then FB_OUT FB_PREVAL e PID_PWM This user defined function block provides a PWM function converting a real value to a time related ON OFF output e SIM_WATERLVL This user defined function block simulates the process depicted in the application example shown before Rockwell Automation Publication 2080 UM002H EN E November 2015 271 Appendix F _ PID Function Block IMPORTANT User Program Scan Time is Important The autotuning method needs to cause the output of the control loop to oscillate In order to identify the oscillation period the IPID must be called frequently enough to be able to sample the oscillation adequately The scan time of the user program must be less than half the oscillation period In essence the Shannon or Nyquist Shannon or the sampling theorem must be adhered to In addition it is important that the function block is executed at a relatively constant time interval One can typically achieve this using STI interrupt 272 Rockwell Automation Publication 2080 UM002H EN E November 2015 Appendix G System Loading Micro830 and Micro850 Power Requirements Controller Module Power
85. in Function Block Diagram you can connect the axis output parameter to the Axis input parameter of another motion function block for convenience for example MC_POWER to MC_HOME When used in a Ladder Diagram you cannot assign a variable to the Axis output parameter of another motion function block because it is read only Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 General Rules for the Motion Function Block Parameter General Rules Behavior of Done Output The output Done is set when the commanded action has completed successfully With multiple function blocks working on the same axis in a sequence the following rule applies When one movement on an axis is aborted with another movement on the same axis without having reached the final goal output Done will not be set on the first function block Behavior of Busy Output Every function block has a Busy output indicating that the function block is not yet finished for function blocks with an Execute input and new output values are pending for function blocks with Enable input Busy is set at the rising edge of Execute and reset when one of the outputs Done Aborted or Error is set or it is set at the rising edge of Enable and reset when one of the outputs Valid or Error is set It is recommended that the function block continue executing in the program scan for as long as Busy is true because the outputs will only be updat
86. is when the MC_Home function block is issued Scenario 1 Moving part at right positive side of Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side in negative direction 2 When Lower Limit switch is detected the moving part decelerates to stop or stops immediately according to Limit Switch Hard Stop configuration 3 Moving part moves back in positive direction in creep velocity to detect Lower Limit switch On gt Off edge 4 Once Lower Limit switch On gt Off edge is detected record the position as mechanical home position and decelerate to stop 5 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software Scenario 2 Moving part on Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows Rockwell Automation Publication 2080 UM002H EN E November 2015 119 Chapter 7 120 Motion Control 1 Moving part moves to its right side in positive direction in creep velocity to detect Lower Limit switch On gt Off edge 2 Once Lower Limit switch On gt Off edge is detected record the position as mechanical home position and decelerate to stop 3 Move to the configured home position The mechanical home position recorded during moving
87. m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV 5 kHz on power ports 2 kV 5 kHz on signal ports Surge transient immunity IEC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports Conducted RF immunity Certifications Certification when prod ct is marked c UL us Value IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class I Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Con ormity Certificates and oth
88. markings on the rating nameplate indicating the hazardous location temperature code When combining products within a system the most adverse temperature code lowest T number may be used to help determine the overall temperature code of the system Combinations of equipment in your system are subject to investigation by the local Authority Having Jurisdiction at the time of installation Les produits marqu s CLI DIV 2 GP A B C D ne conviennent qu une utilisation en environnements de Classe Division 2 Groupes A B C D dangereux et non dangereux Chaque produit est livr avec des marquages sur sa plaque d identification qui indiquent le code de temp rature pour les environnements dangereux Lorsque plusieurs produits sont combin s dans un syst me le code de temp rature le plus d favorable code de temp rature le plus faible peut tre utilis pour d terminer le code de temp rature global du syst me Les combinaisons d quipements dans le syst me sont sujettes a inspection par les autorit s locales qualifi es au moment de l installation EXPLOSION HAZARD Do not disconnect equipment unless power has been emoved or the area is known to be nonhazardous e Do not disconnect connections to this equipment unless power has been removed or the area is known to be nonhazardous Secure any external connections that mate to his equipment by using screws sliding latches threaded connectors or other means pro
89. or due to expected PTO the function block is aborted as the PTO accumulator logic limit error in a function block Accumulator logic limit has been reached Reset the state of the axis using the MC_Reset Check the velocity or target position settings for function block the function block Or use MC_SetPosition Check the velocity or target position settings for function block to adjust the axis coordinate system the function block Or use MC_SetPosition function block to adjust the axis coordinate system 13 MC_FB_ERR_ENGINE A motion engine execution error is detected during The axis is not operational due to a motion engine the execution of this function block execution error Power cycle the whole motion setup including Power cycle the whole motion setup including controller drives and actuators and re download controller drives and actuators and re download the User Application the User Application If the fault is persistent call Tech support If the fault is persistent contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySuppor Lasp 16 MC_FB_ERR_NOT_HOMED The Function Block cannot execute because the The axis is not operational because the axis is not axis needs to be homed first homed Execute homing against the axis using MC_Home_ Reset the state of the axis using the MC_Reset Function Block Function Block 128 MC_FB_PARAM_MODI
90. pulses are sent to a motion device such as a servo drive which in turn controls the number of rotations position of a servo motor Each PTO is exactly mapped to one axis to allow for control of simple positioning in stepper motors and servo drives with pulse direction input As the duty cycle of the PTO can be changed dynamically the PTO can also be used as a pulse width modulation PWM output PTO PWM and motion axes support on the Micro830 and Micro850 controllers are summarized below PTO PWM and Motion Axis Support on Micro830 and Micro850 Controller PTO built in Number of Axes Supported 10 16 Points 1 1 080 LC30 100VB 080 LC30 160VB oints 2 2 080 LC30 240VB 080 LC30 240BB 080 LC50 240VB 080 LC50 240BB oints 3 3 080 LC30 480VB 080 LC30 480BB 080 LC50 480VB 080 LC50 480BB A v co pz NNNNA NNN NNN NN 0 PWM outputs are only supported on firmware revision 6 and later 2 For Micro830 catalogs Pulse Train Output functionality is only supported from firmware revision 2 and later Rockwell Automation Publication 2080 UM002H EN E November 2015 75 Chapter 7 76 Motion Control ATTENTION To use the Micro800 Motion feature effectively users need A to have a basic understanding of the following e PTO components and parameters See Use the Micro800 Motion Control Feature on page 76 for a general overview of Motion components and their relationships e Pr
91. requirements The STI is a trigger mechanism that allows you to scan or solve control program logic that is time sensitive Example of where you would use the STI are PID type applications where a calculation must be performed at a specific time interval A block of logic that needs to be scanned more often How an STI is used is typically driven by the demands requirements of the application It operates using the following sequence 1 The user selects a time interval 2 When a valid interval is set and the STI is properly configured the controller monitors the STI value 3 When the time period has elapsed the controller s normal operation is interrupted 4 The controller then scans the logic in the STI POU 5 When the STI POU is completed the controller returns to where it was prior to the interrupt and continues normal operation This section covers the configuration and status management of the STI function 247 Appendix D 248 User Interrupts STI Function Configuration STI Program POU This is the name of the Program Organizational Unit POU which is executed immediately when this STI Interrupt occurs You can choose any pre programmed POU from the drop down list STI Auto Start STIO AS Sub Element Description Data Format User Program Access AS Auto Start binary bit read only The AS Auto Start is a control bit that can be used in the control program
92. rounded to 2 147419E 07 21474186 rounded to 2 147419E 07 If the eighth digit is lt 5 no rounding is done and the seventh digit remains the same For example 21474181 rounded to 2 147418E 07 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 Examples for Motion Configuration 1 Parameter Actual Value Converted Tooltip Error Value Entered by User Value in Connected Components Workbench Pulses per revolution 8388608 8388608 Pulse per revolution must be in no conversion the range of 0 0001 to 8388607 user unit Upper Soft Limit 10730175 1 073018E 7 Upper Soft limit must be greater than Lower Soft Limit The range is from 0 exclusive to 1 073217E 07 user unit Lower Soft Limit 10730175 1 073018E 7 Lower Soft limit must be smaller than Upper Soft Limit The range is from 1 073217E 07 to 0 exclusive user unit 1 Qn the axis configuration page in Connected Components Workbench an input field with a red border indicates that the value that has been entered is invalid A tooltip message should let you know the expected range of values for the parameter The range of values presented in the tooltip messages are also presented in REAL data format Variable Monitor Example The Variable Monitor displays six significant digits with rounding although the real data type still contains seven significant digits ES Variable Monitoring Global Variables M
93. the controller as a discrete input should be interpreted on the input as received by the motion controller that is the non inverted case or whether the signal should be inverted prior to interpretation by the motion control logic Set as Inverted or Non inverted default Mode Set as Bi directional default Positive clockwise or Negative counter clockwise direction Change delay time Configure from 0 100 ms Default value is 10 ms The parameter is set as REAL float value in Connected Components Workbench To learn more about conversions and rounding of REAL values see Real Data Resolution on page 112 TIP A red border on an input field indicates that an invalid value has been entered Scroll over the field to see tooltip message that will let you know the valid value range for the parameter Supply the valid value ATTENTION Modifying Motor Revolution parameters may cause axis runaway Rockwell Automation Publication 2080 UMO002H EN E November 2015 107 Chapter 7 108 Motion Control Limits Edit the Limits parameters based on the table below axisl Limits Hard Limits When hard limit is reached apply Emergency Stop Profile 7 Lower Hard Limit 7 Upper Hard Limit Active Level Low _ x Active Level low ss Switch Input 10_EM_DLOO Switch Input 10 EM_DI01 Soft Limits When soft limit is reached Emergency Stop Profile will be applied Lower Soft
94. the limit switch configuration and the actual status for the switches before homing starts that is when the MC_Home function block is issued Scenario 1 Moving part at right positive side of Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side in negative direction 2 When Lower Limit switch is detected the moving part decelerates to stop or stops immediately according to Limit Switch Hard Stop configuration 3 Moving part moves back in positive direction in creep velocity to detect Lower Limit switch On gt Off edge 4 Once Lower Limit switch On gt Off edge is detected start to detect first Ref Pulse signal 5 Once the first Ref Pulse signal comes record the position as the mechanical home position and decelerate to stop 6 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software Scenario 2 Moving part on Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its right side in Positive direction in creep velocity to detect Lower Limit switch On gt Off edge 2 Once Lower Limit switch On gt Off edge is detected start to detect first Ref Pulse signal 3 Once the first Ref Pulse signal comes record
95. the position as the mechanical home position and decelerate to stop Rockwell Automation Publication 2080 UMO002H EN E November 2015 Motion Control Chapter 7 4 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software Scenario 3 Moving part at left negative side of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part at the proper location before homing starts MC_HOME_DIRECT MC_HOME_DIRECT 4 homing procedure performs a static homing by directly forcing an actual position No physical motion is performed in this mode This is equivalent to a MC_SetPosition action except that Axis Homed status will be on once MC_Home mode 4 is performed successfully Rockwell Automation Publication 2080 UMO002H EN E November 2015 123 Chapter 7 Motion Control Use PTO for PWM Control The following example shows you how to use a PTO axis as a PWM 124 Launch Connected Components Workbench and create the following ladder program Enable power up the PWM axis immediately after going to RUN mode PWM axis will remain powered ON until Program mode and so on g MC_Power_1 __SYSVA_FIRST_SCAN MC_Power ENO o EN PWMO0 Axis Axi
96. these activities is underestimated and the Watchdog timeout is set marginally The Watchdog setting defaults to 2 s and generally never needs to be changed Periodic Execution of Programs For applications where periodic execution of programs with precise timing is required such as for PID it is recommended that STI Selectable Timed Interrupt be used to execute the program STI provides precise time intervals It is not recommended that the system variable __ SYSVA_TCYCYCTIME be used to periodically execute all programs as this also causes all communication to execute at this rate WARNING Communication timeouts may occur if programmed cycle time is set too slow for example 200 ms to maintain communications System Variable for Programmed Cycle Time Variable __SYSVA_TCYCYCTIME Description Programmed cycle time Note Programmed cycle time only accepts values in multiples of 10 ms If the entered value Is not a multiple of 10 it will be rounded up to the next multiple of 10 On firmware revision 2 and later all digital output variables driven by the I O scan gets cleared on powerup and during transition to RUN mode Two system variables are also available from revision 2 and later System Variables for Scan and Powerup on Firmware Release 2 and later Variable Type Description _SYSVA_FIRST_SCAN BOOL First scan bit Can be used to initialize or reset variables immediately after every transition from Progr
97. tty ya eek nts Bers 66 Ethernet Host N E oc4 lt stesteamce ccd aetna os bon ete ta ota Sate 66 Configure CIP Serial Driver oiauc lt s sh abeiutditaad eens ya welts 67 OPC Support Using RSLinx Enterprises i 3 s0590 3s eta cae hae 67 Chapter 6 Overview of Program Executions citing paiavandote eeeornd Lenies 69 Ezec tion Rules arco trou a a a a E E ae es Gt eS 70 Controller Load and Performance Considerations 005 70 Periodic Execution of Progtamsiansesrntueuicutiorsnvenwesaanesy 71 Power Upand First Scans teeseen ken a EEE EA E a 71 Variable Retentions Wasi snot erty ess ade Rta 72 Memory Allocati n asernes sects pte seuan den EEEE a aS 72 Guidelines and Limitations for Advanced Users 0 0000e0ee 72 Chapter 7 Use the Micro800 Motion Control Feature 000005 76 Input and Output Signals uu0t aye te leecuy hese eaagee aie 78 Motion Control Function Blocks 0c eee cec ee ee een enes 81 General Rules for the Motion Control Function Blocks 83 Motion Axis and Patametersics Socios font ose ete oad behets 91 Motion Axis State Diagram ce ue ececedet A eae e ceetts 92 AXIS StALeSis lt Veda EE ys EE EE E ET 93 Timiti an a E a O a T AS 94 Motion DIOP aii riaa eena oea arr a a a a a a iN 96 Motion Direction 0 ccc ence E e A 97 Axis Elements and Data Types wececan cnn cs beetste na ne tes ouanoscs 98 Axis Error Sc narios susse esed seeen bd da a A aa ei dakads 99 MC_Engine_Diag
98. used HSC Mode 5 Two Input Counter up and down with External Reset and Hold HSC Mode 5 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Direction Reset Hold Example 1 1 on IU off on of off on 1 HSC Accumulator 1 count 1 0 1 0 0 Example 2 on IU off IN on of off jon 1 HSC Accumulator 1 count 1 0 1 0 0 Example3 on of on Hold accumulator value 1 0 1 Example 4 on of off 0 Hold accumulator value 1 0 Example 5 on U off on of Hold accumulator value 1 0 1 0 Example 6 1 Clear accumulator 0 Blank cells don t care rising edge V falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used Rockwell Automation Publication 2080 UM002H EN E November 2015 137 Chapter8 Use the High Speed Counter and Programmable Limit Switch Using the Quadrature Encoder The Quadrature Encoder is used for determining direction of rotation and position for rotating such as a lathe The Bidirectional Counter counts the rotation of the Quadrature Encoder The figure below shows a quadrature encoder connected to inputs 0 1 and 2 The count direction is determined by the phase angle between A and B If A leads B the counter increments If B leads A the counter decrements The counter can be reset using the Z input The Z outputs from the encoders typically provide one
99. value and falls between 2 147 483 648 and 2 147 483 647 TIP Data loaded into the overflow variable must be greater than or equal to the data resident in the high preset HSCAPPHPSetting or an HSC error is generated Underflow Setting HSCAPP UFSetting Description Data Format User Program Access HSCAPP UFSetting long word 32 bit INT read write The HSCAPP UFSetting defines the lower count limit for the counter If the counter s accumulated value decrements past the value specified in this variable an underflow interrupt is generated When the underflow interrupt is generated the HSC sub system resets the accumulated value to the overflow value and the counter then begins counting from the overflow value counts are not lost in this transition The user can specify any value for the underflow position provided it is less than the overflow value and falls between 2 147 483 648 and 2 147 483 647 Rockwell Automation Publication 2080 UM002H EN E November 2015 141 Chapter8 Use the High Speed Counter and Programmable Limit Switch TIP Data loaded into the underflow variable must be less than or equal to the data resident in the low preset HSCAPP LPSetting or an HSC error is generated Output Mask Bits HSCAPP OutputMask Description Data Format User Program Access HSCAPP OutputMask word 32 bit binary read write The HSCAPP OutputMask defines which embedded outputs on the controll
100. your Micro800 system with expansion 1 0 see the User Manual for Micro800 Expansion I O Modules 2080 UMO003 Panel Mounting Dimensions Micro830 10 and 16 Point Controllers 2080 LC30 10QWB 2080 LC30 10QVB 2080 LC30 16AWB 2080 LC30 16QWB 2080 LC30 16QVB 86 mm 3 39 in a e OOOO oo 0g BE gg O00000 58 100 mm 3 94 in OOO0O00000000 oo Ve UU 45325 34 Rockwell Automation Publication 2080 UM002H EN E November 2015 Install Your Controller Chapter 3 Micro830 24 Point Controllers 2080 LC30 240QWB 2080 LC30 240VB 2080 LC30 240BB
101. 0 LC50 48QVB a Search Ton Show Parameters Name Type Category ale TON Jre Time On delay timing TONO Timely an output onltrae then delay an output ofifalse 4 mM e gt Instance TONOFF_1 v New E EN ENO Configure the Instruction Block to trigger every one second Micro850 Run_Mode_Change POU Dimension Project Value Initial Value Comment String Size TONOFF_1 TONOFF z o on On_Time TIME T ls Off_Time TIME T ls 4 From the Toolbox double click Reverse Contact to add it to the rung or drag and drop Reverse Contact onto the run Place it to left of the recently added Instruction Block Run_Mode_Change VAR Micro850 TONOFF_1Q Rockwell Automation Publication 2080 UM002H EN E November 2015 233 Appendix C Quickstarts 234 5 Click the Test Logic Changes icon to build the project and download it to the controller Output p sss Show output from Build a wa gt xl wees ee Rost bast i prasects UNTRUE Erne ee aa aaa aaa Post build resource Micro85 Configuration Micro85 Micro850 error s warning s Build End iia Build 1 succeeded failed up to date skipped E Error List Ei Output IMPORTANT When a Test Logic is performed or undoing changes after the Test Logic is completed any active communication instructions will be aborted while the c
102. 002H EN E November 2015 99 Chapter 7 Motion Control For the above exceptions it is still possible for the user application to issue a successful movement function block to the axis after the axis state changes MC_Engine_Diag Data Type The MC_Engine_Diag data type contains diagnostic information on the embedded motion engine It can be monitored in debug mode through the Connected Components Workbench software when the motion engine is active or through the user application as part of user logic It can also be monitored remotely through various communication channels One MC_Engine_Diag instance is created automatically in the Connected Components Workbench software when the user adds the first motion axis in the motion configuration This instance is shared by all user configured motion axes Data Elements for MC_Engine_Diag Element name Data Type MCEngState UINT16 CurrScantimel UINT16 MaxScantime UINT16 CurrEnginelnterval UINT16 MaxEnginelnterval UINT16 ExtraData UINT16 1 The time unit for this element is microsecond This diagnostic information can be used to optimize motion configuration and user application logic adjustment MCEngstate States State name State Description MCEng_lIdle 0x01 MC engine exists at least one axis defined but the engine is idle as there is no axis is moving The Engine diagnostic data is not being updated MCEng_Running 0x02 MC engine ex
103. 0_EM_DO_00 IMPORTANT From Connected Components Workbench version 8 0 onwards selecting Yes to change the controller to Remote Run mode after a downloading a project automatically switches it to Debug mode Rockwell Automation Publication 2080 UMO002H EN E November 2015 231 AppendixC _Quickstarts Edit the Project Using Run Mode Change Run Mode Change Toolbar Fg Run Mode cane I Run Mode Change Test Logic Changes Accept Changes Undo Changes 1 Click the Run Mode Change L icon Observe that the controller goes into Edit mode and is still connected e 54 Ven Does Fomat Toeh Commenters Yd Hep FOdi Aw SOO Sls cert Goa oe trivia s fib agase si ata i 4 2 Ape Logege BLU SIA ERSBIE E 2 bees rection Bets OstaTypes 0 k Hi 2 gt o o o e 4t 4 Genes If you add a new variable during RMC external data access and changing the access type default is Read Write of this new variable is not available until you have chosen to Accept or Undo the Test Logic changes 2 From the Toolbox double click Instruction Block to add it to the rung or drag and drop Instruction Block onto the rung 232 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Quickstarts Appendix C 3 Double click the newly added Instruction Block and select Timer On Off TONOFF 1G Instruction Block Selector Run_Mode_Change TONOFF 208
104. 1 Chapter 7 Motion Control 92 Motion Axis State Diagram MC_MoveAbsolute MC_MoveRelative MC_MoveVelocity MC_Halt MC_MoveAbsolute MC_MoveRelative MC_Halt MC_MoveVelocity s K k i Error ee sie Stopping Note 6 Error he Note 1 ET i kA MC_MoveAbsolute te vs MC_Stop MC_MoveRelative y MC_MoveVelocity ErrorStop i MC_Stop 5 wes A i Note 4 Error 5 Me Reset Error A MC_Reset and E k MC_Power Status FALSE Homing StandsStill Note 3 Disabled Note 5 MC_Home NOTES 1 2 3 4 5 6 In the ErrorStop and Stopping states all function blocks except MC_Reset can be called although they will not be executed MC_Reset generates a transition to the Standstill state If an error occurs while the state machine is in the Stopping state a transition to the ErrorStop state is generated Axis position still updates even if the Axis state is ErrorStop Also the MC_TouchProbe function block is still active if it was executed before the ErrorStop state Power Enable TRUE and there is an error in the Axis Power Enable TRUE and there is no error in the Axis MC_Stop Done AND NOT MC_Stop Execute When MC_Power is called with Enable False the axis goes to the Disabled state for every state including ErrorStop If an error occurs while the state machine is in Stopping state a transition to the ErrorStop state is generated
105. 2 point 12 24V Sink Source Input Modules Installation Instructions 2085 IN001 Information on mounting and wiring the expansion O modules 2085 1016 2085 10327 Micro800 Bus Terminator Module Installation Instruction 2085 IN002 Information on mounting and wiring the expansion 0 bus terminator 2085 ECR Micro800 16 Point Sink and 16 Point Source 12 24V DC Output Modules Installation Instructions 2085 IN003 Information on mounting and wiring the expansion I O modules 2085 OV16 2085 0B16 Micro800 8 Point and 16 Point AC DC Relay Output Modules Installation Instructions 2085 IN004 Information on mounting and wiring the expansion I O modules 2085 OW8 2085 OW16 Micro800 8 Point Input and 8 Point Output AC Modules Installation Instructions 2085 IN005 Information on mounting and wiring the expansion O modules 2085 IA8 2085 IM8 2085 0A8 Micro800 4 channel and 8 channel Analog Voltage current Input and Output Modules Installation Instructions 2085 IN006 Information on mounting and wiring the expansion I O modules 2085 IF4 2085 IF8 2085 0F4 Micro800 4 channel Thermocouple RTD Input Module 2085 INO07 nformation on mounting and wiring the expansion I O module 2085 IRT4 Micro800 RS232 485 Isolated Serial Port Plug in Module Wiring Diagrams 2080 WD002 nformation on mounting and wiring the Micro800 RS232 485 Isolated Serial Port Plug
106. 2080 UMO002H EN E November 2015 129 Chapter8 Use the High Speed Counter and Programmable Limit Switch HSCO s sub counter is HSC1 HSC2 s sub counter is HSC3 and HSC4 s sub counter is HSCS Each set of counters share the input The following table shows the dedicated inputs for the HSCs depending on the mode HSC Input Wiring Mapping Embedded Input 0 01 02 03 04 05 06 07 08 09 10 11 HSCO A C B D Reset Hold HSC1 A C B D HSC2 A C B D Reset Hold HSC3 A C B D HSC4 A C B D Reset Hold HSC5 A C B D The following tables show the input wiring mapping for the different Micro830 and Micro850 controllers Micro830 10 and 16 point Controller HSC Input Wiring Mapping Modes of Operation Input 0 HSCO Input 1 HSCO Mode Value in Input 2 HSC1 Input 3 HSC1 User Program HSCAppData HSCMode Counter with Internal Direction Count Up Not Used 0 mode 1a Counter with Internal Count Up Not Used Reset Hold 1 Direction External Reset and Hold mode 1b Counter with External Count Up Down Direction Not Used 2 Direction mode 2a Counter with External Coun Direction Reset Hold 3 Direction Reset and Hold mode 2b Two Input Counter mode 3a Count Up Count Down Not Used 4 Two Input Counter with Count Up Count Down Reset Hold 5 External Reset and Hold mode 3b Quadrature Counter mode 4a A Type inpu
107. 214 Forcing I Os 227 Using Run Mode Change 229 Flash Upgrade Your This quick start will show you how to flash update the firmware in a Micro800 controller using ControlFLASH ControlFLASH is installed or updated with the latest Micro800 firmware when Connected Components Workbench software is installed on your computer Micro800 Firmware a ControlFLASH firmware upgrade For users who need to use the same static IP address as previously set for example use the Memory Module to store project settings prior to a flash upgrade so that you can have the option to restore your original Ethernet settings ATTENTION All Ethernet settings are reverted to factory default after On Micro850 controllers users can use flash upgrade their controllers through the Ethernet port in addition to the USB IMPORTANT To successfully flash update your controller over USB when using the ControlFLASH software connect only one controller to your computer and do not run ControlFLASH in a virtual machine such as VMware Rockwell Automation Publication 2080 UM002H EN E November 2015 199 Appendix Quickstarts 1 Through USB Verify successful RSLinx Classic communications with your Micro800 controller by USB using RSWho Micro830 Micro850 controllers use the AB_VBP x driver Select the 2080 1050 I Autobrowse Retresh Pa Not Browsing Workstation WIN 5UI68RNHAAG a z 2 Linx Gateways Ethernet s AB_ETHIP 1 Ethernet Backpl
108. 23 E k 24 ooo D oo i Wv 45910 8 45909 15 14 13 12 11 10 6 10 Controller Description Description Description 1 Status indicators 9 Expansion I O slot cover 2 Optional power supply slot 0 DIN rail mounting latch 3 Plug in latch 1 Mode switch 4 Plug in screw hole 2 Type B connector USB port 5 40 pin high speed plug in connector 3 RS232 RS485 non isolated combo serial port 6 Removable 1 0 terminal block 4 RJ 45 Ethernet connector with embedded green and yellow LED indicators 7 Right side cover 5 Optional power supply 8 Mounting screw hole mounting foot Status Indicator Description Description Description 16 Input status 21 Fault status 17 Module Status 22 Force status 18 Network Status 23 Serial communications status 19 Power status 24 Output status 20 Run status 1 For detailed descriptions of the different status LED indicators see Troubleshooting on page 253 Rockwell Automation Publication 2080 UM002H EN E November 2015 Hardware Overview Chapter 1 Micro850 48 point controllers and status indicators
109. 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions CISPR 11 Group 1 Class A ESD immunity IEC 61000 4 2 4 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV 5 kHz on power ports 2 kV 5 kHz on signal ports 1 kV 5 kHz on communication ports Surge transient immunity IEC 61000 4 5 1 KV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports 1 kV line earth CM on communication ports Conducted RF immunity IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz Rockwell Automation Publication 2080 UM002H EN E November 2015 Specifications Appendix A Certifications Certification when Value product is marked 1 c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Indus
110. 30 100QVB Input terminal block como 1 01 1 03 1 04 NC NC OWOOOOOOOOO 1 00 1 02 COMI 1 05 NC NC oa Ake a a sa SS DC24 CM0 0 01 CM1 0 03 NC DC24 0 00 CM0 0 02 CM1 NC Output terminal block a 2080 LC30 16AWB 2080 LC30 16QWB Input terminal block OQOGO YOO OOO 000000000000 Output terminal block lege TIP 2080 LC30 16AWB has no high speed inputs 44 Rockwell Automation Publication 2080 UM002H EN E November 2015 Wire Your Controller Chapter 4 2080 LC30 16QVB Input terminal block Cane 1 01 1 03 1 04 1 06 1 08 000 0000 00000 1 00 1 02 coM1 1 05 1 07 1 09 I Wl 1 DC24 CM0 0 01 CM1 0 03 0 04 DC24 0 00 CM0 0 02 CM1 0 05 Output terminal block 45029 2080 LC30 24QWB 2080 LC50 24AWB 2080 LC50 24QWB Input terminal block coma 1 01 1 03 1 05 1 07 l 1 08 1 10 1 12 i OMOOOOOOOOOOOOO 1 00 1 02 1 04 1 06 comMi 1 09 1 11 1 13 I I If IT I 1 DC24 CM0 CM1 CM2 0 03 0 05 0 06 0 08 DC24 0 00 0 01 0 02 0 04 CM3 0 07 0 09 Output terminal block 43013 2080 LC30 24QVB 2080 LC30 24QBB 2080 LC50 24Q0VB 2080 LC50 240BB Input terminal block COMO 1 01 S OOSOHOOQHOHOOS i 1T 1 DC24 CM0 0 01 CM1 0 03 0 05 0 07 0 09 DC24 0 00 CM0 0 02 0 04 0 06 0 08 CM1 Output terminal block 45020 Rockwell Automation Publication 2080 UM002H EN E Novemb
111. 30 480VB 2080 LC30 480BB Attribute 2080 LC30 48AWB 2080 LC30 480WB 2080 LC30 480VB 2080 LC30 480BB Number of 0 48 28 inputs 20 outputs Dimensions 90 x 230 x 80 mm HxWxD 3 54 x 9 06 x 3 15 in Shipping weight approx 0 725 kg 1 60 Ib Wire size 0 2 2 5 mm2 24 12 AWG solid copper wire or 0 2 2 5 mm 24 12 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports Wire type Use copper conductors only Terminal screw torque 0 6 Nm 4 4 Ib in max using a 2 5 mm 0 10 in flat blade screwdriver Input circuit type 120V AC 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink standard and 24V DC source standard and high speed high speed Event input interrupt support Yes inputs 0 15 only Power consumption 18 2 W Power supply voltage range 20 4 26 4V DC Class 2 176 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Specifications Appendix A General Specifications 2080 LC30 48AWB 2080 LC30 480WB 2080 LC30 480VB 2080 LC30 480BB Attribute 2080 LC30 48AWB 2080 LC30 480WB 2080 LC30 480VB 2080 LC30 480BB 0 rating Input 120V AC 16 mA Output 2 A 240V AC Input 24V DC 8 8 mA Output 2 A 240V AC Input 24V DC 8 8 mA Output 24V DC 1 A per point Surrounding air temper
112. 4 7 00 10 8 00 35 00 19 5 00 20 18 00 45 00 19 6 100 40 38 00 65 00 49 3 100 55 53 00 80 00 64 0 100 65 63 00 90 00 73 8 100 85 83 00 100 00 92 4 100 95 93 00 100 00 98 0 Micro800 Programmable Controller External AC Power Supply General Specifications Attribute Value Dimensions HxWxD 90 x 45 x 80 mm 3 55 x 1 78 x 3 15 in Shipping weight 0 34 kg 0 75 Ib Supply voltage range 100V 120V AC 1 A 200 240V AC 0 5 A Supply frequency 47 63 Hz Supply power 24V DC 1 6 A Inrush current max 24A 132V for 10 ms 40A 263V for 10 ms Rockwell Automation Publication 2080 UM002H EN E November 2015 191 Appendix A 192 Specifications General Specifications Attribute Power consumption Output power Value 38 4W 100V AC 38 4W 240V AC Power dissipation Input power 45 1W 100V AC 44 0W 240V AC Isolation voltage 250V continuous Primary to Secondary Reinforced Insulation Type Type tested for 60s 2300V AC primary to secondary and 1480V AC primary to earth ground Output ratings max 24V DC 1 6A 38 4W Enclosure type rating Meets IP20 Wire size 0 32 2 1 mm 22 14 AWG solid copper wire or 0 32 1 3 mm 22 16 AWG stranded copper wire rated 90 C 194 F insulation max Terminal screw torque 0 5 0 6 Nm 4 4 5 3 Ib in using a Phillips head or 2 5 mm 0 10in flat blad
113. 450 and Speed Feedback 8452 at the same time Refer to the respective PowerFlex 4 Class drive User Manual for additional information about Modbus addressing See Appendix E Modbus RTU Protocol on publication 22C UM001G Performance The performance of MSG_MODBUS Micro800 is master is affected by the Program Scan because messages are serviced when the message instruction is executed in a program For example if the program scan is 100 ms and six serial ports are used then the theoretical maximum for serial ports is 60 messages second total This theoretical maximum may not be possible since MSG_MODBUS isa master slave request response protocol so performance is affected by several variables such as message size baud rate and slave response time The performance of Micro800 when receiving Modbus request messages Micro800 is slave is also affected by the Program Scan Each serial port is serviced only once per program scan Rockwell Automation Publication 2080 UM002H EN E November 2015 Appendix C Quickstarts This chapter covers some common tasks and quickstart instructions that are aimed to make you familiar with the in Connected Component Workbench The following quickstarts are included Topic Page Flash Upgrade Your Micro800 Firmware 199 Establish Communications Between RSLinx and a Micro830 Micro850 204 Controller through USB Configure Controller Password 210 Use the High Speed Counter
114. 46 Mi nimize Electrical Noise 47 Analog Channel Wiring Guidelines 47 Mi nimize Electrical Noise on Analog Channels 47 Grounding Your Analog Cable 48 Wi ring Examples 48 Embedded Serial Port Wiring Wiring Requirements and Recommendation A A the controller system 49 WARNING Before you install and wire any device disconnect power to WARNING Calculate the maximum possible current in each power and common wire Observe all electrical codes dictating the maximum current allowable for each wire sze Current above the maximum ratings may cause wiring to overheat which can cause damage United States Only If the controller is installed within a potentially hazardous environment all wiring must comply with the requirements stated in the National Electrical Code 501 10 b e Allow for at least 50 mm 2 in between I O wiring ducts or terminal strips and the controller Rockwell Automation Publication 2080 UM002H EN E November 2015 39 Chapter 4 Wire Your Controller e Route incoming power to the controller by a path separate from the device wiring Where paths must cross their intersection should be perpendicular TIP Do not run signal or communications wiring and power wiring in the same conduit Wires with different signal characteristics should be routed by separate paths e Separate wiring by signal type Bundle wiring with similar electrical ch
115. 5 Appendix D User Interrupts Interrupts allow you to interrupt your program based on defined events This chapter contains information about using interrupts the interrupt instructions and interrupt configuration The chapter covers the following topics Topic Page Information About Using Interrupts 237 User Interrupt Instructions 241 Using the Selectable Timed Interrupt STI Function 247 Selectable Time Interrupt STI Function Configuration and Status 247 Using the Event Input Interrupt Ell Function 249 For more information on HSC Interrupt see Use the High Speed Counter and Programmable Limit Switch on page 127 Information About Using The purpose of this section is to explain some fundamental properties of the User Interru pts Interrupts including e What is an interrupt e When can the controller operation be interrupted e Priority of User Interrupts e Interrupt Configuration e User Fault Routine What is an Interrupt An interrupt is an event that causes the controller to suspend the Program Organization Unit POU it is currently performing perform a different POU and then return to the suspended POU at the point where it suspended The Micro830 and Micro850 controllers support the following User Interrupts e User Fault Routine Event Interrupts 8 e High Speed Counter Interrupts 6 e Selectable Timed Interrupts 4 e Plug in Module Interrupts 5 Rockwell Automation Publication 20
116. 5 Using the Event Input Interrupt Ell Function User Interrupts Appendix D The STI EX bit can be used in the control program as conditional logic to detect if an STI interrupt is executing STI User Interrupt Enable STI0 Enabled Sub Element Description Data Format User Program Access Enabled User Interrupt Enable binary bit read only The User Interrupt Enable bit is used to indicate STI enable or disable status STI User Interrupt Lost STIO LS Sub Element Description Data Format User Program Access LS User Interrupt Lost binary bit read write The LS is a status flag that indicates an interrupt was lost The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit This bit is set by the controller It is up to the control program to utilize track the lost condition if necessary STI User Interrupt Pending STIO PE Sub Element Description Data Format User Program Access PE User Interrupt Pending binary bit read only The PE is a status flag that represents an interrupt is pending This status bit can be monitored or used for logic purposes in the control program if you need to determine when a subroutine cannot execute immediately This bit is automatically set and cleared by the controller The controller can process 1 active and maintain up to 1 pending user interrupt conditio
117. 5 mA 79V AC 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 12 mA 120V AC 8 8 mA 24V DC 8 5 mA 24V DC On state current max 16 mA 132V AC 12 0 mA 30V DC Nominal impedance 12 KQ 50 Hz 3kQ 3 74 kQ 10 KQ 60 Hz IEC input compatibility Type 3 Inrush current max 250 mA 120V AC Input frequency max 63 Hz AC input filter setting 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded 1 0 configuration window to reconfigure the filter setting for each input group Rockwell Automation Publication 2080 UMO002H EN E November 2015 177 AppendixA Specifications Isolated AC Inputs 2080 LC30 48QWB 2080 LC30 480VB 2080 LC30 480BB Inputs 0 11 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Outputs Attribute 2080 LC30 48AWB 2080 L30 480WB 2080 LC30 480VB 2080 LC30 480BB Relay Output Hi Speed Output Standard Output Outputs 0 3 Outputs 4 and higher Number of outputs 20 4 16 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current max 2 0 A 100 mA high speed operation 1 0 A 30 C 1 0 A 30 C 0 3 A 65 C standard 0 3 A 65 C standard operation operation Surge current per point Refer to Relay Contacts Ratings on page 178 4 0 A every 1 s 30 C every 2 s 65 oc
