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1756-UM006G-EN-P, Logix5000 Motion Modules User Manual

1. Coordinate Coordinate Group 1 System 1 System 2 CoordSysListPtr p al pw 68 GroupPtr me Jem GroupPtr all coordinate groups gt Paps pial Sng en SU Sy ad J Psa ES E E EEN ILS p Device Struct p a CoordSysPtr AxisPtrArray AxisPtrArray i X Axis Y Axis i Y Axis Z Axis Axis 1 Axis 2 Axis 3 p f ae CoordSysPtr pe CoordSysPtr CoordSysPtr Motion Coordinate System Object Status Attributes Motion Group Instance CoordSysPtr will point to the Coordinate System currently connected to the axis If there is not a Coordinate System connected the pointer will be NULL The intent of the CoordSysPtr in the Axis Object is to provide a quick link to the Coordinate System currently using the axis for Axis Stop and Axis Shutdown processing The following sections define in more detail the behavior of the various status attributes associated with the Coordinate System Object Status attributes are by definition read access only The Motion Group Instance attribute is used to determine what motion group object instance this Motion Coordinate System is assigned to The actual association of an instance of a Motion Coordinate System to a Motion group instance is done through a set attributes service of the group Internal Access Rule Attribute Name Data Type Semantics of Values n a
2. ENABLE From gt ENABLE J1 20 ENABLE Qs JI rom Belden 9502 1756 MO2AE DRVFLT J1 25 READY IN_COM CHA 1 7 aouT CHA 31 8 AOUT From C CHB 31 9 BOUT rom Belden 9503 J1 10 E 1756 MO2AE CHB 1 10 pout 4CHZ 41 11 jouT cuz 41 12 iour Figure B 4 Wiring the Ultra 100 This is a general wiring example only Other configurations are possible For more information refer to the Ultra 100 Series Drive Installation Manual publication number 1398 5 2 Publication 1756 UMOO6G EN P May 2005 B 6 Loop and Interconnect Diagrams Wiring to an Ultra 200 Series Drive J1 to 50 pin Terminal Block Ultra 200 Series Kit P N 9109 1391 Digital Servo Drive 2 24VDC J1 24 READY J1 6 or 13 24VCOM rd P COMMAND int 9109 1369 003 From Belden 9501 E 1756 M02AE OUT J1 23 COMMAND ENABLE ENABLE __J1 20 ENABLE pios Ji From Belden 9502 1756 M02AE DRVFLT L J1 25 READY IN_COM CHA 4H Z 1 AOUTA CHA 1 8 AOUT CHB 41 9 BouT From C gt Belden 9503 11 10 1756 MO2AE CHB BONT CH7 J1 11 jouT cH7z 4 12 ouT Figure B 5 Wiring the Ultra 200 This is
3. Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Soft Overtravel Fault Action SINT Enumeration 0 shutdown 1 disabled drive 2 stop command 3 status only SSV GSV Hard Overtravel Fault SINT Action SSV GSV Position Error Fault Action SINT SSV GSV Feedback Fault Action SINT SSV GSV Feedback Noise Fault SINT Action SSV GSV Drive Thermal Fault Action SINT SSV GSV Motor Thermal Fault Action SINT SSV GSV Drive Enable Input Fault SINT Action Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled as is the drive power structure Unless some external form of braking capability is applied the axis generally coasts to a stop Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly and completely as possible Publication 1756 UMOO6G EN P May 2005 13 164 Motion Object Attributes Advanced Stop Action Attributes Publication 1756 UMO006G EN P May 2005 Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs the drive switches to local servo loop control and the axis is decelerated to a stop using the configured Stopping Torque If the axis is not brought to a complete stop in the configured Stopping Time both the servo action and the power struc
4. Internal Access Rule Attribute Name Data Type Semantics of Values GSV Tune Acceleration REAL Position Units Sec2 GSV Tune Deceleration REAL Position Units Sec2 Tune Speed Scaling The Tune Speed Scaling attribute returns the axis drive scaling factor Publication 1756 UMO006G EN P May 2005 measured during the last executed MRAT Motion Run Axis Tune instruction This value is only applicable to axes configured for interface to an external velocity servo drive In this case the Tune Motion Object Attributes 13 59 Speed Scaling attribute value is directly applied to the Velocity Scaling attribute by a subsequent MAAT Motion Apply Axis Tune instruction Internal Access Rule Attribute Name Data Type Semantics of Values GSV Tune Rise Time REAL Tune Speed Scaling KiloCounts Per Sec The Tune Rise Time attribute returns the axis rise time as measured during the last executed MRAT Motion Run Axis Tune instruction This value is only applicable to axes configured for interface to an external velocity servo drive In this case the Tune Rise Time attribute value is used to calculate the Tune Velocity Bandwidth Internal Access Rule Attribute Name Data Type Semantics of Values GSV Tune Rise Time REAL Sec Tune Inertia When the axis is configured for interface to a external torque servo drive the Tune Inertia value represents the total inertia for the ax
5. 203 11 N ouro F OUT General Cable US Os C0720 OUT 0 OUT 1 le cx sh ENABLE 0 ENABLE 1 f ENABLE 0 ENABLE 1 General Cable mo C0721 DRVFLT 0 DRVFLT 1 12 Qe CHASSIS CHASSIS mO Qs Bn IN COM IN COM l te O15 HOME 0 HOME 1 HS O v L REG24V 0 REG24V 1 2 6 Quel REG5V 0 REG5V 1 2 21 0K 0K 24 er E CHASSIS CHASSIS I 26 25 CHA 0 CHA 1 28 27 CHA 0 CHA 1 CHB 0 pO or CHB 1 General Cable 32 CQ C0722 CHB 0 CHB 1 MO 33 CHZ 0 CHZ 1 136 G C335 CHZ 0 CHZ 1 General Cable C0720 U Figure B 3 Wiring to a RTB Publication 1756 UMO006G EN P May 2005 To servo drive To servo drive General Cable To home C0720 limit switch General Cable To registration C0720 sensor To encoder To E stop relay coil This is a general wiring example illustrating Axis 1 wiring only Other configurations are possible with Axis O wiring identical to Axis 1 Loop and Interconnect Diagrams B 5 Wiring to an Ultra 100 Series Drive J1 to 50 pin Terminal Block Kit P N 9109 1391 Ultra 100 Series Digital Servo Drive 24 VDC 3 31 9 24VDC 24 VDC 1 11 26 54ypc Field Power J1 24 READY Supply 24 VCOM 4411 6 24VC0M J1 13 o4VCOM o gt ien MD P N 9109 1369 003 From Belden 9501 3 E 1756 MO2AE OUT J1 23 COMMAND
6. a BLACK28GA _ ACOM ANALOG GRD ACOM ANALOGGRD cx BLACK286A r4 WHT BLK 28GA ANALOG OUT PROG ANALOG OUT PROG WHT BLK 28GA BROWN 28GA ILIMIT ILIMIT BROWN 28GA WHT BRN 28GA EPWR 5 OUT EPWR 5 OUT WHT BRN 28GA RED 28GA AX AX RED 28GA 4 2090 U3AE D44xx WHT RED 28GA AX AX WHT RED 28GA 5 Controller Interface ORANGE 28GA BX BX ORANGE 28GA 6 Cable WHT ORG 28GA BX BX WHT ORG 28GA YELLOW 28GA IX IX YELLOW 28GA WHT YEL 286A IX IX WHT YEL 28GA GREEN 28GA AM AM GREEN 28GA WHT GRN 28GA AM AM WHT GRN 28GA BLUE 28GA BM BLUE 28GA WHT BLU 28GA E BM WHT BLU 28GA VIOLET 28GA IM IM VIOLET 28GA WHT VIO 28GA IM IM WHT VIO 28GA GRAY 28GA INPUT 2 INPUT 2 GRAY 28GA WHT GRY 28GA INPUT 3 INPUT 3 WHT GRY 28GA PINK 28GA INPUT 4 INPUT 4 PINK 28GA Ultra3000 WHT PNK 28GA INPUT 5 INPUT 5 WHT PNK 28GA CN1 Connector WHT BLK RED 28GA INPUT 6 INPUT 6 WHT BLK RED 286A Axis 1 RED BLK 28GA INPUT 7 INPUT 7 RED BLK 28GA WHT BLK ORG 28GA INPUT 8 INPUTS WHT BLK ORG 286A ORG BLK 286A OUTPUT 2 OUTPUT 2 ORG BLK 28GA WHT BLK YEL 28GA OUTPUT 3 OUTPUT 3 WHT BLK YEL 28GA YEL BLK 28GA OUTPUT 4 OUTPUT 4 YEL BLK 28GA DRAIN DRAIN Figure B 9 Ultra3000 Interconnect Diagram This is a general wiring example only For more information refer to the Ultra3000 Digital Servo Drives Installation Manual publication number 2098 IN003 Publication 1756 UMO006G EN P May 2005 Loop and Interconnect Diagrams B 9
7. Ted General Tab usto oie REPRE hake deed e DOR ae AeA ROY 7 8 Units Taben alt cea PONS EA ae Pace Pe EE ONS Eee 7 11 Dynamics LAN yond Gal viet Bao Hohe Net BU ESL A 7 13 Dynamics Tab Manual Adjust 7 14 Tag Ta Braas e Het ek tic Sey Pua tod Bit a oa p oe 7 16 Tae TAD NEP ae adr Rb 9 ok AEE abo Oe ho TR 7 16 Right Mouse Click Properties e oda eite oh nace ed 7 18 Cut Copy Paste and Delete Behavior 7 19 Chapter 8 1394x SJTxx D Digital Servo Drive Overview 8 3 General Tabe soe eT d appo E ETE a ied Us 8 4 Connection Tab usi pos Sora tas QP Rea ohh GG So Seat 8 7 Associated Axes TAD 452 ox prm Pe HOR SER EES 8 9 POW EIA Shae aa rele cane wt peines e Roc Let tsi pt puer os 8 11 Module Info tabs q m2 artes ue tee den EGO cde Sep eeu 8 12 Chapter 9 Editing the Ultra Drive Properties avn y desde OCCORRE 9 5 Generdb Pabts etu es daran 2G PEERS bas PSELERSTTAREIS 9 5 Connection FAD a vp ie x o ee OC e ed cede e e ER i 9 8 Associated Axes Tab Ultra3000 Drives 9 11 Power Tab Ultra DAVE ax 03K 9 eos Pee Cx OXvEes 9 12 Module Info Tab s uen lt b 9 estet epo e de a See 9 12 Chapter 10 Editing the Kinetix Drive Properties oo ws tee Eques 10 4 General TAB bsc ves vta eod Sod oe a dd 10 4 Connection TH qp ab xe eon OP OP bt Per UD 10 7 Associated Axes Tab Kinetix 6000 Drives 10 10 Power Tab Kinetix Divers aacra eo o dx 10 11 Publication 1756 UMOO6G EN P