118. 54 PUS Operation seinieni ne E a aE EEN 154 PLS Example ne a E E ON acne 155 HSCInterriptsei rei oe e aaa o TT i aA RSE 156 HSC Interrupt Configuration s sessssresrererrererrrere 157 HSC Interrupt POU ach ass eters esiaren eeni a enhi 158 Auto Start HSCO0 AS onne nesennnresuennnresrserrererenree 158 Masefor iV ESCO MV eeen e o 158 Mak Poe IN HSCOMN raa a once 158 Mask for IH HSC0 MH ss ctnced otnan Fowl nondiaeateedeaks 159 Mask fot TE CISCO Malic ds 2 suc bates Vet atay weed e ted ot 159 HSC Interrupt Status Information 0 0s sees eee e eee eee 159 User Interrupt Enable HSCO0 Enabled 00000 159 User Interrupt Executing HSCO EX 2 sco verses 159 User Interrupt Pending ASGOPE lt 5 tans civevag cantwseies 160 User Interrupt Lost ASGO LS c0snccecn vases aveve lt S aoeee ned 160 Use HSE ent na bem beh a a a e a a atin dalam 160 Chapter 9 e E T E A E RE 161 PCMAG TY SNC CESS eRe banshee ree truant Riacasnner tien chaos te nt arden 161 Password Protection vieds 2c eniticeeweeewieduree eel eee eared 161 Compatibility s aA a e dal at tates ed eae Ree tee 161 Work with a Locked Controll tis ovicicandiahe sates hequevenanets 162 Upload from a Password Protected Controller 162 Debug a Password Protected Controller 0005 163 Download to a Password Protected Controller 163 Transfer Controller Program and Password Protect Receiving Controller vis tarde see
119. 80 UM002H EN E November 2015 237 Appendix D User Interrupts An interrupt must be configured and enabled to execute When any one of the interrupts is configured and enabled and subsequently occurs the user program 1 suspends its execution of the current POU 2 performs a predefined POU based upon which interrupt occurred and 3 returns to the suspended operation Interrupt Operation Example POU 2 is the main control program POU 2 POU 10 is the interrupt routine e An Interrupt Event occurs at rung rung 0 POU 10 123 e POU 10 is executed ae rung 123 e POU 2 execution resumes immediately after POU 10 is scanned rung 275 Specifically if the controller program is executing normally and an interrupt event occurs 1 the controller stops its normal execution 2 determines which interrupt occurred 3 goes immediately to the beginning of the POU specified for that User Interrupt 4 begins executing the User Interrupt POU or set of POU function blocks if the specified POU calls a subsequent function block 5 completes the POU 6 resumes normal execution from the point where the controller program was interrupted When Can the Controller Operation be Interrupted The Micro830 controllers allow interrupts to be serviced at any point of a program scan Use UID UIE instructions to protect program block which should not be interrupted Priority of User Interrupts When
120. 8400 4800 9600 19200 and 38400 Parity Specifies the parity setting for the serial port Parity None provides additional message packet error detection Select Even Odd or None Station Address The station address for the serial port on the DF1 master The only valid address is 1 DF1 Mode DF1 Full Duplex read only Configured as full duplex by default Control Line No Handshake read only Configured as no handshake by default Duplicate Packet Detects and eliminates duplicate responses to a Enabled Detection message Duplicate packets may be sent under noisy communication conditions when the sender s retries are not set to 0 Toggles between Enabled and Disabled Error Detection Toggles between CRC and BCC CRC Embedded To use embedded responses choose Enabled After One Responses Unconditionally If you want the controller to use Received embedded responses only when it detects embedded responses from another device choose After One Received If you are communicating with another Allen Bradley device choose Enabled Unconditionally Embedded responses increase network traffic efficiency NAK Retries The number of times the controller will resend a 3 message packet because the processor received a NAK response to the previous message packet transmission ENO Retries The number of enquiries ENQs that you want the 3 controller to send after an ACK timeout occurs Transmit Retries Speci
121. A 24V DC 1 0A 1 0 A 28V A 125V DC 0 22 A Rockwell Automation Publication 2080 UM002H EN E November 2015 Specifications Appendix A Environmental Specifications Attribute Temperature operating Value 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 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature non operating IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold Relative humidity IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration EC 60068 2 6 Test Fc Operating 2g 10 500 Hz Shock operating EC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions CISPR 11 Group 1 Class A ESD immunity IEC 61000 4 2 6 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV at 5 kHz on pow
122. AL multiple Modbus addresses may be required but the most significant byte is always first Mapping Address Space and supported Data Types Since Micro800 uses symbolic variable names instead of physical memory addresses a mapping from symbolic Variable name to physical Modbus addressing is supported in Connected Components Workbench software for example InputSensorA is mapped to Modbus address 100001 By default Micro800 follows the six digit addressing specified in the latest Modbus specification For convenience conceptually the Modbus address is mapped with the following address ranges The Connected Components Workbench mapping screen follows this convention Rockwell Automation Publication 2080 UM002H EN E November 2015 193 Appendix B Modbus Mapping for Micro800 Variable Data Type 0 Coils 1 Discrete Inputs 3 Input Registers 4 Holding Registers 000001 to 065536 100001 to 165536 300001 to 365536 400001 to 465536 Supported Modbus Supported Modbus Supported Modbus Supported Modbus Address Used Address Used Address Used Address Used 008 o o 2iheeaih lt 1 ya be oir ci f i SINT Y 8 Y 8 BYTE Y 8 Y 8 USINT Y 8 Y 8 NT Y 16 Y 16 Y 1 Y 1 UINT Y 16 Y 16 Y 1 Y 1 WORD Y 16 Y 16 Y 1 Y 1 REAL Y 32 Y 32 Y 2 Y 2 DINT Y 32 Y 32 Y 2 Y 2 UDINT Y 32 Y 32 Y 2 Y 2 DWORD Y 32 Y 32 Y 2 Yy 2 LWORD Y 64 Y 64 Y 4 Y 4 ULINT Y 64 Y 64
123. ANT Micro820 Micro830 Micro850 controller firmware revision 8 xxx or higher is also required to use Run Mode Change RMC is useful when the user is developing a project by incrementally adding small changes to the logic and immediately wants to see the effects of the changes on the machine With RMC since the controller stays in remote run mode the controller logic and machine actuators will not have to constantly reinitialize which can occur if the controller is switched to remote program mode for example first scan bit is checked in program logic to clear outputs When user is editing building and downloading a project without using RMC a full build of the entire controller project is performed and also a full download of the project is performed During RMC an incremental build is performed and only incremental changes are downloaded to the controller IMPORTANT Do not disconnect from the controller after performing Run Mode Change do a full build and try to reconnect Connected Components Workbench will treat the project in the controller as different from the project in Connected Components Workbench and ask to either upload or download even though the logic is identical RMC is performed incrementally at the end of every program scan in order to prevent a large delay in the program scan This adds up to an additional 12 ms to the scan time For example if the program scan is normally 10 ms it may increase to 22 ms during RM
124. Automation Publication 2080 UMO002H EN E November 2015 147 Chapter 8 148 Use the High Speed Counter and Programmable Limit Switch e High Preset Interrupt occurs 8 p e Overflow Interrupt occurs High Preset Interrupt HSCSTS HPCauselnter Description Data Format HSC Modes JUser Program Access HSCSTS HPCauselnter bit 0 9 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The High Preset Interrupt status bit is set 1 when the HSC accumulator reaches the high preset value and the HSC interrupt is triggered This bit can be used in the control program to identify that the high preset condition caused the HSC interrupt If the control program needs to perform any specific control action based on the high preset this bit is used as conditional logic This bit can be cleared 0 by the control program and is also cleared by the HSC sub system whenever these conditions are detected e Low Preset Interrupt occurs e Underflow Interrupt occurs e Overflow Interrupt occurs Low Preset Interrupt HSCSTS LPCauselnter Description Data Format HSC Modes User Program Access HSCSTS LPCauselnter bit 2509 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Low Preset Interrupt status bit is set 1 when the HSC accumulator reaches the low preset value and the HSC interrupt has been triggered This bit can be use
125. B Measurements in millimeters inches Rockwell Automation Publication 2080 UM002H EN E November 2015 90 3 54 80 3 15 45032 31 Chapter3 Install Your Controller Micro830 24 Point Controllers 2080 LC30 240QWB 2080 LC30 24QVB 2080 LC30 240BB 150 5 91 _ 80 3 15 45018 Measurements in millimeters inches Micro830 48 Point Controllers 2080 L030 48AWB 2080 LC30 48QWB 2080 LC30 48QVB 2080 LC30 480BB 210 8 27 a 008 15 45038 Micro850 24 Point Controllers 2080 LC50 24AWB 2080 LC050 240BB 2080 LC50 240VB 2080 LC50 24QWB 158 6 22 80 3 15 p 90 3 54 Measurements in millimeters inches saz 32 Rockwell Automation Publication 2080 UM002H EN E November 2015 Install Your Controller Chapter 3 Micro850 48 Point Controllers 2080 LC50 48AWB 2080 LC50 48QWB 2080 LC50 480BB 2080 LC50 48QVB 238 9 37 803 15 ai r Maintain spacing from objects such as enclosure walls wireways and adjacent equipment Allow 50 8 mm 2 in of space on all sides for adequate ventilation If optional accessories modules are attached to the controller such as the power supply 2080 PS120 240VAC or expansion I O modules make sure that there is 50 8 mm 2 in of space on all sides after attaching the optional parts DIN Rail Mounting The module can be mounted using the following DIN rails 35 x 7 5 x 1 mm EN 50 022 35x7 5 TIP For environments with grea
126. B Type inpu Not Used 6 Quadrature Counter with A Type inpu B Type inpu Z Type Reset Hold 7 External Reset and Hold mode 4b Quadrature X4 Counter A Type inpu B Type inpu Not Used 8 mode 5a Quadrature X4 Counter with A Type inpu B Type inpu Z Type Reset Hold 9 External Reset and Hold 130 Rockwell Automation Publication 2080 UM002H EN E November 2015 Micro830 Micro850 24 point Controller HSC Input Wiring Mapping Modes of Operation Input 0 HSCO Input 2 HSC1 Input 4 HSC2 Input 6 HSC3 Input 1 HSCO Input 3 HSC1 Input 5 HSC2 Input 7 HSC3 Use the High Speed Counter and Programmable Limit Switch Chapter 8 Input 2 HSCO Input 6 HSC2 Input 3 HSCO Input 7 HSC2 Mode Value in User Program Counter with Internal Direction Count Up Not Used 0 mode 1a Counter with Internal Count Up Not Used Reset Hold 1 Direction External Reset and Hold mode 1b Counter with External Count Up Down Direction Not Used 2 Direction mode 2a Counter with External Count Up Down Direction Reset Hold 3 Direction Reset and Hold mode 2b Two Input Counter mode 3a Count Up Count Down Not Used 4 Two Input Counter with Count Up Count Down Reset Hold 5 External Reset and Hold mode 3b Quadrature Counter mode 4a A Type input B Type input Not Used 6 Quadrature Counter with A Type input B Type input Z Type Reset H
127. C 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration Rockwell Automation Publication 2080 UM002H EN E November 2015 IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz 167 Appendix A 168 Specifications Environmental Specifications Attribute Shock operating Value IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 45 g Emissions CISPR 11 Group 1 Class A ESD immunity IEC 61000 4 2 6 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 Hz 50 Pulse 100 AM 900 MHz 10V m with 200 Hz 50 Pulse 100 AM 1890 MHz 10V m with 1 kHz sine wave 80 AM from 2000 2700 MHz EFT B immunity IEC 61000 4 4 2 kV at 5 kHz on power ports 2 kV at 5 kHz on signal ports Surge transient immunity IEC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports Conducted RF immunity IEC 61000 4 6 10V rms with 1 kHz sine wave 80 AM from 150 kHz 80 MHz Certifications Certification when Value product is marked 1 c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class Division 2 Group A B C D Hazardous L
128. C until the update is finished Similarly user interrupts may be delayed Example of the Benefits of Using RMC 20 Reduction in Download Time Number of Time to Perform Conventional Time to Test Logic and Changes Download seconds Accept Changes seconds 1 103 80 5 241 191 10 376 308 Memory size of project used for comparison Data 16704 bytes Program 2052 bytes ATTENTION Use extreme caution when you use Run Mode Change A Mistakes can injure personnel and damage equipment Before using Run Mode Change assess how machinery will respond to the changes notify all personnel about the changes Rockwell Automation Publication 2080 UM002H EN E November 2015 About Your Controller Chapter 2 A new global variable _ SYSVA_PROJ_INCOMPLETE has been added to indicate when Run Mode Changes are being made This can be used to notify personnel on the HMI that there are uncommitted changes in the controller Bit Definitions of Global Variable __ SYSVA_PROJ_INCOMPLETE Bit Definition 0 Set when the Run Mode Change process starts Cleared once the Run Mode Change is written permanently to the controller completion of Accept or Undo This bit can be used to warn operators that a run mode change is in progress and that there are uncommitted changes in the controller 1 Set if an error occurred while saving the changes to flash or an integrity check failed during Run Mode Change Cleared on th
129. CPR9 SR7 or later and FactoryTalk Gateway version 3 70 CPR9 SR7 or later are required Rockwell Automation Publication 2080 UMO002H EN E November 2015 67 Chapter5 Communication Connections Notes 68 Rockwell Automation Publication 2080 UM002H EN E November 2015 Chapter 6 Program Execution in Micro800 This section provides a brief overview of running or executing programs with a Micro800 controller IMPORTANT This section generally describes program execution in Micro800 controllers Certain elements may not be applicable or true for certain models for example Micro820 does not support PTO motion control Overview of Program A Micro800 cycle or scan consists of reading inputs executing programs in Execution sequential order updating outputs and performing housekeeping datalog recipe communications Program names must begin with a letter or underscore followed by up to 127 letters digits or single underscores Use programming languages such as ladder logic function block diagrams and structured text Up to 256 programs may be included in a project depending on available controller memory By default the programs are cyclic executed once per cycle or scan As each new program is added to a project it is assigned the next consecutive order number When you start up the Project Organizer in Connected Components Workbench it displays the program icons based on this order You can view and modify an order numb
130. Counter Interrupt4 H H H H H H o1 igh Speed Counter Interrup Event Interrupt4 Event Interrupt5 Event Interrupt6 Event Interrupt7 Selectable Timed Interrupt0 Selectable Timed Interrupt1 Selectable Timed Interrupt2 Selectable Timed Interrupt3 Plug In Module Interrupt0 1 2 3 4 lowest priority Rockwell Automation Publication 2080 UM002H EN E November 2015 239 Appendix D User Interrupts User Interrupt Configuration User interrupts can be configured and set as AutoStart from the Interrupts window General Pr Memory To add an interrupt right click an empty row and then click Add To delete an interrupt right click an existing Communication Ports tow and then click Delete Serial Port USB Port Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules lt Empty gt lt Empty gt Program Configure User Fault Routine The user fault routine gives you the option of doing the cleanup before a controller shutdown when a specific user fault occurs The fault routine is executed when any user fault occurs The fault routine is not executed for non user faults The controller goes to Fault mode after a User Fault Routine is executed and the User Program execution stops Creating a User Fault Subroutine To use the user fault subroutine 1 Create a POU 240 Rockwell
131. DS based de il ange the graphic image eate an EDS file fre an unk upload EDS file s stored in a device To continue click Next Cancel Rockwell Automation Publication 2080 UMO002H EN E November 2015 207 AppendixC _Quickstarts 8 Follow the prompts to upload and install the EDS file Rockwell Automation s EDS Wizard Upload EDS File This will upload EDS files from a device File location C WINDOWS TEMPSRSI _EMBEDDED_EDS This device s EDS file Size 2 718 KB 2718 bytes Embedded filename EDS txt File revision 11 Related EDS files Cancel Rockwell Automation s EDS Wizard EDS File Installation Test Results This test evaluates each EDS file for errors in the EDS file This test does not guarantee EDS file validity Installation Test Results i C WINDOWSS TEMPSASI_EMBEDDED_EDS EDS eds View file Cancel 208 Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C Rockwell Automation s EDS Wizard Change Graphic Image You can change the graphic image that is associated with a device Product Types Change icon lt Back Cancel Rockwell Automation s EDS Wizard Final Task Summary This is a review of the task you want to complete You would like to register the following device Micro830 Rockwell Automation Publication 2080 UMO002H EN E November 2015 209 AppendixC _Quickstarts 9 Click F
132. Data Type ssusssurssrerrerrrrerrse 100 Function Block and Axis Status Error Codes 0000e eens 100 Major Fault Handling sc cnstevenoesmsn mania venient ea tomnan es 103 Motion Axis Configuration in Connected Components Workbench 103 Add New Akis 44s icc5 awiveh BGS a grees ced Secon ier 104 Edit Axis Configuration Rent bend te cseroerda gar eemutesuawmigaaes 105 Axis Start Stop Velocity cAaititud ee olioeote beh tedeee dade y clad 112 Real Data Resolution Genaisds ss ta owns batdoun ena saat 112 PTO Pulse Accuracy tek 6 555 eos ts tole ined ake 114 Motion Axis Parameter Validation 00ccce cece eee ees 115 DPeleteanr Axis Sted a a Mad sihised crater a aS 115 Monitor an Axis eena u a n eek aa a ee eas 115 Homing Function Blocking ctesicasesnnasae hay ieestcowsmeretuaaks 116 Conditions for Successful Homing 0 00 rererere 117 ME HOME ABS SWITCH s oide S A tower 117 Rockwell Automation Publication 2080 UM002H EN E November 2015 ix Table of Contents Use the High Speed Counter and Programmable Limit Switch MC_HOME_LIMIT_SWITCH sxc tence eau oomwe ae ae ecee es 119 MC HOME REF WITH ABS 0 c0cccceeceeeceees 120 MC_HOME_REF PULSE 00 c cece cece cen es 122 MC OME DIRECTE iy rentene rha rade aus n Rn ace aa 123 Use PTO for PWM Control js aie nso hct ita tease dens ee eles 124 POU PWM Prostainssca lt gsdcacivieuaieateb onde eekteneaes 125 HSC Feedback Axl Siion sn oss Ana ee asa
133. Drive Slave 195 Pe poriianiCeie as Aas sate eeu tao Ns iat ee aaa 198 Appendix C Flash Upgrade Your Micro800 Firmware 0 0 cece eee 199 Establish Communications Between RSLinx and a Micro830 Micro850 Controller through USB sciccinoriensernseina agora cnsesaweemranis 204 Configure Controller Passwotdyts sc ois hols eevee aildn ae bays bekak 210 Set Controller Password d lt iacars aticcisd anieeen sian eeees 211 Change Pass wl orssacuety tis steratase pieren ee i puma cate Mug ia 212 Cleat Passwords 2526 cantina ede A we ences heh 213 Use the High Speed Counter nad t event ivekneerne Sea oieue tarde 214 Create the HSC Project and Variables n n usuena 216 Assign Values to the HSC V atiables lt isi vane vexsine aeons ss 219 Assign Variables to the Function Block 000 ee eee 222 Run the High Speed Countet sas iris3e i dad tower eeeeiwens 223 Use the Programmable Limit Switch PLS Function 225 PORCINE OR iict hada Pal oncaeid eh lace dane einen a 227 Checking if Forces locks are Enabled 30 06 s 34cecsvnesdeanses 227 I O Forces After a Power Cycle 2s encase sean dee need i teceae 228 Using Run Mode Change vucetsehswsaes nbnteknges souereeeueweknes 229 Create the Project saratoga atu aaaieesum aah vaneewireds 229 Edit the Project Using Run Mode Change 005 232 Rockwell Automation Publication 2080 UM002H EN E November 2015 Table of Contents Appendix D User Interrupts Informat
134. Empty gt lt Empty gt Controller Embedded 1 0 Input Filters Input Latch and EII Edge Inputs Falling Fain w Falling oln eo ne ra Falling aa Fama vfa v o w o 3 Make sure that your encoder is connected to the Micro830 controller 4 Power up the Micro830 controller and connect it to your PC Build the program in Connected Components Workbench and download it to the controller Run the High Speed Counter 1 To test the program go into debug mode by doing any of the following e Click Debug menu then choose Start Debugging e Click the green play button below the menu bar or e Hit the F5 windows key d Components Workbench Step Into E Step Over Programs 0_EM_DI_05 GER Untitiedto1 i Local Variables Global Variables DataTypes Function Blocks Rockwell Automation Publication 2080 UM002H EN E November 2015 223 AppendixC _Quickstarts Now that we are on debug mode we can see the values of the HSC output The HSC function block has two outputs one is the STS MyStatus and the other is the HSCSTS MyInfo 2 Double click the Direct Contact labeled _IO_EM_DI_05 to bring up the Variable Monitoring window 3 Click the I O Micro830 tab Select the _IO_EM_DI_05 row Check the boxes Lock and Logical Value so that this input will be forced in the ON position a Variable Monitoring Global Variables Micro830 Local Variables
135. FIED Warning The requested motion parameter for the Motion internal Fault Error ID 0x80 axis has been adjusted Contact your local Rockwell Automation technical The function block executes successfully support representative For contact information see http support rockwellautomation com MySuppor Lasp You can view axis status through the Axis Monitor feature of the Connected Components Workbench software 102 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Motion Control Chapter 7 Major Fault Handling Motion Axis Configuration in Connected Components Workbench When a motion control function block ends with an error and the axis is in ErrorStop state in most cases MC_Reset function block or MC_Power Off On and MC_Reset can be used to have the axis to be recovered With this the axis can get back to normal motion operation without stopping the controller operation In case the controller encounters issues where recovery is not possible through the Stop Reset or Power function blocks controller operation will be stopped and a major fault will be reported The following motion related major fault codes are defined for Micro830 and Micro850 controllers Major Fault Error Codes and Description Major Fault Fault ID MACRO Major Fault description Value OxF100 EP_MC_CONFIG_GEN_ERR There is general configuration error detected in the motion configuration downloaded from Conne
136. First peak is defined as For Direct Operation First peak PV1 12 x Deviation For Reverse Operation First peak PV1 12 x Deviation Where PV1 is the process value when Initialize is set to FALSE Once the process value reaches first peak the control output reduces by the amount of Step and waits for the process value to drop to the second peak Second peak is defined as For Direct Operation Second peak PV1 3 x Deviation For Reverse Operation Second peak PV1 3 x Deviation Once the process value reaches or falls below second peak calculations commence and a set of gain will be generated to parameter OutGains Troubleshooting an You can tell what is going on behind the autotune process from the sequences of control output Here are some known sequences of control output and what it Autotune Process pind ae F means if autotune fails For the ease of illustrating the sequence of control output we define Load 50 Step 20 Output Sequence 1 50 gt 70 gt 30 Process value reached first peak and Likely successful NA second peak in time Output Sequence 2 50 gt 70 gt 50 Sequence Condition Autotune Result Action for Autotune Fail Process value not able to reach Likely unsuccessful Reduce Deviation or Increase Step first peak Output Sequence 3 50 gt 70 gt 30 gt 50 Sequence Condition Autotune Result Action for Autotune Fail Process value not able to reach Likely un
137. G The USB port is intended for temporary local programming purposes only and not intended for permanent connection If you connect or disconnect the USB cable with power applied to this module or any device on the USB network 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 The USB port is a nonincendive field wiring connection for Class Division2 Groups A B C and D WARNING Exposure to some chemicals may degrade the sealing properties of materials used in the Relays It is recommended that the User periodically inspect these devices for any degradation of properties and replace the module if degradation is found WARNING If you insert or remove the plug in 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 WARNING When you connect or disconnect the Removable Terminal Block RTB with field side power applied an electrical arc can occur This could cause an explosion in hazardous location installations WARNING Be sure that power is removed or the area is nonhazardous before proceeding 1 Pollution Degree 2 is an environment where normally only non conductive pollution occurs except that occasionally temporary conductivity caused by condensation shall be exp
138. HSCAPRHSCMode on page 134 The Overflow Interrupt status bit is set 1 when the HSC accumulator counts through the overflow value and the HSC interrupt is triggered This bit can be used in the control program to identify that the overflow variable caused the HSC interrupt If the control program needs to perform any specific control action based on the overflow this bit is used as conditional logic This bit can be cleared 0 by the control program and is also cleared by the HSC sub system whenever these conditions are detected e Low Preset Interrupt executes e High Preset Interrupt executes e Underflow Interrupt executes Underflow Interrupt HSCSTS UFCauselnter Description Data Format HSC Modes User Program Access HSCSTS UFCauselnter bit 229 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Underflow Interrupt status bit is set 1 when the HSC accumulator counts through the underflow value and the HSC interrupt is triggered This bit can be used in the control program to identify that the underflow condition caused the HSC interrupt If the control program needs to perform any specific control action based on the underflow this bit is used as conditional logic This bit can be cleared 0 by the control program and is also cleared by the HSC sub system whenever these conditions are detected e Low Preset Interrupt occurs Rockwell
139. IMPORTANT The following requirements must be met to use Run Mode Change e Micro820 Micro830 Micro850 controller firmware revision 8 0 or higher and e Connected Components Workbench Developer Edition software version 8 0 or higher The following sample project guides you through the creation of a simple application for a Micro850 controller without any plug in modules and how to use the Run Mode Change feature Create the Project 1 Create a new project for a Micro830 Micro850 controller without any plug ins Observe that the controller is disconnected Fe Edt Wem Device Toots Communications Windom Help DSA ow E tes SS eee Mirvatjate 2 Right click Programs and select Add gt New LD Ladder Diagram 3 From the Toolbox double click Direct Coil to add it to the rung or drag and drop Direct Coil onto the rung Rockwell Automation Publication 2080 UMO002H EN E November 2015 229 AppendixC Quickstarts 4 Double click the newly added Direct Coil to bring up the Variable Selector dialog and select _IO_EM_DO_00 Run_Mode_Change POU X 5 Build the project Jla lasiga wetter renee ene eee Post build project CONTROLLER Post build resource Micro85 Configuration Micro85 Micro850 error s warning s Build End Build 1 succeeded failed up to date skipped E Error
140. Install Your Controller Wire Your Controller Communication Connections viii Using Emerpency Stop Switches 2 8 ssicsv cna cvrevseeceesenses 28 Schematic Using IEC Symbols deat ccesemadich ea eer canctla 29 Schematic Using ANSI CSA Symbols nesnese 30 Chapter 3 Controller Mounting Dimensions 00 00 c cece eee cence 31 Mounting Dimensions n a ccusaesakeid tinker ei eses 31 DUN Ral M ntihg ac Stace pnd ata baring peipei behini 33 Panel Mounting cidocad a vrigieinnd iaiese ie iiaduasd Rhee 34 Panel Mounting Dimensions 4s xs isasaa scosteas Sonn xerese es 34 System Assembly cc sseccucen cats Se tie to tokaecen dS abe es 37 Chapter 4 Wiring Requirements and Recommendation 000005 39 LSE Suite SUppressOls auch di narri dee ERRER EREEREER PR RERET 40 Recommended Surge Suppressors 000 eeee eee eee eee 42 Grounding the Controlletia icasiinvews cetevense ceases aeeaweunescen 43 Wiring DiagramMss sasa y Vesi tance Grecia a5 uk hota vases GSTS eS 43 Controller I O W iting suisse iaemewacentod ste een ewe i as 46 Minimize Blectrical Noise sss 22 beh lt b ou vGvtdadtiaeee bck ee nails 47 Analog Channel Wiring Guidelines n saicnss vecrvinv as cas eenees 47 Minimize Electrical Noise on Analog Channels 47 Grounding Your Analog Cable 0 0 e eee e eee eee eee 48 Witing EXAmples ses reenen dewey a meno nati gee ee ponies 48 Embedded Serial Port Wiring whan 9595 vie
141. List EX Output Build succeeded 6 Download the project to the controller In the Connection Browser dialog select the Micro850 controller V Autobrowse Refresh a a Workstation WIN HTK69EMOPCV H a Linx Gateways Ethernet Fs Micro850_R8_TST Ethernet 2s PV800 Ethernet ft USB lt m J r Micro850 2080 LC50 48QVB has no password IG Download Upload confirmation i i The current project content does not match the content in the connected controller gt Download current project to the controller gt Upload the project in the contoller to overwrite current project content l Cancel 230 Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C 8 Select Download to confirm amp Download Confirmation A Download overwrites the project in the controller with current project contents Controller will be automatically switched to Program Mode to perform the operation gt Download gt Download with Project Values Help Cancel 9 When the project has been downloaded to the controller a prompt asking to change the controller to Remote Run mode appears Click Yes Download Confirmation ta Download is complete Change the controller to Remote Run to execute controller project Ce 10 Observe that the controller is now in Debug mode Run_Mode_Change POU X _
142. Low Preset HSCSTS LP Description Data Format User Program Access HSCSTS LP long word 32 bit INT read only The HSCSTS LP is the lower setpoint in counts that defines when the HSC sub system generates an interrupt The data loaded into the low preset must greater than or equal to the data resident in the underflow HSCAPP UFSetting parameter or an HSC error is generated If the underflow and low preset values are negative numbers the low preset must be a number with a smaller absolute value This is the latest low preset setting which may be updated by PLS function from the PLS data block High Preset Output HSCSTS HP Output Description Data Format User Program Access HSCSTS HPOutput long word 32 bit binary read only The High Preset Output defines the state 1 ON or 0 OFF of the outputs on the controller when the high preset is reached See Output Mask Bits HSCAPP OutputMask on page 142 for more information on how to directly turn outputs on or off based on the high preset being reached This is the latest high preset output setting which may be updated by PLS function from the PLS data block Low Preset Output HSCSTS LPOutput Description Data Format User Program Access HSCSTS LPOutput long word 32 bit binary read only The Low Preset Output defines the state 1 on 0 off of the outputs on the controller when the low preset i
143. N EA 255 Pitot e0 a O E A E E E E 255 Controller Error Recovery Model icic cee knerineei ode ean ieee 263 Calling Rockwell Automation for Assistance 00000 eee 264 Appendix F IPID Function Block How EGA TRO TUNG ee aa e easy he RE E guns 267 How Autotune Wns noha A ued nelelaht Uk elas 22 oie dl oy 269 Troubleshooting an Autotune Process 00 sce e eee e eee eee 269 PID Application xamiples 24 2 02 tt sear ereer atene pevatauene 270 PID Code Sampl tancsecocstes sige dns teense 271 Appendix G System Loading Calculate Total Power for Your Micro830 Micro850 Controller 273 A re ee CO hae mee eee ee eT Ore rer tee 274 Index Rockwell Automation Publication 2080 UM002H EN E November 2015 xiii Table of Contents Notes xiv Rockwell Automation Publication 2080 UMO002H EN E November 2015 Chapter 1 Hardware Overview This chapter provides an overview of the Micro830 and Micro850 hardware features It has the following topics Topic Page Hardware Features 1 Micro830 Controllers 2 Micro850 Controllers 4 Programming Cables 6 Embedded Serial Port Cables 7 Embedded Ethernet Support 7 Hardware Features Micro830 and Micro850 controllers are economical brick style controllers with embedded inputs and outputs Depending on the controller type it can accommodate from two to five plug in modules The Micro850 controller has expandable features and can additionally support up to four expansion I
144. Range 1 100 000 pulse sec Default 5 000 0 pulse sec 25 0 mm sec NOTE Homing Velocity should not be greater than the maximum velocity Homing Acceleration Range 1 10 000 000 pu se sec Default 5000 0 pulse sec 25 0 mm sec NOTE Homing Acceleration should not be greater than Maximum Acceleration Homing Deceleration Range 1 10 000 000 pu se sec Default 5000 0 pulse sec 25 0 mm sec NOTE Homing Deceleration should not be greater than Maximum Deceleration Homing Jerk Range 0 10 000 000 pulse sec Default 0 0 pulse sec 0 0 mm sec NOTE Homing Jerk should not be greater than Maximum Jerk Creep Velocity Range 1 5 000 pulse sec Default 1000 0 pulse sec 5 0 mm sec NOTE Homing Creep Velocity should not be greater than Maximum Velocity Homing Offset Range 1073741824 1073741824 pulse Default 0 0 pulse 0 0 mm Home Switch Input Enable home switch input by clicking the checkbox Input Read only value specifying the input variable for home switch input Active Level High default or Low Home Marker Input Enable the setting of a digital input variable by clicking the checkbox Input Specify digital input variable for home marker input Active Level 1 Set the active level for the home switch input as High default or Low The parameter is set as REAL float value in Connected
145. Symbolic Data Type Description BOOL Logical Boolean with values TRUE and FALSE SINT Signed 8 bit integer value INT Signed 16 bit integer value DINT Signed 32 bit integer value Linti2 Signed 64 bit integer value USINT Unsigned 8 bit integer value UINT Unsigned 16 bit integer value UDINT Unsigned 32 bit integer value ULINT Unsigned 64 bit integer value REAL 32 bit floating point value LREAL2 64 bit floating point value STRING character string 1 byte per character Logix MSG instruction can read write SINT INT DINT LINT and REAL datatypes using CIP Data Table Read and CIP Data Table Write message types BOOL USINT UINT UDINT ULINT LREAL STRING and SHORT_STRING datatypes are not accessible with the Logix MSG instruction 2 Not supported in PanelView Component or PanelView 800 CIP Client Messaging CIP Generic and CIP Symbolic messages are supported on Micro800 controllers through the Ethernet and serial ports These client messaging features are enabled by the MSG_CIPSYMBOLIC and MSG_CIPGENERIC function blocks See Micro800 Programmable Controllers Getting Started with CIP Client Messaging publication 2080 QS002 for more information and sample quickstart projects to help you use the CIP Client Messaging feature Sockets Client Server TCP UDP Sockets protocol is used for Ethernet communications to devices which do not support Modbus TCP and Ethe
146. The auto start bit is configured with the programming device and stored as part of the user program The auto start bit automatically sets the STI Timed Interrupt Enable STIO Enabled bit when the controller enters any executing mode STI Set Point Milliseconds Between Interrupts STIO SP Sub Element Data Format Range User Program Description Access SP Set Point Msec word INT 0 65 535 read write When the controller transitions to an executing mode the SP set point in milliseconds value is loaded into the STI If the STI is configured correctly and enabled the POU in the STI configuration is executed at this interval This value can be changed from the control program by using the STIS instruction TIP The minimum value cannot be less than the time required to scan the STI POUplus the Interrupt Latency STI Function Status Information STI Function status bits can be monitored either in the User Program or in Connected Components Workbench in Debug mode STI User Interrupt Executing STIO EX Sub Element Description Data Format User Program Access EX User Interrupt Executing binary bit read only The EX User Interrupt Executing bit is set whenever the STI mechanism completes timing and the controller is scanning the STI POU The EX bit is cleared when the controller completes processing the STI subroutine Rockwell Automation Publication 2080 UM002H EN E November 201
147. UMO002H EN E November 2015 169 Appendix A Inputs Attribute Number of Inputs Specifications 120V AC Input 2080 LC30 16AWB only 10 High Speed DC Input 2080 LC30 160VB and 2080 LC30 160WB only 2080 LC30 160WB only Inputs 0 3 Inputs 4 9 4 6 Standard DC Input 2080 LC30 160VB and Input group to backplane isolation Verified by the following dielectric tests 1 400V AC for 2 s 132V working voltage IEC Class 2 reinforced insulation Verified by the following dielectric tests 1 414V DC for 2 s 75V DC working voltage IEC Class 2 reinforced insulation Voltage category 110V AC 24V DC sink source On state voltage range 79 132V AC 16 8 26 4V DC 10 26 4V DC 47 63 Hz Off state voltage max 20V AC 5V DC Off state current max 1 5mA On state current min 5 mA 79V AC 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 12 mA 120V AC 7 66 mA 24V 6 15 mA 24V On state current max 6 mA 132V AC 12 0 mA 30V DC Nominal impedance 12 kQ 50 Hz 3 kQ 3 74 kQ 10 kQ 60 Hz Inrush current max 250 mA 120V AC Turn on time ON 1 ms ON 3 2 us ON 33 us 0 1 ms Turn off time max OFF 8 ms OFF 0 6 us OFF 22 us 0 02 ms without filtering IEC input compatibility Type 3 AC input filter setting Outputs Attribute 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded 1 0 configuration w
148. User Manual Allen Bradley Micro830 and Micro850 Programmable Controllers Catalog Numbers Bulletin 2080 LC30 and 2080 LC50 3 a p ut mi 4 _ 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 www rockwellautomation com literature 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
149. Y 4 Y 4 LINT Y 64 Y 64 Y 4 Y 4 LREAL Y 64 Y 64 Y 4 Y 4 NOTE Strings are not supported In order to make it easier to map variables to five digit Modbus addresses the Connected Components Workbench mapping tool checks the number of characters entered for the Modbus Address If only five digits are entered the address is treated as a five digit Modbus address This means that the Coils are mapped from 00001 09999 Discrete Inputs are mapped from 10001 19999 Input Registers are mapped from 30001 39999 and Holding Registers are mapping from 40001 49999 Example 1 PanelView Component HMI Master to Micro800 Slave The embedded serial port is targeted for use with HMIs using Modbus RTU The maximum recommended cable distance is 3 meters Use the 2080 SERIALISOL serial port plug in module if longer distances or more noise immunity is needed The HMI is typically configured for Master and the Micro800 embedded serial port is configured for Slave From the default Communications Settings for a PanelView Component HMI PVC there are three items that must be checked or modified in order to set up communications from PVC to Micro800 194 Rockwell Automation Publication 2080 UM002H EN E November 2015 Modbus Mapping for Micro800 Appendix B 1 Change from DF1 to Modbus protocol eean aaee Serial Modbus x O Ethernet Allen Bradley SLC PLC Driver SUGUGI Use Ethernet Encapsul
150. _CFG1 Instance UDINT 2 Rea APP_CFG1 Attribute UINT 100 Rea APP_CFG1 MemberCnt USINT Rea APP_CFG1 Memberld CIPMEMBERID Rea User Global Variables Micro850 RMCC Modbus Example Set the New Node Address Local Variables RMCC_Modbus System Variables Micro850 1 0 Micro850 Data Type Dimension String Size Initial Value l Fad USINT Sites jy iy y tT WE Req Datat it USINT ME Req Datat 2 USINT J The first byte indicates the new node address for the controller For this example the new node address is 3 The second byte must always be 1 this indicates that the Modbus role is configured as Slave RMCC Modbus Example Set the Message Length User Global Variables Micro850 Local Variables RMCC_Modbus System Variables Micro850 1 0 Micro850 gt Data Type Dimension String Size Initial Value Exg UINT vlez ERd y Eg Fale N el Res_Length1 UINT Rockwell Automation Publication 2080 UMO002H EN E November 2015 About Your Controller Chapter 2 When the new node address is configured and applied the port is not restarted IMPORTANT You must ensure that the new node address being configured is unique as it will not be checked against existing node addresses of other devices You can verify that the node address has changed after performing RMCC by looking at the Communication Diagnos
151. a quick search for HSC function block by typing hsc on the name field Click OK E Instruction Block Selector HSC c Controller 2080LC30480BBB hsc x l HSCS HSC_SET_STS Input Output Parameters C EN ZENO m e 218 Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C Your ladder rung should appear as shown below _lO_EM_DI_0 8 On the Project Organizer pane double click Local Variables to bring up the Variables window Add the following variables with the corresponding data types as specified in the table Variable Name Data Type MyCommand USINT MyAppData HSCAPP Mylnfo HSCSTS MyPLS PLS MyStatus UINT After adding the variables your Local Variables table should look like this UntitledLD AR UntitledLD POU m MyCommand MyAppData MyInfo MyPLS MyStatus Data Type USINT HSCAPP SESS PLS X UINT x X Assign Values to the HSC Variables Next you need to assign values to the variables you have just created Typically a routine is used to assign values to your variables For illustration purposes this quickstart assigns values through the Initial Value column of the Local Variables table TIP Rockwell Automation Publication 2080 UM002H EN E November 2015 In a real program you should write a routine to assign values to your variable according to your application
152. ack message 15 using EtherNet IP 18 using Modbus RTU 16 verify IP address change 19 verify node address change 17 S safety circuits 24 Safety Considerations 23 safety considerations 23 disconnecting main power 24 hazardous location 23 master control relay circuit periodic tests 25 periodic tests of master control relay circuit 25 power distribution 24 safety circuits 24 Selectable Time Interrupt STI Function Configuration and Status 247 selectable timed start instruction 241 serial communications status 254 serial port configure 58 servo drive 75 servo drive on 78 79 servo drive ready 78 79 Shutdown 58 Sockets Client Server 52 55 Specifications Micro800 Programmable Controller External AC Power Supply 191 Micro830 10 Point Controllers 165 Micro830 16 Point Controllers 169 Micro830 24 Point Controllers 172 Micro830 48 Point Controllers 176 Micro830 Relay Charts 181 Rockwell Automation Publication 2080 UM002H EN E November 2015 status indicator 2 ethernet 7 fault status 254 input status 253 module status 7 254 network status 7 254 output status 254 power status 253 run status 253 serial communications 254 Status Indicators on the Controller 253 STI Function Configuration 248 STI Function Status Information 248 STS instruction 241 surge suppressors for motor starters 42 recommended 42 using 40 system assembly Micro830 and Micro850 24 point controllers 37 T timing diagrams quadrature encoder 138 touc
153. ad your program using Connected Components Workbench and then reinitialize any necessary data 3 Start up your system 4 Refer to the Wire Your Controller on page 39 0xF016 An unexpected hardware error occurred Perform the following 1 Cycle power on your Micro800 controller 2 Build and download your program using Connected Components Workbench and then reinitialize any necessary data 3 Start up your system 4 Refer to the Wire Your Controller on page 39 OxF019 An unexpected software error occurred due to memory or other controller resource issue Perform the following 1 Cycle power on your Micro800 controller 2 Build and download your program using Connected Components Workbench and then reinitialize any necessary data 3 Start up your system OxFO1A The controller was unexpectedly reset during Run Mode Change RMC due to a noisy environment or an internal hardware failure e A Micro800 controller revision 8 xx and later attempts to save the program and clear the user data If the system variable SYSVA_USER_DATA_LOST is set the controller is able to recover the user program but the user data is cleared If not the Micro800 controller program is cleared Rockwell Automation Publication 2080 UMO002H EN E November 2015 Perform one of the following e Download the program through Connected Components Workbench e Refer to Wiring Requirements and Recomme
154. agii ee 3 nee 00 0 S i E l WY E E A J Y S fii ni a niin ini iii iii ii iio in eeeeeeceoeseeoceeseegod a l V Ss l HAN F T IAN U U U U n3 Micro830 48 Point Controllers 2080 LC30 48AWB 2080 LC30 48Q0WB 2080 LC30 480VB 2080 LC30 480BB Rockwell Automation Publication 2080 UM002H EN E November 2015 35 36 Chapter3 Install Your Controller 108 mm 4 25 in 108 mm 4 25 in gt lt A Meseeseeseeeeeeeeeses T prn g e yp TIIT T 100mm 3 9 in a ao 00000 J O im s l ao d D a a D D D a a D a D a a i n n a a a a a n a a a a a A A 9 0999999090999999 999 0ecococoocososeseo0
155. alf or Full values 7 Click Save Settings to Controller if you would like to save the settings to your controller Rockwell Automation Publication 2080 UMO002H EN E November 2015 65 Chapter 5 66 Communication Connections 8 On the device configuration tree under Ethernet click Port Diagnostics to monitor Interface and Media counters The counters are available and updated when the controller is in Debug mode Validate IP Address Modules must validate the incoming IP address configuration whether it is obtained through explicit configuration or through DHCP The following rules must be obeyed when configuring the IP address e The IP address for the module cannot be set to zero a multicast address a broadcast address or an address on the Class A loopback network 127 x x x e The IP address should not start with zero and the IP address network ID should be not zero e The Network mask cannot be set to 255 255 255 255 e The Gateway address must be on the same subnet as the IP address that is being configured e The Name Server address cannot be set to zero a multicast address a broadcast address or an address on the Class A loopback network 127 x x x The valid range of static IPv4 IP address exclude e Broadcast or zero IP 255 255 255 255 or 0 0 0 0 IP address starting with 0 or 127 0 xxx xxx xxx or 127 xxx xxx xxx e IP address ending with 0 or 255 xxx xxx xxx 0 or xxx xxx xxx 255 e IP addres
156. am to Run mode Note True only on first scan After that it is false SYSVA_POWER_UP_BIT BOOL Powerup bit Can be used to initialize or reset variables immediately after download from Connected Components Workbench or immediately after being loaded from memory backup module for example microSD card Note True only on the first scan after a powerup or running a new ladder for the first time Rockwell Automation Publication 2080 UMO002H EN E November 2015 71 Chapter6 Program Execution in Micro800 Memory Allocation Guidelines and Limitations for Advanced Users 72 Variable Retention Micro830 and Micro850 controllers retain all user created variables after a power cycle but the variables inside instances of instructions are cleared For example A user created variable called My_Timer of Time data type will be retained after a power cycle but the elapsed time ET within a user created timer TON instruction will be cleared Unlike Micro830 Micro850 controllers Micro810 and Micro820 controllers can only retain a maximum of 400 bytes of user created variable values This means that after a power cycle global variables are cleared or set to initial value and only 400 bytes of user created variable values are retained Retained variables can be checked at the global variable page Depending on base size available memory on Micro800 controllers are shown in the table below Memory Allocation for Micr
157. ameter s velocity acceleration acce eration deceleration or jerk set in the deceleration or jerk set in a function block function block Reset the state of the axis using the MC_Reset Correct the setting for the dynamic parameters in function block the function block against Axis Dynamics Correct the setting for the dynamic parameters in configuration page the function block against Axis Dynamics configuration page 03 MC_FB_ERR_PARAM The function block cannot execute because there is The axis is not operational due to invalid invalid parameter other than velocity acceleration parameter s other than velocity acceleration deceleration or jerk set in the function block deceleration or jerk set in a function block Correct the setting for the parameters for Reset the state of the axis using the MC_Reset example mode or position for the function block function block Correct the setting for the parameters for example mode or position for the function block 04 MC_FB_ERR_AXISNUM The function block cannot execute because the Motion internal Fault Error ID 0x04 axis does not exist the axis configuration data is Call Tech support corrupted or the axis is not correctly configured 05 MC_FB_ERR_MECHAN The function block cannot execute because the The axis is not operational due to drive or axis is faulty due to drive or mechanical issues mechanical issues Check the connection between the drive and the Check the
158. ample MC_MoveRelative2 cannot be executed again until the function block status is not busy TIP MC_MoveRelative MC_MoveAbsolute will be busy until final position is reached MC_MoveVelocity MC_Halt and MC_Stop will be busy until final velocity is reached Velocity Execute Time Busy1 46054 When a movement function block is busy a function block with a different instance for example MC_MoveRelativel and MC_MoveAbsolute1 on the same axis can abort the currently executing function block This is mostly useful for on the fly adjustments to position velocity or to halt after a specific distance Example Move to Position Ignored Due to Busy Simple move position using one instance of MC_MoveRelative MC_MoveAbsolute Velocity This command is ignored Execute i Busy1 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Lp Time For simple moves the movement function block finishes Busy output indicates that the function block is executing and must be allowed to finish before Execute input is toggled again If Execute is toggled again before Busy is false the new command is ignored No error is generated 46053 87 Chapter 7 88 Motion Control Example Successful Aborted Move Velocity Aborted move is possible if using two instances of MC_MoveRelative MC_MoveAbsolute The second instance can immediately abort the first instance and v
159. ane Channel2 A Ethernet AB_VBP 1 1789 A17 A Virtua Micro80 B USB 11116 Micro850 Micro850 2 Start ControlFLASH and click Next ControlFLASH Untitled COIR A NY E PAIL Welcome to comrorcasn WWelcome to ControlFLASH the firmware update tool ControlFLASH needs the aeneo momen Tom you before it can i 1 ting a device BUTEA 1 The Catalog Number of the target device 2 The Network Configuration parameters optional 3 The Network Path to the target device 4 The Firmware Revision for this update View Log 3 Select the catalog number of the Micro800 controller that you are updating and click Next Catalog Number 4 4 Enter the catalog number of the target device 2080 Lc1 0 120WB 2080 LC10 12AwWA 2080 L010 12DWD 2080 LC10 120BB 2080 L010 120WB 2080 LC30 100VB Control 2080 LC30 480BB x lt Back Cancel Help 200 Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C 4 Select the controller in the browse window and click OK Select the 2080 L IV Autobrowse Refrest m Workstation WIN 5UI68RNHAAG cy T 2 H Linx Gateways Ethernet gs AB_ETHIP 1 Ethernet AB_VBP 1 1789 A17 A Virtua Micro80 DFL ay USB a Not Browsing Backplane Channel2 A Ethernet ag 11916 Micro850 Micro850 Cancel 5 Ifyou see the following dialog leave the Slot Number at 0 and cli
160. anism with the same value as the HSC Sts Accumulator To set one specific value to HSC Acc while counting write the value to HSC AppData Accumalator immediately before HscCmd 4 is issued HSC Commands HSC Command Description 0x00 Reserved 0x01 HSC RUN e Start HSC if HSC in Idle mode and Rung is Enabled e Update HSC Status Info only if HSC already in RUN mode and Rung is Enabled e Update HSC status Info only if Rung is disabled 0x02 HSC Stop Stop a HSC counting if HSC is in RUN mode and Rung is Enabled 0x03 HSC Load reload HSC Configuration if Rung is Enabled for 6 input elements HPSetting LPSetting HPOutput LPOutput OFSetting and UFSetting HSC accumulator is NOT reloaded by cmd 0x03 0x04 HSC Reset set Accumulator to assigned value and reset HSC status information if Rung is Enabled HSC Function Block Status Codes HSC Status Code 0x00 Description No action from Controller because the function block is not enabled 0x01 HSC function block successfully executed 0x02 HSC command invalid 0x03 HSC ID out of range 0x04 152 HSC Configuration Error Rockwell Automation Publication 2080 UM002H EN E November 2015 HSC_SET_STS Function Block Enable Hscld Mode1Done HPReached LPReached OFOccured UFOccured Use the High Speed Counter and Programmable Limit Switch Chapter 8 HSC STS 45646 The HSC Set Status function block can be us
161. any edit is made to the UDFB that changes the UDFB template for example adding a local variable the axis will enter the error stop state Movement Function Blocks Function Block Name Correct Axis State for MC_MoveAbsolute Description specified absolute position issuing Function Block ad This function block commands an axis to a Standstill Discrete Motion Continuous Motion MC_MoveRelative This function block commands an axis of a specified distance relative to the actual position at the time of execution Standstill Discrete Motion Continuous Motion MC_MoveVelocity This function block commands a never ending axis move at a specified velocity Standstill Discrete Motion Continuous Motion MC_Home This function block commands the axis to perform the search home sequence The Position input is used to set the absolute position when reference signal is detected and configured Home offset is reached This function block completes at StandStill if the homing sequence is successful Standstill MC_Stop This function block commands an axis stop and transfers the axis to the state Stopping It aborts any ongoing function block execution While the axis is in state Stopping no other function block can perform any motion on the same axis After the axis has reached velocity zero the Done output is set to TRUE immediately The axis r
162. aracteristics together Separate input wiring from output wiring e Label wiring to all devices in the system Use tape shrink tubing or other dependable means for labeling purposes In addition to labeling use colored insulation to identify wiring based on signal characteristics For example you may use blue for DC wiring and red for AC wiring Wire Requirements Wire Size Type Min Max Micro830 Solid 0 2 mm 24 AWG 2 5 mm 12 AWG rated 90 C 194 F Micro850 insulation max Controllers Stranded 0 2 mm 24 AWG 2 5 mm 12 AWG Use Surge Suppressors Because of the potentially high current surges that occur when switching 40 inductive load devices such as motor starters and solenoids the use of some type of surge suppression to protect and extend the operating life of the controllers output contacts is required Switching inductive loads without surge suppression can significantly reduce the life expectancy of relay contacts By adding a suppression device directly across the coil of an inductive device you prolong the life of the output or relay contacts You also reduce the effects of voltage transients and electrical noise from radiating into adjacent systems Rockwell Automation Publication 2080 UMO002H EN E November 2015 Wire Your Controller Chapter 4 The following diagram shows an output with a suppression device We recommend that you locate the suppression device as close as poss
163. ased inputs A and B oO o NY ajl om A wt N Quadrature X4 counter phased inputs A and B with external reset and hold 134 Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 The main high speed counters support 10 types of operation mode and the sub high speed counters support 5 types mode 0 2 4 6 8 If the main high speed counter is set to mode 1 3 5 7 or 9 then the resub high speed counter will be disabled For more information on HSC Function Operating Modes and Input Assignments see HSC Inputs and Wiring Mapping on page 129 HSC Mode 0 Up Counter HSC Mode 0 Examples Input Terminals Embedded Input 0 Embedded Input Embedded Input Embedded Input CE Bit Comments 1 2 3 Function Count Not Used Not Used Not Used Example 1 1 on 1 HSC Accumulator 1 count Example 2 ff Jon 1 U Joff 0 off 0 Hold accumulator value Blank cells don t care fhe rising edge U falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 1 Up Counter with External Reset and Hold HSC Mode 1 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Cou
164. ation O PanelView Component Settings Write Optimization Controller Settings Add Controller Delete Selected Controller s Sort by Name Ascending Name Controller Type PLC 1 Modbus 2 Set the Address of Micro800 slave to match the serial port configuration for the controller Settings Zero based addressing Zero based addressing within registers Holding register bit mask writes Modbus function 06 for single register writes Modbus function 05 for single coil writes Default Modbus byte order First word low in 32 bit data types First Dword low in 64 bit data types Modicon bit ordering bit 0 is MSB OBB AAA OBW 3 Deactivate Tags on Error This is to prevent the requirement of power cycling PVC when new Modbus Mappings are downloaded from Connected Components Workbench to Micro800 controller Modbus TCP ITELE EEE Framing address exception Oo io Example 2 Micro800 Master to PowerFlex 4M Drive Slave The following is the overview of the steps to be taken for configuring a PowerFlex 4M drive Rockwell Automation Publication 2080 UMO002H EN E November 2015 195 Appendix B 196 Modbus Mapping for Micro800 Parameter numbers listed in this section are for a PowerFlex 4M and will be different if you are using another PowerFlex 4 Class drive Parameter Name Parameter Number 4M 4 40 40P 400 400N 400P Star
165. ations only output circuits require MCR protection The following illustrations show the Master Control Relay wired in a grounded system TIP In most applications input circuits do not require MCR protection however if you need to remove power from all field devices you must include MCR contacts in series with input power wiring 28 Rockwell Automation Publication 2080 UM002H EN E November 2015 About Your Controller Chapter 2 Schematic Using IEC Symbols L1 L2 230V AC Disconnect Fuse MCR 230V AC o to hd circuits Isolation l Operation of either of these contacts will transformer remove power from the external 1 0 Master Control Relay MCR X1 1 15V AC X2 circuits stopping machine motion Cat No 700 PK400A1 or 230V AC Emergency stop Stop Start Suppressor Fuse gt push button Overtravel T Cat No 700 N24 m limit switch rm 1 1 I e l l oie cr Sf Sf O i G KCR t Suppr MCR 115V AC or 230VAC o hd 1 0 circuits DC power supply Use IEC 950 EN 60950 z MCR 24V DC Lo Hi i 1 0 Line Terminals Connect to terminals of power circuits supply Line Terminals Connect to 24V DC terminals of Rockwell Automation Publication 2080 UMO002H EN E November 2015 power supply 44564 29 Chapter2 About Your Controller Schematic
166. ature general use general use 30 C 24 V DC 0 3 A per point Surrounding air temperature 65 C Insulation stripping 7 mm 0 28 in length Enclosure type Meets IP20 rating Pilot duty rating C300 R150 Isolation voltage 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 3250V DC 1 0 to Aux and Network Inputs to Outputs 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 720V DC Inputs to Aux and Network 3250V DC Outputs to Aux and Network Inputs to Outputs 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs to Outputs Type tested for 60 s 720V DC 1 0 to Aux and Network Inputs to Outputs North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Inputs Attribute 2080 LC30 48AWB 2080 LC30 48QWB 2080 LC30 480VB 2080 LC30 480BB 120V AC Input High Speed DC Input Standard DC Input Inputs 0 11 Inputs 12 and higher Number of Inputs 28 12 16 Voltage category 110V AC 24V DC sink source Operating voltage 132V 60Hz AC max 16 8 26 4V DC 10 26 4V DC Off state voltage max 20V AC 5V DC Off state current max 1 5mA 1 5mA On state current min
167. bes how to communicate with your control system and configure communication settings The method you use and cabling required to connect your controller depends on what type of system you are employing This chapter also describes how the controller establishes communication with the appropriate network Topics include Topic SSS Pae Supported Communication Protocols o as C CSSC Use Modems with Micro800 Controllers 57 Configure Serial Port 58 Configure Ethernet Settings 64 OPC Support Using RSLinx Enterprise 67 The Micro830 and Micro850 controllers have the following embedded communication channels e anon isolated RS 232 RS 485 combo port e anon isolated USB programming port In addition the Micro850 controller has an RJ 45 Ethernet port Supported Communication Micro830 Micro850 controllers support communication through the embedded Protocols RS 232 RS 485 serial port as well as any installed serial port plug in modules In addition Micro850 controllers also support communication through the embedded Ethernet port and can be connected to a local area network for various devices providing 10 Mbps 100 Mbps transfer rate These are the communication protocols supported by Micro830 Micro850 controllers e Modbus RTU Master and Slave e CIP Serial Client Server RS 232 only e CIP Symbolic Client Server e ASCII These are the communication protocols supported by Micro850 controllers only e EtherNet IP Cli
168. cation 2080 UMO002H EN E November 2015 Wire Your Controller Chapter 4 Sink input wiring example Com 24V DC l I P Fuse 45627 Source output wiring example Logic side User side 24V supply Micro800 Source output 45626 Source input wiring example 45625 Embedded Serial Port The embedded serial port is a non isolated RS232 RS485 serial port which is Wiring targeted to be used for short distances lt 3 m to devices such as HMIs See Embedded Serial Port Cables on page 7 for a list of cables that can be used with the embedded serial port 8 pin Mini DIN connector For example the 1761 CBL PM02 cable is typically used to connect the embedded serial port to Panel View Component HMI using RS232 Rockwell Automation Publication 2080 UMO002H EN E November 2015 49 Chapter4 Wire Your Controller Embedded Serial Port Pinout table Pin Definition RS 485 Example RS 232 Example 1 RS 485 B not used 2 GND GND GND 3 RS 232 RTS not used RTS 4 RS 232 RxD not used RxD 5 RS 232 DCD not used DCD 6 RS 232 CTS not used CTS 7 RS 232 TxD not used TxD 8 RS 485 A not used 50 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Chapter 5 Communication Connections Overview This chapter descri
169. ck OK Slot Number You must specify a Slot Number corresponding to the selected device based on Backplane Slot Number fo Cancel This screen is available only for Micro810 controllers Rockwell Automation Publication 2080 UM002H EN E November 2015 201 Appendix Quickstarts 6 Click Next to continue and verify the revision Click Finish Firmware Revision Control Control 202 Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C The next screen shows the download progress Progress Catalog Number 2080 LC10 120 wB SerialNumber FFFFFFFF Current Revision 1 2 New Revision 1 4 Transmitting update 2 of 6 block 317 of 2253 _ 3 Ctrtr If you see the following error message instead check to see if the controller is faulted or in Run mode If so clear the fault or switch to Program mode click OK and try again CEE x Failed to update firmware Either the target device does not support Flash updates using this programming tool or the target hardware revision is not compatible with the selected version of firmware He 8 When the flash update is complete you see a status screen similar to the following Click OK to complete the update Update Status x Catalog Number 2080 LC10 120W B OK Serial Number 9 FFFFFFFF x Current Revision 1 4 View Log New Revision 1 4 i ire ene grea Rock
170. ckwell Automation Publication 2080 UMO002H EN E November 2015 Modbus Mapping for Micro800 Appendix B 6 The Parameter window opens Resize it to view the parameters From this window you can view and set data values of Parameters Parameter ist Powertlex 4M_I Name Value init Internal value Defait Mn b 1 Cutput Freq 2 Commanded Freg 0 0 Hz D 0 0D 0 0 3 Output Current 0 00 A D 0 00 0 00 14 Output Yoltage 0 0 Y D 0 0 0 0 OC Bus Voltage 314 Y 314 o o 6 Drive Status ODD000000000001D 2 Qo000DD00000 0000000000000 7 From the Parameter window change the following Parameters to set the communications for Modbus RTU so that the PowerFlex 4M Drive will communicate with Micro830 850 via Modbus RTU communication Parameter Description Setting C302 Comm Data Rate Baud Rate 4 19200 bps 4 C303 Communication Node Address address range is 1 127 2 C304 Comm Loss Action Action taken when loss communication 0 0 Fault with coast stop C305 Comm Loss Time Time remain in communication before taking 5 action set in C304 5 sec Max 60 C306 Comm Format Data Parity Stop RTU 8 Data Bit Parity None 1 0 Stop bit 8 Disconnect the Communications and save your project x Powerflex 4M_1 PowerFlex 4M t amp i P a Downpoi Upload Parameters Propertes Wizerds Fouts Reset Manual Help _ estee Turn off the power to the drive until the PowerFlex 4M display blanks o
171. cols is that since the protocol is CIP program downloads are supported including CIP pass through from the serial port to Ethernet ASCII ASCII provides connection to other ASCII devices such as bar code readers weigh scales serial printers and other intelligent devices You can use ASCII by configuring the embedded or any plug in serial RS232 RS485 port for the ASCII driver Refer to the Connected Components Workbench Online Help for more information To configure the serial port for ASCII see Configure ASCII on page 62 Modbus TCP Client Server The Modbus TCP Client Server communication protocol uses the same Modbus mapping features as Modbus RTU but instead of the Serial port it is supported over Ethernet Modbus TCP Server takes on Modbus Slave features on Ethernet Rockwell Automation Publication 2080 UMO002H EN E November 2015 53 Chapter 5 54 Communication Connections No protocol configuration is required other than configuring the Modbus mapping table For information on Modbus mapping see Modbus Mapping for Micro800 on page 193 TIP Use MSG_MODBUS2 instruction to send Modbus TCP message over Ethernet port CIP Symbolic Client Server CIP Symbolic is supported by any CIP compliant interface including Ethernet EtherNet IP and Serial Port CIP Serial This protocol allows HMIs to easily connect to the Micro830 Micro850 controller Micro850 controllers support up to 16 simultaneous EtherNet IP Cli
172. connection between the drive and the controller Drive Ready and In Position signals controller Drive Ready and In Position signals and ensure the drive is operating normally and ensure the drive is operating normally Reset the state of the axis using the MC_Reset function block 06 MC_FB_ERR_NOPOWER The function block cannot execute because the The axis is not powered on axis is not powered on Power on the axis using MC_Power function block Power on the axis using MC_Power function block Reset the state of the axis using the MC_Reset function block 07 MC_FB_ERR_RESOURCE The function block cannot execute because the The axis is not operational due to the resource resource required by the function block is required by a function block is under the control of controlled by some other function block or not other function block or not available available Ensure the resource required by the function block Ensure the resource required by the function block available for use available for use Reset the state of the axis using the MC_Reset Some examples function block e MC_power function block attempts to control the same axis e MC_Stop function block is executed against the same axis at the same time e Two or more MC_TouchProbe function blocks are executed against the same axis at the same time 08 MC_FB_ERR_PROFILE The function block cannot execute because the The axis is not operational due to motion profile motion pr
173. continuous Reinforced Insulation Type Input to Aux and Network Type tested for 60 s 720V DC Input to Aux and Network 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs to Outputs Type tested for 60 s 720 V DC 1 0 to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 182 Rockwell Automation Publication 2080 UM002H EN E November 2015 Specifications Appendix A DC Input Specifications 2080 LC50 240BB 2080 LC50 240VB 2080 LC50 240WB Attribute High Speed DC Input Standard DC Input Inputs 0 7 Inputs 8 and higher Number of Inputs 8 6 Voltage category 24V sink source Input group to backplane isolation Verified by one of the following dielectric tests 720V DC for 2 s 50V DC working voltage IEC Class 2 reinforced insulation On state voltage range 6 8 26 4V DC 65 C 149 F 6 8 30 0V DC 30 C 86 F 10 26 4V DC 65 C 149 F 10 30 0V DC 30 C 86 F Off state voltage 5V DC max Off state current 1 5 mA max On state current 5 0 mA 16 8V DC min 7 6 mA 24V DC nom 2 0 mA 30V DC max 1 8 mA 10V DC mi
174. cted Components Workbench such as Num of Axis or Motion execution interval being configured out of range When this major fault is reported there could be no axis in ErrorStop state OxF110 EP_MC_RESOURCE_MISSING Motion configuration has mismatch issues with motion resource downloaded to the controller There are some motion resources missing When this major fault is reported there could be no axis in ErrorStop state OxF12x EP_MC_CONFIG_AXS_ERR Motion configuration for axis cannot be supported by this catalog or the configuration has some resource conflict with some other motion axis which has been configured earlier The possible reason could be maximum velocity max acceleration is configured out of supported range x the logic Axis ID 0 3 OxF15x EP_MC_ENGINE_ERR There is a motion engine logic error firmware logic issue or memory crash for one axis detected during motion engine cyclic operation One possible reason can be motion engine data memory crash This is motion engine operation error and should not happen in normal condition x the logic Axis ID 0 3 A maximum of three motion axes can be configured through the Connected Components Workbench software To add configure update delete and monitor an axis in Connected Components Workbench refer to the next sections TIP Configuration changes must be compiled and downloaded to the controller to take effect Rock
175. d in the control program to identify that the low preset condition caused the HSC interrupt If the control program needs to perform any specific control action based on the low preset this bit would be used as conditional logic This bit can be cleared 0 by the control program and is also be cleared by the HSC sub system whenever these conditions are detected e High Preset Interrupt occurs e Underflow Interrupt occurs e Overflow Interrupt occurs Programmable Limit Switch Position HSCSTS PLSPosition Description Data Format HSC Modes JUser Program Access HSCSTS PLSPosition Word INT 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 When the HSC is in Counting mode and PLS is enabled this parameter indi cates which PLS element is used for the current HSC configuration Error Code HSCSTS ErrorCode Description Data Format HSC Modes JUser Program Access HSCSTS ErrorCode Word INT 0 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Error Codes detected by the HSC sub system are displayed in this word Errors include Error Code Sub element HSC counting Error Error Description Code Bit 15 8 high byte 0 255 The non zero value for high by
176. document to define how STIS works Rockwell Automation Publication 2080 UMO002H EN E November 2015 241 Appendix D User Interrupts STIS Parameters Parameter Parameter Data Parameter Description Type Type Enable Input BOOL Enable Function When Enable TRUE function is performed When Enable FALSE function is not performed IROType Input UDINT Use the STI defined DWORD IRQ_STIO IRO_STI1 IRO_STI2 IRO_STI3 SetPoint Input UINT The user timer interrupt interval time value in milliseconds When SetPoint 0 STI is disabled When SetPoint 1 65535 STI is enabled STIS or ENO Output BOOL Rung Status same as Enable The STIS instruction can be used to start and stop the STI function or to change the time interval between STI user interrupts The STI instruction has two operands e IRQType This is the STI ID that a user wants to drive e SetPoint This is the amount of time in milliseconds which must expire prior to executing the selectable timed user interrupt A value of zero disables the STI function The time range is from 0 65 535 milliseconds The STIS instruction applies the specified set point to the STI function as follows STIO is used here as an example e Ifa zero set point is specified the STI is disabled and STIO Enable is cleared 0 e Ifthe STI is disabled not timing and a value greater than 0 is entered into the set point the STI starts timing to
177. e ariable Monitoring Global Variables Micro830 Local Variables UntitledLD1 System Variables Micro830 140 Micro83 HSC_1 MyCommand MyAppData MyAppData PlsEnable MyAppData HsclD MyAppD ata HscMode MyAppD ata Accumulator MyAppDats HPSetting MyAppDats LPSetting MyAppDats 0FSetting MyAppDats UFSetting MyAppDats OutputMask MyAppD ats HPOutput MyAppData LPOutput MyInfo CountE nable MylInfo ErrorD etected MylInfo CountUpFlag MylInfo CountD wnFlag Mylnfo Mode1 Done Mylnfo OVF Mylnfo UNF MylInfo CountDir Mylnfo HPReached Mylnfo LPReached Mylnfo OFCauselnter Mylnfo UFCauselnter Mylnfo HPCauselnter Mylnfo LPCauselnter Mylnfo PlsPosition MylInfo ErrorCode Mylnfo Accumulator Mylnfo HP Mylnfo LP Mylnfo HPOutput Mylnfo LPOutput MyStatus For this example once the Accumulator reaches a High Preset value of 40 output 0 turns on and the HPReached flag turns on Once the Accumulator reaches a Low Preset value of 40 output 1 turns on and the LPReached flag turns on as well Use the Programmable Limit Switch PLS Function The Programmable Limit Switch function allows you to configure the High Speed Counter to operate as a PLS programmable limit switch or rotary cam switch The PLS is used when you need more than one pair of high and low presets up to 255 pairs of high and low presets are supported by the PLS Rockwell Automation Publication 2080 UM002H EN E November 2015 225 Appendix C 226
178. e Immunity publication 1770 4 1 e Guidelines for Handling Lithium Batteries publication AG 5 4 e Automation Systems Catalog publication B115 Rockwell Automation Publication 2080 UM002H EN E November 2015 About Your Controller Chapter 2 Installation Considerations Most applications require installation in an industrial enclosure Pollution Degree 20 to reduce the effects of electrical interference Over Voltage Category 1 and environmental exposure Locate your controller as far as possible from power lines load lines and other sources of electrical noise such as hard contact switches relays and AC motor drives For more information on proper grounding guidelines see the Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 WARNING When used in a Class Division 2 hazardous location this equipment must be mounted in a suitable enclosure with proper wiring method that complies with the governing electrical codes WARNING If you connect or disconnect the serial cable with power applied to this module or the serial device on the other end of the cable 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 WARNING The local programming terminal port is intended for temporary use only and must not be connected or disconnected unless the area is assured to be nonhazardous WARNIN
179. e The following considerations determine whether the power source must be required to supply high inrush current e The power up sequence of devices in a system e The amount of the power source voltage sag if the inrush current cannot be supplied e The effect of voltage sag on other equipment in the system If the entire system is powered up at the same time a brief sag in the power source voltage typically will not affect any equipment Rockwell Automation Publication 2080 UM002H EN E November 2015 25 Chapter 2 About Your Controller Preventing Excessive Heat 26 Loss of Power Source The optional Micro800 AC power supply is designed to withstand brief power losses without affecting the operation of the system The time the system is operational during power loss is called program scan hold up time after loss of power The duration of the power supply hold up time depends on power consumption of controller system but is typically between 10 milliseconds and 3 seconds Input States on Power Down The power supply hold up time as described above is generally longer than the turn on and turn off times of the inputs Because of this the input state change from On to Off that occurs when power is removed may be recorded by the processor before the power supply shuts down the system Understanding this concept is important The user program should be written to take this effect into account Other Types of Line
180. e To do that you need to configure the CIP Generic message as a loop back message by setting the path to 0 0 Configure CIP Generic Message as a Loop back Message Target_Cfgl Target_Cfgl Path STRING 80 oo Target_Cfg1 CipConnMode USINT 0 7 Target_Cfgl UcmmTimeout UDINT 0 a Target_Cfgl ConnMsgTimeout UDINT 0 Target_Cfg1 ConnClose BOOL For Micro830 Micro850 controllers the address configuration change is permanent and will retained when the controller is power cycled Rockwell Automation Publication 2080 UM002H EN E November 2015 15 Chapter 2 About Your Controller 16 Using Modbus RTU Communication To use RMCC with the Modbus RTU communication protocol the serial port must be set to the Modbus slave role A CIP Generic message is sent from within a program with the following parameters CIP Generic Message Parameters for RMCC using Modbus RTU Parameter Value Service 16 Class 70 Instance 2 Embedded serial port 5 6 7 8 or 9 Plug in modules Attribute 100 ReqData New node address 1 ReqLen 2 RMCC Modbus Example Set the Parameters User Global Variables Micro850 Local Variables RMCC_Modbus System Variables Micro850 1 0 Micro850 Defined 4 gt Data Type Dimension String Size Initial Value zr CIPAPPCFG 7 air zir M CIPAPPCFG ei APP_CFG1 Service USINT 16 Rea APP_CFG1 Class UINT 70 Rea APP
181. e Connected Components Workbench software To recover the controller must be set to Program Mode using the keyswitch for Micro830 and Micro850 controllers or the 2080 LCD for Micro810 controllers Then ControlFlash can be used to update the controller firmware which also clears the controller memory ATTENTION The project in the controller will be lost but a new project can be downloaded Rockwell Automation Publication 2080 UMO002H EN E November 2015 Micro830 Controllers Specifications Appendix A IMPORTANT Specifications for the analog and discrete Micro800 plug in and expansion I O modules are available in the following Rockwell Automation publications e Micro800 Discrete and Analog Expansion 1 0 User Manual publication 2080 UM003 e Micro800 Plug in Modules User Manual publication 2080 UM004 General 2080 LC30 100WB 2080 LC30 100VB Micro830 10 Point Controllers Attribute 2080 LC30 100WB 2080 LC30 100VB Number of 1 0 10 6 inputs 4 outputs Dimensions 90 x 100 x 80 mm HxWxD 3 54 x 3 94 x 3 15 in Shipping weight approx 0 302 kg 0 666 Ib Wire size 0 14 2 5 mm 26 14 AWG solid copper wire or 0 14 1 5 mm 26 14 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports Wire type Use copper conductors only Terminal screw torque 0 6 Nm 4 4 Ib in max using a 2 5 mm 0 10 in flat b
182. e POUs programs Write outputs Housekeeping datalog recipe communications 1 Program Organizational Unit When a cycle time is specified a resource waits until this time has elapsed before starting the execution of a new cycle The POUs execution time varies depending on the number of active instructions When a cycle exceeds the specified time the loop continues to execute the cycle but sets an overrun flag In such a case the application no longer runs in real time When a cycle time is not specified a resource performs all steps in the loop then restarts a new cycle without waiting Within one program scan cycle the execution of the main steps as indicated in the Execution Rules diagram could be interrupted by other controller activities which have higher priority than the main steps Such activities include 1 User Interrupt events including STI EII and HSC interrupts when applicable 2 Communication data packet receiving and transmitting 3 PTO Motion engine periodical execution if supported by the controller Rockwell Automation Publication 2080 UM002H EN E November 2015 Power Up and First Scan Program Execution in Micro800 Chapter 6 When one or several of these activities occupy a significant percentage of the Micro800 controller execution time the program scan cycle time will be prolonged The Watchdog timeout fault 0xD011 could be reported if the impact of