8. Attribute Description StoppingTorque This attribute displays the amount of torque available to stop the motor This attribute has a value range of 0 to 1000 StoppingTimeLimit This attribute displays the maximum amount of time that the drive amplifier remains enabled while trying to stop It is useful for very slow velocity rate change settings This attribute has a value range of 0 to 6553 5 BrakeEngageDelayTime When servo axis is disabled and the drive decelerates to a minimum speed the drive maintains torque until this time has elapsed This time allows the motor s brake to be set This attribute has a value range of 0 to 6 5535 BrakeReleaseDelayTime When the servo axis is enabled the drive activates the torque to the motor but ignores the command values from the Logix controller until this time has elapsed This time allows the motor s brake to release This attribute has a value of 0 to 6 5535 ResistiveBrakeContactDelay The Resistive Brake Contact Delay attribute is used to control an optional external Resistive Brake Module RBM The RBM sits between the drive and the motor and uses an internal contactor to switch the motor between the drive and a resisted load TagTab Use this tab to modify the name and description of the axis When you are online all of the parameters on this tab transition to a Naming and Configuring Your Motion Axis 6 107 read only state and cannot be modified If y
9. Usage Type Base Alias For E Data Type AXIS SERVO DRIVE ey Scope f My_Controller ee C Open AXIS_SERVO_DRIVE Configuration Style Publication 1756 UMO006G EN P May 2005 Quick Start 2 9 Set Up Each Axis Action 1 Open the properties for the axis 2 Select the drive for the axis The following steps show how to set up the axis of a SERCOS interface drive The steps are slightly different if you have a different type of drive Details Controller My Controller H E Tasks H S Motion Groups E ca My Motion Group utes Motion Direct Commands ag 79 My_Axis Y E Cross Reference Ctrl E Ungrouped Axes 23 H E Trends Print gt Data Types 31 73 1 0 Configuration Properties N Axis Properties My Axis X Homina Hookup Tune Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration X Motion Group My Motion Group gl Associated Module Select the name that you gave to the drive for this Module My Drive X an Module Type 2094 AC09 M02 Node 1 z 3 Set the units that you want to program in e Axis Properties My Axis X A Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback B Type the units that you want to use for
10. 6 38 Conversion Tabu e fiu tek PIASS Mud rp Te 6 40 Homing Tab AXIS SERVO and AXIS SERVO DRIVE 6 42 Homing Tab AXIS_VIRTUAL 005 6 47 Hookup Tab AXIS_SERVO ik E ee ek 6 48 Hookup Tab Overview AXIS_SERVO_DRIVE 6 51 Tune Tab AXIS SERVO AXIS SERVO DRIVE 6 53 Dynamics Tage ber cte ao nadar ttl e dod eise 6 56 Gains Tab AXIS SBRVOR sudo 4 24k oS peek GAS 6 59 Gains Tab AXIS SERVO DRIVE sess 6 65 Output Tab AXIS SERVO was sec rx pP OO E 6 72 Output Tab Overview AXIS SERVO DRIVE 6 76 Limits Tab AXIS_SERVO 000000000 een 6 80 Creating amp Configuring Your Coordinate System Tag Configuring a 1394x SJTxx D Digital Servo Drive Configuring an Ultra 3000 Drive Configuring a Kinetix 6000 Drive Table of Contents 3 Limits Tab AXIS SERVO DRIVE s 6 84 Offset Tab AXIS_SERVO 44 ecce oa week 6 91 Offset Tab AXIS SERVO DRIVE sess 6 95 Fault Actions Tab AXIS SERVO sess 6 99 Fault Actions Tab AXIS SERVO DRIVE 6 102 Tag Tabeaio ee achat Mack AIGA decd not phe cig es eee 6 106 Assigning Additional Motion Axes 000 6 108 Chapter 7 TE GCE lO o avs Moped oe EROS deo We bag ain rds 7 1 Creating a Coordinate System u c sche ee o ore ik 7 1 Entering Tag IntottiatlOls vae dece e d T ee 7 3 Coordinate System Wizard Screens 7 5 Editing Coordinate System Properties
11. B 5 Wiring to an Ultra 200 Series Drive B 6 1398 CFLAExx Cable Diagram 404 B 6 Pinouts for 1398 CFLAExx Cable ossis B 7 Wiring the DIG 33000 DE vos dp mo RO ORO ECCE A B 7 Wiring to a 1394 Servo Drive in Torque Mode only B 9 The 1394 CFLAExx Cable Wiring Diagram B 10 Pinouts for the 1394 CFLAE 00005 B 10 Wiring Registration Sensors 0 0 0008 B 10 Wiring the Home Limit Switch Input B 12 Wiring the OK Contacts S uns cia he ug een o dac aS B 12 Publication 1756 UMOO06G EN P May 2005 Table of Contents 14 Publication 1756 UMO006G EN P May 2005 ControlLogix Motion Control Chapter 1 The ControlLogix Motion Control System This chapter describes the ControlLogix motion control system The ControlLogix controller 1756 MO2AE servo module 1756 MOS3SE 1756 MO8SE and 1756 M16SE SERCOS interface modules and RSLogix 5000 programming software provide integrated motion control support The ControlLogix controller contains a high speed motion task which executes ladder motion commands and generates position and velocity profile information The controller sends this profile information to one or more 1756 M02AE servo modules or 1756 MxxSE SERCOS interface modules You can use several Logix controllers in each chassis Each controller can control up to 32 axes of motion The 1756 L60MOS3SE is a combination of two existing modules
12. vo AL riizee Mwnasr Delete Del Motion Direct Commands Cross Reference Ctrl E Print Edit properties for selected component Figure 5 4 Motion Group Properties Access Publication 1756 UMO006G EN P May 2005 Axis Assignment Tab The Motion Group 5 5 The Motion Group Properties tabbed screen displays B Motion Group Properties mymotiongroup rji X Axis Assignment Attribute Tag Unassigned Assigned mygenericaxis myservol axis mysercos axis Add gt lt Remove Cancel Apply Help Figure 5 5 Motion Group Properties Axis Assignment Tag The Axis Assignment screen is where axes are either assigned or unassigned to the Motion Group When RSLogix 5000 software is online all attributes on this dialog transition to a read only state When an attribute transitions to a read only state all pending attribute changes revert back to their offline status Unassigned Lists the axes that are not assigned to any group in the controller Assigned Lists the axes that are assigned to this motion group Add Click on this button to add axes to the motion group Publication 1756 UM006G EN P May 2005 5 6 The Motion Group Remove Click on this button to remove axes from the motion group Attribute Tab The Attribute tab is used to modify the group attributes Enabled v Non Major Fault gt I Figure 5 6 Motion Group Properties Attribute T
13. Figure 6 29 Axis Properties Tune Tab for Axis_Servo_Drive Travel Limit Specifies a limit to the excursion of the axis during the tune test If the servo module determines that the axis is not able to complete the tuning process before exceeding the tuning travel limit it terminates the tuning profile and report that this limit was exceeded Speed Determines the maximum speed for the tune process This value should be set to the desired maximum operating speed of the motor Gn engineering units prior to running the tune test Torque Force AXIS SERVO DRIVE The maximum torque of the tune test Force is used only when a linear motor is connected to the application This attribute should be set to the desired maximum safe torque level prior to running the tune test The default value is 10096 which yields the most accurate Publication 1756 UMO006G EN P May 2005 6 54 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 measure of the acceleration and deceleration capabilities of the system Note In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases Torque AXIS SERVO