183. e ioke vie tatdee coe od YEA e a 163 Back Up a Password Protected Controller 04 164 Configure Controller Password lt 5 23 3 5 has caved vicesteveseuew panies 164 Recover from a Lost Password 0ccccscscecucscseesscecucucs 164 Rockwell Automation Publication 2080 UM002H EN E November 2015 xi Table of Contents Specifications Modbus Mapping for Micro800 Quickstarts xii Appendix A Micro830 Controllers ss s6c5 Getic Sas ahd ae sie Gelder 165 Micro830 10 Point Controllers 0 c cece cece eee ee 165 Micro830 16 Point Controllers 0c cece cece ee eee ee 169 Micro830 24 Point Controllers 0 0 cece ccc e eee ees 172 Micro830 48 Point Controllers 2 0 cece ccc eee eee ees 176 Micro830 and Micro850 Relay Charts 0 sees seca ee 181 Micro850 Canto letsit ice oh alsctic eam ihe caceurg id ollie wate we 181 Micro850 24 Point Controllers 00 cc cece cece eceeee 182 Micro850 48 Point Controllers 0 00 cece eee e eee e eee 185 Micro800 Programmable Controller External AC Power Supply 191 Appendix B Modbas Mapping sepsbescash Gate sac atusaleia elderiana Annn e aa 193 Endian Configuration ss ssssrsrsrererrrrrrrrsrerrere 193 Mapping Address Space and supported Data Types 193 Example 1 Panel View Component HMI Master to Micro800 STAVE Wiecrsoscioth oie en Aetna tn a e OA Telake N 194 Example 2 Micro800 Master to PowerFlex 4M
184. e next successful Run Mode change When you perform a Test Logic Change the value of the variable is changed from zero to one After you choose to accept or undo the changes the value of the variable is reset to zero IMPORTANT Whena Test Logic is performed or undoing changes after the Test Logic is completed any active communication instructions will be aborted while the changes are downloaded to the controller Uncommitted Changes Uncommitted changes are changes made in RMC that have not been accepted or undone after a Test Logic Change has been performed If the controller power loses power while there are uncommitted changes you will not be able to re enter RMC upon reconnection You can choose to re download the project to keep the changes or upload if the uncommitted changes are not wanted If you choose to upload a project with uncommitted changes from the controller you cannot enter RMC until you have done a full download Rockwell Automation Publication 2080 UM002H EN E November 2015 11 Chapter 2 12 About Your Controller RMC Memory Run Mode Change RMC memory is used to store both the logic and user variable changes made during RMC The default amount of memory allocated is 2KB and can be increased up to 8KB However there is still a limit of 2KB for logic and user variables changes per Test Logic To adjust the amount of RMC memory the controller must be offline After you have adjusted the amount y
185. e screwdriver Wiring category 2 on power ports Insulation stripping length 7 mm 0 28 in North American temp code T4A 1 Any fluctuation in voltage source must be within 85V 264V Do not connect the adapter to a power source that has fluctuations outside of this range 2 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Appendix B Modbus Mapping for Micro800 Modbus Mapping All Micro800 controllers except the Micro8 10 12 point models support Modbus RTU over a serial port through the embedded non isolated serial port The 2080 SERIALISOL isolated serial port plug in module also supports Modbus RTU Both Modbus RTU master and slave are supported Although performance may be affected by the program scan time the 48 point controllers can support up to six serial ports one embedded and five plug ins and so consequently six separate Modbus networks In addition the Micro850 controller supports Modbus TCP Client Server through the Ethernet port Endian Configuration Modbus protocol is big endian in that the most significant byte of a 16 bit word is transmitted first Micro800 is also big endian so byte ordering does not have to be reversed For Micro800 data types larger than 16 bits for example DINT LINT REAL LRE
186. ec Default 0 0 rpm Disabled The parameter is set as REAL float value in Connected Components Workbench To learn more about conversions and rounding o REAL values see Real Data Resolution on page 112 The formula for deriving rpm to user unit and vice versa v in user unit sec x 60 s 3 Value in user unit Value in pulse x TIP 110 travel per revolution in user unit To convert from parameter value from pulse to user units Travel per revolution Pulse per revolution A red border on an input field indicates that an invalid value has been entered Scroll over the field to see tooltip message that will let you know the valid value range for the parameter Supply the valid value Rockwell Automation Publication 2080 UMO002H EN E November 2015 Motion Control Chapter 7 4 Set Homing parameters based on the description below Click Homing axisl Homing Wi Homing Direction Negative v f Homing Velocity 250 mm sec go Homing Acceleration 250 a 5 Homing Deceleration 250 mm sec O Homing Jeri 0 0 mm sec A Stort Home C Home Marker B Home Switch D Stop Home Creep Velocity 50 nm Home Offset 00 mm Home Switch Input Home Marker Input Input 10_EM_DI_02 Input 10_EM DI Active Level High gt Active Level Hig Homing Parameters Parameter Value range Homing Direction Positive clockwise or negative counterclockwise Homing Velocity
187. ect the target controller Select Upload A ob Ww N When requested provide the controller password Rockwell Automation Publication 2080 UM002H EN E November 2015 Controller Security Chapter 9 Debug a Password Protected Controller To debug a locked controller you have to connect to the controller through the Connected Components Workbench software and provide the password before you can proceed to debug Launch the Connected Components Workbench software On the Device Toolbox expand Catalog by clicking the sign Select the catalog number of your controller 1 2 3 4 When requested provide the controller password 5 Build and save your project 6 Debug Download to a Password Protected Controller 1 Launch the Connected Components Workbench software 2 Click Connect 3 Select the target controller 4 When requested provide the controller password 5 Build and save the project if needed 6 Click Download 7 Click Disconnect Transfer Controller Program and Password Protect Receiving Controller In this scenario the user needs to transfer user application from controller locked to another Micro800 controller with the same catalog number The transfer of the user application is done through the Connected Components Workbench software by uploading from controller1 then changing the target controller in the Micro800 project and then downloading to controller2 Finally contro
188. ected 2 Overvoltage Category II is the load level section of the electrical distribution system At this level transient voltages are controlled and do not exceed the impulse voltage capability of the products insulation Rockwell Automation Publication 2080 UM002H EN E November 2015 21 Chapter 2 22 About Your Controller A ATTENTION To comply with the CE Low Voltage Directive LVD this equipment must be powered from a source compliant with the following Safety Extra Low Voltage SELV or Protected Extra Low Voltage PELV ATTENTION To comply with UL restrictions this equipment must be powered from a Class 2 source ATTENTION Be careful when stripping wires Wire fragments that fall into the controller could cause damage Once wiring is complete make sure the controller is free of all metal fragments ATTENTION Do not remove the protective debris strips until after the controller and all other equipment in the panel near the module are mounted and wired Remove strips before operating the controller Failure to remove strips before operating can cause overheating ATTENTION Electrostatic discharge can damage semiconductor devices inside the module Do not touch the connector pins or other sensitive areas ATTENTION The USB and serial cables are not to exceed 3 0 m 9 84 ft ATTENTION Do not wire more than 2 conductors on any single terminal ATTENTION Do not remove the Removable Terminal Block RTB until power i
189. ed to change the HSC counting status This function block is called when the HSC is not counting stopped HSC Parameters Parameter Parameter Data Type Parameter Description Type Enable Input BOOL Enable function block When Enable TRUE set reset the HSC status When Enable FALSE there is no HSC status change Hscld Input See HSC APP Describes which HSC status to set Data Structure on page 133 Mode1Done Input BOOL Mode 1A or 1B counting is done HPReached Input BOOL High Preset reached This bit can be reset to FALSE when HSC is not counting LPReached Input BOOL Low Preset reached This bit can be reset to FALSE when HSC is not counting OFOccurred Input BOOL Overflow occurred This bit can be reset to FALSE when necessary UFOccurred Input BOOL Underflow occurred This bit can be reset to FALSE when necessary Sts Output UINT HSC function block execution status Refer to HSC Function Block Status Codes on age 152 for HSC status code description except p 0x02 and 0x04 Programmable Limit Switch The Programmable Limit Switch function allows you to configure the PLS Function High Speed Counter to operate as a PLS programmable limit switch or rotary cam switch When PLS operation is enabled HSCAPP PLSEnable True the HSC High Speed Counter uses PLS data for limit cam positions Each limit cam position has corresponding data parameters that are used to set
190. ed when the instruction is executing For example in ladder diagram if the rung becomes false before the instruction finishes executing the Busy output will stay true forever even though the function block has finished executing Always_on Rockwell Automation Publication 2080 UM002H EN E November 2015 85 Chapter 7 Motion Control General Rules for the Motion Function Block Parameter General Rules Output Active In current implementation buffered moves are not supported Consequently Busy and Active outputs have the same behavior Behavior of CommandAborted is set when a commanded motion is aborted by another motion command CommandAborted Output When CommandAborted occurs other output signals such as InVelocity are reset Always_on Enable and Valid Status The Enable input for read function blocks is level sensitive On every program scan with the Enable input as true the function block will perform a read and update its outputs The Valid output parameter shows that a valid set of outputs is available The Valid output is true as long as valid output values are available and the Enable input is true The relevant output values will be refreshed as long as the input Enable is true If there is a function block error and the relevant output values are not valid then the valid output is set to false When the error condition no longer exists the values will be updated and the Valid output wi
191. ee HSC APP Data Structure on page 133 When using HSC function blocks it is recommended that you e set HSCAppData underflow setting UF Setting and low preset setting LPSetting to a value less than 0 to avoid possible HSC malfunction when the HSC accumulator is reset to 0 e set HSCAppData overflow setting OFSetting and high preset setting HPSetting to a value greater than 0 to avoid possible HSC malfunction when the HSC accumulator is reset to 0 In some cases a sub counter will be disabled by master counter mode See the section HSC Mode HSCAPP HSCMode on page 134 TIP HSCO is used in this document to define how any HSC works IMPORTANT The HSC function can only be used with the controller s embedded 1 0 It cannot be used with expansion I O modules HSC Inputs and All Micro830 and Micro850 controllers except 2080 LCxx xxAWB have Wiring Mapping Micro830 and Micro850 High Speed Counters 100 kHz high speed counters Each main high speed counter has four dedicated inputs and each sub high speed counter has two dedicated inputs 10 16 point 24 point 48 point Number of HSC 2 4 6 Main high speed counters 1 counter 0 2 counter 0 2 3 counters 0 2 and 4 Sub high speed counters 1 counter 1 2 counter 1 3 3 counters 1 3 and 5 High Speed Counter Inputs used HSCO 0 1 2 3 HSC1 2 3 HSC2 4 5 6 7 HSC3 6 7 HSC4 8 9 10 11 HSC5 10 11 Rockwell Automation Publication
192. eee ne i E Lg i Micro850 ller1 For program download controller USB to DeviceNet DeviceNet A SS es aaa o a La af c 2 9 Micro850 controller with 2080 DNET20 plug in scanner Address 0 For program download al a egaa i e ee 3 o 7 j 5 Go a b _ ie c Micro830 controller2 PowerFlex 525 drive with 25 COMM D adapter Address 1 CompactBlock LDX 1 0 Address 2 Rockwell Automation Publication 2080 UM002H EN E November 2015 Communication Connections Chapter 5 EtherNet IP to DeviceNet EtherNet IP DeviceNet PowerFlex 525 drive 8 with 4 il 25 COMM D adapter Address 1 Powetik Ei seis P Micro850 controller with For program download 2080 DNET20 plug in scanner Address 0 The user can use Connected Components Workbench to configure the PowerFlex drives CompactBlock LDX I O Address 2 IMPORTANT Micro800 controllers do not support more than one hop for example from EtherNet IP CIP Serial EtherNet IP Use Modems with Serial modems can be used with the Micro830 and Micro850 controllers Micro800 Controllers Making a DF1 Point to Point Connection You can connect the Micro830 and Micro850 programmable controller to your serial modem u
193. eies eens oe ances 18 Agency Certifications c n sarin eaa a EE E E EASE 20 Compliance to European Union Directives 00 0000 eee ee 20 EMC Directives arresa es stevie ads Sods Leon Wess Oats 20 Low Voltage Directive 9 ncsaiuaebsvessansaeasaveuceereaaan es 20 Installation Considerations c0ccceseacecucessecucveeens 21 Environment and Enclosute 3 0 2 oescdeus eee ceead ds Cabo keene 22 Preventing Electrostatic Discharge 2s iyhe coches esses seanedees 23 Safety COnsideratiOns erresau net ine oc neler et nv ntidete aa 23 North American Hazardous Location Approval 23 Disconnecting Main Power cian acts Sereda ee teaw awe dees 24 Safety CICUS ons cc daisy anced Abate E ena danas apenas 24 Power Distribution viogsonoedacadey ertan nen ue Rim ars pies 24 Periodic Tests of Master Control Relay Circuit 25 Power Considerations s uecccssrrrureeseerrrrreesrsrrrrre 25 Isolation Transformers ia cso ded 82 sehen bow Ra statue tdcaagens 25 Power Supply Intushycio23 0 isdstnp oh latin eee etd beAes 25 Loss of Power Source oo aan x citi ond Sao oeai a as es 26 Input States on Power Down 05 0 csr iadeedsccae sess tee 26 Other Types of Line Conditions i43 2 heveian co eercesed i Shae 26 Preventing Excessive Heat taere tos ee E A Neate cece 26 Master Control Relaya ive seatdene tsi ee nea des 27 Rockwell Automation Publication 2080 UM002H EN E November 2015 vii Table of Contents
194. emains in the state Stopping as long as Execute is still TRUE or velocity zero is not yet reached As soon as Done is SET and Execute is FALSE the axis goes to state StandStill N N Standstill Discrete Motion Continuous Motion Homing MC_Halt This function block commands an axis to a controlled motion stop The axis is moved to the state DiscreteMotion until the velocity is zero With the Done output set the state is transferred to StandStill Standstill Discrete Motion Continuous Motion A ATTENTION During Run Mode Change the Movement Function Blocks can only be deleted when that Function Block has been done or aborted Otherwise unintended axis and Function Block behavior may occur Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 outputs that allows you to control a specific motion instruction Refer to the Connected Components Workbench Online Help for a description of these variable inputs and outputs ATTENTION Each motion function block has a set of variable inputs and General Rules for the Motion Control Function Blocks To work with motion control function blocks users need to be familiar with the following general rules General Rules for the Motion Function Block Parameter Input parameters General Rules When Execute is True The parameters are used with the rising edge of the E
195. emory module is Perform one of the following a ace Whe Microgdu controllers Upgrade the Micro800 controller s firmware revision using ControlFlash to be compatible with the memory module e Replace the memory module e Contact your local Rockwell Automation technical support representative for more information about firmware revisions for your Micro800 controller For more information on firmware revision compatibility go to http www rockwellautomation com support tirmware html OxF023 The controller program has been cleared This Download or transfer the program happened because a power down occurred during program download or transfer from the memory module e the Flash Integrity Test failed Micro810 only OxF050 The embedded 1 0 configuration in the user Perform the following program is invalid 1 Correct the embedded 1 0 configuration in the user program to match that of the actual hardware configuration 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode If the error persists be sure to use Connected Components Workbench programming software to develop and download the program OxF100 There is general configuration error detected in Perform the following the motion configuration downloaded from the e Correct the axes configuration in the user program Connected Components Workbench software such as number of axis or motion execution If fault is consistent
196. ent connections and 23 simultaneous EtherNet IP Server connections CIP Serial supported on both Micro830 and Micro850 controllers makes use of DF1 Full Duplex protocol which provides point to point connection between two devices The Micro800 controllers support the protocol through RS 232 connection to external devices such as computers running RSLinx Classic software PanelView Component terminals firmware revisions 1 70 and above PanelView 800 terminals or other controllers that support CIP Serial over DF1 Full Duplex such as ControlLogix and CompactLogix controllers that have embedded serial ports EtherNet IP supported on the Micro850 controller makes use of the standard Ethernet TCP IP protocol The Micro850 controller supports up to 23 simultaneous EtherNet IP Server connections To configure CIP Serial see Configure CIP Serial Driver on page 59 To configure for EtherNet IP see Configure Ethernet Settings on page 64 CIP Symbolic Addressing Users may access any global variables through CIP Symbolic addressing except for system and reserved variables Rockwell Automation Publication 2080 UM002H EN E November 2015 Communication Connections Chapter 5 One or two dimension arrays for simple data types are supported for example ARRAY OF INT 1 10 1 10 are supported but arrays of arrays for example ARRAY OF ARRAY are not supported Array of strings are also supported Supported Data Types in CIP
197. ent Server e Modbus TCP Client Server e DHCP Client Rockwell Automation Publication 2080 UMO002H EN E November 2015 51 Chapter5 Communication Connections e Sockets Client Server TCP UDP Connection Limits for Micro830 Micro850 Controllers CIP Connections Total number of client plus server connections for all ports 16 24 Maximum number of client connections for all ports 15 16 Maximum number of server connections for all ports 16 24 Maximum number of EtherNet IP connections Client 16 Server 23 Maximum number of USB connections Client Server 15 23 Maximum number of Serial connections Client 15 16 Server 15 23 TCP Connections Total number of client plus server connections 64 Maximum number for EtherNet IP Client 16 Server 16 Maximum number for Modbus TCP Client 16 Server 16 Maximum number for User Programmable Sockets 8 User Programmable Sockets Total number of User Programmable Sockets E 8 any combination of UDP plus TCP Client Server IMPORTANT Ifall client server connections are fully loaded performance may be affected such as data loss and intermittent delays during communication Here are some configuration examples based on the limits described in the table above 1 The maximum number of drives that can be controlled over EtherNet IP is 16 This is due to the maximum limit of TCP Client connections is 16 and the maximum li
198. er can be directly controlled by the high speed counter The HSC sub system has the ability to directly without control program interaction turn outputs ON or OFF based on the HSC accumulator reaching the High or Low presets The bit pattern stored in the HSCAPP OutputMask variable defines which outputs are controlled by the HSC and which outputs are not controlled by the HSC For example if the user wants to control outputs 0 1 3 using HSC then the user needs to assign HscAppData OutputMask 2 1011 OR using Decimal Value HscAppData OutputMask 11 The bit pattern of the HSCAPP OutputMask variable directly corresponds to the output bits on the controller Bits that are set 1 are enabled and can be turned on or off by the HSC sub system Bits that are clear 0 cannot be turned on or off by the HSC sub system The mask bit pattern can be configured only during initial setup The following table shows example of how HPOutput and OutputMask controls Embedded output Effect of HSC Output Mask on Embedded Outputs Output Variable 32 Bit Signed Integer Data Word 32 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 J4 3 2 1 0 HSCAPP HPOutput high 0 1 l0 1 J0 1 JO 1 O J0 1 f JO JO jo A m JO Jo 1 preset output HSCAPP OutputMask 1 1 0 JO JO 0 JO JO JO 1 1 JO JO JO 1 J1 J0 output mask Embedded output 10 point Embedded output 16 point Embedded output 24 poi
199. er 2015 45 Chapter4 Wire Your Controller Controller 1 0 Wiring 46 2080 LC30 48AWB 2080 LC30 48QWB 2080 LC50 48AWB 2080 LC50 48QWB Input terminal block OMOQOOOOOOOOOOWM TERMINAL BLOCK 1 A QDHOOODOHOHOOOODS TERMINAL BLOCK 3 i 1r 1r 1r 1r 1r 1r 1r 1 0024 CM0 CM1 CM2 CM3 CM4 CM5 CM6 DC24 0 00 0 01 0 02 0 03 0 04 0 05 0 06 TERMINAL BLOCK 2 jj 1r IT 1 CM7 0 08 0 10 CM8 0 13 0 15 0 16 0 18 0 07 0 09 0 11 0 12 0 14 CM9 0 17 0 19 TERMINAL BLOCK 4 45039 Output terminal block TIP 2080 LC30 48AWB has no high speed inputs 2080 LC30 48QVB 2080 LC30 480BB 2080 LC50 480QVB 2080 LC50 48QBB Input terminal block l 1r 1r como 1 01 1 03 1 05 1 06 1 08 1 10 com2 1 00 1 02 1 04 COMI 1 07 1 09 1 11 1 12 TERMINAL BLOCK 1 DOOOOODOHOHOOOO TERMINAL BLOCK 3 i 1r 1r 1 DC24 CM0 0 01 0 03 CM1 0 05 0 07 0 09 DC24 0 00 0 02 CM0 0 04 0 06 0 08 CM1 TERMINAL BLOCK 2 ome 0 11 0 13 0 15 IT soma 0 17 0 19 ne 0 10 0 12 0 14 CM2 0 16 0 18 CM3 NC TERMINAL BLOCK 4 45040 Output terminal block This section contains some relevant information about minimizing electrical noise and also includes some wiring examples Rockwell Automation Publication 2080 UM002H EN E November 2015 Wire Your Controller Chapter 4 Minimize Electrical Noise Because of the variety of applications and environments where cont
200. er certification details Micro830 24 Point Controllers General Specifications 2080 LC 30 24QWB 2080 LC30 240VB 2080 LC30 240BB 2080 LC30 240VB 2080 LC30 240BB Attribute Number of 1 0 2080 LC30 240WB 24 14 inputs 10 outputs Dimensions HxWxD 90 x 150 x 80 mm 3 54 x 5 91 x 3 15 in Shipping weight approx 0 423 kg 0 933 Ib 172 Rockwell Automation Publication 2080 UMO002H EN E November 2015 General Specifications 2080 LC30 240WB 2080 LC30 240VB 2080 LC30 240BB Attribute Wire size 2080 LC30 240WB 0 2 2 5 mm 24 12 AWG solid copper wire or 0 2 2 5 mm 24 12 AWG stranded copper wire rated 90 C 194 F insulation max Specifications Appendix A 2080 LC30 240VB 2080 LC30 240BB Wiring category 2 on signal ports 2 on power ports Wire type Use Copper Conductors only Terminal screw torque 0 6 Nm 4 4 Ib in max using a 2 5 mm 0 10 in flat blade screwdriver Input circuit type 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink standard and high 24V DC source standard and high speed speed Event input interrupt support Yes Power consumption 12 32 W Power supply voltage range 20 4 26 4V DC Class 2 1 0 rating Input 24V DC 8 8 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 24V DC Class 2 1 A per point Surround
201. er for a program from the program s properties However the Project Organizer does not show the new order until the next time the project is opened The Micro800 controller supports jumps within a program Call a subroutine of code within a program by encapsulating that code as a User Defined Function Block UDFB Although a UDFB can be executed within another UDFB a maximum nesting depth of five is supported A compilation error occurs if this is exceeded Alternatively you can assign a program to an available interrupt and have it executed only when the interrupt is triggered A program assigned to the User Fault Routine runs once just prior to the controller going into Fault mode In addition to the User Fault Routine Micro800 controllers also support two Selectable Timed Interrupts STI STIs execute assigned programs once every set point interval 1 65535 ms Rockwell Automation Publication 2080 UM002H EN E November 2015 69 Chapter6 Program Execution in Micro800 Controller Load and Performance Considerations 70 The Global System Variables associated with cycles scans are e SYSVA_CYCLECNT Cycle counter e SYSVA_TCYCURRENT Current cycle time e SYSVA_TCYMAXIMUM Maximum cycle time since last start Execution Rules This section illustrates the execution of a program The execution follows four main steps within a loop The loop duration is a cycle time for a program Read inputs Execut
202. er ports 2 kV at 5 kHz on signal ports Surge transient immunity EC 61000 4 5 1 kV line line DM and 2 kV line earth CM on power ports 1 kV line line DM and 2 kV line earth CM on signal ports I Conducted RF immunity Rockwell Automation Publication 2080 UM002H EN E November 2015 EC 61000 4 6 10V rms with 1 Hz sine wave 80 AM from 150 kHz 80 MHz 175 AppendixA Specifications Certifications Certification when Value product is marked 1 c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Conformity Certificates and other certification details Micro830 48 Point Controllers General Specifications 2080 LC 30 48AWB 2080 LC30 480WB 2080 LC
203. erformed to transfer the incremental changes from the RMC memory to standard user program and data memory Transferring Contents in RMC Memory to Controller Memory The changes that you have made during RMC are stored in RMC memory and will remain there until you perform a full build and download while the controller is disconnected RMC Memory Usage When Performing Full Build and Download Example Controller Memory RMC Memory for User Program Data Default size 2KB Free memory Free RMC memory Used RMC memory is copied to controller memory New used memory 4 However if the controller memory does not have enough space remaining to copy the contents of the RMC memory as shown below the operation will fail anda not enough memory error message will appear Do not use RMC if you are near the limits of your controller memory Insufficient Controller Memory Example Controller Memory RMC Memory for User Program Data Default size 2KB gt _ Free RMC memory Error will occur due to insufficient controller memory remaining Used memory Rockwell Automation Publication 2080 UMO002H EN E November 2015 13 Chapter2 About Your Controller Limitations of RMC Take note of the following limitations when using the Run Mode Change RMC feature Configuration changes cannot be made for example change filter times Up to 2KB of logic approximately 150 boolean instructions and user variab
204. ersion of the Connected Components Workbench software revision 1 is possible and connections will be successful However the software will not be able to determine whether the controller is locked or not If the controller is not locked access to the user application will be allowed provided the controller is not busy with another session If the controller is locked access to the user application will fail Users will need to upgrade to revision 2 of the Connected Components Workbench software Connected Components Workbench revision 2 with Micro800 controller firmware revision 1 Connected Components Workbench revision 2 is capable of discovering and connecting to Micro800 controllers with firmware revision earlier than revision 2 that is not supporting the Controller Password feature However the Controller Password feature will not be available to these controllers The user will not be able see interfaces associated with the Controller Password feature in the Connected Components Workbench session Users are advised to upgrade the firmware See Flash Upgrade Your Micro800 Firmware on page 199 for instructions The following workflows are supported on compatible Micro800 controllers firmware revision 2 and Connected Components Workbench software revision 2 Upload from a Password Protected Controller 1 Launch the Connected Components Workbench software On the Device Toolbox expand Catalog by clicking the sign Sel
205. es When a hard limit switch is enabled the axis comes to a stop when the limit switch is detected during motion If hard stop on hard limit switch is configured as ON and the limit is detected motion is stopped immediately that is PTO pulse is stopped immediately by the hardware Alternatively if hard stop on hard limit switch is configured as OFF motion will be stopped using Emergency Stop parameters Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 When any hard limit switch is enabled the input variable connecting to this physical input can still be used in User Application When a hard limit switch is enabled it will be used automatically for MC_Home function block if the switch is in the Homing direction configured in the Connected Components Workbench software Mode MC_HOME_ ABS SWITCH or MC_HOME REF WITH_ABS See Homing Function Block on page 116 Soft Limits Soft limits refer to data values that are managed by the motion controller Unlike hardware limits which detect the presence of the physical load at specific points in the allowable motion of the load soft limits are based on the stepper commands and the motor and load parameters Soft limits are displayed in user defined units The user can enable individual soft limits For non enabled soft limits whether upper or lower an infinite value is assumed Soft Limits are activated only when the corresponding axis is
206. es Make 120V AC 15A 2 5 us ON 0 1 ms OFF 1 ms Amperes Volt Amperes Continuous 1800V A 240V AC 75A 0 75 A 24V DC 1 0A 1 0A 28V A 125V DC 0 22 A Environmental Specifications Attribute Temperature operating Value 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 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock nonoperating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 45 g Emissions Rockwell Automation Publication 2080 UM002H EN E November 2015 CISPR 11 Group 1 Class A 171 AppendixA Specifications Environmental Specifications Attribute ESD immunity Value IEC 61000 4 2 6 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V
207. es on page 216 Assign Values to the HSC Variables on page 219 Assign Variables to the Function Block on page 222 Run the High Speed Counter on page 223 Use the Programmable Limit Switch PLS Function on page 225 Rockwell Automation Publication 2080 UMO002H EN E November 2015 215 Appendix Quickstarts 216 Create the HSC Project and Variables 1 Start Connected Components Workbench and open a new project From the Device Toolbox go to Catalog Controllers Double click your controller or drag and drop it onto the Project Organizer windows Device Toolbox v Discover Catalog qit 2080 LC10 12QWB qit 2080 LC30 10QVB qt 2080 LC30 10QWB qrt 2080 LC30 164WB qrt 2080 LC30 16QVB qt 2080 LC30 16QWB att 2080 LC30 24QBB Ti 2080 LC30 24QVB Ww 2080 LC30 24QWB qrt 2080 LC30 48AWB qit 2080 LC30 48QBB qt 2 B qrt 2080 LC30 48QWB 2 Under Project Organizer right click Programs Click Add New LD Ladder Diagram to add a new ladder logic program Project Organizer ww IEJ Name Project20 Programs E AAE untitleaL i Local Variables New ST Structured Text 4 0 New LD Ladder Diagram i New FBD Function Block Diagram 1 The HSC is supported on all Micro830 and Micro850 controllers except on 2080 LCxx xxAWB types Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C 3 Right click UntitledLD and select Open
208. es page Can be shared with more than one drive In Position signal from Servo motor INPUT The input signal that indicates the moving part is in the commanded position This signal has to be Active after the moving part reaches the commanded position for MoveAbsolute and MoveRelative function blocks For MoveAbsolute and MoveRelative function blocks when In_Position is enabled the controller will report an error EP_MC_MECHAN_ERR if the signal is not active within five seconds when the last PTO pulse sent out Not Shared Home Marker Rockwell Automation Publication 2080 UM002H EN E November 2015 INPUT This signal is the zero pulse signal from the motor encoder This signal can be used for fine homing sequence to improve the homing accuracy Not Shared 79 80 Chapter7 Motion Control Sample Motion Wiring Configuration on 2080 LC30 xx0VB 2080 LC50 xx0VB 24V Power Supply Encoder signal cable Motor power cable 2080 LC30 xxQVB 2080 LC50 xxQVB Kinetix3 46056 Notes 1 Drive Enable Pin 3 and Reset Drive Pin 7 will be operating as sourcing inputs when Pin1 2 connected to O of the Power Supply 2 To help you configure Kinetix3 drive parameters so the drive can communicate and be controlled by a Micro830 Micro850 controller see publication CC QS025 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7
209. eset and hold Modes 1 3 5 7 and 9 will only work when an ID of 0 2 or 4 is set due to the fact that these modes use reset and hold Modes 0 2 4 6 and 8 will work on any ID Modes 6 9 will only work when an encoder is connected to the controller Use the HSC ID chart as a reference to wire the encoder to the controller MyAppData HPSetting MyAppData LPSetting MyA ppData OF Setting and MyAppData UF Setting are all user defined variables which represent the counting range of the HSC The diagram below gives an example of a range of values that can be set for these variables Variable HscAppData OFSetting Overflow z 42 147 483 647 maximum HscAppData HPSetting High Preset y HscAppData LPSetting Low Preset v ik HscAppData UFSetting Underflow 0 gt 2 147 483 648 minimum MyAppData OutputMask along with MyAppData HP Output and MyAppData LP Output allows the user to specify which embedded Rockwell Automation Publication 2080 UMO002H EN E November 2015 221 Appendix C 222 Quickstarts outputs can be turned on when a High Preset or Low Preset is reached These variables use a combination of decimals and binary numbers to specify the embedded outputs that are able to turn on off Thus in our example we first set the Output Mask to a decimal value of 3 which when converted to binary is equal to 0011 This means that now outputs O0 and O1 can be turned On Off We have set the HP
210. eter to define a boundary condition for the axis on the type of stop to apply when certain configured limits are reached There are three types of motion position limits e Hard Limits e Soft Limits e PTO Pulse Limits TIP See Motion Axis Configuration in Connected Components Workbench on page 103 for information on how to configure limits and stop profiles and the acceptable value range for each If any one of these limits is reached on a moving axis except on homing an over travel limit error will be reported and the axis will be stopped based on configured behavior axis Limits Hard Limits When hard limit is reached apply Emergency Stop Profile 7 7 Lower Hard Limit 7 Upper Hard Limit Active Level Low gt Active Level Low X Switch Input 10_EM_DI 00 Switch Input 10 EM_DI 01 Soft Limits When soft limit is reached Emergency Stop Profile will be applied E Lower Soft Limit 00 mm E Upper Soft Limit 00 mm Sample Limits configuration in Connected Components Workbench Hard Limits Hard limits refer to the input signals received from physical hardware devices such as limit switches and proximity sensors These input signals detect the presence of the load at the maximum upper and minimum lower extents of allowable motion of the load or movable structure that carries the load such as a load tray on a transfer shuttle Hardware limits are mapped to discrete inputs that are associated with data tags variabl
211. f MC_Halt aborts another movement function block during acceleration and the MC_Halt Jerk input parameter is less than the Jerk of the currently executing FB the Jerk of the currently executing function block is used to prevent excessively long deceleration 90 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Axis and Parameters Motion Control Chapter 7 Example Error Stop using MC_Stop cannot be Aborted Velocity This command is ignored Time MC_Stop Execute Busy Motion function block Execute 46049 MC_Halt and MC_Stop are both used to bring an axis to a Standstill but MC_Stop is used when an abnormal situation occurs TIP MC_Stop can abort other motion function blocks but can never be aborted itself TIP MC_Stop goes to the Stopping state and normal operation cannot resume The following state diagram illustrates the behavior of the axis at a high level when multiple motion control function blocks are activated The basic rule is that motion commands are always taken sequentially even if the controller has the capability of real parallel processing These commands act on the axis state diagram The axis is always in one of the defined states see diagram below Any motion command is a transition that changes the state of the axis and as a consequence modifies the way the current motion is computed Rockwell Automation Publication 2080 UMO002H EN E November 2015 9
212. fies the number of times a message is retried after 3 the first attempt before being declared undeliverable Enter a value from 0 127 ACK Timeout Specifies the amount of time after a packet is 50 x20 ms transmitted that an ACK is expected Rockwell Automation Publication 2080 UM002H EN E November 2015 Communication Connections Chapter 5 Configure Modbus RTU 1 Open your Connected Components Workbench project On the device configuration tree go to the Controller properties Click Serial Port E Controller General Memory Serial Port USB Port E Ethernet Internet Protocol Port Settings Port Diagnostics Date and Time Interrupts Startup Faults Modbus Mapping Embedded 1 0 Plug In Modules lt Empty gt lt Empty gt lt Empty gt B Expansion Modules lt Empty gt lt Empty gt lt Empty gt lt Empty gt 2 Select Modbus RTU on the Driver field Controller Serial Port Driver Modbus RTU Baud Rate 19200 v Parity None vi Modbus Role Modbus RTU Master v Advanced Settings Protocol Control Media R5232 v RTS Pre Delay 0 Data Bits RTS Post Delay 0 Stop Bits 1 v Response Timer 200 Broadcast Pause 200 Inter Char Timeout 9 Rockwell Automation Publication 2080 UMO002H EN E November 2015 61 Chapter5 Communication Connections 3 Specify the following parameters e
213. gative 1 For any other value only the sign whether positive or negative is considered and defines whether the direction is positive or negative This means that if the product of velocity and direction is 3 then direction type is negative MC_MoveVelocity Supported Direction Types Direction Type Value used Direction description Positive direction 1 Specific for motion rotation direction Also called clockwise direction for rotation motion Current direction 0 Current direction instructs the axis to continue its motion with new input parameters without direction change The direction type is valid only when the axis is moving and the MC_MoveVelocity is called Negative direction 1 Specific for motion rotation direction Also referred to as counter clockwise direction for rotation motion 0 Data type short integer Rockwell Automation Publication 2080 UM002H EN E November 2015 97 Chapter 7 98 Motion Control Axis Elements and Data Types Axis_Ref Data Type Axis Refisa data structure that contains information on a motion axis It is used as an input and output variable in all motion function blocks One axis_ref instance is created automatically in the Connected Components Workbench software when the user adds one motion axis to the configuration The user can monitor this variable in controller debug mode through the software when the motion engine is active or in the user application as pa
214. h probe input switch 78 79 troubleshooting 253 U UID instruction 242 UIE instruction 244 UIF instruction 245 upper Positive Limit switch 78 upper positive limit switch 79 User Defined Function Block UDFB 69 72 user fault routine creating a user fault routine 240 recoverable and non recoverable faults 240 User Interrupt Configuration 240 user interrupt disable instruction 242 user interrupt enable instruction 244 user interrupt flush instruction 245 using emergency stop switches 28 Using Interrupts 237 Using the High Speed Counter and Programmable Limit Switch 127 Using the Selectable Timed Interrupt STI Function 247 V validate IP address 66 variable retainment 72 velocity input 83 W wiring diagrams 43 Wiring Examples 48 wiring recommendation 39 Wiring Your Controller 39 Index 279 Rockwell Automation Publication 2080 UM002H EN E November 2015 280 Index Notes Rockwell Automation Publication 2080 UM002H EN E November 2015 Rockwell Automation Publication 2080 UMO002H EN E November 2015 281 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical 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 add
215. hanges are downloaded to the controller 6 The controller will automatically go into Debug mode and display the updated project T 256ms 7 You can now choose to either Undo or Accept the changes to the project To Undo the Changes 1 Click the Undo Changes icon 2 The changes will be discarded and the original project will be restored to the controller E 2143151 Siiner Download 1 succeeded failed up to date skipped error s Performing run mode change Reverting to last stored controller state Performing run mode change Show output from General See oe SUNT ECEGETD eS OGPS eT E Error List E Output Ready IMPORTANT When a Test Logic is performed or undoing changes after the Test Logic is completed any active communication instructions will be aborted while the changes are downloaded to the controller Rockwell Automation Publication 2080 UMO002H EN E November 2015 Quickstarts Appendix C Observe that original project is shown and the controller is in Debug mode To Accept the Changes 1 Click the Accept Changes Y icon 2 Observe that only the Run Mode Change icon is now enabled and the controller remains in Debug mode LF i wy it s Rockwell Automation Publication 2080 UMO002H EN E November 2015 235 AppendixC _Quickstarts Notes 236 Rockwell Automation Publication 2080 UMO002H EN E November 201
216. homed Users can enable or disable soft limits and configure an upper and lower limit setting through the Connected Components Workbench software Soft Limits Checking on the Function Blocks Function Block Limits Checking MC_MoveAbsolute The target position will be checked against the soft limits before motion MC_MoveRelative MC_MoveVelocity The soft limits will be checked dynamically during motion When a soft limit is enabled the axis comes to a stop when the limit is detected during motion The motion is stopped using emergency stop parameters If both hard and soft limits are configured as enabled for two limits in the same direction upper or lower the limits should be configured such that the soft limit is triggered before the hard limit PTO Pulse Limits This limit parameter is not configurable by the user and is the physical limitation of the embedded PTO The limits are set at 0x7FFF0000 and 0x7 FFF0000 pulses for upper and lower limits respectively PTO pulse limits are checked by the controller unconditionally that is the checking is always ON Rockwell Automation Publication 2080 UMO002H EN E November 2015 95 Chapter 7 96 Motion Control On a non continuous motion to prevent a moving axis going to ErrorStop status with Motion PTO Pulse limits detected user needs to prevent current position value going beyond PTO Pulse limit On a continuous motion driven by MC_MoveVelocit
217. ible to the load device DC or L1 Suppression device eee ACorD 0 C2 oO lt DC COM or L2 If the outputs are DC we recommend that you use an 1N4004 diode for surge suppression as shown below For inductive DC load devices a diode is suitable A 1N4004 diode is acceptable for most applications A surge suppressor can also be used See Recommended Surge Suppressors on page 42 As shown below these surge suppression circuits connect directly across the load device 24V DC Relay or solid state DC outputs A IN4004 diode A surge suppressor can also be used 24V DC common Suitable surge suppression methods for inductive AC load devices include a varistor an RC network or an Allen Bradley surge suppressor all shown below These components must be appropriately rated to suppress the switching Rockwell Automation Publication 2080 UMO002H EN E November 2015 41 Chapter4 Wire Your Controller transient characteristic of the particular inductive device See Recommended Surge Suppressors on page 42 for recommended suppressors Surge Suppression for Inductive AC Load Devices Q Output device Output device Output device Surge suppressor Varistor RC network Recommended Surge Suppressors Use the Allen Bradley surge suppressors shown in the following table for use with relays contactors and starters Recommended Surge Suppressors
218. ice versa for applications where on the fly corrections are needed Time Execute1 Busy1 CommandAborted1 Execute2 Busy2 46052 Example Changing Velocity With No Abort When changing velocity generally an aborted move is not necessary since the function block is only Busy during acceleration or deceleration Only a single instance of the function block is required To bring the axis to a standstill use MC_Halt Rockwell Automation Publication 2080 UMO002H EN E November 2015 Velocity Execute Motion Control Chapter 7 Time Busy Halt Execute Busy 46051 It is possible for the movement function blocks and MC_Halt to abort another motion function block during acceleration deceleration This is not recommended as the resulting motion profile may not be consistent A ATTENTION If MC_Halt aborts another motion function block during acceleration and the MC_Halt Jerk input parameter is less than the Jerk of the currently executing function block the Jerk of the currently executing function block is used to prevent an excessively long deceleration Rockwell Automation Publication 2080 UMO002H EN E November 2015 89 Chapter7 Motion Control Example Aborted Movement Function Block During Acceleration Deceleration Velocity Time Execute Busy CommandAborted Halt Execute Busy 46050 IMPORTANT
219. icro850 Local Variables N A System Variables Micro850 10 Logical Value Physical Value Lock gt oft ot oft _MOTION_DIAG J wa Z In this example the user has entered the _ Target Position value of 2345 678 Axis0 Constel NAA This value is rounded up to six digits Axis0 AccelFlag N A 2345 68 in the Variable Monitoring screen Ariel DeooFien NA Axis0 AxisState 1 N A Axis0 ErronlD o N A AxisO ExtraData 0 N A AxisO TargetPos 2345 68 N A Axis0 CommandPos 2345 68 N A AxisO TargetVel 80 0 N A AxisD Commandvel 0 0 NAA Azxisl Ee ie axisO_power WAIT N A axisl_power WAIT N A For the motion function block parameters data validation is performed during Run time The corresponding error will be given if the validation fails Rockwell Automation Publication 2080 UM002H EN E November 2015 113 Chapter7 Motion Control Axis Monitor Example The Axis Monitor displays seven significant digits with rounding i Running Connected Components Workbench File Edit View Build Debug Tools Communications Window Help dd 4 J E GA inExestop1 N E Project Organizer Micro850 Axis Monitor Microg50 Motion POU Axis Name AxisO Micro8S0 Axis State Discrete Motion Axis Homed No HSC_rec Movement Constant Velocity T Local Variables Error Description fr Motion m Local Variables m Global Variables Position and Velocity DataTypes Command P
220. ield to see tooltip message that will let you know the valid value range for the parameter Supply the valid value Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 3 Click Dynamics The lt Axis Name gt Dynamics tab appears Edit the Dynamics parameters based on the table below axisl Dynamics Normal Operation Profile Start Stop Velocity 50 mm sec 300 0 rpm Max Velocity 500 0 mm sec 30000 0 rpm gt Max Acceleration 5000 0 mm sec Max Deceleration 5000 0 mm sec Max Jeric 50000 0 mm sec Emergency Stop Profile Stop Type Deceleration Stop X Stop Velocity 5 0 mm sec 300 0 rpm Stop Deceleration 5000 0 mm sec Stop Jerk 0 0 mm se rgi Dynamics Parameters Parameter Values Start Stop Velocity 2 Start Stop Velocity in Sans The range is based on Motor and Load parameters See Motor and Load Parameters on page 107 using Range 1 100 000 pulse sec Default 300 rpm For example you can configure the value from 0 005 500 mm s for 200 pulses per revolution and units of 1 mm per revolution Rpm value is automatically populated when a value in user units is specified but the user can also initially enter an rpm value Start stop velocity should not be greater than maximum velocity Max Velocity 2 The range is based on Motor and Load parameters See Motor and Load Parameters on page 107 using Range 1
221. in Module Micro800 Non isolated Unipolar Analog Input Plug in Module Wiring Diagrams 2080 WD003 Information on mounting and wiring the Micro800 Non isolated Unipolar Analog Input Plug in Module Micro800 Non isolated Unipolar Analog Output Plug in Module Wiring Diagrams 2080 WD004 Information on mounting and wiring the Micro800 Non isolated Unipolar Analog Output Plug in Module Micro800 Non isolated RTD Plug in Module Wiring Diagrams 2080 WD005 Information on mounting and wiring the Micro800 Non isolated RTD Plug in Module Micro800 Non isolated Thermocouple Plug in Module Wiring Diagrams 2080 WD006 nformation on mounting and wiring the Micro800 Non isolated Thermocouple Plug in Module Micro800 Memory Backup and High Accuracy RTC Plug In Module Wiring Diagrams 2080 WDO007 ormation on mounting and wiring the icro800 Memory Backup and High Accuracy TC Plug In Module wes Micro800 6 Channel Trimpot Analog Input Plug In Module Wiring Diagrams 2080 WD008 nformation on mounting and wiring the Micro800 6 Channel Trimpot Analog Input Plug In Module Micro800 Digital Relay Output Plug in Module Wiring Diagrams 2080 WD010 Information on mounting and wiring the Micro800 Digital Relay Output Plug in Module Micro800 Digital Input Output and Combination Plug in Modules Wiring Diagrams 2080 WD011 nformat
222. indow to reconfigure the filter setting for each input group Isolated AC Inputs 2080 LC30 160WB 2080 LC30 160VB Inputs 0 3 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60 Hz Operating frequency nom 50 60 Hz Relay Output 2080 LC30 16AWB 2080 LC30 160WB only Hi Speed Output 2080 LC30 160VB only Outputs 0 1 Standard Output 2080 LC30 160VB only Outputs 2 5 Number of outputs 6 2 4 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA 10 mA 10 mA 170 Rockwell Automation Publication 2080 UM002H EN E November 2015 Outputs Attribute Load current max Relay Output 2080 LC30 16AWB 2080 LC30 160WB only 2 0A Hi Speed Output 2080 LC30 160VB only Outputs 0 1 100 mA high speed operation 1 0 A 30 C 0 3 A 65 C standard operation Specifications Appendix A Standard Output 2080 LC30 160VB only Outputs 2 5 1 0 A 30 C 0 3 A 65 C standard operation Surge current per point Refer to Relay Contacts Ratings on page 171 4 0 A every 1 s 30 C every 2s 65 o Current per common max 5A Turn on time Turn off time max 10 ms 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amper
223. ing air temperature 30 C 24 V DC Class 2 0 3 A per point Surrounding air temperature 65 C Isolation voltage 250V continuous Reinforced Insulation 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs Type Outputs to Aux and Network Inputs to Outputs to Outputs Type tested for 60 s 720V DC Inputs to Aux and Network 3250 V DC Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 720V DC 1 0 to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 2080 LC30 240WB only E Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Inputs Attribute High Speed DC Input Standard DC Input Inputs 0 7 Inputs 8 and higher Number of Inputs 8 6 Voltage category 24V DC sink source Operating voltage range 16 8 26 4V DC 10 26 4V DC Off state voltage max 5V DC Off state current max 1 5mA On state current min 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 8 8 mA 24V DC 8 5 mA 24V DC On state current max 12 0 mA 30V DC Rockwell Automation Publication 2080 UMO002H EN E November 2015 173 AppendixA Specifications Inputs Attribute High Speed DC Input Standard DC Inpu
224. ing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its right side in positive direction in creep velocity to detect home switch On gt Off edge 2 Once home switch On gt Off edge is detected record the position as mechanical home position and decelerate to stop 118 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 3 Move to the configured home position The mechanical home position recorded during moving right sequence plus the home offset configured for the axis in the Connected Components Workbench software Scenario 4 Moving part at left negative side of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part at the proper location before homing starts MC_HOME_LIMIT_SWITCH IMPORTANT f Lower Limit switch is not configured as Enabled MC_HOME_LIMIT_SWITCH 1 homing will fail Error ID MC_FB_ERR_PARAM For Homing against Lower Limit switch one positive home offset can be configured for Homing against Upper Limit switch one negative home offset can be configured MC_HOME_LIMIT_SWITCH 1 homing procedure performs a homing operation against Limit switch The actual motion sequence is dependent on the limit switch configuration and the actual status for the switch before homing starts that
225. inish to complete Rockwell Automation s EDS Wizard You have successfully completed the EDS Wizard If the Micro830 Micro850 still shows up as a 1756 Module then you are probably running pre release firmware which is reporting itself as Major Revision 0 which does not match the embedded EDS file To confirm right click the device and select Device Properties firmware Revision is Major Minor AB_VBP 1 16 Device Name 2080 LC30 24QWB ttt Vendor allen Bradley Company Product Type _ Product Code fiz 0t i C a Revision 0 21 Serial Number FFFFFFFF Faults p Confi gure Controller Set change and clear the password on a target controller through the Connected Password Components Workbench software 210 Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C IMPORTANT The following instructions are supported on Connected Components Workbench revision 2 and Micro800 controllers with firmware revision 2 For more information about the controller password feature on Micro800 controllers see Controller Security on page 161 Set Controller Password IMPORTANT After creating or changing the controller password you need to power down the controller in order for the password to be saved In the following instructions the Connected Components Workbench software is connected to the Micro800 controller 1 On the Connected Component
226. instructions Their operation is performed by custom circuitry that runs in parallel with the main system processor This is necessary because of the high performance requirements of these functions Features and Operation The HSC is extremely versatile you can select or configure the master HSC for any one of ten 10 modes and the sub HSC for any one of five 5 modes of operation See HSC Mode HSCAPP HSCMode on page 134 for more information Some of the enhanced capabilities of the High Speed Counters are e 100 kHz operation e Direct control of outputs e 32 bit signed integer data count range of 2 147 483 647 e Programmable High and Low presets and Overflow and Underflow setpoints e Automatic Interrupt processing based on accumulated count e Change parameters on the fly from the user control program The High Speed Counter function operates as described in the following diagram High Speed Counter Operation Variable Overflow z 4 4 42 147 483 647 maximum 0 Underflow ee EOE a ii minimum Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 TIP You must set a proper value for the variables OFSetting HPSetting and UFSetting before triggering Start Run HSC Otherwise the controller will be faulted Setting a value for LPSetting is optional for certain counting modes To learn more about HscAppData variable input s
227. interrupt flush UIF instruction 245 IP address exclusions 66 rules 66 IPID Function Block 265 IPIDCONTROLLER parameters 265 isolation transformers power considerations 25 J jerk inputs general rules 83 L lower Negative Limit switch 78 lower negative limit switch 79 Mapping Address Space and supported Data Types 193 master control relay 27 emergency stop switches 28 using ANSI CSA symbols schematic 30 using IEC symbols schematic 29 master control relay circuit periodic tests 25 MC_AbortTrigger 81 MC_Halt 82 87 89 91 MC_Home 82 MC_MoveAbsolute 82 87 MC_MoveRelative 82 87 MC_MoveVelocity 82 87 MC_Power 81 MC_ReadAxisError 81 MC_ReadBoolParameter 81 MC_ReadParameter 81 MC_ReadStatus 81 MC_Reset 81 92 MC_SetPosition 81 MC_Stop 82 87 91 MC_TouchProbe 81 MC_WriteBoolParameter 81 MC_WriteParameter 81 Micro800 cycle or scan 69 Micro830 Controllers 2 Micro830 controllers inputs outputs types 5 Micro850 controllers inputs outputs types 6 minimizing electrical noise 47 minimizing electrical noise on analog channels 47 Modbus Mapping 193 Modbus Mapping for Micro800 193 Modbus RTU 51 53 58 configuration 61 Modbus TCP Client Server 51 53 Modbus TCP server 53 Module Spacing 32 motion control 75 76 administrative function blocks 81 general rules 83 wiring input output 79 motion control function blocks 81 motion function blocks 77 motor starters bulletin 509 surge suppressors 42 mounting dimensions 31
228. ion 2 xx and e Refer to Wiring Requirements and Recommendation on page 39 later attempts to save the program and clear f the fault persists contact your local Rockwell Automation technical support the user data If the system variable representative For contact information see SYSVA_USER_DATA_LOST is set the http support rockwellautomation com MySupport asp controller is able to recover the user program but the user data is cleared If not the Micro800 controller program is cleared e A Micro800 controller revision 1 xx clears the program Note that the system variable SYSVA_USER_DATA_LOST is not available on Micro800 controllers revision 1 x OxF001 The controller program has been cleared This Perform one of the following happened because e Download the program using Connected Components Workbench e a power down occurred during program 7 download or data transfer from the memory e Transfer the program using the memory module restore utility module If the fault persists contact your local Rockwell Automation technical support representative For contact information see j the cable was removed from the controller http support rockwellautomation com MySupport asp during program download e the RAM integrity test failed 0xF002 The controller hardware watchdog was activated Perform the following e A Micro800 controller revision 2 xx and 1 Establish a connection to the Micro800 controller later attempts to save the program and
229. ion About Using Interrupts 0 00 e ee cee eee eee 237 Whatisan Interrupts onei senan an n ioa 237 When Can the Controller Operation be Interrupted 238 Priority of User Interrupts ssssseereererrrerrrrrrrrn 238 User Interrupt Conhigutatioti 2 4 sence escswissseelaarass 240 User Fault Routing roere eie eea esas tan it pores anes eens 240 User Interrupt Instructions tant A cr tye inene cite Woe wets meee 241 STIS Selectable Timed Start i 32coora deeiagutenoesiaa ys 241 UID User Interrupt Disable 22 eat teemennicewtex dace eiee ee 242 UIE User lnrermupePnables 232 set let eee eke 244 UIF User Interrupt Flush vec teersiectseneyee teas 245 UIC User Interrupt Clear gcn2scngo steer sew steers naen 246 Using the Selectable Timed Interrupt STI Function 247 Selectable Time Interrupt STI Function Configuration and Status 247 STI Function Configuration 25 5 ches sasagewshdeseerecies 248 STI Function Status Information secs xpreaeas vee ien pees 248 Using the Event Input Interrupt EI Function 249 Event Input Interrupt EI Function Configuration and Status 250 EII Function Conhigurationyss t us sscsnsa tees tieweeacataces 250 EII Function Status Information ecceeeeeeeeeeees 251 Appendix E Troubleshooting Status Indicators on the Controller visi a nasa teins ale tones 253 Normal Operation 22s odie dese Sid eee i eee 254 Error Conditions dres ers riirn aa a AA
230. ion on mounting and wiring the Micro800 Digital Input Output and Combination Plug in Modules ndustrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system Rockwell Automation Publication 2080 UMO002H EN E November 2015 Preface Resource Description Product Certifications website http Provides declarations of conformity certificates www rockwellautomation com products and other certification details certification Application Considerations for Solid State A description of important differences between Controls SGI 1 1 solid state programmable controller products and hard wired electromechanical devices National Electrical Code Published by the An article on wire sizes and types for grounding National Fire Protection Association of Boston electrical equipment Allen Bradley Industrial Automation Glossary A glossary of industrial automation terms and AG 7 1 abbreviations You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative You can download the latest version of Connected Components Workbench for your Micro800 at the URL below http www rockwellautomation com global products technologies connected components
231. is rounding applies to both axis configuration input in the Connected Components Workbench software and function block input Motion Axis Parameter Validation Besides falling within the pre determined absolute range motion axis parameters are validated based on relationships with other parameters These relationships or rules are listed below Error is flagged whenever there is violation to these relationships Lower Soft Limit should be less than the Upper Soft Limit Start Stop velocity should not be greater than the maximum velocity Emergency Stop velocity should not be greater than the maximum velocity Homing velocity should not be greater than the maximum velocity Homing acceleration should not be greater than maximum acceleration Homing deceleration should not be greater than maximum deceleration Homing jerk should not be greater than maximum jerk Homing creep velocity should not be greater than maximum velocity Delete an Axis 1 2 On the device configuration tree and under Motion right click the axis name and select Delete Motion 2 axis g Rename Dynamics Homing A message box appears asking to confirm deletion Click Yes Motion EF axis g Rename Delete Dynamics Homing Monitor an Axis To monitor an axis the Connected Components Workbench software should be connected to the controller and in DEBUG mode 1 On the device configuration page click Axis Monitor Rockwell Auto
232. ists at least one axis defined and the engine is running The diagnostic data is being updated MCEng_Faulted 0x03 MC engine exists but the engine is faulted Function Block and Axis All motion control function blocks share the same ErrorID definition Status Error Codes Axis error and function block error share the same Error ID but error descriptions are different as described in the table below TIP Error code 128 is warning information to indicate the motion profile has been changed and velocity has been adjusted to a lower value but the function block can execute successfully 100 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 Motion Function Block and Axis status Error ID Error ID Error ID MACRO Error description for Function Block Error description for Axis Status 00 MC_FB_ERR_NO Function block execution is successful The axis is in operational state 01 MC_FB_ERR_WRONG_STATE The function block cannot execute because the The axis is not operational due to incorrect axis axis is not in the correct state Check the axis state detected during a function block execution state Reset the state of the axis using the MC_Reset function block 02 MC_FB_ERR_RANGE The function block cannot execute because there is The axis is not operational due to invalid axis invalid axis dynamic parameter s velocity dynamic par
233. it 9 HSC High Speed Counter HSC3 256 bit 8 HSC High Speed Counter HSC2 128 bit 7 HSC High Speed Counter HSC1 64 bit 6 HSC High Speed Counter HSCO 32 bit 5 Ell Event Input Interrupt Event 3 16 bit 4 Ell Event Input Interrupt Event 2 8 bit 3 Ell Event Input Interrupt Event 1 4 bit 2 Ell Event Input Interrupt Event 0 2 bit 1 UFR User Fault Routine Interrupt UFR 1 bit 0 reserved To disable interrupt s Select which interrupts you want to disable Find the Decimal Value for the interrupt s you selected 1 2 3 Add the Decimal Values if you selected more than one type of interrupt 4 Enter the sum into the UID instruction For example to disable EII Event 1 and EII Event 3 EII Event 1 4 EII Event 3 16 4 16 20 enter this value Rockwell Automation Publication 2080 UM002H EN E November 2015 243 Appendix D User Interrupts UIE User Interrupt Enable UIE Enable UIE name or Pin ID IROType or ENO Pin ID 45640 The UIE instruction is used to enable selected user interrupts The table below shows the types of interrupts with their corresponding enable bits Types of Interrupts Enabled by the UIE Instruction Interrupt Type Element Decimal Value Corresponding Bit Plug In Module UPM4 8388608 bit 23 Plug In Module UPM3 4194304 bit 22 P
234. ite EC untitledLo j ii E HSC PLS PLS 1 4 m Readwrite ie Local Variables Ei HSC_PLS 1 PLS xen ReadWrite HSC_PLS 1 HscHP DINT 250 ReadWrite i Global Variables HSC_PLS 1 HscLP DINT 2 ReadWrite D star HSC_PLS 1 HscHPOutPut UDINT 3 Readwrite Datatypes HSC_PLS 1 HscLPOutPut UDINT o ReadWrite A Rather BERKS E sorsa PLS m ReadWrite HSC_PLS 2 HscHP Readwrite DINT 500 HSC_PLS 2 HscHPOutPut UDINT Readwrite HSC_PLS 2 HscLPOutPut UDINT o ReadWrite Eo crsa PLS A ReadWrite HSC_PLS 3 HscHP DINT 750 ReadWwrite HSC_PLS 3 HscLP DINT 2 Readwrite HSC_PLS 3 HscHPOutPut UDINT 15 Readwrite MSc _PLs 3 HscLPoutPut UDINT o Readwrite E coa PLS R Readwrite HSC_PLS 4 HscHP DINT 1000 ReadWrite HSC_PLS 4 HscLP DINT 2 Readwrite 7 HSC_PLS 4 HscHPOutPut UDINT 31 Readwrite MSc PLs 4 HscLPoutPut UDINT o Readwrite Once the values above for all 4 PLS data elements have been entered the PLS is configured Assume that HSCAPP OutputMask 31 HSC mechanism controls Embedded Output 0 4 only and HSCAPP HSCMode 0 PLS Operation for This Example When the ladder logic first runs HSCSTS Accumulator 1 therefore all the outputs are turned off The value of HSCSTS HP 250 When HSCSTS Accumulator 250 the HSC_PLS 1 HscHP Output is sent through the HSCAPP OutputMask and energizes the outputs 0 and 1 This will repeat as the HSCSTS Accumulator reaches 500 750 and 1000 The controller energizes outputs 0
235. itional 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 www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Use the Worldwide Locator at http www rockwellautomation com support americas phone_en html or contact Canada your local Rockwell Automation representative 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 a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document
236. lade screwdriver Input circuit type 12 24V sink source standard 24V sink source high speed Output circuit type Relay 24V DC sink transistor standard and high speed Event input interrupt support Yes Power consumption 7 88 W Power supply voltage range 20 4 26 4V DC Class 2 1 0 rating Input 24V DC 8 8 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 2 A 24V DC 1 A per point Surrounding air temperature 30 C 24 ac 0 3 A per point Surrounding air temperature 65 Isolation voltage 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 720 V DC Inputs to Aux and Network 3250 V DC Outputs to Aux and Network Inputs to Outputs 50V continuous Reinforced Insulation Type 1 0 to Aux and Network Inputs to Outputs Type tested for 60 s 720 V DC 1 0 to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 Rockwell Automation Publication 2080 UMO002H EN E November 2015 165 AppendixA Specifications General 2080 LC30 100WB 2080 LC30 100VB Attribute 2080 LC30 100WB 2080 LC30 100VB Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Inputs
237. lay allows the placement of several emergency stop switches in different locations its installation is important from a safety standpoint Overtravel limit switches or mushroom head push buttons are wired in series so that when any of them opens the master control relay is de energized This removes power to input and output device circuits See illustrations Schematic Using IEC Symbols on page 29 and Schematic Using ANSI CSA Symbols on page 30 WARNING Never alter these circuits to defeat their function since serious injury and or machine damage could result TIP If you are using an external DC power supply interrupt the DC output side rather than the AC line side of the supply to avoid the additional delay of power supply turn off The AC line of the DC output power supply should be fused Connect a set of master control relays in series with the DC power supplying the input and output circuits Place the main power disconnect switch where operators and maintenance personnel have quick and easy access to it If you mount a disconnect switch inside the controller enclosure place the switch operating handle on the outside of the enclosure so that you can disconnect power without opening the enclosure Whenever any of the emergency stop switches are opened power to input and output devices should be removed When you use the master control relay to remove power from the external I O circuits power continues to be
238. ld Use this Manual Purpose of this Manual Additional Resources Read this preface to familiarize yourself with the rest of the manual It provides information concerning e who should use this manual e the purpose of this manual e related documentation e supporting information for Micro800 Use this manual if you are responsible for designing installing programming or troubleshooting control systems that use Micro800 controllers You should have a basic understanding of electrical circuitry and familiarity with relay logic If you do not obtain the proper training before using this product This manual is a reference guide for Micro800 controllers plug in modules and accessories It describes the procedures you use to install wire and troubleshoot your controller This manual e explains how to install and wire your controllers e gives you an overview of the Micro800 controller system Refer to the Online Help provided with Connected Components Workbench software for more information on programming your Micro800 controller These documents contain additional information concerning related Rockwell Automation products Resource Description Micro800 Analog and Discrete Expansion 0 Information on features configuration wiring Modules 2080 UM003 installation and specifications for the Micro800 expansion 1 0 modules Micro800 Plug in Modules 2080 UM004 Information on features configuration installatio
239. le not allow a high preset interrupt from occurring If this bit is clear 0 and a High Preset Reached condition is detected by the HSC the HSC user interrupt is not executed This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit Mask for IL HSCO ML Description Data Format HSC Modes User Program Access ML Low Preset Mask bit 2 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 145 The ML Low Preset Mask control bit is used to enable allow or disable not allow a low preset interrupt from occurring If this bit is clear 0 and a Low Preset Reached condition is detected by the HSC the HSC user interrupt is not executed This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit User Interrupt Enable HSCO Enabled The Enabled bit is used to indicate HSC interrupt enable or disable status User Interrupt Executing HSCO EX Description Data HSC User Program Format Modes Access HSCO0 Enabled bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 145 Description Data HSC Modes User Program Format Access HSCO0 EX bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDow
240. ler must be in Connected status 212 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Quickstarts Appendix C 1 On the Device Details toolbar click Secure button Select Change Password Micro850 Micro850 O us ogan apra A Run Controller Mode R Upload Micro850 z 2080 LC50 24QBH 2 The Change Controller Password dialog appears Enter Old Password New Password and confirm the new password Change Controller Password Old Password R EKEEKKEKKEKKEKHEER KER KER OF New Password New Password Confirm Clear Password OK Cancel 3 Click OK The controller requires the new password to grant access to any new session Clear Password With an authorized session you can clear the password on a target controller through the Connected Components Workbench software Rockwell Automation Publication 2080 UMO002H EN E November 2015 213 Appendix Quickstarts Use the High Speed Counter 214 1 On the Device Details toolbar click Secure button Select Clear Password Program Major Fault Not Faul Micro850 Micro850 Run Controller Mode Run Upload Micro850 l Change Password L rrem 2080 LC50 24QB 2 The Clear Password dialog appears Enter Password 3 Click OK to clear the password The controller will require no password on any new session To use HSC you first need to establish the HSC counting mode required by your application See HSC M
241. les and can be added for each Test Logic Total memory allocated for RMC cumulative of all Test Logic Changes can be increased from 2KB to 8KB but the 2KB limit for logic and user variables per Test Logic remains Up to 20 POU Program Organizational Units can be added for each change for example if you currently have 5 POU you can add 20 more for a total of 25 POU Ifa User Defined Function Block is modified that changes the local variables the local variables will be reinitialized or reset to zero and a warning message will be shown during the build If you want to reapply the initial value right click on the UDFB and select Refactor gt Reset Initial Values of Instances RMC is not possible after doing a Discover Project operation ifa new module is detected because the configuration has changed Exchange files cannot be imported when in RMC because it is considered a configuration change Making changes to the display configuration for example hiding comments are treated as logic changes and require you to build the project Global variables cannot be deleted or modified in RMC but can be added To delete or modify a global variable Connected Components Workbench must be disconnected from the controller When disconnected from the controller you can modify logic and enter RMC directly but you cannot add a global variable to the project and enter RMC directly To add a global variable you must build the project and
242. ll be set again Relative Move versus Absolute Move Relative move does not require the axis to be homed It simply refers to a move in a specified direction and distance Absolute move requires that the axis be homed It is a move to a known position within the coordinate system regardless of distance and direction Position can be negative or positive value Buffered Mode For all motion control function blocks BufferMode input parameter is ignored Only aborted moves are supported for this release Error Handling 86 All blocks have two outputs which deal with errors that can occur during execution These outputs are defined as follows e Error Rising edge of Error informs that an error occurred during the execution of the function block where the function block cannot successfully complete e ErrorlD Error number Types of errors e Function block logic such as parameters out of range state machine violation attempted e hard limits or soft limits reached e Drive failure Drive Ready is false For more information about function block error see Motion Function Block and Axis status Error ID on page 101 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Motion Control Chapter 7 Simultaneous Execution of Two Movement Function Blocks Busy Output True The general rule is that when a movement function block is busy then a function block with the same instance for ex
243. ller2 will be locked On the Device Toolbox open Discover and click Browse Connections Select target controller1 When requested enter the controller password for controller1 1 2 3 4 Build and save the project Click Disconnect 6 Power down controller Rockwell Automation Publication 2080 UM002H EN E November 2015 163 Chapter9 Controller Security Configure Controller Password Recover from a Lost Password 164 7 Swap controller hardware with controller2 hardware 8 Power up controller2 9 Click Connect 10 Select target controller2 11 Click Download 12 Lock controller2 See Configure Controller Password on page 210 Back Up a Password Protected Controller In this workflow user application will be backed up from a Micro800 controller that is locked to a memory plug in device 1 On the Device Toolbox open Discover Click Browse Connections 2 Select the target controller 3 When requested enter the controller password 4 Back up controller contents from the memory module To set change and clear controller password see the quickstart instructions Configure Controller Password on page 210 IMPORTANT After creating or changing the controller password you need to power down the controller in order for the password to be saved If the controller is secured with a password and the password has been lost then it becomes impossible to access the controller using th
244. locity_1 Direction VAR Data Type MC_MoveVelocity Attribute ReadWrite Direct variable Channel Variable Update_PWM_Duty_Cycle Direction Var Data type BOOL Attribute ReadWrite Direct variable Channel Rockwell Automation Publication 2080 UM002H EN E November 2015 Variable MC_Power_1 Direction VAR Data Type MC_Power Attribute ReadWrite Direct variable Channel 125 Chapter7 Motion Control HSC Feedback Axis From Connected Components Workbench Release 8 0 onwards support has been added for a HSC High Speed Counter Feedback Axis which uses the same instructions as the PTO Motion Axis UDFBs are still supported you can use either one but you cannot select both for the same plug in Example of Selecting Feedback Axis or UDFB with 2080 MOT HSC Plug in 2080 MOT HSC Configuration Modifying Plug In mode deletes the feedback axis and its association Enable Plug In as Feedback Axis Associate with High Speed Counter UDFB Input Filter Phase A Dc2us_ Phase B Defaut Z Pulse Default The HSC Feedback Axis provides ease of use as you no longer need to program the function blocks and it also uses up less memory on the controller The HSC Feedback Axis uses only the administrative function blocks from the PTO Motion Axis and they share the same Axis Monitor IMPORTANT The counters are not reset to zero for program download For example if using the feedback
245. lug In Module UPM2 2097152 bit 21 Plug In Module UPM1 1048576 bit 20 Plug In Module UPMO 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI 65536 bit 16 STI Selectable Timed Interrupt STIO 32768 bit 15 Ell Event Input Interrupt Event 7 16384 bit 14 Ell Event Input Interrupt Event 6 8192 bit 13 Ell Event Input Interrupt Event 5 4096 bit 12 Ell Event Input Interrupt Event 4 2048 bit 11 HSC High Speed Counter HSC5 1024 bit 10 HSC High Speed Counter HSC4 512 bit 9 HSC High Speed Counter HSC3 256 bit 8 HSC High Speed Counter HSC2 128 bit 7 HSC High Speed Counter HSC1 64 bit 6 HSC High Speed Counter HSCO 32 bit 5 Ell Event Input Interrupt Event 3 16 bit 4 Ell Event Input Interrupt Event 2 8 bit 3 Ell Event Input Interrupt Event 1 4 bit 2 Ell Event Input Interrupt Event 0 2 bit 1 1 bit 0 reserved To enable interrupt s 1 Select which interrupts you want to enable 2 Find the Decimal Value for the interrupt s you selected 3 Add the Decimal Values if you selected more than one type of interrupt 4 Enter the sum into the UIE instruction 244 Rockwell Automation Publication 2080 UM002H EN E November 2015 User Interrupts Appendix D For example to enable EII Event 1 and EII Event 3 EII Event 1 4 EII Event 3 16 4 16 20 enter this value UIF User Interrupt Flush Enable
246. mat User Program Access AS Auto Start binary bit read only AS Auto Start is a control bit that can be used in the control program The auto start bit is configured with the programming device and stored as part of the user program The auto start bit automatically sets the Event User Interrupt Enable bit when the controller enters any executing mode EII Input Select EI 0 1S Sub Element Description Data Format User Program Access IS Input Select word INT read only The IS Input Select parameter is used to configure each EII to a specific input on the controller Valid inputs are 0 N where N is either 15 or the maximum input ID whichever is smaller Rockwell Automation Publication 2080 UM002H EN E November 2015 User Interrupts Appendix D This parameter is configured with the programming device and cannot be changed from the control program Ell Function Status Information EII Function status bits can be monitored either in the User Program or in Connected Components Workbench in Debug mode EIl User Interrupt Executing EII0 EX Sub Element Description Data Format User Program Access EX User Interrupt Executing binary bit read only The EX User Interrupt Executing bit is set whenever the EII mechanism detects a valid input and the controller is scanning the EII POU The EI mechanism clears the EX bit when the controller completes its processing