14. Publication 1756 UMO006G EN P May 2005 When software overtravel checking is enabled appropriate values for the maximum travel in both the Maximum Positive and Maximum Negative Travel attributes need to be established with Maximum Motion Object Attributes 13 157 Positive Travel always greater than Maximum Negative Travel Both of these values are specified in the configured Position Units of the axis Note The software travel limits are not enabled until the selected homing sequence is completed Position Error Tolerance The Position Error Tolerance parameter specifies how much position Internal Access Rule error the drive tolerates before issuing a Position Error Fault Like the position lock tolerance the position error tolerance is interpreted as a quantity For example specifying a position error tolerance of 0 75 Position Units means that a Position Error Fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 Position Units as shown below Position Error Normal System Position Error Fault Operation Fault 10 05 00 05 1 0 Position Error Figure 13 21 Position Error Attribute Name Data Type Semantics of Values SSV GSV Position Lock Tolerance Position Error Tolerance REAL Position Units The self tuning routine sets the position error tolerance to twice the following error at maximum speed based on the measured response of the axis In most
15. Show Vendor Ai Other Specialty 1 0 Select All Analog Digital Communication I Motion Controller Clear All OK Cancel Help Figure 4 3 Select Module Type Screen with Motion Options 1756 M03SE Selected 4 Select 1756 M03SE 1756 M08SE or 1756 M16SE 5 Press the OK button to close the Select Module Type dialog Publication 1756 UM006G EN P May 2005 4 4 Configuring the 1756 MO3SE 1756 MOBSE or 1756 M16SE Module 6 The Create Module Wizard opens Compatible Module v Figure 4 4 Module Properties Wizard Dialog Name the Module 7 Name is the only required field that must be entered to create the MO3SE MO8SE M16SE module It must conform to the IEC 1131 3 standard You can also enter a description for the module select the minor revision number of your module and select the method for Electronic Keying Fill in the at least the required Name field and click the Next button to advance to the next wizard screen to enter Connection information or click on the Finish gt gt button to create the module You can then go to the Module Properties screen to edit any values See the section titled SERCOS interface Motion Module Overview in this chapter for more information on the fields in these screens Publication 1756 UMO06G EN P May 2005 Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module 4 5 8 The Connection Screen Wizard displays Figure 4 5 Mod
16. Gearing Status The Gearing Status bit attribute is set if the axis is currently Gearing to another axis As soon as the gearing operation is stopped or superseded by some other motion operation the Gear Status bit is cleared Homing Status The Homing Status bit attribute is set if a Home motion profile is currently in progress As soon as the Home is complete or superseded by some other motion operation the Home Status bit is cleared Stopping Status The Stopping Status bit attribute is set if there is a stopping process currently in progress As soon as the stopping process is complete the Stopping Status bit is cleared The stopping process is used to stop an axis initiated by an MAS MGS MGPS Stop Motion fault action or mode change This bit is no longer associated with the gearing Clutch bit MAG with Clutch selected which for I4B has been explicitly named the Gearing Lock Status bit Homed Status The Homed Status bit attribute is cleared at power up or reconnection The bit is set to 1 by the MAH instruction upon successful completion of the configured homing sequence This bit would be later cleared if the axis entered the shutdown state Position Cam Status The Position Cam Status bit attribute is set if a Position Cam motion profile is currently in progress As soon as the Position Cam is complete or superseded by some other motion operation the Position Cam Status bit is cleared Publication 1756 UMOO6G
17. Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Programmed Stop Mode SINT Enumeration 0 Fast Stop default 1 Fast Disable 2 Hard Disable 3 Fast Shutdown 4 Hard Shutdown Fast Stop When the Programmed Stop Mode attribute is configured for Fast Stop the axis is decelerated to a stop using the current configured value for Maximum Deceleration Servo action is maintained after the axis motion has stopped Fast Disable When the Programmed Stop Mode attribute is configured for Fast Disable the axis is decelerated to a stop using the current configured value for Maximum Deceleration Servo action is maintained until the axis motion has stopped at which time the axis is disabled i e Drive Enable disabled and Servo Action disabled Hard Disable When configured for Hard Disable the axis is immediately disabled i e Drive Enable disabled Servo Action disabled but the OK contact is left closed Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop Fast Shutdown When configured for Fast Shutdown the axis is decelerated to a stop as with Fast Stop but once the axis motion is stopped the axis is placed in the Shutdown state i e Drive Enable disabled servo action disabled and the OK contact opened To recover from the Shutdown state requires execution of one of the axis or group Shutdown Reset instructio
18. to tune an axis and to run diagnostic tests for the system e Multi Axis Coordinated Motion instructions to control all aspects of coordinated motion e Motion Direct Commands For more information about Refer to Motion instructions The Logix5000 Controller Motion Instruction Set Heference Manual publication 1756 RM007 Types of motion instruction timing Appendix E nstruction Timing Motion state instructions directly control or change the operating state of an axis The motion state instructions are Instruction Abbreviation Description Motion Servo On MSO Enables the servo drive and activates the axis servo loop Publication 1756 UMO006G EN P May 2005 12 2 Motion Instructions Motion Move Instructions Publication 1756 UMO006G EN P May 2005 Motion Servo Off MSF Disables the servo drive and deactivates the axis servo loop Motion Axis Shutdown MASD Motion Axis Shutdown MASR Reset Forces an axis into the shutdown operating state Once the axis is in the shutdown state the controller will block any instructions that initiate axis motion Changes an axis from an existing shutdown operating state to an axis ready operating state If all of the axes of a servo module are removed from the shutdown state as a result of this instruction the OK relay contacts for the module close Motion Direct Drive On MDO Enables the servo drive and sets t
19. 38 Motion Groups My Motion Group Motion Direct Commands x My Axis I H E Ungrouped Axe Print gt H E Trends Data Types Properties N 1 0 Configuration Cross Reference Ctrl E Axis Properties My Axis X 6 Type the limit of movement for the axis during the tuning procedure Travel Limit fi 0 Revs Speed 10 0 Revs s 7 Type the maximum speed for your equipment EI TA a EE I caer DANGER This tuning procedure may cause axis motion with the controller lin program mode Torque Force Rated Direction Forward Unidirectional v amping Factor 0 8 Tune Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feedforward Acceleration Feedforward T Publication 1756 UMO006G EN P May 2005 2 14 Quick Start Program Motion Control The controller gives you a set of motion control instructions for your axes Uses these instructions just like the rest of the Logix5000 instructions You can program motion control in these See e Logix5000 Controllers Common programming languages Procedures Manual 1756 PM001 ladder diagram LD Logix5000 Controllers Motion structured text ST Instructions Reference Manual 1756 RM007 sequential function chart SFC e Logix5000 Controllers General e Each motion instruction works on one or more axes Instructions Reference Man
20. GSV Start Actual Position REAL Position Units GSV Start Command Position REAL Position Units Average Velocity Start Positions are useful to correct for any motion occurring between the detection of an event and the action initiated by the event For instance in coil winding applications Start Command Positions can be used in an expression to compensate for overshooting the end of the bobbin before the gearing direction is reversed If you know the position of the coil when the gearing direction was supposed to change and the position at which it actually changed the Start Command Position you can calculate the amount of overshoot and use it to correct the position of the wire guide relative to the bobbin Average Velocity is the current speed of an axis in the configured Position Units per second of the axis Unlike the Actual Velocity attribute value it is calculated by averaging the actual velocity of the axis over the configured Average Velocity Timebase for that axis Publication 1756 UM006G EN P May 2005 13 10 Motion Object Attributes Average velocity is a signed value with the sign indicating the direction the axis is currently moving Internal Access Rule Data Type Semantics of Values GSV Average Velocity REAL Position Units Sec The resolution of the Average Velocity variable is determined by the current value of the Averaged Velocity Timebase parameter and the configured Conversion C
21. Output Notch Filter Frequency Motion Object Attributes 13 155 The Output Notch Filter Frequency attribute controls the center frequency of the drive s digital notch filter Currently implemented as a 2 order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output attenuation at the Notch Filter Frequency The programmable notch filter is bypassed if the configured Output Notch Filter Frequency for this filter is set to zero the default This output notch filter is particularly useful in attenuating mechanical resonance phenomena Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Torque Scaling Output Notch Filter REAL Hertz Frequency The output filter is particularly useful in high inertia applications where mechanical resonance behavior can severely restrict the maximum bandwidth capability of the servo loop The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios In fact the Torque Scaling value when properly established represents the inertia of the system and is related to the Tune Inertia value by a factor of the Conversion Constant The Torque Scali
22. Tuning Configuration Bits Motion Object Attributes 13 173 The value for Load Inertia may be automatically calculated using Rockwell s MotionBook program while the value for Motor Inertia is derived from the Motion database file based on the motor selection Internal Access Rule SSV GSV Attribute Name Data Type Semantics of Values Tuning Configuration Bits DINT 0 Tuning Direction Reverse 1 Tune Position Error Integrator 2 Tune Velocity Error Integrator 3 Tune Velocity Feedforward 4 Tune Acceleration Feedforward 5 Tune Output Low Pass Filter 6 Bi directional Tuning 7 Tune Friction Compensation 8 Tune Torque Offset 9 31 Reserved Tuning Direction Reverse The Tune Direction Reverse bit attribute determines the direction of the tuning motion profile initiated by the MRAT Motion Run Axis Tune instruction If this bit is set true motion is initiated in the reverse or negative direction Tune Position Error Integrator The Tune Position Error Integrator bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Position Integral Gain If this bit is clear false the value for the Position Integral Gain is set to zero Tune Velocity Error Integrator The Tune Velocity Error Integrator bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Velocity Integral Gain If this bit is cl
23. Type Base X onnection Alias For E Data Type MOTION GROUP E Scope i My Controller X Style C 3 Setthe coarse update period Read Only Motion Group Wizard My Mofion Groun Axis Assi Ix Read Only Motion Group Wizard My Motion Group Attribute x Unassigned in 0 5 increments Auto Tag Update General Fault Type Non Major Fault Scan Times elapsed time Max us Reset Mag Last us nabled Cancel Finish Help Publication 1756 UMO006G EN P May 2005 2 8 Quick Start Add Your Axes Add an axis for each of your drives Action Details 1 Decide which data type to use If you use this motion module for the axis Then use this data type 1756 MO3SE AXIS SERVO DRIVE 1756 M08SE 1756 M16SE 1756 L60MO3SE 1756 MO2AE AXIS SERVO 1756 HYD02 1756 M02AS 2 Add an axis analog 29 Controller My Controller 20 Tasks SERCOS interface amp Motion Groups My Motion Grou n nd E New Axi AXIS CONSUMED XI My Axis Y N E New Cool d yate System AXIS SERVO Ungrouped Axes zg T Monitor G T AXIS SERVO DRIVE m jonitor Group Tag E Trends AXIS GENERIC C Data Types P Fault Hel 1 0 Configuration P AXIS GENERIC DRIVE Clear MotionGroup Faults AXIS VIRTUAL cut Ctrl x no hardware New Tag SS C Name My Axis Z Description
24. Wiring to a 1394 Servo Drive in Torque Mode only Servo Module RTB 0UT 0 OUT 0 ENABLE 0 ENABLE 0 DRVFLT 0 CHASSIS IN_COM HOME 0 REG24V 0 REGSV 0 0 o0 0K CHASSIS CHA 0 ODOODODODODODDDODODODOO OD0OOODODODDODDDODODOOO 5V DC Field Power Supply 5V DC 5 COM 4 1394CCAExx RED BLK RED_OK 58uCoc 2 24V DC Field Power Supply To fault string 24V DC 2 1394CCAExx 1394 Servo Drive w2 24V COM NA DR OK 1 WHT ENABLE 1 ENABLE 1 RED DRVFLT 1 BLK IN COM Axis 1 Figure B 10 1394 Servo Drive in Torque Mode 24V DC 24V COM 24V ENABLE COM A1 ENABLE DROK DROK AQB1 The wiring diagram illustrates Axis 1 wiring only Other configurations are possible The 1394CCAExx cable is wired to connect to torque command reference input pins An external 5V power supply is required to power the encoder driver circuit of the 1394 servo drive Because this connection is shared by all four axis encoder driver circuits only one connection is needed to the 5V field supply The xx in the cable number is the length of the cable Publication 1756 UMO06G EN P May 2005 B 10 Loop and Interconnect Diagrams The 1394 CFLAExx Cable Wiri
25. for an axis of the type AXIS_SERVO_DRIVE configured as a Servo drive in the General tab of this dialog e Axis Properties mysercoslaxis Of X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Motor Inertia po Kg m 2 Manual Adjust Load Inertia Ratio m Load Inertia Motor Inertia Torque Force Scaling foo Rated Position Units s 2 System Acceleration po Position Units s 2 at 100 Rat Enable Notch Filter Frequency Notch Filter Frequency p 0 Hertz Enable Low pass Output Filter Low pass Wutput Filter Bandwidth o 0 Hertz Cancel Apply Help Figure 6 39 Axis Properties Output Tab for Axis_Servo_Drive The parameters on this tab can be edited in either of two ways edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be
26. instructions Publication 1756 UMO006G EN P May 2005 14 6 Troubleshoot Module Lights 1756 M02AS Module Status Using the DRIVE Indicator Publication 1756 UMO006G EN P May 2005 Ifthe FDBK The module status is Take this action LED displays Flashing red The axis servo loop error Correct the source of the light tolerance has been exceeded problem Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation Steady red An axis SSI feedback fault has Correct the source of the light occurred problem by checking the SSI device and power connections Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation If the The module status is Take this action DRIVE LED displays Off One of the following The axis is not used None if the axis is not used or is The axis is a position only axis a position only type type Otherwise make sure the module is configured an axis tag has been associated with the module and the axis type is servo Hashing The axis drive is in the normal None The servo axis state can green light disabled state be changed by executing motion instructions Steady The axis drive is in the normal None The servo axis state can green light enabled state be changed by executing motion instructions 1756 HYD02 Module LED Indicators 1756 HYD02 Module Status Using the OK Indicat