247. mation Publication 2080 UM002H EN E November 2015 115 Chapter 7 Motion Control 2 The Axis Monitor window appears with the following characteristics available for viewing e axis state e axis homed e movement e error description e command position in user unit e command velocity in user unit per second e target position in user unit e target velocity in user unit per second Homing Function Block The homing function block MC_Home commands the axis to perform the search home sequence The Position input is used to set the absolute position when the reference signal is detected and configured home offset is reached This function block completes at StandStill if the homing sequence is successful MC_Home only can be aborted by the function blocks MC_Stop or MC_Power Any abort attempt from other moving function blocks will result in function block failure with Error ID MC_FB_ERR_STATE However homing operation is not interrupted and can be executed as usual If MC_Home is aborted before it completes the previously searched home position is considered as invalid and the axis Homed status is cleared After axis power on is done the axis Homed status is reset to 0 not homed On most scenarios the MC_Home function block needs to be executed to calibrate the axis position against the axis home configured after MC_Power On is done There are five homing modes supported on Micro830 and Micro850 controllers
248. mbedded fast output to be connected to Drive PTO input Uniqueness Not Shared PTO direction OUTPUT PTO pulse direction indication to be connected to Drive Direction input Not Shared Servo Drive On OUTPUT The control signal used to activate deactivate Servo Drive This signal becomes Active when MC_Power on is commanded Can be shared with more than one drive Lower Negative Limit switch INPUT The input for hardware negative limit switch to be connected to mechanical electrical negative limit sensor Not Shared Upper Positive Limit switch INPUT The input for hardware positive limit switch to be connected to mechanical electrical positive limit sensor Not Shared Absolute Home switch INPUT The input for hardware home switch sensor to be connected to mechanical electrical home sensor Not Shared Touch Probe Input switch INPUT The input for hardware touch probe signal to be used with Motion MC_TouchProbe and MC_AbortTrigger function blocks to capture axis commanded position during the motion path Not Shared Servo Drive Ready INPUT The input signal that indicates Servo Drive is ready to receive PTO pulse and direction signal from controller No moving function blocks can be issued to an axis before the axis has this signal ready if this signal is Enabled in the motion axis configuration or axis properti
249. mit of EtherNet IP Client connections is also 16 2 Ifyou have 10 devices controlled over EtherNet IP the maximum number of devices that can be controlled over Serial is six This is due to the maximum limit of Client connections is 16 3 The total number of UDP sockets plus TCP Client Server sockets has a maximum limit of eight 52 Rockwell Automation Publication 2080 UM002H EN E November 2015 Communication Connections Chapter 5 Modbus RTU Modbus is a half duplex master slave communications protocol The Modbus network master reads and writes bits and registers Modbus protocol allows a single master to communicate with a maximum of 247 slave devices Micro800 controllers support Modbus RTU Master and Modbus RTU Slave protocol For more information on configuring your Micro800 controller for Modbus protocol refer to the Connected Components Workbench Online Help For more information about the Modbus protocol refer to the Modbus Protocol Specifications available from http www modbus org See Modbus Mapping for Micro800 on page 193 for information on Modbus mapping To configure the Serial port as Modbus RTU see Configure Modbus RTU on page G1 TIP Use MSG_MODBUS instruction to send Modbus messages over serial port CIP Serial Client Server RS 232 only CIP Serial Client Server allows CIP protocol to be used over an RS 232 serial port It is typically used with modems The advantage over non CIP serial proto
250. motion sequence for this scenario is as follows 1 Moving part moves to its right side in positive direction in creep velocity to detect Home switch On gt Off edge Once Home Abs switch On Off is detected start to detect first Ref Pulse signal Once the first Ref Pulse signal comes record the position as mechanical home position and decelerate to stop Move to the configured home position The mechanical home position recorded during moving right sequence plus the home offset configured for the axis in the Connected Components Workbench software Scenario 4 Moving part at left negative side of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part is at the proper location before homing starts Rockwell Automation Publication 2080 UM002H EN E November 2015 121 Chapter 7 122 Motion Control MC_HOME_REF_PULSE IMPORTANT f Lower Limit switch or Ref Pulse is not configured as Enabled MC_HOME_REF_PULSE 3 homing fails ErrorID MC_FB_ERR_PARAM For Homing against Lower Limit switch one positive home offset can be configured for Homing against Upper Limit switch one negative home offset can be configured MC_HOME_REF_PULSE 3 homing procedure performs a homing operation against Limit switch plus fine Ref Pulse signal The actual motion sequence is dependent on
251. multiple interrupts occur the interrupts are serviced based upon their individual priority 238 Rockwell Automation Publication 2080 UM002H EN E November 2015 User Interrupts Appendix D When an interrupt occurs and another interrupt s has already occurred but has not been serviced the new interrupt is scheduled for execution based on its priority relative to the other pending interrupts At the next point in time when an interrupt can be serviced all the interrupts are executed in the sequence of highest priority to lowest priority If an interrupt occurs while a lower priority interrupt is being serviced executed the currently executing interrupt routine is suspended and the higher priority interrupt is serviced Then the lower priority interrupt is allowed to complete before returning to normal processing If an interrupt occurs while a higher priority interrupt is being serviced executed and the pending bit has been set for the lower priority interrupt the currently executing interrupt routine continues to completion Then the lower priority interrupt runs before returning to normal processing The priorities from highest to lowest are User Fault Routine highest priority Event Interrupt0 Event Interrupt1 Event Interrupt2 Event Interrupt3 igh Speed Counter Interrupt0 igh Speed Counter Interrupt igh Speed Counter Interrupt2 igh Speed Counter Interrupt3 igh Speed
252. n 6 15 mA 24V DC nom 12 0 mA 30V DC max Nominal impedance 3 kQ 3 74 KQ IEC input compatibility Type 3 AC Input Specifications 2080 LC50 24AWB Attribute Value Number of Inputs 14 On state voltage 79 V AC min 132V AC max On state current 5 mA min 16 mA max Input frequency 50 60 Hz nom 47 Hz min 63 Hz max Off state voltage 20V AC 120V AC max Off state current 2 5 mA 120V AC max Inrush current 250 mA 120V AC max Inrush delay time constant max 22 ms IEC input compatibility Type 3 Output Specifications Attribute 2080 LC50 240WB 2080 LC50 240VB 2080 LC50 240BB 2080 LC50 24AWB Relay Output Hi Speed Output Standard Output Outputs 0 1 Outputs 2 and higher Number of outputs 10 2 8 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Rockwell Automation Publication 2080 UM002H EN E November 2015 183 AppendixA Specifications Output Specifications Attribute 2080 LC50 240WB_ 2080 LC50 240VB 2080 LC50 240BB 2080 LC50 24AWB Relay Output Hi Speed Output Standard Output Outputs 0 1 Outputs 2 and higher Load current 2 0A 100 mA high speed 1 0 A 30 C continuous max operation 0 3 A 65 C standard 1 0A 30 C operation 0 3A 65 C standard operation Surge current per point See Relay Contacts 40A f
253. n wiring and specifications for the Micro800 plug in modules Micro800 Programmable Controllers Getting Provides quickstart instructions for using CIP Started with CIP Client Messaging 2080 OS002 GENERIC and CIP Symbolic Messaging Micro800 Programmable Controller External AC Information on mounting and wiring the optional Power Supply Installation Instructions external power supply 2080 IN001 Micro830 Programmable Controllers Installation Information on mounting and wiring the Instructions 2080 IN002 Micro830 10 point Controllers Micro830 Programmable Controllers Installation Information on mounting and wiring the Instructions 2080 IN003 Micro830 16 point Controllers Micro830 Programmable Controllers Installation Information on mounting and wiring the Instructions 2080 IN004 Micro830 24 point Controllers Rockwell Automation Publication 2080 UM002H EN E November 2015 iii Preface Resource Micro830 Programmable Controllers Installation Instructions 2080 INO05 Description Information on mounting and wiring the Micro830 48 point Controllers Micro850 Programmable Controllers Installation nstructions 2080 IN007 Information on mounting and wiring the Micro850 24 point Controllers Micro850 Programmable Controllers Installation nstructions 2080 IN008 Information on mounting and wiring the Micro850 48 point Controllers Micro800 16 point and 3
254. nFlag on page 145 The EX User Interrupt Executing bit is set 1 whenever the HSC sub system begins processing the HSC subroutine due to any of the following conditions Rockwell Automation Publication 2080 UM002H EN E November 2015 159 Chapter 8 Use HSC 160 Use the High Speed Counter and Programmable Limit Switch e Low preset reached e High preset reached e Overflow condition count up through the overflow value e Underflow condition count down through the underflow value The HSC EX bit can be used in the control program as conditional logic to detect ifan HSC interrupt is executing The HSC sub system will clear 0 the EX bit when the controller completes its processing of the HSC subroutine User Interrupt Pending HSCO PE Description Data Format HSCModes User Program Access HSCO PE bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 145 The PE User Interrupt Pending is a status flag that represents an interrupt is pending This status bit can be monitored or used for logic purposes in the control program if you need to determine when a subroutine cannot be executed immediately This bit is maintained by the controller and is set and cleared automatically User Interrupt Lost HSCO LS Description Data Format HSC Modes User Program Access HSCO LS bit 0 9 read write 1 For Mode descriptions see Cou
255. ndation on page 39 If the fault persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp 257 Appendix E Troubleshooting List of Error Codes for Micro800 controllers Error Code Description Recommended Action OxF020 The base hardware faulted or is incompatible Perform one of the following with the Micro800 controller s firmware revision Upgrade the Micro800 controller s firmware revision using ControlFlash e Replace the Micro800 controller e Contact your local Rockwell Automation technical support representative for more information about firmware revisions for your Micro800 controller For more information on firmware revision compatibility go to http www rockwellautomation com support tirmware html OxF021 The 1 0 configuration in the user program is Perform the following invalid or does not exist in the Micro800 1 Verify that you have selected the correct Micro800 controller from the Device controller Toolbox 2 Correct the plug in I O module configuration in the user program to match that of the actual hardware configuration 3 Recompile and reload the program 4 Put the Micro800 controller into Run mode If the error persists be sure to use Connected Components Workbench programming software to develop and download the program OxF022 The user program in the m
256. ne Soft Limit is enabled for an axis and the axis has been homed If the emergency stop is configured as Immediate Soft Stop during motion when the Soft Limit reach is detected Rockwell Automation Publication 2080 UMO002H EN E November 2015 Motion Control Chapter 7 e The Emergency Stop is configured as Immediate Soft Stop During motion MC_Stop function block is issued with Deceleration parameter equal to 0 Decelerating Soft Stop Decelerating soft stop could be delayed as much as Motion Engine Execution Time interval This type of stop is applied in the following scenarios e One Hard Limit is enabled for an axis but Hard Stop on Hard Limit switch is configured as Off If the emergency stop is configured as decelerating stop during motion when the Hard Limit switch is detected e One Soft Limit is enabled for an axis and the axis has been homed If the emergency stop is configured as decelerating stop during motion when the soft limit reach is detected by firmware e The Emergency Stop is configured as Decelerating Stop During motion the MC_Stop function block is issued with deceleration parameter set to 0 e During motion MC_Stop function block is issued with Deceleration parameter not set to 0 Motion Direction For distance position motion with the target position defined absolute or relative the direction input is ignored For velocity motion direction input value can be positive 1 current 0 or ne
257. ng using this formula AC Power Supply Loading Total Power calculated for a Micro800 system with Plug in Total power loading by Sensor As an example a 48 point Micro850 controller with2 plug ins and 2085 IQ16 and 2085 IF4 expansion I O and 250mA sensor current 6W sensor power will have the following Total Loading for AC Power Supply Total loading for AC power supply 17 87W 6W 23 87 W ATTENTION Maximum loading to AC Power Supply is limited to 38 4 W with maximum surrounding ambient temperature limited to 65 C Rockwell Automation Publication 2080 UMO002H EN E November 2015 Symbols __SYSVA_CYCLECNT 70 __SYSVA_TCYCURRENT 70 __SYSVA_TCYMAXIMUM 70 Numerics 1761 CBL PM02 57 2080 PS120 240VAC 33 2711P CBL EX04 7 A About Your Controller 9 absolute home switch 78 79 Additional Resources iii analog cable grounding 48 analog channel wiring guidelines 47 analog inputs analog channel wiring guidelines 47 ASCII 51 53 58 configuration 62 AutoTune 267 axis 77 axis output general rules 84 axis state diagram 92 axis state update 93 axis states 93 before calling for assistance 264 C cables programming 6 serial port 7 calling for assistance 264 CE mark 20 certifications 20 Checking if Forces locks are Enabled 227 CIP Client Messaging 55 CIP communications pass thru 56 CIP Serial 58 Parameters 60 CIP Serial Client Server 51 53 CIP Serial Driver configure 59 parameters 60 CIP Symbolic Addressing 54
258. nput Interrupt Ell Function Configuration and Status 250 event input interrupt Ell function file 249 exclusive access 161 Execution Rules 70 F fault routine description of operation 240 operation in relation to main control program 237 priority of interrupts 239 faults recoverable and non recoverable 240 force status 254 Forcing I Os 227 G general considerations 21 grounding the controller 43 Guidelines and Limitations for Advanced Users 72 H Hardware Features 1 Hardware Overview 1 heat protection 26 High Speed Counter HSC 128 high speed counter function file 151 High Speed Counter Overview 127 home marker 78 housekeeping 69 HSC High Speed Counter Function Block 151 249 HSC APP Data Structure 133 HSC function file 151 HSC Interrupt Configuration 157 HSC Interrupt POU 158 HSC Interrupt Status Information 159 Rockwell Automation Publication 2080 UM002H EN E November 2015 HSC Interrupts 156 HSC STS Data Structure 144 HSC_SET_STS Function Block 153 Information About Using Interrupts 237 in position signal 79 input parameters 83 input states on power down 26 Installation Considerations 21 Installing Your Controller 31 INT instruction 241 242 interrupt subroutine instruction 241 242 interrupts interrupt instructions 241 overview 237 selectable timed start STS instruction 241 user fault routine 240 user interrupt disable UID instruction 242 user interrupt enable UIE instruction 244 user
259. ns before it sets the lost bit The EII Event Input Interrupt is a feature that allows the user to scan a specific POU when an input condition is detected from a field device EIIO is used in this document to define how EII works Configure EI Input Edge from the Embedded I O configuration window Rockwell Automation Publication 2080 UM002H EN E November 2015 249 Appendix D User Interrupts Configure the EI from the Interrupt Configuration window BS S 00000 Giga Add Event Input Interrupt Ell Event Input Interrupt Ell Function Configuration and Status 250 General Propert Properties i memo TE Toad Interrupt Type Event Input Interrupt Ell ick an existing Communication Ports Keiichi oo Serial Port EILID EIIO x USB Port EA Date and Time Ell Description ENO Interrupts Pogan re Startup Faults r Modes Mapping UntitledLD Embedded 1 0 Parameters Plug In Modules Auto Start False lt Empty gt 0 lt Empty gt Input Select OK Cancel Apply Help __ Ell Function Configuration The Event Input Interrupt Function has the following related configuration parameters Ell Program POU This is the name of the Program Organizational Unit POU which is executed immediately when this EII Interrupt occurs You can choose any pre programmed POU from the drop down list Ell Auto Start EII0 AS Sub Element Description Data For
260. nt sialate EEE 142 Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 Effect of HSC Output Mask on Embedded Outputs Output Variable 32 Bit Signed Integer Data Word Embedded output 48 point 32 20 19 0 18 17 1 16 15 14 13 12 11 10 9 8 7 6 5 The outputs shown in the black boxes are the outputs under the control of the HSC sub system The mask defines which outputs can be controlled The high preset output or low preset output values HSCAPP HPOutput or HSCAPP LPOutput define if each output is either ON 1 or OFF 0 Another way to view this is that the high or low preset output is written through the output mask with the output mask acting like a filter The bits in the gray boxes are unused For the 10 point controller the first 4 bits of the mask word are used and the remaining mask bits are not functional because they do not correlate to any physical outputs on the base unit For the 16 24 and 48 point controllers the first 6 10 and 20 bits of the mask word are used respectively The mask bit pattern can be configured only during initial setup High Preset Output HSCAPP HPOutput Data Format long word 32 bit binary User Program Access read write Description HSCAPP HPOutpu
261. nt 0 2 bit 1 UFR User Fault Routine Interrupt UFR 1 bit 0 reserved To flush interrupt s 1 Select which interrupts you want to flush Rockwell Automation Publication 2080 UMO002H EN E November 2015 245 Appendix D 246 User Interrupts 2 Find the Decimal Value for the interrupt s you selected 3 Add the Decimal Values if you selected more than one type of interrupt 4 Enter the sum into the UIF instruction For example to disable EII Event 1 and EII Event 3 EI Event 1 4 EII Event 3 16 4 16 20 enter this value UIC User Interrupt Clear UIC Enable UIC name or Pin ID IROType or ENO Pin ID 46055 This C function clears Interrupt Lost bit for the selected User Interrupt s Types of Interrupts Disabled by the UIC Instruction Interrupt Type Element J Decimal Value Corresponding Bit _ Plug In Module UPM4 8388608 bit 23 Plug In Module UPM3 4194304 bit 22 Plug In Module UPM2 2097152 bit 21 Plug In Module UPM1 1048576 bit 20 Plug In Module UPMO 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI 65536 bit 16 STI Selectable Timed Interrupt STIO 32768 bit 15 Ell Event Input Interrupt Event 7 16384 bit 14 Ell Event Input Interrupt Event 6 8192 bit 13
262. nt Down HSCSTS CountDownFlag on page 145 The LS User Interrupt Lost is a status flag that represents an interrupt has been lost The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit This bit is set by the controller It is up to the control program to utilize track the lost condition if necessary To use HSC refer to Use the High Speed Counter on page 214 Rockwell Automation Publication 2080 UM002H EN E November 2015 Exclusive Access Password Protection Compatibility Chapter 9 Controller Security Micro800 security generally has two components e Exclusive Access which prevents simultaneous configuration of the controller by two users e Controller Password Protection which secures the Intellectual Property contained within the controller and prevents unauthorized access Exclusive access is enforced on the Micro800 controller regardless of whether the controller is password protected or not This means that only one Connected Components Workbench session is authorized at one time and only an authorized client has exclusive access to the controller application This ensures that only one software session has exclusive access to the Micro800 application specific configuration Exclusive access is enforced on Micro800 firmware revision 1 and 2 When a Connected Components Workbench user connects to a Micro800 controller the controller is given excl
263. nt Not Used Reset Hold Example 1 1 on of off jon 1 HSC Accumulator 1 count 1 0 0 Example 2 on of on Hold accumulator value 1 0 1 Example3 on of off 0 Hold accumulator value 1 0 Example 4 on IU loff on of Hold accumulator value 1 0 1 0 Example 5 1 Clear accumulator 0 Blank cells don t care rising edge Ys falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 2 Counter with External Direction HSC Mode 2 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Direction Not Used Not Used Example 1 I off on 1 HSC Accumulator 1 count 0 Example 2 tT on on 1 HSC Accumulator 1 count 1 Example3 off 0 Hold accumulator value Rockwell Automation Publication 2080 UM002H EN E November 2015 135 Chapter8 Use the High Speed Counter and Programmable Limit Switch Blank cells don t care fh rising edge y falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 3 Counter with External Direction Reset and Hold HSC Mode 3 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input
264. o the data resident in the overflow HSCAPP OFSetting parameter or an HSC error is generated Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 Low Preset HSCAPP LPSetting Description Data Format User Program Access HSCAPPLPSetting long word 32 bit INT read write The HSCAPP LPSetting is the lower setpoint in counts that defines when the HSC sub system generates an interrupt The data loaded into the low preset must be greater than or equal to the data resident in the underflow HSCAPP UFSetting parameter or an HSC error is generated If the underflow and low preset values are negative numbers the low preset must be a number with a smaller absolute value Overflow Setting HSCAPP OFSetting Description Data Format Type User Program Access HSCAPP OF Setting long word 32 bit INT control read write The HSCAPP OFSetting defines the upper count limit for the counter If the counter s accumulated value increments past the value specified in this variable an overflow interrupt is generated When the overflow interrupt is generated the HSC sub system rolls the accumulator over to the underflow value and the counter continues counting from the underflow value counts are not lost in this transition The user can specify any value for the overflow position provided it is greater than the underflow
265. o800 Controllers Attribute 10 16 point 20 point 24 and 48 points Program stepsl 4K 10K 10K Data bytes 8 KB 20 KB 20 KB 1 Estimated Program and Data size are typical program steps and variables are created dynamically 1 Program Step 12 data bytes These specifications for instruction and data size are typical numbers When a project is created for Micro800 memory is dynamically allocated as either program or data memory at build time This means that program size can exceed the published specifications if data size is sacrificed and vice versa This flexibility allows maximum usage of execution memory In addition to the user defined variables data memory also includes any constants and temporary variables generated by the compiler at build time The Micro800 controllers also have project memory which stores a copy of the entire downloaded project including comments as well as configuration memory for storing plug in setup information and so on Here are some guidelines and limitations to consider when programming a Micro800 controller using Connected Components Workbench software e Each program POU can use up to 64 Kb of internal address space It is recommended that you split large programs into smaller programs to improve code readability simplify debugging and maintenance tasks A User Defined Function Block UDFB can be executed within another UDEB with a limit of five nested UDFBs Avoid creating UDFB
266. ocations certified or U S and Canada See UL File E334470 CE European Union 2004 108 EC EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Conformity Certificates and other certification details Rockwell Automation Publication 2080 UM002H EN E November 2015 Micro830 16 Point Controllers General 2080 LC30 16AWB 2080 LC30 160WB 2080 LC30 160VB Specifications Appendix A Attribute 2080 LC30 16AWB 2080 LC30 160WB 2080 LC30 160VB Number of 0 16 10 inputs 6 outputs Dimensions 90 x 100 x 80 mm HxWxD 3 54 x 3 94 x 3 15 in Shipping weight approx 0 302 kg 0 666 Ib Wire size 0 14 2 5 mm 26 14 AWG solid copper wire or 0 14 1 5 mm 26 14 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 2 on signal ports 2 on power ports Wire type Use Copper Conductors only Terminal screw torque 0 6 Nm 4 4 Ib in max using a 2 5 mm 0 10 in flat blade screwdriver
267. ode HSCAPP HSCMode on page 134 for available modes on Micro800 controllers The following sample project guides you through the creation of a project which uses HSC mode 6 a quadrature counter with phased inputs A and B It shows you how to write a simple ladder program with the HSC function block create variables and assign variables and values to your function block You will also be guided through a step by step process on how test your program and enable a Programmable Light Switch PLS This sample project makes use of a quadrature encoder The quadrature encoder is used for determining direction of rotation and position for rotating such as a lathe The Bidirectional Counter counts the rotation of the Quadrature Encoder The figure below shows a quadrature encoder connected to inputs 0 and 1 The count direction is determined by the phase angle between A and B If A leads B the counter increments If B leads A the counter decrements Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C A Input 0 g Quadrature Encoder e Input 1 B i Forward Rotation Reverse Rotation A ry ry A Y Y y B a 1 2 3 2 1 Count This quickstart includes the following sections Create the HSC Project and Variabl
268. of Motion Axis status Axis Error Scenarios In most cases when a movement function block instruction issued to an axis results in a function block error the axis is also usually flagged as being in Error state The corresponding ErrorID element is set on the axis_ref data for the axis However there are exception scenarios where an axis error is not flagged The exception can be but not limited to the following scenarios e A movement function block instructs an axis but the axis is in a state where the function block could not be executed properly For example the axis has no power or is in Homing sequence or in Error Stop state e A movement function block instructs an axis but the axis is still controlled by another movement function block The axis cannot allow the motion to be controlled by the new function block without going to a full stop For example the new function block commands the axis to change motion direction e When one movement function block tries to control an axis but the axis is still controlled by another movement function block and the newly defined motion profile cannot be realized by the controller For example User Application issues an S Curve MC_MoveAbsolute function block to an axis with too short a distance given when the axis is moving e When one movement function block is issued to an axis and the axis is in the Stopping or Error Stopping sequence Rockwell Automation Publication 2080 UMO
269. of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt e IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley Rockwell Software Rockwell Automation Micro800 Micro830 Micro850 Connected Components Workbench and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Preface Who Shou
270. of the EII subroutine The EII EX bit can be used in the control program as conditional logic to detect if an EI interrupt is executing EIl User Interrupt Enable EII0 Enabled Sub Element Description Data Format User Program Access Enabled User Interrupt Enable binary bit read only The Enabled User Interrupt Enable bit is used to indicate the EII enable or disable status EIl User Interrupt Lost EII0 LS Sub Element Description Data Format User Program Access LS User Interrupt Lost binary bit read write LS User Interrupt Lost is a status flag that represents an interrupt has been lost The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit This bit is set by the controller It is up to the control program to utilize or track the lost condition if necessary EIl User Interrupt Pending EII0 PE Sub Element Description Data Format User Program Access PE User Interrupt Pending binary bit read only PE User Interrupt Pending is a status flag that represents an interrupt is pending This status bit can be monitored or used for logic purposes in the Rockwell Automation Publication 2080 UM002H EN E November 2015 251 Appendix D 252 User Interrupts control program if you need to determine when a subroutine cannot execute immediately This bit is automatically set and clea
271. ofile defined in the function block cannot be achieved Correct the profile in the function block Rockwell Automation Publication 2080 UM002H EN E November 2015 defined in a function block cannot be achieved Reset the state of the axis using the MC_Reset function block Correct the profile in the function block 101 Chapter7 Motion Control Motion Function Block and Axis status Error ID Error ID Error ID MACRO Error description for Function Block Error description for Axis Status 09 MC_FB_ERR_VELOCITY The function block cannot execute because the The axis is not operational The motion profile motion profile requested in the function block requested in the function block cannot be achieved cannot be achieved due to current axis velocity because of current axis velocity Some examples Some examples e The function block requests the axis to reverse The function block requests the axis to reverse the direction while the axis is moving the direction while the axis is moving e The required motion profile cannot be achieved The required motion profile cannot be achieved due to current velocity too low or too high due to current velocity too low or too high Check the motion profile setting in the function Reset the state of the axis using the MC_Reset block and correct the profile or re execute the function block function block when the axis velocity is compatible
272. ogramming and working with elements in the Connected Components Workbench software The user needs to have a working knowledge of ladder diagram structured text or function blockdiagram programming to be able to work with motion function blocks variables and axis configuration parameters and detailed descriptions of the variables for the Motion Function Blocks you can refer to Connected Components Workbench Online Help that comes with your Connected Components Workbench installation ATTENTION To learn more about Connected Components Workbench IMPORTANT The PTO function can only be used with the controller s embedded 1 0 It cannot be used with expansion I O modules Use the Micro800 Motion Control Feature The Micro800 motion control feature has the following elements New users need to have a basic understanding of the function of each element to effectively use the feature Components of Motion Control Element Description Page Pulse Train Outputs Consists of one pulse output and e Input and Output Signals on one direction output A standard page 78 interface to control a servo or stepper drive Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 Components of Motion Control Axis From a system point of view an axis Motion Axis and Parameters is a mechanical apparatus that is on page 91 driven by a motor and drive noe combination The dri
273. old 7 External Reset and Hold mode Ab Quadrature X4 Counter A Type input B Type input Not Used 8 mode 5a Quadrature X4 Counter with A Type input B Type input Z Type Reset Hold 9 External Reset and Hold Micro830 Micro850 48 point Controller HSC Input Wiring Mapping Modes of Operation Input 0 HSC0 Input 2 HSC1 Input 4 HSC2 Input 6 HSC3 Input 8 HSC4 Input 10 HSC5 Input 1 HSCO Input 3 HSC1 Input 5 HSC2 Input 7 HSC3 Input 9 HSC4 Input 11 HSC5 Input 2 HSCO Input 6 HSC2 Input 10 HSC4 Input 3 HSCO Input 7 HSC2 Input 11 HSC4 Mode Value in User Program Counter with Internal Direction Count Up Not Used 0 mode 1a Counter with Internal Count Up Not Used Reset Hold 1 Direction External Reset and Hold mode 1b Counter with External Count Up Down Direction Not Used 2 Direction mode 2a Counter with External Count Up Down Direction Reset Hold 3 Direction Reset and Hold mode 2b Two Input Counter mode 3a Count Up Count Down Not Used 4 Two Input Counter with Count Up Count Down Reset Hold 5 External Reset and Hold mode 3b Quadrature Counter mode 4a A Type input B Type input Not Used 6 Rockwell Automation Publication 2080 UM002H EN E November 2015 131 Chapter8 Use the High Speed Counter and Programmable Limit Switch Micro830 Micro850 48 point Controller HSC Input Wi
274. on parameters Edit Axis Configuration General Parameters 1 On the axis configuration tree click General The lt Axis Name gt General properties tab appears Simulator General Axis Name Sim ulator i PTO Channel EM_0 v Pulse Output 10_EM_DO_00 Direction Output 10_EM_DO_03 v Drive Enable Output _JIn Position Input Output 10_EM_D0_06 w Active Level High Drive Ready Input Touch Probe Input Input 10_EM_DI_03 Active Level High v 2 Edit General parameters You can refer to the table for a description of the general configuration parameters for a motion axis IMPORTANT To edit these general parameters you can refer to Input and Output Signals on page 78 for more information about fixed and configurable outputs General Parameters Parameter DescriptionandValues ss ttsti lt isS Axis Name User defined Provides a name for the motion axis PTO Channel Shows the list of available PTO channels Pulse output Presents the logical variable name of the Direction Output channel based on the PTO channel value that has been assigned Direction output Presents the logical variable name of the Direction Output channel based on the PTO channel value that has been assigned Drive Enable Output Servo On Output Enable flag Check the option box to enable Output The list of available digital output variables that can be assigned as
275. ontroller that has the correct controller catalog configured e Download a user program and use the backup function to the memory module OxF302 The password is mismatched Perform one of the following e Check to make sure that the user program in the memory module has the correct password e Download a user program with a password and use the backup function to the memory module e Use Connected Components Workbench to enter the correct password into the controller and perform the restore operation again OxF303 The memory module is not present Check to make sure the memory module is present For the following four error codes z is the slot number of the plug in module If z 0 then the slot number cannot be identified OxFOAz 260 The plug in 1 0 module experienced an error during operation Perform one of the following e Check the condition and operation of the plug in 1 0 module e Cycle power to the Micro800 controller e f the error persists see the Micro800 Plug In Modules publication 2080 UMO04 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Troubleshooting Appendix E List of Error Codes for Micro800 controllers Error Code Description Recommended Action OxFOBz The plug in I O module configuration does not Perform one of the following match the actual 1 0 configuration detected e Correct the pl
276. or 10 ms every 1 s 30 C every 2 s Ratings on page 174 65 o Current per common 5A max Turn on time 10 ms 2 5 Us 0 1 ms Turn off time max 1 ms 1 Applies for general purpose operation only does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes rM Continuous Make 15A 120V AC 1800V A 240V AC 7 5A 0 75 A 24V DC 1 0A 1 0A 28V A 125V DC 0 22 A Environmental Specifications Attribute Value Temperature operating 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 20 65 C 4 149 F Temperature surrounding 65 C 149 F air max Temperature non operating IEC 60068 2 1 Test Ab Unpackaged Nonoperating Cold IEC 60068 2 2 Test Bb Unpackaged Nonoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration IEC 60068 2 6 Test Fc Operating 2g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25g Shock non operating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions CISPR 11 Group 1 Class A 184 Rockwell Automation Publication 2080 UM002H EN E November
277. or MC_MoveVelocity direction input value can be 1 positive direction 0 current direction or 1 negative direction For any other value only the sign is taken into consideration For example 3 denotes negative direction 2 denotes positive direction and so on For MC_MoveVelocity the resulting sign of the product value derived from velocity x direction decides the motion direction if the value is not 0 For example if velocity x direction 300 then direction is positive Acceleration Deceleration and Jerk Inputs e Deceleration or Acceleration inputs should have a positive value If Deceleration or Acceleration is set to be a non positive value an error will be reported Error ID MC_FB_ERR_RANGE e The Jerk input should have a non negative value If Jerk is set to be a negative value error will be reported Error ID MC_FB_ERR_RANGE e f maximum Jerk is configured as zero in Connected Components Workbench motion configuration all jerk parameters for the motion function block has to be configured as zero Otherwise the function block reports an error Error ID MC_FB_ERR_RANGE e f Jerk is set as a non zero value S Curve profile is generated If Jerk is set as zero trapezoidal profile is generated e fthe motion engine fails to generate the motion profile prescribed by the dynamic input parameters the function block reports an error Error ID MC_FB_ERR_PROFILE See Function Block and Axis Status E
278. or clear physical outputs on the controller s base unit The PLS data block is illustrated below Rockwell Automation Publication 2080 UMO002H EN E November 2015 153 Chapter 8 154 Use the High Speed Counter and Programmable Limit Switch IMPORTANT The PLS Function only operates in tandem with the HSC of a Micro830 controller To use the PLS function an HSC must first be configured PLS Data structure The Programmable Limit Switch function is an additional set of operating modes for the High Speed Counter When operating in these modes the preset and output data values are updated using user supplied data each time one of the presets is reached These modes are programmed by providing a PLS data block that contains the data sets to be used PLS data structure is a flexible array with each element defined as follows Element Order Data Type Element Description Word 0 1 DINT High preset setting Word 2 3 DINT Low preset setting Word 4 5 UDINT High preset Output data Word 6 7 UDINT Low preset Output data Ty Miroz aN Fe Programs ECD untried ai Local Yeriables E HO untkleatoz i Locol Variables 1 i Globol Variables DetaTypes aa Functian Blocks nd The total number of elements for one PLS data cannot be larger than 255 When PLS is not enabled PLS data are still required to be defined but can be not initialized Toe Te g t pat
279. osition 946 363 mm Command Velocity 80 0 mm sec ition T ity E User Defined Function Blocks Target Position 2345 678 mm arget Velocity 80 0 mm sec ATTENTION See Motion Axis Configuration in Connected Components Workbench on page 103 to learn more about the different axis configuration parameters PTO Pulse Accuracy Micro800 motion feature is pulse based and the value of distance and velocity are designed in such a way that all PTO related values are integers at the hardware level when converting to PTO pulse For example if the user configures Motor Pulses per Revolution as 1 000 and Travel per Revolution as 10 cm and the user wants to drive velocity at 4 504 cm sec The target velocity is 4 504 cm sec that is 450 4 pulse sec In this case the actual commanded velocity will be 4 5 cm sec that is 450 pulse sec and the 0 4 pulse sec is rounded off Motor Revolution Modifying Motor Revolution parameters may cause Axis runaway Pulses per Revolution 1000 0 Travel per Revolution 10 0 cm This rounding scheme also applies to other input parameters such as Position Distance Acceleration Deceleration and Jerk For instance with above motor 114 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 revolution configuration setting Jerk as 4 504 cm sec is the same as setting Jerk as 4 501 cm sec as both are rounded off to 4 5 cm sec Th