27. 1 SERCOS interface Motion Module Overview 4 6 Editing 1756 MO3SE MO8SE M16SE Module Properties 4 8 General DAD sou aoi d d pori ded p Rr d Pa deos 4 8 Connection Tabs 6 44 25 53 44 825 8 Pek tX ESTAS 4 10 SERCOS Interface Tab i yes ce RR dae aw ar Ss 4 13 SERCOS Interface Info Tab 0 0 000005 4 15 Module Info Tab eines ade 263 Sues PeskrokQacet 4 16 Backplane TaD cpe dapa rne err d tr HW ien 4 19 Chapter 5 Creating A Motion Group 3 oh gait Fake op bdo tem do s d 5 1 Editing the Motion Group Properties 5 4 Axis Assignment Tabs ws 2h peeks bee Pees a 28 2s 5 5 Attribute Tab e em aeu mci ID eb Re D oit Reed 5 6 TaBoT 3D aiios eot va DO de tpfe de ERO DU se c ooi 5 8 Chapter 6 IN RANTS COIT AXIS are esee A eld sede ate ic tao eaa eus 6 1 Entering Tag Information 00s eee 6 3 Editing Motion Axis Properties s rec we Ree 6 5 General Tab AXIS_SERVO 0 0 0000000 ae 6 7 General Tab AXIS SERVO DRIVE 6 9 General Tab AXIS VIRTUAL sese eee 6 14 General Tab AXIS GENERIC sese 6 15 Motion Planner lab 25 94 86 ii 6t64 9e t2 Ee 6 18 Umts E o taconite ao AG PO ROO teks he Bee 6 21 Servo Tab AXIS SERVO ts ti oes Sole RA 6 22 Feedback Tab CAXIS SERVO 45 ex ax Bede eS 6 25 Drive Motor Tab AXIS_SERVO_DRIVE 6 30 Motor Feedback Tab AXIS_SERVO_DRIVE 6 37 Aux Feedback Tab AXIS_SERVO_DRIVE
28. Connection Tab The Connection Tab is used to define controller to module behavior This is where you select a requested packet interval choose to inhibit Publication 1756 UMO006G EN P May 2005 Adding and Configuring Your 1756 MO02AE 1756 M02AS 1756 HYD02 Motion Module 3 11 the module configure the controller so loss of the connection to this module causes a major fault and view module faults imi Module Properties Local 2 1756 MO2AE 13 1 General Connection Associated Axes Module Info Backplane Requested Packet Interval RPI 4 ms Inhibit Module v Major Fault On Controller If Connection Fails While in Run Mode Module Fault Status Offline Cancel Apply Help Figure 3 9 Module Properties Connection Tab The data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module and the controller Requested Packet Interval This does not apply to motion modules Inhibit Module checkbox Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken TIP Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module ATTENTION Inhibiting the module causes the connection to the module to be broken and may result in loss of data Publication 1756 UM006G EN P May 2005 3 12 Adding
29. EN 50082 2 Industrial Immunity EN 61326 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions C Tick Australian Radiocommunications Act compliant with AS NZS 2064 Industrial Emissions Maximum wire size requires the extended depth RTB housing 1756 TBE manual Use the conductor category information for planning conductor routing as described in the system level installation B Referto Industrial Automation Wiring and Grounding Guidelines publication number 1770 4 1 V See the Product Certification link at www ab com for Declarations of Conformity Certificates and other certification details Publication 1756 UM006G EN P May 2005 A 6 Specifications and Performance 1756 M02AS Motion Module Number of axes 2 axes maximum Servo loop Type Nested PI digital position and velocity servo with hydraulics support Gain resolution 32 bit floating point Absolute position range 232 4 294 967 296 transducer counts Rate 500Hz 666 7Hz 1kHz 2kHz 4kHz Selectable Module location 1756 ControlLogix chassis Module keying Electronic Power dissipation 5 5W maximum Thermal dissipation 18 77 BTU hr Backplane current 5 1V dc 700mA and 24V dc Q 2 5mA SSI input Type Synchronous Serial Interface Resolution 8 to 31 Bits Electrical Interface Isolated 5V differential RS 422 signal Input impedance 215 Ohm differential Outp
30. Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motor Feedback Type INT Aux Feedback Type Feedback Type Code Rotary Linear Only Rotary Only or Linear lt None gt 0x0000 SRS 0x0001 X SRM 0x0002 X SCS 0x0003 X SCM 0x0004 X SNS 0x0005 X MHG 0x0006 X Resolver 0x0007 X Analog Reference 0x0008 X Sin Cos 0x0009 X TTL 0x000A X UVW 0x000B X Unknown Stegmann 0x000C X Endat 0x000D X RCM21 4 0x000E RCM21 6 0x000F RCM21 8 0x0010 Publication 1756 UMOO6G EN P May 2005 13 138 Motion Object Attributes Feedback Units Feedback Type Code Rotary Linear Only Rotary Only or Linear LINCODER 0x0011 X Sin Cos with Hall 0x0012 TTL with Hall 0x0013 The Motor Feedback Units attribute establishes the unit of measure that is applied to the Motor Feedback Resolution attribute value The Aux Feedback Units attribute establishes the unit of measure that is applied to the Aux Feedback Resolution attribute value Units appearing in the enumerated list cover linear or rotary english or metric feedback devices Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motor Feedback Units INT Enumeration Aux Feedback Units 0 revs 1 inches 2 mm Feedback Resolution The Motor and Aux Feedback Resolution attributes are used to provide the A B drive with the resolution of the associated feedback device in cycles per feedback un
31. May 2005 Table of Contents 4 Configuring an 8720MC Drive Motion Instructions Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Module Info Tab aus a ambit pd dr CROCO Fo eae 10 12 Chapter 11 Editing the 8720MC Drive Properties 11 5 General EAD ua vba de e ca Runde FANE NER RR EE 11 5 Connection Tabs qaid urb febr Vu va p eid 11 8 Associated Axes Tab 8720MC Drives 11 11 Power Tab 8720MC Drive 45v iud su Rok us 11 12 Module Info Tab ad vue Q4 oie Oe ERE EX EGER AD 11 12 Chapter 12 Motion State Instructions llle 12 1 Motion Move Instructions llle 12 2 Motion Group Instructions llle 12 3 Motion Event Instructions llle 12 3 Motion Configuration Instructions lille 12 4 Coordinated Motion Instructions 00 12 5 Motion Direct Commands 44 0 ate y e C 12 5 Accessing Direct Commands lesen 12 6 From the Main Menu ors ay eats E oL ee Feels 12 6 From Group in the Controller Organizer 12 8 From Axis in the Controller Organizer 12 10 Supported Commands x oae rt qe aceite Race e aed 12 11 Motion State i o se eR Me aoe de SEDE 12 11 Motion MOVG vs aad eek 2G PEGE GAS YVES eS 12 12 Motion Group a ahoa a a ee 12 12 Moon Eventos mrs inae dee et e dei SERIE a iata 12 12 Motion Direct Command Dialog 12 13 Motion Direct Command Dialog On line 12 13 Chapter 13 TOC OCI
32. Type Displays the type and description of the module being created read only Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant This is a required field and must be completed otherwise you receive an error message when you exit this tab An error message is also displayed if a duplicate name is detected or you enter an invalid character If you exceed the maximum name length allowed by the software the extra character s are ignored Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software ignores any extra character s Node Select the network node number of the module on the network Valid values include those network nodes not in use between 1 to 99 Revision Select the minor revision number of your module The revision is divided into the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog The major revision is used to indicate the revision of the interface to the module The minor revision is used to indicate the firmware revision Slot Enter the slot number in which the module resides Configuring an Ultra 3000 Drive 9 7 Electronic Keying Select one of these keying options for your module during initial module configuration e E
33. case the tune process is automatically aborted and a tune fault reported that is stored in the Tune Status output parameter Internal Access Rule Attribute Name Data Type Semantics of Values GSV Tune Acceleration Deceleration Time Tune Status INT Enumeration 0 tune process successful 1 tune in progress 2 tune process aborted by user 3 tune process time out fault 4 tune process failed due to servo fault 5 axis reached Tuning Travel Limit 6 axis polarity set incorrectly The Tune Acceleration Time and Tune Deceleration Time attributes return acceleration and deceleration time in seconds for the last run MRAT Motion Run Axis Tune instruction These values are used to calculate the Tune Acceleration and Tune Deceleration attributes Internal Access Rule Attribute Name Data Type Semantics of Values GSV Tune Acceleration Time REAL Sec GSV Tune Deceleration Time REAL Sec Tune Acceleration Deceleration The Tune Acceleration Time and Tune Deceleration attributes return the measured acceleration and deceleration values for the last run MRAT Motion Run Axis Tuning instruction These values are used in the case of an external torque servo drive configuration to calculate the Tune Inertia value of the axis and are also typically used by a subsequent MAAT Motion Apply Axis Tune to determine the tuned values for the Maximum Acceleration and Maximum Deceleration attributes
34. e Resume normal operation e Check the configuration for the Drive Fault e f configured to be normally open and there is no voltage this is the normal condition e f configured to be normally closed and there is 24V applied this is the normal condition 1756 M02AS LED Indicators The module uses a single bi colored LED to indicate module OK status and bi colored LED indicators to show individual feedback FDBK and drive DRIVE status for both axes Publ 1756 M02AS Module Status Using the OK Indicator ication 1756 UMO006G EN P May 2005 2 AXIS SERVO SSI CHO CH1 FDBK FDBK DRIVE DRIVE OK Figure 14 2 1756 M02AS Module LEDs During power up the module completes an indicator test The OK indicator turns red for 1 second and then turns to flashing green if the module passes all its self tests If the OK LED displays Off The module status is The module is not operating Take this action Apply chassis power Verify the module is completely inserted in chassis and backplane 1756 M02AS Module Status Using the FDBK Indicator Troubleshoot Module Lights 14 5 If the OK The module status is Take this action LED displays Hashing The module has passed internal None if you have not configured green light diagnostics but it is not the module communicating axis data over If you h
35. module inhibit the module instead e YES Inhibit the motion module instead e NO Inhibit the individual axes It s OK to inhibit all the axes of a module one by one It s just easier to inhibit the module Example Suppose your motion module has 2 axes and you want to inhibit both of those axes In that case just inhibit the module a m My_Controller E Module Properties Local 2 1756 L60MO3SE SERCOS 15 1 as a iai Groups General Connection SERCOS Interface SERCOS Interface Info Module Info Backplan L Trends 3i d Data Types amp I O Configuration 1756 Backplane 1756 413 fa 1 1756 L60M035E My Controller Cz SERCOS Network fil 1 2098 DSD 020 5E My Axis X fil 2 2098 DSD 020 5E My Axis Y Requ ested Pack Iv ini Bon Major Fault On Controller If Connection Fails While in Run Mode ja f d Cor mo ntrallN Module Fault et Interval RPI m ms l If you inhibit all of the axes on a SERCOS ring the drives phase up to phase 2 This happens whether you inhibit all the axis individually or you inhibit the motion module inhibited Motion module Motion module Phase J Phase e 2 m 2 inhibited inhibited Publication 1756 UM006G EN P May 2005 16 4 Inhibit an Axis Do you have 1394 drives on a SERCOS ring 1394 drives Bn Inhibit t
36. Axis Velocity 3 Retum Vel 1 Home Limit Switch Detected 2 Home Limit Switch Cleared 3 Encoder Marker Detected 4 Home Position Figure 13 5 Limit Switch Encoder Marker If the controller detects that the state of the home switch at the start of the homing sequence is active the controller immediately reverses the homing direction and begins the return leg of the homing sequence Active Uni directional Home with Switch This active homing sequence is useful for when an encoder marker is not available and either uni directional motion is required or proximity switch is being used When this sequence is performed in the Active Homing Mode the axis moves in the specified Home Direction at the specified Home Speed until the home switch is detected The Home Position is assigned to the axis position at the moment that the limit switch is detected If Home Offset is non zero then the Home Position is offset from the point where the switch is detected by this value The controller then continues to move the axis to the Home Position at the specified Home Speed using a trapezoidal move profile By setting a Home Offset greater than the deceleration distance unidirectional motion to the Home Position is insured However if the Home Offset value is less than the deceleration distance then the axis is simply decelerated to a stop The axis does NOT reverse direction to move to the Home Position In this case the PC bit leg of the associa
37. Drive Unit rev inch or mm Drive Travel Range Limit Fractional Unwind Motion Object Attributes 13 129 In general the Drive Resolution value may be left at its default value of 200000 Drive Counts per Drive Unit independent of the resolution of the feedback device s used by the drive This is because the drive has its own set of scale factors that it uses to relate feedback counts to drive counts Because the drive s position parameters are ultimately limited to signed 32 bit representation per the SERCOS standard the Drive Resolution parameter impacts the drive s travel range The equation for determining the maximum travel range based on Drive Resolution is as follows Drive Travel Range Limit 2 147 483 647 Drive Resolution Based on a default value of 200 000 Drive Counts per Drive Unit the drive s range limit is 10 737 Drive Units While it is relatively rare for this travel range limitation to present a problem it is a simple matter to lower the Drive Resolution to increase the travel range The downside of doing so is that the position data is then passed with lower resolution that could affect the smoothness of motion In some cases however the user may also want to specifically configure Drive Resolution value to handle fractional unwind applications or multi turn absolute applications requiring cyclic compensation In these cases where the Unwind value for a rotary application does not work out to be an in
38. Drive Fault Checking 3 31 Reserved Soft Overtravel Checking for Linear Axis only Change to rotary or Overtravel Checking requires Home range checks Soft Overtravel Checking When the Soft Overtravel Checking bit is set it enables a periodic test that monitors the current position of the axis and issues a Positive Overtravel Fault or Negative Overtravel Fault if ever the axis position travels outside the configured travel limits The travel limits are determined by the configured values for the Maximum Positive Travel and Maximum Negative Travel attributes This software overtravel check is not a substitute but rather a supplement for hardware overtravel fault protection which uses hardware limit switches to directly stop axis motion at the drive and deactivate power to the system If the Soft Overtravel Checking bit is clear default then no software overtravel checking is done Software overtravel checking is only available for a linear servo axes Hard Overtravel Checking When the Hard Overtravel Checking bit is set it enables a periodic test that monitors the current state of the positive and negative overtravel limit switch inputs and issues a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault if ever the axis position travels activates the limit switch inputs If the Hard Overtravel Checking bit is clear default then no overtravel limit switch input checking is done Hardware overtravel checking is onl
39. Editing Axis Properties General Tab AXIS GENERIC 6 15 Axis Configuration 6 16 Channel 6 17 Ellipsis button 6 16 Module 6 17 Module Type 6 17 Motion Group 6 16 New Group button 6 17 General Tab AXIS SERVO DRIVE 6 9 6 14 Assigned Motion Group 6 10 Axis Configuration 6 10 Ellipsis button 6 10 Module 6 11 Module Type 6 11 New Group button 6 11 Node 6 11 Node with a Kinetix 6000 Drive 6 12 General Tab SERVO AXIS 6 7 Assigned Motion Group 6 8 Axis Configuration 6 8 Channel 6 9 Ellipsis button 6 8 Module 6 8 Module Type 6 9 New Group button 6 8 Motion Planner Tab 6 18 Enable Master Position Filter Check box 6 20 Master Delay Compensation Check box 6 19 Master Position Filter Bandwidth 6 20 Output Cam Execution Targets 6 18 Program Stop Action 6 19 Units Tab 6 21 Average Velocity Timebase 6 22 Position Units 6 21 Editing Motion Axis Properties 6 5 Editing the Motion Group Properties 5 4 Attribute Tab 5 6 Auto Tag Update 5 6 Base Tag 5 9 Coarse Update Period 5 6 Data Type 5 9 Description 5 8 General Fault Type 5 7 Name 5 8 Produce 5 9 Reset Max 5 7 Scan Times 5 7 Scope 5 9 Style 5 9 Tag Type 5 8 Axis Assignment Tab 5 5 Add 5 5 Assigned 5 5 Remove 5 6 Index 7 Unassigned 5 5 Tag Tab 5 8 Editing the Ultra Drive Properties 9 5 Associated Axes Tab Ultra3000 Drives 9 11 Ellipsis 9 11 New Axis 9 11 Node 9 11 Connection Tab 9 8 Inhibit Module 9 9 10 8 Major Fault 9 10 Mo