280. ou must build the project and download it to the controller IMPORTANT Ina Connected Components Workbench Release 8 project the available user data space was reduced by 6 KB to support optimal project settings for the new RMC feature If you have a project that was developed before Release 8 you may need to reduce the default Allocated 8 KB Temporary Variables section from the Memory page in order to compile the project successfully Controller Memory Diagnostics Page in Connected Components Workbench Run Mode Change Data memory reservation for run mode changes 2048 bytes v Maximum size limit for new variable 2048 bytes Data memory usage for variables 3797 2048 H Allocated 5 845 bytes pa B Used 3 797 bytes i Free 2 048 bytes During RMC an incremental build is performed and only incremental changes are downloaded to the controller until the RMC memory has been filled RMC Memory Usage Example Controller Memory RMC Memory for User Program Data Default size 2KB ist change and 2ndchangeand 3rd change and Test Logic Test Logic Test Logic Add logic Remove logic Add logic Free RMC memory Used RMC memory Used memory Rockwell Automation Publication 2080 UM002H EN E November 2015 About Your Controller Chapter 2 Ifnot enough RMC memory is available to make more changes for example a not enough memory error message appears during RMC build or Test Logic then a full download must be p
281. plication See the table HSC Inputs and Wiring Mapping on page 129 to know the different IDs that can be used as well as the embedded inputs and its characteristics IfID 0 is used ID 1 cannot be used on the same controller since the inputs are being used by the Reset and Hold MyAppData HscMode allows the user to specify the type of operation in which the HSC will use to count See HSC Mode HSCAPP HSC Mode Rockwell Automation Publication 2080 UMO002H EN E November 2015 Quickstarts Appendix C on page 134 for more information about HSC modes You can also quickly refer to the table below for the list of ten available modes HSC Operating Modes Mode Type Number 0 Up Counter The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode Up Counter with external reset and hold The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode Counter with external direction Counter with external direction reset and hold Two input counter up and down Two input counter up and down with external reset and hold Quadrature counter phased inputs A and B Quadrature counter phased inputs A and B with external reset and hold Quadrature X4 counter phased inputs A and B co coo NN Mm om A wy N Quadrature X4 counter phased inputs A and B with external r
282. ponents Workbench A free download is available at http www rockwellautomation com global products technologies connected components Use Connected Components Workbench To help you program your controller through the Connected Components Workbench software you can refer to the Connected Components Workbench Online Help it comes with the software Micro820 Micro830 Micro850 controllers allow you to make certain changes while in run mode by using the following features e Run Mode Change RMC This feature allows logic modifications to a running project without going to remote program mode For more information see Using Run Mode Change RMC on page 10 e Run Mode Configuration Change RMCC This feature allows changing the address configuration of the controller to be made within a program during run mode For more information see Using Run Mode Configuration Change RMCC on page 15 Rockwell Automation Publication 2080 UM002H EN E November 2015 9 Chapter2 About Your Controller Using Run Mode Change RMC 10 Run Mode Change RMC is a productivity enhancement feature introduced in Release 8 for Micro820 Micro830 Micro850 controllers It saves the user time by allowing logic modifications to a running project without going to remote program mode and without disconnecting from the controller It requires the Connected Components Workbench Developer Edition Release 8 software to use this feature IMPORT
283. pport rockwellautomation com MySupport asp 259 Appendix E Troubleshooting List of Error Codes for Micro800 controllers Error Code OxF2Az z indicates the slot number of the expansion I O If z 0 then the slot number cannot be identified Description Expansion I O power failure Recommended Action Perform one of the following e Cycle power the Micro800 controller or e Replace the slot number z module If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp OxF2Bz z indicates the slot number of the expansion I O If z 0 then the slot number cannot be identified Expansion I O configuration fault Perform one of the following e Correct the expansion IO module configuration in the user program to match that of the actual hardware configuration e Check the expansion I O module operation and condition e Cycle power to the Micro800 controller e Replace the expansion I O module OxF300 The memory module is empty Perform one of the following e Check to make sure there is a valid project in the memory module e Download a user program and use the backup function to the memory module OxF301 The memory module s project is not compatible with the controller Perform one of the following e Check to make sure there is a user program with a c
284. provided to the controller s power supply so that diagnostic indicators on the processor can still be observed The master control relay is not a substitute for a disconnect to the controller It is intended for any situation where the operator must quickly de energize I O devices only When inspecting or installing terminal connections replacing output fuses or working on equipment within the enclosure use the disconnect to shut off power to the rest of the system TIP Do not control the master control relay with the controller Provide the operator with the safety of a direct connection between an emergency stop switch and the master control relay Rockwell Automation Publication 2080 UMO002H EN E November 2015 27 Chapter 2 About Your Controller Using Emergency Stop Switches When using emergency stop switches adhere to the following points e Do not program emergency stop switches in the controller program Any emergency stop switch should turn off all machine power by turning off the master control relay e Observe all applicable local codes concerning the placement and labeling of emergency stop switches e Install emergency stop switches and the master control relay in your system Make certain that relay contacts have a sufficient rating for your application Emergency stop switches must be easy to reach e In the following illustration input and output circuits are shown with MCR protection However in most applic
285. pulse per revolution A e Input 0 Quadrature Encoder e Input 1 B Forward Rotation Reverse Rotation A A A A i L B 1 2 3 2 1 Count HSC Mode 6 Quadrature Counter phased inputs A and B HSC Mode 6 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count A Count B Not Used Not Used Example qm T off 0 on 1 HSC Accumulator 1 count Example 212 y off 0 on 1 HSC Accumulator 1 count Example3 off 0 Hold accumulator value Example 4 on 1 Hold accumulator value Example 5 on 1 Hold accumulator value Example 6 off 0 Hold accumulator value 1 Count input A leads count input B 2 Count input B leads count input A Blank cells don t care rising edge y falling edge TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used 138 Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 HSC Mode 7 Quadrature Counter phased inputs A and B With External Reset and Hold HSC Mode 7 Examples Input Embedded Input 0 Embedded Input 1 Embedded Input 2
286. r 2015 265 Appendix F _ PID Function Block IPIDCONTROLLER Arguments Parameter Parameter Data Type Description Type AutoTune Input BOOL Start AutoTune sequence ATParameters Input AT_Param Autotune parameters See AT_Param Data Type Output Output Real Output value from the controller AbsoluteError Output Real AbsoluteError is the difference between Process value and set point value ATWarnings Output DINT Warning for the Auto Tune sequence Possible value are e 0 No auto tune done e 1 Auto tuning in progress e 2 Auto tuning done e 1 Error 1 Controller input Auto is TRUE please set it to False e 2 Error 2 Auto tune error the ATDynaSet time expired OutGains Output GAIN_PID Gains calculated from AutoTune Sequences See GAIN PID Data type ENO Output BOOL Enable out Only applicable to LD ENO is not required in FBD programming GAIN_PID Data Type Parameter Type Description DirectActing BOOL Types of acting e TRUE Direct acting e FALSE Reverse acting ProportionalGain REAL Proportional gain for PID gt 0 0001 Timelntegral REAL Time integral value for PID gt 0 0001 TimeDerivative REAL Time derivative value for PID gt 0 0 DerivativeGain REAL Derivative gain for PID gt 0 0 AT_Param Data Type Parameter Type Description Load REAL Initial controller value for autotuning process
287. ramming the controller 45221 6 Rockwell Automation Publication 2080 UM002H EN E November 2015 Embedded Serial Port Cables Hardware Overview Chapter 1 Embedded serial port cables for communication are listed here All embedded serial port cables must be 3 meters in length or shorter Embedded Serial Port Cable Selection Chart Connectors Length Cat No Connectors Length Cat No 8 pin Mini DIN to 8 pin Mini DIN 0 5 m 1 5 ft 1761 cBL AMoo 8 pin Mini DIN to 9 pin D Shell 0 5m 1 5ft 4761 CBL APoo 8 pin Mini DIN to 8 pin Mini DIN 2m 6 5 ft 1761 CBL HM02 8 pin Mini DIN to 9 pin D Shell 2 m 6 5 ft 1761 CBL PMo2 8 pin Mini DIN to 6 pin RS 485 30 cm 11 8in 1763 NCO1 series A terminal block 1 Series C or later for Class 1 Div 2 applications Embedded Ethernet Support For Micro850 controllers a 10 100 Base T Port with embedded green and yellow LED indicators is available for connection to an Ethernet network through any standard RJ 45 Ethernet cable The LED indicators serve as indicators for transmit and receive status RJ 45 Ethernet Port Pin Mapping yellow LED RJ 45 connector Contact Signal Direction Primary Function Number 1 TX OUT Transmit data 2 TX OUT Transmit data 3 RX IN Differential Ethernet Receive Data 4 Terminated 5 Terminated 6 RX IN Differential Ethernet Receive Data 7 Terminated 8
288. ration for plug in 1 0 module in the user configuration for the plug in 1 0 module Rockwell Automation Publication 2080 UMO002H EN E November 2015 program to match that of the actual hardware configuration 261 AppendixE Troubleshooting List of Error Codes for Micro800 controllers Error Code OxF8A0 Description The TOW parameters are invalid Recommended Action Perform the following 1 Correct the program to ensure that there are no invalid parameters 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode OxF8A1 The DOY parameters are invalid Perform the following 1 Correct the program to ensure that there are no invalid parameters 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode OxFFzz Note zz indicates the last byte of the program number Only program numbers up to OxFF can be displayed For program numbers 01x00 to OXxFFFF only the last byte is displayed 262 A user created fault from Connected Components Workbench has occurred Contact your local Rockwell Automation technical support representative if the error persists Rockwell Automation Publication 2080 UM002H EN E November 2015 Troubleshooting Appendix E Controller Error Recove ry Use the following error recovery model to help you diagnose software and
289. red by the controller The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit Rockwell Automation Publication 2080 UM002H EN E November 2015 Appendix E Troubleshooting Status Indicators on the Micro830 Controllers Controller Status Indicators 10 16 Point Controllers 24 Point Controllers 48 Point Controllers ees Ss TT o000 T 1 om000 mi i OOOO 1a 0 oO o 2 E 3 Br 4 N z 2 5 E 4 4 cr 5 0a 6 z 5 L 6 T 0000 EES T 0000 7 J e 00 0 45031a 45017a 45037a Micro850 Controllers om000 1 0000 1 OOOO Loo 8 te 8 9 9 2 2 3 3 4 4 5 5 E 6 6 T 7 oo00 7 0000000000 oo000 00 45934 45935 Status Indicator Description Description State Indicates 1 Input status off Input is not energized On Input is energi
290. relay circuit The failure of one of these switches would most likely cause an open circuit which would be a safe power off failure However if one of these switches shorts out it no longer provides any safety protection These switches should be tested periodically to assure they will stop machine motion when needed Power Considerations The following explains power considerations for the micro controllers Isolation Transformers You may want to use an isolation transformer in the AC line to the controller This type of transformer provides isolation from your power distribution system to reduce the electrical noise that enters the controller and is often used as a step down transformer to reduce line voltage Any transformer used with the controller must have a sufficient power rating for its load The power rating is expressed in volt amperes VA Power Supply Inrush During power up the Micro800 power supply allows a brief inrush current to charge internal capacitors Many power lines and control transformers can supply inrush current for a brief time If the power source cannot supply this inrush current the source voltage may sag momentarily The only effect of limited inrush current and voltage sag on the Micro800 is that the power supply capacitors charge more slowly However the effect of a voltage sag on other equipment should be considered For example a deep voltage sag may reset a computer connected to the same power sourc
291. riables Micro850 gt Data Type Dimension String Size Initial Yalue o iy UINT vse ZEY aY ZEY A E Res_Length1 UINT Re After the new IP address is configured and applied the controller will disconnect from Connected Components Workbench if communication is through Ethernet IMPORTANT Micro830 controllers do not support Run Mode Configuration Change using EtherNet IP IMPORTANT You should not perform IP address changes continuously Allow an interval of at least six seconds before performing the next IP address change in order for duplicate address detection to work properly You can verify that the IP address has changed after performing RMCC by looking at the Ethernet settings for the controller RMCC EtherNet IP Example Verify Address Change Controller Ethernet Diagnose Internet Protocol IP Settings Port Settings D Obtain IP address automatically using DHCP Port State Enabled Disabled Configure IP address and settings Auto Negotiate Speed and Duplex Mode IP Address 192 168 1 10 Subnet Mask 255 _ 255 255 0 Gateway Address 192 168 1 1 Detect duplicate IP address Rockwell Automation Publication 2080 UMO002H EN E November 2015 19 Chapter2 About Your Controller Agency Certifications Compliance to European Union Directives 20 e UL Listed Industrial Control Equipment certified for US and Canada UL Listed for Class I Division 2 Group
292. right sequence plus the home offset configured for the axis through the software Scenario 3 Moving part at left negative side of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part is at the proper location before homing starts MC_HOME_REF_WITH_ABS IMPORTANT f Home switch or Ref Pulse is not configured as Enabled MC_HOME_REF_WITH_ABS 2 homing fails with Error ID MC_FB_ERR_PARAM MC_HOME_REF_WITH_ABS 2 homing procedure performs a homing operation against Home switch plus fine Ref Pulse signal The actual motion sequence is dependent on the home switch limit switch configuration and the actual status for the switches before homing starts that is when the MC_Home function block is issued Scenario 1 Moving part atright positive side of Hane switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side in negative direction 2 When Home Abs switch is detected the moving part decelerates to stop 3 Moving part moves back in positive direction in creep velocity to detect Home Abs On gt Off edge 4 Once Home Abs switch On Off is detected start to detect first Ref Pulse signal coming in 5 Once the first Ref Pulse signal comes record the position as mechanical home position and decelerate
293. ring Mapping Modes of Operation Input 0 HSCO Input 1 HSCO Input 2 HSCO Input 3 HSCO Mode Value in User Input 2 HSC1 Input 3 HSC1 Input 6 HSC2 Input 7 HSC2 Program Input 4 HSC2 Input 5 HSC2 Input 10 HSC4 Input 11 HSC4 Input 6 HSC3 Input 7 HSC3 Input 8 HSC4 Input 9 HSC4 Input 10 HSC5 Input 11 HSC5 Quadrature Counter with A Type input B Type input Z Type Reset Hold 7 External Reset and Hold mode 4b Quadrature X4 Counter A Type input B Type input Not Used 8 mode 5a Quadrature X4 Counter with A Type input B Type input Z Type Reset Hold 9 External Reset and Hold 132 Rockwell Automation Publication 2080 UM002H EN E November 2015 High Speed Counter HSC Data Structures ame Project4 th Micro830 A Programs H Untitled i Local Variables E EE UntitledLo2 i Local Variables i Global Variables DataTypes aa Function Blocks Use the High Speed Counter and Programmable Limit Switch Chapter 8 The following section describes HSC data structures HSC APP Data Structure Define a HSC App Data configuration data data type HSCAPP when programming a HSC During HSC counting the data should not be changed except if the configuration needs to be reloaded To reload HSC configuration change the HSC APP Data then call HSC function block with command 0x03 set reload Otherwise the change to HSC App Data during HSC counting will be ignored
294. rnet IP Sockets support client and server and TCP and UDP Typical applications include communicating to printers barcode readers and PCs Rockwell Automation Publication 2080 UMO002H EN E November 2015 55 Chapter 5 Communication Connections CIP Communications Pass thru 56 The Micro830 and Micro850 controllers support pass thru on any communications port that supports Common Industrial Protocol CIP for applications such as program download It does not support applications that require dedicated connections such as HMI Micro830 and Micro850 support a maximum of one hop A hop is defined to be an intermediate connection or communications link between two devices in Micro800 this is through EtherNet IP or CIP Serial or CIP USB Examples of Supported Architectures USB to EtherNet IP a EtherNet IP OF oo E a H Da e i Micro850 Micro850 controller1 controller2 For program download A The user can download a program from the PC to controller over USB Also the program can be downloaded to controller2 and controller3 over ial USB to EtherNet IP Ww Micro850 controller3 EtherNet IP to CIP Serial ey a 5 A EtherNet IP ey en
295. rollers are installed and operating it is impossible to ensure that all environmental noise will be removed by input filters To help reduce the effects of environmental noise install the Micro800 system in a properly rated for example NEMA enclosure Make sure that the Micro800 system is properly grounded A system may malfunction due to a change in the operating environment after a period of time We recommend periodically checking system operation particularly when new machinery or other noise sources are installed near the Micro800 system Analog Channel Wiring Guidelines Consider the following when wiring your analog channels e The analog common COM is not electrically isolated from the system and is connected to the power supply common e Analog channels are not isolated from each other e Use Belden cable 8761 or equivalent shielded wire e Under normal conditions the drain wire shield should be connected to the metal mounting panel earth ground Keep the shield connection to earth ground as short as possible e To ensure optimum accuracy for voltage type inputs limit overall cable impedance by keeping all analog cables as short as possible Locate the I O system as close to your voltage type sensors or actuators as possible Minimize Electrical Noise on Analog Channels Inputs on analog channels employ digital high frequency filters that significantly reduce the effects of electrical noise on input signals Ho
296. rror Codes on page 100 for more information about error codes Rockwell Automation Publication 2080 UMO002H EN E November 2015 83 Chapter 7 Motion Control General Rules for the Motion Function Block Parameter Output Exclusivity General Rules With Execute The outputs Busy Done Error and CommandAborted indicate the state of the function block and are mutually exclusive only one of them can be true on one function block If execute is true one of these outputs has to be true The outputs Done Busy Error ErrorID and CommandAborted are reset with the falling edge of Execute However the falling edge of Execute does not stop or even influence the execution of the actual function block Even if Execute is reset before the function block completes the corresponding outputs are set for at least one cycle If an instance of a function block receives a new Execute command before it completes as a series of commands on the same instance the new Execute command is ignored and the previously issued instruction continues with execution With Enable The outputs Valid and Error indicate whether a read function block executes successfully They are mutually exclusive only one of them can be true on one function block for MC_ReadBool MC_ReadParameter MC_ReadStatus The Valid Enabled Busy Error and ErrorlD outputs are reset with the falling edge of Enable as soon as possible Axis output 84 When used
297. rt of user logic It can also be monitored remotely through various communication channels Data Elements for Axis_Ref Element Data Type Description name Axis_ D UINT8 The logic axis ID automatically assigned by the Connected Components Workbench software This parameter cannot be edited or viewed by user ErrorFlag UINT8 Indicates whether an error is present in the axis AxisHomed UINT8 Indicates whether homing operation is successfully executed for the axis or not When the user tries to redo homing for an axis with AxisHomed already set homing performed successfully and the result is not successful the AxisHomed status will be cleared ConsVelFlag UINT8 Indicates whether the axis is in constant velocity movement or not Stationary axis is not considered to be in constant velocity AccFlag UINT8 Indicates whether the axis is in an accelerating movement or not DecFlag UINT8 Indicates whether the axis is in a decelerating movement or not AxisState UINT8 Indicates the current state of the axis For more information see Axis States on page 93 ErrorlD UINT16 Indicates the cause for axis error when error is indicated by ErrorFlag This error usually results from motion function block execution failure See Motion Function Block and Axis status Error ID on page 101 ExtraData UINT16 Reserved TargetPos REAL Indicates the final target position of the axis for MoveAbsolute and float
298. ry Serial Port USB Port E Ethernet Internet Protocol Port Settings Port Diagnostics Date and Time Interrupts Startup Faults Modbus Mapping Embedded I O Plug In Modules lt Empty gt lt Empty gt lt Empty gt B Expansion Modules lt Empty gt lt Empty gt lt Empty gt lt Empty gt 2 Select CIP Serial from the Driver field Controller Serial Port Common Settings Driver CiPSeriai gt Baud Rate 38400 bd Parity None Station Address i Protocol Control DF1 Mode DF1 Full Duplex Control Line No Handshake Error Detection Embedded Responses ACK Timeout x20ms NAK Retries CRC zj After One Received 7 v Duplicate Packet Detection 50 w ENQ Retries w 3 Transmit Retries 3 Specify a baud rate Select a communication rate that all devices in your system support Configure all devices in the system for the same communication rate Default baud rate is set at 38400 bps 4 In most cases parity and station address should be left at default settings Rockwell Automation Publication 2080 UMO002H EN E November 2015 59 Communication Connections 5 Click Advanced Settings and set Advanced parameters Refer to the table CIP Serial Driver Parameters on page 60 for a description of the CIP Serial parameters CIP Serial Driver Parameters Parameter Options Default Baud rate Toggles between the communication rate of 1200 2400 3
299. s TRUE Enable Status _ TRUE Enable_Positive Busy TRUE Enable_Negative Active Error ErrorlD J Continually use MC_WriteParameter Parameter 1005 to change the Duty Cycle from global variable G_PWM_Duty_Cycle example 0 5 gt 50 Update_PWM_Duty_Cycle Update_PWM_Duty_Cycle fo MC_WriteParameter_1 SS MC_WriteParameter EN ENO PWMO Axisln Axis Update_PWM_Duty_Cycle Execute Done 1005 Parameter_Number Busy G_PWM_Duty_Cycle Value Error 0 MC_ExecutionMode ErrorlD Ri 4 Rockwell Automation Publication 2080 UMO002H EN E November 2015 __SYSVA_FIRST_SCAN s MC_MoveVelocity_1 N MC_MoveVelocity N VA a ENO PWM0 AxisIn Axis TRUE Execute InVelocity _ G_PWM_Frequency Velocity Busy _ 50000 0 Acceleration Active 50000 0 Acceleration Direction 0 0 Deceleration CommandAborted 1 Jerk Error 0 Directionln ErrorlD J ie POU PWM_Program The POU defines four variables Variable MC_Power_1 7 Direction VAR Data Type MC_Power Attribute ReadWrite Direct variable Channel Motion Control Chapter 7 After first scan use MC_MoveVelocity to continually set the PWM frequency for example 50 000 gt 50 KHz from global variable G_PWM_ Frequency PWM axis will run forever until Program Mode MC_Halt and so on Variable MC_MoveVe
300. s A Address Device Type _ OnlineName Status a 00 Workstation RSLinx Server Micro830 2080 LC30 16QWB GE 16 Micro830 2080 LC30 16QWB USB fiind 16 Micro830 2080 LC30 16QWB For Help press F1 l Num 07 14 10 02 10PM__ If instead the Micro830 Micro850 shows up as a 1756 Module under the AB_VBP 1 Virtual Chassis driver then the proper EDS file for this major revision of firmware has not yet been installed or the controller is running pre release firmware Major Revision 0 RSLinx Classic Gateway RSWho 1 s File Edit View Communications Station DDE OPC Security Window Help S amp 81 Bile IV Autobrowse p Browsing node 0 found E AB_VBP 1 1789 A17 A Virtual Chassis A Address Device Type Online Name Status 00 workstation RSLinx Server Soo Workstation RSLinx Server 16 1756 module 2080 LC30 16QWB 5 16 1756 module 2080 LC30 16QWB For Help press F1 NUM 07 14 10 02 15PM 4 206 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Quickstarts Appendix C Since Micro830 Micro850 controllers support embedded EDS files right click this device and select Upload EDS file from device Remove Driver Diagnostics Configure Driver Upload E Device Properties 7 On the EDS wizard that appears click Next to continue Rockwell Automation s EDS Wizard Welcome to Rockwell Automation s EDS Wizard The EDS Wizard allows you to E
301. s Keatelcisico nes 3 vemos 49 Chapter 5 OVERVIEW ease Hee Se A Se SAAS E ye Ba LEN awe bad 51 Supported Communication Protocols cee scene eee ee eee 51 Modb s RTU o 5 Se tear titd do caus ends ghsiainant wae a bias oleae 53 CIP Serial Client Server RS 232 only see e eee e eee 53 OSGI 2 ers wrx earnest A Pe aaa Gratuatore ne bine ire ae tN 53 Modbus TCP Client Server cccccececccceececeeeeees 53 CIP Symbolic Client Server sic52si05i0 hia lindo east behets 54 CIP Client Messag a ese ste si hics eve rene savin side utente strane 55 Sockets Client Server TCP UDP 0 cccccecncceeees 55 CIP Communications Pass thru sscscccas saced oy idrorwaesedeadeasate 56 Examples of Supported Architectures 4 savk o oies es eoea eens 56 Use Modems with Micro800 Controllers 00 00 cece eee 57 Making a DF1 Point to Point Connection 0 0085 57 Construct Your Own Modem Cable 0 00 cece eee eee 58 Configure Serial Porto i tates oE aco bie OE TEDA EER Y 58 Configure CIP Serial Driver o cb 5354 iaseankaudsduah ease roe hs 59 Configure Modbus RT U s eotiosastwerentug ine yiuacieen pewnees 61 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Program Execution in Micro800 Motion Control Table of Contents Configure ASG li cunugsuhanamenss a E E E ASS 62 Configure Ethernet Settings s s s usrrerererrsrerrerererrrer 64 Validate IP Auddtesseutvas c eed t Pt ietl
302. s Workbench software open the project for the target controller 2 Click Connect to connect to the target controller On the Device Details toolbar roll over the Secure button The tooltip message Set Change or Clear Micro800 Controller Password Protection is displayed Micro850 Micro850 Program Major Fault Not Faulted Run Controller Mode Run t Upload ecure Set Change or Clear Micro800 Controller Password Protection Micro850 2080 LC50 24QBB om w i 5 o 5 Rockwell Automation Publication 2080 UMO002H EN E November 2015 211 AppendixC _Quickstarts 3 Click Secure button Select Set Password Micro850 5 Micro850 i O Program Major Fault Not Fat Run Controller Mode Run t Upload Micro850 2080 LC50 24QBE 4 The Set Controller Password dialog appears Provide password Confirm the password by providing it again in the Confirm field Set Controller Password Password FSFE RSERSERSEEESE SEE RSES Confirm FRCS RSE KS ERS SE KES Co Ceea TIP Passwords must have at least eight characters to be valid 5 Click OK Once a password is created any new sessions that try to connect to the controller will have to supply the password to gain exclusive access to the target controller Change Password With an authorized session you can change the password on a target controller through the Connected Components Workbench software The target control
303. s indica Micro830 Controllers Number and Type of Inputs Outputs ors see Troubleshooting on page 253 Catalog Number Inputs Outputs PTO Support HSC Support 110V AC 24V DC V AC Relay 24V Sink 24V Source 2080 LC30 100WB 6 4 2 2080 LC30 100VB 6 4 1 2 2080 LC30 16AWB 10 6 2080 LC30 160WB 10 6 2 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Chapter 1 Hardware Overview Micro830 Controllers Number and Type of Inputs Outputs Catalog Number inputs Oups PTO Support HSC Support 110V AC 24V DC V AC Relay 24V Sink 24V Source 2080 LC30 160VB 10 6 1 2 2080 LC30 240BB 14 10 2 4 2080 LC30 240VB 14 10 2 4 2080 LC30 240WB 14 10 4 2080 LC30 48AWB 28 20 2080 LC30 480BB 28 20 3 6 2080 LC30 480VB 28 20 3 6 2080 LC30 480WB 28 20 6 Micro850 Controllers Number and Types of Inputs and Outputs Catalog Number Inputs Oups PTOSuppot HSC Support 120V AC 24V DC V AC Relay 24V Sink 24V Source 2080 LC50 24AWB 14 10 2080 LC50 240BB 14 10 2 4 2080 LC50 240VB 14 10 2 4 2080 LC50 240WB 14 10 4 2080 LC50 48AWB 28 20 2080 LC50 480BB 28 20 3 6 2080 LC50 480VB 28 20 3 6 2080 LC50 480WB 28 20 6 Programming Cables Micro800 controllers have a USB interface making standard USB cables usable as programming cables Use a standard USB A Male to B Male cable for prog
304. s reached See Output Mask Bits HSCAPP OutputMask on page 142 for more information on how to directly turn outputs on or off based on the low preset being reached This is the latest low preset output setting which may be updated by PLS function from the PLS data block Rockwell Automation Publication 2080 UM002H EN E November 2015 HSC High Speed Counter Function Block HSC Parameters Use the High Speed Counter and Programmable Limit Switch Chapter 8 The HSC function block can be used to start stop HSC counting to refresh HSC status to reload HSC setting and to reset HSC accumulator HSC Enable STS HscCmd HscAppData HscStsInfo PlsData 45631 Parameter Parameter Data Type Parameter Description Type Enable Input BOOL Enable function block When Enable TRUE perform the HSC operation specified in HSC command parameter When Enable FALSE there is no HSC operation and no HSC status update HscCmd Input USINT Refer to HSC Commands on page 152 HscAppData Input See HSC APP Data Structure on HSC application configuration Only initial configuration is needed usually page 133 PlsData Input See array of Programmable Limit Programmable Limit Switch PLS Data Switch PLS Function on page 153 HscStsInfo Output See HSC STS HSC Status Data HSC dynamic status Status info is usualy continuously updated during HSC Structure on page 144 counting S
305. s removed Environment and Enclosure overvoltage Category Il applications as defined in IEC 60664 1 at altitudes up to This equipment is intended for use in a Pollution Degree 2 industrial environment in A 2000 m 6562 ft without derating This equipment is considered Group 1 Class A industrial equipment according to IEC CISPR 11 Without appropriate precautions there may be difficulties with electromagnetic compatibility in residential and other environments due to conducted and radiated disturbances This equipment is supplied as open type equipment It must be mounted within an enclosure that is suitably designed for those specific environmental conditions that will be present and appropriately designed to prevent personal injury resulting from accessibility to live parts The enclosure must have suitable flame retardant properties to prevent or minimize the spread of flame complying with a flame spread rating of 5VA V2 V1 VO or equivalent if non metallic The interior of the enclosure must be accessible only by the use of a tool Subsequent sections of this publication may contain additional information regarding specific enclosure type ratings that are required to comply with certain product safety certifications In addition to this publication see Industrial Automation Wiring and Grounding Guidelines Rockwell Automation publication 1770 4 1 for additional installation requirements NEMA Standard 250 and IEC 60529
306. s with references to other UDFBs as executing these UDFBs too many times may result in a compile error Rockwell Automation Publication 2080 UM002H EN E November 2015 Program Execution in Micro800 Chapter 6 Example of Five Nested UDFBs ere es UDFB2 Ez UDFB3 UDFB4 e UDFB5 Structured Text ST is much more efficient and easier to use than Ladder Logic when used for equations if you are used to using the RSLogix 500 CPT Compute instruction ST combined with UDFB is a great alternative As an example for an Astronomical Clock Calculation Structured Text uses 40 less Instructions Display_Output LD Memory Usage Code 3148 steps Memory Usage Data 3456 bytes Display_Output ST Memory Usage Code 1824 steps Memory Usage Data 3456 bytes e You may encounter an Insufficient Reserved Memory error while downloading and compiling a program over a certain size One workaround is to use arrays especially if there are many variables Rockwell Automation Publication 2080 UM002H EN E November 2015 73 Chapter6 Program Execution in Micro800 Notes 74 Rockwell Automation Publication 2080 UM002H EN E November 2015 Chapter 7 Motion Control Certain Micro830 and Micro850 controllers see table below support motion control through high speed pulse train outputs PTO PTO functionality refers to the ability of a controller to accurately generate a specific number of pulses at a specified frequency These
307. ses in range 169 254 xxx xxx 169 254 0 0 to 169 254 255 255 e IP addresses in range 224 0 0 0 to 255 255 255 255 Ethernet Host Name Micro800 controllers implement unique host names for each controller to be used to identify the controller on the network The default host name is comprised of two parts product type and MAC address separated by a hyphen For example 2080LC50 xxxxxxxxxxxx where xxxxxxxxxxxx is the MAC address The user can change the host name using the CIP Service Set Attribute Single when the controller is in Program Remote Program mode Rockwell Automation Publication 2080 UM002H EN E November 2015 Communication Connections Chapter 5 Configure CIP Serial Driver 1 Open your Connected Components Workbench project On the device configuration tree go to the Controller properties Click Serial port 2 Select CIP Serial from the Driver field 3 Specify a baud rate Select a communication rate that all devices in your system support Configure all devices in the system for the same communication rate Default baud rate is set 38400 bps 4 In most cases parity and station address should be left at default settings 5 Click Advanced Settings and set Advanced parameters OPC Support Using RSLinx Support for Open Platform Communications OPC using CIP symbolic has Enterpris e been added from firmware release 7 0 onwards This can be used in place of Modbus addressing RSLinx Enterprise version 5 70
308. sing an Allen Bradley null modem serial cable 1761 CBL PM02 to the controller s embedded serial port together with a 9 pin null modem adapter a null modem with a null modem adapter is equivalent to a modem cable The recommended protocol for this configuration is CIP Serial Rockwell Automation Publication 2080 UMO002H EN E November 2015 57 Chapter 5 Communication Connections Configure Serial Port 58 Construct Your Own Modem Cable If you construct your own modem cable the maximum cable length is 15 24 m 50 ft with a 25 pin or 9 pin connector Refer to the following typical pinout for constructing a straight through cable DTE Device Micro830 850 DCE Device Channel 0 Modem etc 8 Pin 25 Pin 9 Pin 7 TXD gt TXD 2 3 4 RXD RXD 3 2 2 GND lt gt GND 7 5 1 B DCD 8 1 8 Al DTR 20 4 5 DCD DSR 6 6 6 CTS lt CTS 5 8 3 RTS gt RTS 4 7 You can configure the Serial Port driver as CIP Serial Modbus RTU ASCII or Shutdown through the Device Configuration tree in Connected Components Workbench Rockwell Automation Publication 2080 UM002H EN E November 2015 Communication Connections Chapter 5 Configure CIP Serial Driver 1 Open your Connected Components Workbench project On the device configuration tree go to the Controller properties Click Serial Port Controller General Memo
309. successful Increase Deviation or increase Step second peak Output Sequence 4 50 gt 70 Sequence Condition Autotune Result Action for Autotune Fail Process value not able to reach First Likely unsuccessful Increase ATDynamSet peak in time Rockwell Automation Publication 2080 UM002H EN E November 2015 269 Appendix F _ PID Function Block PID Application Example 270 Water In Water Level _ __ Tank Water Out The illustration above shows a basic water level control system to maintain a preset water level in the tank A solenoid valve is used to control incoming water filling the tank at a preset rate Similarly outflowing water is controlled at a measureable rate IPID Autotuning for First and Second Order Systems Autotune of IPID can only work on first and second order systems A first order system can be described by a single independent energy storage element Examples of first order systems are the cooling of a fluid tank the flow of fluid from a tank a motor with constant torque driving a disk flywheel or an electric RC lead network The energy storage element for these systems are heat energy potential energy rotational kinetic energy and capacitive storage energy respectively This may be written in a standard form such as f t tdy dt y t where T is the system time constant fis the forcing function and y is the system state variable In the cooling of a fl
310. switch During MC_Home function block execution the home position will be reset and the soft limits mechanical position will be recalculated During homing sequence the motion configuration for the soft limits will be ignored The homing motion sequence discussed in this section has the following configuration assumptions 1 Homing direction is configured as negative direction 2 The Lower limit switch is configured as enabled and wired The different homing modes as defined see table Homing Modes on page 116 can have different but still similar motion sequence The concept discussed below is applicable to various homing configurations MC_HOME_ABS_SWITCH IMPORTANT _ f home switch is not configured as enabled MC_HOME_ABS_SWITCH 0 homing fails with MC_FB_ERR_PARAM MC_HOME_ABS_SWITCH 0 homing procedure performs a homing operation against the home switch The actual motion sequence is dependent on the home switch limit switch configuration and the actual status for the switches before homing starts that is when the MC_Home function block is issued Rockwell Automation Publication 2080 UMO002H EN E November 2015 117 Chapter 7 Motion Control Scenario 1 Moving part at right positive side of home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to the left side negative direction 2 When home switch is detected the moving part decelerates to stop
311. t The High Preset Output defines the state 1 ON or 0 OFF of the outputs on the controller when the high preset is reached For more information on how to directly turn outputs on or off based on the high preset being reached see Output Mask Bits HSCAPP OutputMask on page 142 The high output bit pattern can be configured during initial setup or while the controller is operating Use the HSC function block to load the new parameters while the controller is operating Low Preset Output HSCAPP LPOutput User Program Access Data Format long word 32 bit binary Description HSCAPP LPOutput read write The Low Preset Output defines the state 1 on 0 off of the outputs on the controller when the low preset is reached See Output Mask Bits HSCAPP OutputMask on page 142 for more information on how to directly turn outputs on or off based on the low preset being reached The low output bit pattern can be configured during initial setup or while the controller is operating Use the HSC function block to load the new parameters while the controller is operating Rockwell Automation Publication 2080 UM002H EN E November 2015 143 Chapter 8 Use the High Speed Counter and Programmable Limit Switch HSC STS HSC Status Data Define a HSC STS data HSC status information data data type HSCSTS when programming a HSC Structure 144 es wame