40. Ellipsis Click on this button to access the Axis Properties dialog for the associated axis New Axis Click on this button to access the New Tag dialog with the scope data type and produced settings appropriate for a produced axis tag Publication 1756 UMO006G EN P May 2005 11 12 Configuring an 8720MC Drive See the chapter titled Naming amp Configuring Your Motion Axis for the steps on how to configure a motion axis Power Tab 8720MC Drive Use this tab to select a bus regulator for your drive module Figure 11 10 Module Properties Power Tab Note The Power Tab does not apply to the 8720MC SERCOS drives Bus Regulator ID Note This parameter does not apply to the 8720MC SERCOS drives The only available selection in the pull down menu is none Module Info Tab The Module Info Tab displays module and status information about the module It also allows you to reset a module to its power up state Publication 1756 UMO06G EN P May 2005 Configuring an 8720MC Drive 11 13 The information on this tab is not displayed if you are either offline or currently creating a module reset Module Figure 11 11 Module Properties Module Info TIP You can use this tab to determine the identity of the module The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available e Refresh to display ne
41. Internal Access Rule Attribute Name Data Type Semantics of Values GSV Test Direction Forward SINT 0 reverse 1 forward Test Output Direction The Test Output Polarity attribute reports the sign of the output voltage applied to the drive during the last test process initiated by a MRHD Motion Run Hookup Test instruction A Test Output Polarity value of 0 positive indicates that the sign of the voltage applied by the servo module during the test was positive A Test Output Polarity value of 1 negative indicates that the sign of voltage applied by the servo module during the test was negative This condition occurs when the hookup test is unsuccessful in moving the required Test Increment while applying a positive voltage This situation can occur when testing a linear axis that is against a hard stop Internal Access Rule Attribute Name Data Type Semantics of Values GSV Test Output Polarity SINT 0 positive 1 negative Tune Status The Tune Status attribute returns status of the last run MRAT Motion Run Axis Tuning instruction that initiates a tuning process on the targeted servo module axis The Tune Status attribute can thus be used to determine when the MRAT initiated operation has successfully completed Conditions may occur however that make it impossible for the control to properly perform the operation When this is the Publication 1756 UM006G EN P May 2005 13 58 Motion Object Attributes
42. None if you are not using this axis If you are using this axis make sure the module is configured and an axis tag has been associated with the module Flashing The axis is in the normal None The servo axis state green light servo loop inactive state can be changed by executing motion instructions Steady green light The axis is in the normal servo loop active state None The servo axis state can be changed by executing motion instructions 1756 HYD02 Module Status Using the DRIVE Indicator Troubleshoot Module Lights 14 9 Ifthe FDBK The module status is Take this action indicator displays Flashing The axis servo loop error Correct the source of the red light tolerance has been problem exceeded Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation Steady red An axis LDT feedback fault Correct the source of the light has occurred problem by checking the LDT and power connections Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation If the The module status is Take this action DRIVE indicator displays Off One of the following The axis is not used None if the axis is not used or is The axis is a position only axis a position only type type Otherwise make sure the module is configured an axis tag has been associated with the module and the axis type is servo
43. On this tab or dialog These attributes are recalculated Motor Feedback tab Motor Feedback Type Motor Feedback Resolution Gains tab Position Proportional Gains Velocity Proportional Gains Dynamics tab Maximum Velocity Maximum Acceleration Maximum Deceleration Limits tab Position Error Tolerance Custom Stop Action Attributes dialog Stopping Torque Custom Limit Attributes dialog Velocity Limit Bipolar Velocity Limit Positive Velocity Limit Negative Acceleration Limit Bipolar Acceleration Limit Positive Acceleration Limit Negative Torque Limit Bipolar Torque Limit Positive Torque Limit Tune Bandwidth dialog Position Loop Bandwidth Velocity Loop Bandwidth Note The Associated Module selection selected on the General tab determines available catalog numbers Loop Configuration Select the configuration of the servo loop e Motor Feedback Only Displayed when Axis Configuration is Feedback only e Aux Feedback Only Displayed when Axis Configuration is Feedback only Publication 1756 UMOO6G EN P May 2005 6 32 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Position Servo e Aux Position Servo not applicable to Ultra3000 drives e Dual Position Servo e Dual Command Servo e Aux Dual Command Servo e Velocity Servo e Torque Servo e Dual Command Feedback Servo Drive Resolution Type in the number of counts per motor revolution m
44. Publication 1756 UMO006G EN P May 2005 Motion Group Instance DINT Instance Number of Group assigned to Motion Coordinate System Coordinate System Status Motion Object Attributes 13 177 Internal Access Rule Attribute Name Data Type Semantics of Values Tag Coordinate System Status DWORD Direct Access Entire DINT CoordinateSystemStatus 0 Shutdown Status ShutdownStatus 1 Ready Status ReadyStatus 2 MotionStatus MotionStatus 3 31 Reserved Shutdown Status The Shutdown Status bit attribute is set if the coordinate system is in shutdown Ready Status The Ready Status bit attribute is set if the coordinate system is in the ready state i e ready to accept commanded coordinated motion Motion Status The Motion Status bit attribute is set indicating that at least one Coordinate Motion instruction is active and the Coordinate System is connected to its associated axes Publication 1756 UMOO06G EN P May 2005 13 178 Motion Object Attributes Coordinate Motion Status Internal Access Rule Attribute Name Data Type Semantics of Values Tag Publication 1756 UMO006G EN P May 2005 Coordinate Motion Status DWORD Direct Access Entire DINT CoordinateMotionStatus 0 Acceleration Status AccelStatus 1 Deceleration Status DecelStatus 2 Actual Position Tolerance Status ActualPosToleranceStatus 3 Command Position Tolerance Status Command
45. Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 65 Gains Tab AXIS SERVO DRIVE Use this tab to perform the following offline functions e Adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog e Manually configure gains for the velocity and position loops e for an axis of the type AXIS SERVO DRIVE e Axis Properties mysercos1axis rj x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Position Gains Manual Adjust 101 72526 Proportional Set Custom Gains Integral o 0 1 ms s gt Velocity Gains Proportional 260 41 666 17s Integral o 0 1 ms s Integrator Hold Enabled Feedforward Gains Velocity oo Acceleration o 0 x Cancel Apply Help Figure 6 34 Axis Properties Gains Tab for Axis_Servo_Drive The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop The specific design of this nested loop depends upon the Loop Configuration selected in the Drive tab For a discussion including a diagram of a loop configuration click on the following loop configuration types e Motor