312. t Inputs 0 7 Inputs 8 and higher Nominal impedance 3kQ 3 74 KQ IEC input compatibility Type 3 AC input filter setting 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded 1 0 configuration window to re configure the filter setting for each input group Isolated AC Inputs 2080 LC30 24QWB 2080 LC30 240VB 2080 LC30 240BB Inputs 0 7 Attribute Value On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Outputs Attribute 2080 LC30 240WB 2080 LC30 240VB 2080 LC30 240BB Relay Output Hi Speed Output Outputs 0 1 Standard Output Outputs 2 and higher Number of outputs 10 2 8 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current max 2 0A 100 mA high speed operation 30 C 1 0 A 30 C 0 3 A 65 C standard operation O0A 0 3 A 65 C standard operation Surge current per point Refer to Relay Contacts Ratings on page 174 4 0 A every 1 s 30 C every 2 s 65 oc Current per common max 5A Turn on time 10 ms 2 5 us 0 1 ms Turn off time max 1 ms 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Maximum Volts Amperes Amperes Volt Amperes Continuous 174 120V AC Make 240V AC 7 5A 0 75
313. t Reached HSCSTS HPReached Description Data Format HSC Modes User Program Access HSCSTS HPReached bit 2 9 read write 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 145 The High Preset Reached status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator is greater than or equal to the high preset variable HSCAPP HPSetting This bit is updated continuously by the HSC sub system whenever the controller is in an executing mode Writing to this element is not recommended Rockwell Automation Publication 2080 UM002H EN E November 2015 Use the High Speed Counter and Programmable Limit Switch Chapter 8 Low Preset Reached HSCSTS LPReached Description Data Format HSC Modes User Program Access HSCSTS LPReached bit 2 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Low Preset Reached status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator is less than or equal to the low preset variable HSCAPP LPSetting This bit is updated continuously by the HSC sub system whenever the controller is in an executing mode Writing to this element is not recommended Overflow Interrupt HSCSTS OFCauselnter Description Data Format HSC Modes User Program Access HSCSTS OFCauselnter bit 0 9 read write 1 For Mode descriptions see HSC Mode
314. t Source P106 P36 Speed Reference P108 P38 Comm Data Rate C302 A103 C103 Comm Node Addr C303 A104 C104 Comm Loss Action C304 A105 C105 Comm Loss Time C305 A106 C106 Comm Format C306 A107 C102 e Connect the 1203 USB to the PowerFlex Drive and to the Computer e Launch Connected Components Workbench Connect to the Drive and set parameters To configure PowerFlex 4M perform the following steps 1 Double click the PowerFlex 4M if it is not already open in Connected Components Workbench 2 Click Connect 3 In the Connection Browser expand the AB_DF1 DH Driver Select the AB DSI PF4 Port and click OK 4 Once the Drive has connected and been read in select the Start up wizard and change the following items Select Finish to save the changes to the drive e Select the Comm Port as the Speed Reference Set P108 Speed Reference to 5 Comm Port Set Start Source to Comm Port Set P106 Start Source to 5 Comm Port e Defaults for the remaining Inputs e Accept Defaults for the remainder and click Finish 5 Select Parameters from the Connected Components Workbench window Connected Components Workbench Fie Edit View Build Debug Tools Communications Window Help oes ees a ae Project Organizer x Powerflex 4M_1 Name PF4Start Up ee Po werFlex 4M gt B rowerFiex w Disconnect stut t ol oO O Upload Parameters fPropertes wizards Faults Reset M Ro
315. t asp OxF27z z indicates the slot number of the expansion 1 0 If z 0 then the slot number cannot be identified A non recoverable communication fault has occurred on the expansion I 0 module Perform one of the following e Cycle power to the Micro800 controller or e Replace the slot number z module If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp OxF28z z indicates the slot number of the expansion 1 0 If z 0 then the slot number cannot be identified Expansion 1 0 baudrate error Perform one of the following e Cycle power to the Micro800 controller or e Replace the slot number z module If the error persists contact your local Rockwell Automation technical support representative For contact information see http support rockwellautomation com MySupport asp OxF29z z indicates the slot number of the expansion 1 0 If z 0 then the slot number cannot be identified A module fault is detected on your expansion 1 0 module Rockwell Automation Publication 2080 UMO002H EN E November 2015 Perform one of the following e Cycle power the Micro800 controller or e Replace the slot number z module If the error persists contact your local Rockwell Automation technical support representative For contact information see http su
316. t is cleared 0 Count Down HSCSTS CountDownFlag Description Data Format HSC Modes User Program Access SCSTS CountDownFlag bit 2 9 read only 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Count Down bit is used with the bidirectional counters modes 2 9 If the HSCSTS CountEnable bit is set the Count Down bit is set 1 If the HSCSTS CountEnable bit is clear the Count Down bit is cleared 0 Mode Done HSCSTS Mode1Done Description Data Format HSC Modes User Program Access HSCSTS Mode1Done bit Oor1 read write 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 The Mode Done status flag is set 1 by the HSC sub system when the HSC is configured for Mode 0 or Mode 1 behavior and the accumulator counts up to the High Preset Overflow HSCSTS OVF Description Data Format HSC Modes JUser Program Access HSCSTS OVF bi 1 For Mode descriptions see HSC Mode HSCAPPHSCMode on page 134 t 0 9 read write The HSCSTS OVE status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator has counted through the overflow variable HSCAPP OFSetting This bit is transitional and is set by the HSC sub system It is up to the control program to utilize track if necessary and clear 0 the overflow condition Overflow conditions do not generate a controller fault
317. te indicates that the HSC error is due to PLS data setting The value of high byte indicates which element of PLS data triggers the error Bit 7 0 low byte 0x00 No error 0x01 Invalid HSC counting mode 0x02 Invalid High preset 0x03 Invalid overflow 0x04 Invalid underflow 0x05 No PLS data Writing to this element is not recommended except for clearing existing errors and to capture new HSC errors Accumulator HSCSTS Accumulator Description Data Format User Program Access HSCSTS Accumulator long word 32 bit INT read only HSCSTS Accumulator contains the number of counts detected by the HSC sub system If either mode 0 or mode 1 is configured the accumulator is reset to 0 when a high preset is reached or when an overflow condition is detected High Preset HSCSTS HP Description Data Format User Program Access HSCSTS HP long word 32 bit INT read only The HSCSTS HP is the upper setpoint in counts that defines when the HSC sub system generates an interrupt The data loaded into the high preset must be less than or equal to the data resident in the overflow HSCAPP OFSetting parameter or an HSC error is generated Rockwell Automation Publication 2080 UMO002H EN E November 2015 149 Chapter 8 150 Use the High Speed Counter and Programmable Limit Switch This is the latest high preset setting which may be updated by PLS function from the PLS data block
318. tem with a process value that takes longer to react to change ATReset Set this parameter to TRUE to reset the output to zero after the autotune process completes Set this parameter to FALSE to leave the output at load value after the autotune process completes During autotune the controller will automatically set the process value to zero To autotune perform the following steps 1 2 3 4 5 268 Set the Initialize input to TRUE Set the AutoTune input to TRUE Wait for the Process input to stabilize or reach a steady state Note the temperature fluctuation of the process value Calculate deviation value with reference to the fluctuation For example if the temperature stabilizes around 22 C 72 F with a fluctuation of 21 7 22 5 C 71 72 5 F the value of AT Params Deviation is For C ieee 0 4 For F al 0 75 2 2 Set the deviation value if you have not set it yet Change the initialize input to FALSE Wait until the AT_Warning shows 2 The autotune process is successful Get the tuned value from the OutGains Rockwell Automation Publication 2080 UM002H EN E November 2015 IPID Function Block Appendix F How Autotune Works The auto tune process begins when the Initialize is set to FALSE Step 7 At this moment the control output increases by the amount of Step and the process waits for the process value to reach or exceeds first peak
319. ter vibration and shock concerns use the panel mounting method instead of DIN rail mounting Before mounting the module on a DIN rail use a flat blade screwdriver in the DIN rail latch and pry it downwards until it is in the unlatched position 1 Hook the top of the DIN rail mounting area of the controller onto the DIN rail and then press the bottom until the controller snaps onto the DIN rail 2 Push the DIN rail latch back into the latched position Use DIN rail end anchors Allen Bradley part number 1492 EAJ35 or 1492 EAHJ35 for vibration or shock environments To remove your controller from the DIN rail pry the DIN rail latch downwards until it is in the unlatched position Rockwell Automation Publication 2080 UMO002H EN E November 2015 33 Chapter3 Install Your Controller Panel Mounting The preferred mounting method is to use four M4 8 screws per module Hole spacing tolerance 0 4 mm 0 016 in Follow these steps to install your controller using mounting screws 1 Place the controller against the panel where you are mounting it Make sure the controller is spaced properly 2 Mark drilling holes through the mounting screw holes and mounting feet then remove the controller 3 Drill the holes at the markings then replace the controller and mount it Leave the protective debris strip in place until you are finished wiring the controller and any other devices IMPORTANT For instructions on how to install
320. the new set point and STI0 Enable is set 1 e Ifthe STI is currently timing and the set point is changed the new setting takes effect immediately restarting from zero The STI continues to time until it reaches the new set point UID User Interrupt Disable UID Enable UID name or Pin ID IRQType or ENO Pin ID 45639 The UID instruction is used to disable selected user interrupts The table below shows the types of interrupts with their corresponding disable bits 242 Rockwell Automation Publication 2080 UM002H EN E November 2015 User Interrupts Appendix D Types of Interrupts Disabled by the UID Instruction Interrupt Type Element Decimal Value Corresponding Bit Plug In Module UPM4 8388608 bit 23 Plug In Module UPM3 4194304 bit 22 Plug In Module UPM2 2097152 bit 21 Plug In Module UPM1 1048576 bit 20 Plug In Module UPMO 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI 65536 bit 16 STI Selectable Timed Interrupt STIO 32768 bit 15 EIl Event Input Interrup Event 7 16384 bit 14 Ell Event Input Interrup Event 6 8192 bit 13 Ell Event Input Interrup Event 5 4096 bit 12 Ell Event Input Interrup Event 4 2048 bit 11 HSC High Speed Counter HSC5 1024 bit 10 HSC High Speed Counter HSC4 512 b
321. tics tab for the controller RMCC Modbus Example Verify Address Change Micro850 Micro850 Communication Diagnostics X Communication _ Serial Port gt Reset Counters Channel Slot 1 2080 SERIALISOL at port5 Drivers Modbus RTU Link Counters Characters Received 3 088 Characters Sent 2 464 Frame Received 386 Frames Sent 352 Good Transactions 352 Broadcasts 0 Good Exceptions 0 Mismatch Errors 0 Bad CRC 0 No Response 0 Other Errors 0 Common Settings Unit Address 3 Rockwell Automation Publication 2080 UMO002H EN E November 2015 17 Chapter 2 About Your Controller 18 Using EtherNet IP Communication To use RMCC with the EtherNet IP communication protocol the controller must be configured to use a static IP address If the controller is configured to use BOOTP or DHCP the change will be rejected A CIP Generic message is sent from within a program with the following parameters CIP Generic Message Parameters for RMCC using EtherNet IP Parameter Value Service 16 Class 245 Instance 1 Attribute 5 ReqData IP address Subnet mask Gateway address ReqLen 22 bytes RMCC EtherNet IP Example Set the Parameters User Global Variables Micro850 Local Variables RMCC_EIP_LengthTest_SimplePro System Variables Micro850 1 0 Microf 4 gt paete Dimension Stina Sze intaVabe Atl EY CIPAPPCFG
322. to stop 6 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software Rockwell Automation Publication 2080 UMO002H EN E November 2015 Motion Control Chapter 7 Scenario 2 Moving part between Lower Limit and Home switch before homing starts The homing motion sequence for this scenario is as follows 1 2 Moving part moves to its left side in negative direction When Lower Limit switch is detected the moving part decelerates to stop or stops immediately according to Limit Switch Hard Stop configuration Moving part moves back in positive direction in creep velocity to detect Home switch On gt Off edge Once Home Abs switch On 3 Off is detected start to detect first Ref Pulse signal Once the first Ref Pulse signal comes record the position as mechanical home position and decelerate to stop Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connected Components Workbench software IMPORTANT _ In this case if Lower limit switch is not configured or not wired the homing motion will fail and moves continuously to the left until the drive or moving part fails to move Scenario 3 Moving part on Lower Limit or Home switch before homing starts The homing
323. to the controller Power on with solid indicator and FAULT indicator flashing Application fault Hardware software major fault detected For error codes and status information refer to the Connected Components Workbench online Help Power on with solid indicator and FAULT indicator flashing Operating system fault Firmware upgrade unsuccessful See Flash Upgrade Your Micro800 Firmware on page 199 Error codes Rockwell Automation Publication 2080 UMO002H EN E November 2015 This section lists possible error codes for your controller as well as recommended actions for recovery If an error persists after performing the recommended action contact your local Rockwell Automation technical support representative For contact information go to http support rockwellautomation com MySupport asp 255 Appendix E Troubleshooting List of Error Codes for Micro800 controllers Error Code Description Recommended Action OxDOOF A particular hardware type for example Perform one of the following ies eat A ets At e Connect to the hardware that is specified in the user program hardware base e Reconfigure the program to match the target hardware type OxF000 The controller was unexpectedly reset due to a Perform one of the following Lia ean nN awe e Download the program through Connected Components Workbench e A Micro800 controller revis
324. trial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A amp B European Union 2006 95 EC LVD compliant with EN 61131 2 Programmable Controllers Clause 11 C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions EtherNet IP ODVA conformance tested to EtherNet IP specifications KC Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of Radio Waves Act Clause 3 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Conformity Certificates and other certification details For the Micro850 relay chart see Micro830 and Micro850 Relay Charts on page 181 PTO Output Duty Cycle Error Turn On Off time for the Micro830 and Micro850 controllers for the PTO output port is 0 2 us and 2 5 Us max respectively Duty cycle error is Positive error 2 5 Us F Negative error 0 2 Us F The plot below shows duty cycle error vs frequency To get the duty cycle error at a certain frequency for example the user sets frequency to 20 kHz and sets duty cycle to 30 in Connected Components Workbench then actual duty cycle is o4 5 30 0 4 Rockwell Automation Publication 2080 UM002H EN E November 2015 189 Appendix A 190 Specifications
325. ts Output UINT HSC function block execution status Rockwell Automation Publication 2080 UMO002H EN E November 2015 HSC Commands HScCmd HscCmd is an input parameter with data type USINT All HSC commands 1 4 are Level commands Users are advised to disable the instruction before updating the command HscCmd 1 starts the HSC mechanism Once the HSC is in running mode the HscCmd 2 must be issued to stop counting Setting the Enable input parameter to False does not stop counting while in running mode HscCmd 3 reloads the following parameter values HighPreset LowPreset OverFlow UnderFlow HighPreset Output and LowPreset Output The parameter values shown in the Variable Monitor may not match the values in the Hardware Command 3 must be executed to load the values from the variables to the hardware without stopping the HSC If the HSC Enable is True HscCmd 3 will continuously load the parameters Trigger HscCmd 3 only once 151 Chapter8 Use the High Speed Counter and Programmable Limit Switch HscCmd 4 reset sets the Acc value to the HSC AppData Accumalator value The HscCmd 4 does not stop HSC counting If HSC is counting when the HscCmd 4 is issued some counting may be lost To reset the Acc value and then continue the counting trigger the HscCmd 4 only once If the command is enabled continuously it may cause errors HSC AppData Accumalator value is updated automatically by the HSC mech
326. twork Inputs to Outputs Type tested for 60 s 3250V DC Output to Aux and Network Inputs to Outputs 150V continuous Reinforced nsulation Type Input to Aux and Network Type tested for 60 s 1950V DC Input to Aux and Network 250V continuous Reinforced 50V continuous Reinforced Insulation Type 1 0 to nsulation Type Output to Aux _ Aux and Network Inputs to Outputs and Network Inputs to Outputs Type tested for 60 s 720V DC 1 0 to Aux and Type tested for 60 s 3250V DC Network Inputs to Outputs Output to Aux and Network nputs to Outputs 50V continuous Reinforced nsulation Type Input to Aux and Network Type tested for 60 s 720V DC nputs to Aux and Network North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Input Specifications Attribute Number of Inputs 2080 LC50 48AWB 120V AC Input 28 2080 LC50 480WB 2080 LC50 480VB 2080 LC50 480BB High Speed DC Input Standard DC Input Inputs 0 11 Inputs 12 and higher 12 16 Input group to backplane isolation Verified by the following dielectric tests 1950V AC for 2 s 150V working voltage IEC Class 2 reinforced insulation Verified by the following dielectric tests 720V DC for 2 s 50V DC working voltage IEC Class 2 reinforced insulation
327. ug in I O module configuration in the user program to match that of the actual hardware configuration e Check the condition and operation of the plug in 1 0 module e Cycle power to the Micro800 controller e Replace the plug in 1 0 module e f the error persists see the Micro800 Plug in Modules publication 2080 UM004 OxFODz When power was applied to the plug in 1 0 Perform the following module or the plug in I O module was removed a 1 Correct the plug in 1 0 module configuration in the user program hardware error occurred 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode OxFOEz The plug in 1 0 module configuration does not Perform the following match the actual 1 0 configuration detected 1 Correct the plug in 1 0 module configuration in the user program 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode OxD011 The program scan time exceeded the watchdog Perform one of the following timeout valie e Determine if the program is caught in a loop and correct the problem e n the user program increase the watchdog timeout value that is set in the system variable _SYSVA_TCYWDG and then build and download the program using Connected Components Workbench OxF830 An error occurred in the Ell configuration Review and change the Ell configuration in the Micro800 controller properties OxF840 An error occ
328. uid tank example it can be modeled by the thermal capacitance C of the fluid and thermal resistance R of the walls of the tank The system time constant will be RC the forcing function will be the ambient temperature and the system state variable will be the fluid temperature A second order system can be described by two independent energy storage elements which exchange stored energy Examples of second order systems are a motor driving a disk flywheel with the motor coupled to the flywheel via a shaft with torsional stiffness or an electric circuit composed of a current source driving a series LR inductor and resistor with a shunt C capacitor The energy storage elements for these systems are the rotational kinetic energy and torsion spring energy for the former and the inductive and capacitive storage energy for the latter Motor drive systems and heating systems can be typically modeled by the LR and C electric circuit Rockwell Automation Publication 2080 UM002H EN E November 2015 IPID Function Block Appendix F PID Code Sample RST_FB FB_PRESET The illustration PID Code Sample shows sample code for controlling the PID application example shown before Developed using Function Block Diagrams it consists of a pre defined function block IPIDCONTROLLER and four user defined function blocks These four are e PID_OutputRegulator This user defined function block regulates the output of IPIDCONTROLLER within a safe range to
329. urred in the HSC configuration Review and change the HSC configuration in the Micro800 controller properties OxF850 An error occurred in the STI configuration Review and change the STI configuration in the Micro800 controller properties OxF860 A data overflow occurred Perform the following A data overflow error is generated when the 1 Correct the program to ensure that there is no data overflow ladder structured text or function block diagram 2 Build and download the program using Connected Components Workbench execution encounters a divide by zero i 3 Put the Micro800 controller into Run mode 0xF870 An index address was out of data space Perform the following 1 Correct the program to ensure that there is no index address out of data space 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode OxF880 A data conversion error occurred Perform the following 1 Correct the program to ensure that there is no data conversion error 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode OxF888 The call stack of the controller cannot support the Change the project to reduce the quantity of blocks being called within a block sequence of calls to function blocks in the current project Too many blocks are within another block OxF898 An error occurred in the user interrupt Correct the user interrupt configu
330. usive access to that controller By setting a password on the controller a user effectively restricts access to the programming software connections to the controller to software sessions that can supply the correct password Essentially Connected Components Workbench operation such as upload and download are prevented if the controller is secured with a password and the correct password is not provided Micro800 controllers with firmware revision 2 and later are shipped with no password but a password can be set through the Connected Components Workbench software revision 2 or later The controller password is also backed up to the memory backup module that is 2080 MEMBAK RTC for Micro830 and Micro850 and 2080 LCD for Micro8 10 controllers TIP For instructions on how to set change and clear controller passwords see Configure Controller Password on page 210 The Controller Password feature is supported on e Connected Components Workbench revision 2 and later Rockwell Automation Publication 2080 UM002H EN E November 2015 161 Chapter9 Controller Security Work with a Locked Controller 162 e Micro800 controllers with revision 2 firmware For users with earlier versions of the software and or hardware refer to the compatibility scenarios below Connected Components Workbench revision 1 with Micro800 controller firmware revision 2 Connection to a Micro800 controller with firmware revision 2 using an earlier v
331. ut completely then restore power to the PowerFlex 4M The drive is now ready to be controlled by Modbus RTU communication commands initiated from the Micro830 850 controller Modbus devices can be 0 based registers are numbered starting at 0 or 1 based registers are numbered starting at 1 When PowerFlex 4 Class drives are used with Micro800 family controllers the register addresses listed in the PowerFlex User Manuals need to be offset by n 1 For example the Logic Command word is located at address 8192 but your Micro800 program needs to use 8193 8192 1 to access it Modbus Address n 1 value shown 8193 Logic Command word Stop Start Jog etc Rockwell Automation Publication 2080 UMO002H EN E November 2015 197 Appendix B 198 Modbus Mapping for Micro800 8194 Speed Reference word Xxx x format for 4 4M 40 where 123 12 3 Hz xxx xx format for 40P 400 400N 400P where 123 1 23 Hz 8449 Logic Status word Read Active Fault and so on 8452 Speed Feedback word uses same format as Speed Reference 8450 Error Code word n 1 To access Parameter n TIP e f the respective PowerFlex drive supports Modbus Function Code 16 Preset Write Multiple Registers use a single write message with a length of 2 to write the Logic Command 8193 and Speed reference 8194 at the same time e Use a single Function Code 03 Read Holding Registers with a length of 4 to read the Logic status 8449 Error Code 8
332. variables and non I O variables and special functions such as HSC and Motion which execute independently from the User Program scan For example for motion Drive Ready input cannot be forced Unlike inputs outputs are physically forced LED status indicators do show forced values and the user program does not use forced values The following diagram illustrates forcing behavior Physical Outputs Logical Logical gt Force p gt Inputs Output e LED status indicators always match the physical value of I O e Normal non physical internal variables cannot be forced e Special functions such as HSC and Motion cannot be forced ATTENTION Forcing variable can result in sudden A machine movement possibly injuring personnel or equipment Use extreme caution when forcing variables Checking if Forces locks are Enabled If Connected Components Workbench is available check the Variable Monitor while debugging online Forcing is performed by first Locking an I O variable and then setting the Logical Value for Inputs and Physical Value for Outputs Rockwell Automation Publication 2080 UMO002H EN E November 2015 227 Appendix C 228 Quickstarts Remember you cannot force a Physical Input and cannot force a Logical Output able Monitoring _IO_EM_DO_00 BOOL IO_EM_DO_01 BOOL _10_EM_DO_02 BOOL 10_EM_DO_03 BOOL J0_EM_DO_04 BOOL _IO_EM_DO_05 BOOL OEM 0100 C a O_EM_DI_01
333. ve element within the PLS data block is reset to zero This behavior is referred to as circular operation TIP The HSCHPOutput is only written when HSCHP is reached The HSCLPOutput is written when HSCLP is reached TIP Output High Data is only operational when the counter is counting up Output Low Data is only operational when the counter is counting down Ifinvalid data is loaded during operation an HSC error is generated and causes a controller fault You can use the PLS in Up high Down low or both directions If your application only counts in one direction ignore the other parameters The PLS function can operate with all of the other HSC capabilities The ability to select which HSC events generate a user interrupt are not limited PLS Example Setting Up the PLS data Using Connected Components Workbench define the PLS data HSC_PLS s dimension as 1 4 PLS Data Definition Data Description Data Format HSCHP High Preset 32 bit signed integer HSCLP Low Preset HSCHPOutput Output High Data 32 bit binary HSCLPOutput Output Low Data eee 0000 0000 0000 0000 0000 0000 Rockwell Automation Publication 2080 UM002H EN E November 2015 155 Chapter8 Use the High Speed Counter and Programmable Limit Switch Name ProjectS 7 HSC Interrupts 156 wm Micro830 m Sei Tr 7 E HSC HSC a Readwrite _ Programs HSC_STS HSCSTS i Readwrite HSC_APP HSCAPP te Readwr
334. ve receives e Motion Axis Configuration in position commands through the Connected Components Micro800 pulse train outputs Workbench on page 103 interface based upon the PLC execution of motion function blocks On the Micro800 controller it is a pulse train output and a set of inputs outputs and configuration Motion Function Blocks A set of instructions that configure Connected Components or act upon an axis of motion Workbench Online Help e Motion Control Function Blocks on page 81 e Axis Ref Data Type on page 98 e Function Block and Axis Status Error Codes on page 100 e Homing Function Block on page 116 Jerk Rate of change of acceleration The See Acceleration Jerk component is mainly of Deceleration and Jerk Inputs interest at the start and end of on page 83 motion Too high of a Jerk may induce vibrations To use the Micro800 motion feature you need to 1 Configure the Axis Properties See Motion Axis Configuration in Connected Components Workbench on page 103 for instructions 2 Write your motion program through the Connected Components Workbench software For instructions on how to use the Micro800 motion control feature see the quickstart instructions Use the Motion Control Feature on Micro800 Controllers publication 2080 QS001 3 Wire the Controller a refer to Input and Output Signals on page 78 for fixed and configurable inputs outputs b
335. vided with this product e Substitution of any component may impair suitability for Class Division 2 e If this product contains batteries they must only be changed in an area known to be nonhazardous Rockwell Automation Publication 2080 UMO002H EN E November 2015 RISQUE D EXPLOSION e Couper le courant ou s assurer que l environnement est class non dangereux avant de d brancher l quipement e Couper le courant ou s assurer que l environnement est class non dangereux avant de d brancher les connecteurs Fixer tous les connecteurs externes reli s cet quipement a l aide de vis loquets coulissants connecteurs filet s ou autres moyens fournis avec ce produit e La substitution de tout composant peut rendre cet quipement inadapt a une utilisation en environnement de Classe Division 2 e S assurer que l environnement est class non dangereux avant de changer les piles Chapter 2 Chapter 2 24 About Your Controller Disconnecting Main Power WARNING Explosion Hazard Do not replace components connect equipment or disconnect equipment unless power has been switched off The main power disconnect switch should be located where operators and maintenance personnel have quick and easy access to it In addition to disconnecting electrical power all other sources of power pneumatic and hydraulic should be de energized before working on a machine or process controlled by a controller
336. w Mask control bit is used to enable allow or disable not allow an overflow interrupt from occurring If this bit is clear 0 and an overflow reached condition is detected by the HSC the HSC user interrupt is not executed This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit Mask for IN HSCO MN Description Data Format HSC Modes User Program Access MN Underflow Mask bit 22 59 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 145 The MN Underflow Mask control bit is used to enable allow or disable not allow a underflow interrupt from occurring If this bit is clear 0 anda Underflow Reached condition is detected by the HSC the HSC user interrupt is not executed This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit Rockwell Automation Publication 2080 UM002H EN E November 2015 HSC Interrupt Status Information Use the High Speed Counter and Programmable Limit Switch Chapter 8 Mask for IH HSCO0 MH Description Data Format HSC Modes JUser Program Access MH High Preset Mask bit 0 9 read only 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 145 The MH High Preset Mask control bit is used to enable allow or disab
337. well Automation Publication 2080 UM002H EN E November 2015 103 Chapter7 Motion Control TIP Values for the different motion axis parameters are validated based on a set of relationships and pre determined absolute range See Motion Axis Parameter Validation on page 115 for a description of the relationships between parameters Add New Axis IMPORTANT Motion Engine Execution Time m Motion Motion Engine Execution Time 2 ms Maximum Number of Axes 2 When an axis is added to the configuration the Motion Engine Execution Time can be configured from 1 10 ms default 1 ms This global parameter applies to all motion axis configurations 1 On the Device Configuration tree right click lt New Axis gt Click Add Motion lt New Axa Plug In Modul Add rb te 2 Provide an axis name Click Enter TIP Name must begin with a letter or underscore character followed by a letter or single underscore characters TIP You can also press F2 to edit axis name 3 Expand the newly created Axis to see the following configuration categories e General e Motor and Load e Limits e Dynamics e Homing Motion General Motor and Load Limits Dynamics Homing 104 Rockwell Automation Publication 2080 UM002H EN E November 2015 Motion Control Chapter 7 TIP To help you edit these motion properties see Edit Axis Configuration on page 105 You can also learn more about axis configurati
338. well Automation Publication 2080 UMO002H EN E November 2015 203 Appendix Quickstarts Establish Communications Between RSLinx and a Micro830 Micro850 Controller through USB 204 This quick start shows you how to get RSLinx RSWho to communicate with a Micro830 or Micro850 controller through a USB RSLinx Classic is installed as part of the Connected Components Workbench software installation process The minimum version of RSLinx Classic with full Micro800 controller support is 2 57 build 15 released March 2011 1 Power up the Micro830 Micro850 controller 2 Plug USB A B cable directly between your PC and the Micro830 Micro850 controller 3 Windows should discover the new hardware Click No not this time and then click Next Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software Yes this time only C Yes now and every time connect a device No not this time Click Next to continue lt Back Cancel Rockwell Automation Publication 2080 UM002H EN E November 2015 Quickstarts Appendix C 4 Click Install the software automatically Recommended and then click Next Found New Hardware Wizard
339. wever because of the variety of applications and environments where analog controllers are installed and operated it is impossible to ensure that all environmental noise will be removed by the input filters Several specific steps can be taken to help reduce the effects of environmental noise on analog signals e install the Micro800 system in a properly rated enclosure for example NEMA Make sure that the shield is properly grounded e use Belden cable 8761 for wiring the analog channels making sure that the drain wire and foil shield are properly earth grounded e route the Belden cable separately from any AC wiring Additional noise immunity can be obtained by routing the cables in grounded conduit Rockwell Automation Publication 2080 UM002H EN E November 2015 41 Chapter4 Wire Your Controller Grounding Your Analog Cable Use shielded communication cable Belden 8761 The Belden cable has two signal wires black and clear one drain wire and a foil shield The drain wire and foil shield must be grounded at one end of the cable Foil shield Insulation Clear wire 44531 IMPORTANT Do not ground the drain wire and foil shield at both ends of the cable Wiring Examples Examples of sink source input output wiring are shown below Sink output wiring example User side 1 Logic side t eres 1 24V supply Micro800 Sink output 48 Rockwell Automation Publi
340. with AS NZS CISPR 11 Industrial Emissions 1 See the Product Certification link at http www rockwellautomation com products certification for Declaration of Conformity Certificates and other certification details 180 Rockwell Automation Publication 2080 UMO002H EN E November 2015 Specifications Appendix A Micro830 and Micro850 Relay Charts Relay life 100 50 30 20 AC 125V resistive ldad DC 30V resistive Idad AC 250V 10 i i resistive Igad Number of operations X104 DC 30V T 7 ms 5 i I AC 250 V cos p 0 4 3 0 5 1 0 2 0 3 0 45629 Switching capacity A Micro850 Controllers The following tables provide specifications ratings and certifications for the 24 point and 48 point Micro850 controllers Rockwell Automation Publication 2080 UMO002H EN E November 2015 181 Appendix A Specifications Micro850 24 Point Controllers General Specifications 2080 LC 50 24AWB 2080 LC50 240WB 2080 LC50 240VB 2080 LC50 240BB Attribute 2080 LC50 24AWB 2080 LC50 240WB 2080 LC50 240VB 2080 LC50 240BB Number of 0 24 14 inputs 10 outputs Dimensions 90 x 158 x 80 mm HxWxD 3 54 x 6 22 x 3 15 in Shipping weight approx 0 423 kg 0 933 Ib Wire size 0 2 2 5 mm 24 12 AWG solid copper wire or 0 2 2 5 mm2 24 12 AWG stranded copper wire rated 90 C 194
341. xecute input To modify any parameter it is necessary to change the input parameter s and to trigger motion again When Enable is True The parameters are used with the rising edge of the Enable input and can be modified continuously Inputs exceeding application limits If a function block is configured with parameters that result in a violation of application limits the instance of the function block generates an error The Error output will be flagged On and error information will be indicated by the output ErrorlD The controller in most cases will remain in Run mode and no motion error will be reported as a major controller fault Position Distance Input For MC_MoveAbsolute function block the position input is the absolute location commanded to the axis For MC_MoveRelative the distance input is the relative location considering current axis position is 0 from current position Velocity Input Velocity can be a signed value Users are advised to use positive velocity Direction input for the MC_MoveVelocity function block can be used to define the direction of the move that is negative velocity x negative direction positive velocity For MC_MoveRelative and MC_MoveAbsolute function blocks the absolute value of the velocity is used Velocity input does not need to be reached if Jerk input is equal to 0 Direction Input For MC_MoveAbsolute direction input is ignored This is reserved for future use F
342. y function block when the current position value goes beyond PTO pulse limit PTO pulse current position will automatically roll over to 0 or the opposite soft limit if it is activated and the continuous motion continues For a continuous motion if the axis is homed and the soft limit in the motion direction is enabled soft limit will be detected before PTO pulse limit being detected Motion Stop There are three types of stops that can be configured for an axis Immediate Hardware Stop This type of Immediate Stop is controlled by the hardware Ifa Hard Stop ona Hard Limit switch is enabled and the Hard Limit has been reached the PTO pulse for the axis will be cut off immediately by the controller The stop response has no delay less than 1 Us axis_1 Limits Hard Limits When hard limit is reached apply V Lower Hard Limit i 423 Upper Hard Limit j Active Level N Active Level Low v Switch Input 10_EM_DI_00 Switch Input 10_EM_DI_01 Immediate Soft Stop The maximum possible response delay for this type of stop could be as much as the Motion Engine Execution time interval This type of stop is applicable in the following scenarios e During motion when axis PTO Pulse Limit is reached e One Hard Limit is enabled for an axis but Hard Stop on Hard Limit switch is configured as Off If the Emergency Stop is configured as Immediate Software Stop during motion when the Hard Limit switch is detected e O
343. zed terminal status 2 Power status off No input power or power error condition Green Power on 3 Run status off Not executing the user program Green Executing the user program in run mode Flashing green Memory module transfer in progress Rockwell Automation Publication 2080 UM002H EN E November 2015 253 Appendix E Troubleshooting 254 Status Indicator Description Description State Indicates Fault status Off No fault detected Red Controller hard fault Flashing red Application fault detected Force status Off No force conditions are active Amber Force conditions are active Serial Off No traffic for RS 232 RS 485 communications status Green Traffic through RS 232 RS 485 The indicator only blinks when transmitting data It does not blink when receiving data Output status off Output is not energized On Output is energized logic status Module status Steady Off No power Flashing Green Standby Steady Green Device operational Flashing Red Minor fault minor and major recoverable faults Steady Red Major Fault non recoverable fault Flashing Green Self test and Red Network status Steady Off Not powered no IP address Normal Operation The device is powered off or is powered on but with no IP address Flashing Green No connections An IP address is configured but no Ethernet application is connected Steady Green Connected

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