46. SSV GSV Acceleration Limit Neg REAL Position Units sec SSV GSV Torque Limit Positive REAL Rated SSV GSV Torque Limit Negative REAL Rated SSV GSV Torque Threshold REAL Rated Publication 1756 UMO006G EN P May 2005 13 160 Motion Object Attributes Drive Offsets Friction Compensation This section covers the various drive attributes that provide offsets to real time servo drive loop operation It is not unusual for an axis to have enough static friction so called sticktion that even with a significant position error refuses to budge Of course integral gain can be used to generate enough output to the drive to correct the error but this approach may not be responsive enough for the application An alternative is to use Friction Compensation to break sticktion in the presence of a non zero position error This is done by adding or subtracting a fixed output level called Friction Compensation to the Servo Output value based on its current sign Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Friction Compensation Window Friction Compensation REAL Rated The Friction Compensation value should be just under the value that would break the sticktion A larger value results in the Axis to dither a phenomena describing a rapid back and forth motion of the axis centered on the commanded position To address the issue of dither when applying F
47. Servo Update Period 250 vy us Associated Axes Channel 0 myservol axis E Channel 1 lt none gt sip Status Offline Cancel Apply Help Figure 3 10 Module Properties Associated Axis Tab Servo Update Period Selects the periodic rate at which the 1756 MO2AE module closes the servo loop for the axis in microseconds js Channel 0 Represents Channel 0 on the servo module This field allows you to associate an AXIS SERVO tag with channel 0 This field transitions to a read only state while online Associating an existing axis with an Hydraulic or SSI module may cause changes to the axis configuration Click on the button to the right of this field to open the Axis Properties dialog for the associated axis to make the appropriate changes to the axis properties See the chapter entitled Naming and Publication 1756 UMO006G EN P May 2005 3 14 Adding and Configuring Your 1756 MO02AE 1756 M02AS 1756 HYD02 Motion Module Module Info Tab Publication 1756 UMO006G EN P May 2005 Configuring Your Motion Axis for more information regarding the appropriate settings for the type of module you are adding Channel 1 Represents Channel 1 on the servo module This field allows you to associate an AXIS SERVO tag with channel 1 This field transitions to a read only state while online Associating an existing axis with an Hydraulic or SSI module may cause changes to the axis configuration Click on the button t
48. The Servo Loop Configuration attribute determines the specific configuration of the servo loop topology when the Axis Type is set to servo While the only options supported at the time for initial release of this object are the position servo and the velocity servo configurations other future configurations of the servo loop such as a dual feedback servo and dual command servo will eventually be supported When the Axis Type is set to feedback only the Servo Loop Configuration is used to select which feedback port is to be used Initial release of this object however will not support the auxiliary feedback port Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV External Drive Type INT Enumeration 0 custom 1 feedback only 2 aux feedback only 3 position servo 4 aux position servo 5 dual position servo 6 dual command servo 7 aux dual command servo 8 velocity servo 9 torque servo Servo Loop Configuration The Servo Loop Configuration attribute determines the specific configuration of the servo loop topology when the Axis Type is set to servo While the only options supported at the time for initial release of this object are the position servo and the velocity servo configurations other future configurations of the servo loop such as a dual feedback servo and dual command servo will eventually be supported When th
49. These tests include e A motor encoder hookup test e An encoder hookup test e A marker test The motion configuration instructions are Instruction Abbreviation Description Motion Apply Axis Tuning MAAT Computes a complete set of servo gains and dynamic limits based on a previously executed MRAT instruction The MAAT instruction also updates the servo module with the new gain parameters Motion Run Axis Tuning MRAT Commands the servo module to run a tuning motion profile for an axis Motion Instructions 12 5 Motion Apply Hookup Diagnostic Motion Run Hookup Diagnostic MAHD MRHD Applies the results of a previously executed MRHD instruction The MAHD instruction generates a new set of encoder and servo polarities based on the observed direction of motion during the MRHD instruction Commands the servo module to run one of three diagnostic tests on an axis For more information about motion state instructions refer to the Motion Configuration Instructions chapter of Logix Controller Motion Instruction Set Reference Manual publication 1756 RMO07 For more information about instruction timing refer to Appendix E Instruction Timing Coordinated Motion Coordinated Motion instructions control all aspects of multi axis coordinated motion Instructions The coordinated motion instructions are Instruction Abbreviation Description Motion Coordinated
50. Velocity Gain Note This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects If you know the desired unity gain bandwidth of the velocity servo in Hertz you can use the following formula to calculate the corresponding P gain Vel P Gain Bandwidth Hertz 6 28 The typical value for the Velocity Proportional Gain is 250 mSec 1 Integral Velocity Gain Note This parameter is enabled only for external drives configured for Torque loop operation in the Servo tab At every servo update the current Velocity Error is accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Torque Naming and Configuring Your Motion Axis 6 69 Command that attempts to correct for the velocity error The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too much I Gain result
51. e Axis Properties myservolaxis Mie X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Output Cam Execution Targets 0 Program Stop Action Fast Stop Y v Master Delay Compensation v Enable Master Position Filter Master Position Filter Bandwidth fa Hertz Cancel Apply Help Motion Planner Tab Publication 1756 UMO006G EN P May 2005 Figure 6 11 Axis Properties Motion Planner Tab The Motion Planner Tab is where you set edit the number of Output Cam execution targets the type of stop action to use enable or disable Master Delay Compensation enable or disable Master Position Filter and set the bandwidth for Master Position Filter Bandwidth The Motion Planner tab has the same fields regardless of the type of axis Output Cam Execution Targets Determines how many Output Cam execution nodes instances are created for a specific axis Note that the Execution Target parameter for the MAOC MDOC instructions specify which of the configured execution nodes the instruction is affecting In addition the number specified in the Axis Properties dialog specifies the number of instances of Output Cam in which the value of zero means none and the value specified for Execution Target in the MAOC instruction references a specific instance in which a value of zero selects the first instance N
52. recu SaaS 4 Co RES ES RGSS SE TS 13 59 Servo Configuration Attributes 0 0 00050 13 60 Feedback Configuration uS 3s LS kk kaa wis 13 60 Servo Feedback Type AS 245 vox En UAE SY 13 61 LII T DO e Po rue opu E aea ec pedo D Vo ER Ps ends 13 63 LDT Recirculations esu a bd a ton Soe he hw Bate dod es 13 63 LDT Calibration Constant ven SOR FORD REESE 13 63 LDT Calibration Constant Units ou koi x RE 13 63 DAS CANIN a cet irre eG de e tei E P EU PP ne 13 63 LDT Scaling Units sch on ae Oe ee es 13 64 ED Eengtlia cy cvs uacy poop PO ed ACO I ay 13 64 LDT Length Wits esatta oho B45 D Wie 13 64 SSI C de TVD s scq tote oh x X EL h 13 64 SS Data Lenore neater Ax eoi ds a ede Dr doeet tud as 13 64 SSI Clock Frequency a 4694 uie Lue X F1 Vane etd 13 65 SSI Overflow Detection x 35 vu qud adco ee ne oe ed 13 65 Absolute Feedback Enable nie duce ces ea eon Ire 13 65 Absolute Feedback Offset 22 2 perc EI S35 13 66 Servo Configuration o a ceed A Sa eR he we RR 13 66 Servo Loop Configuration s esr iu xo deae aie oa pes 13 67 External Drive Type vox pro Emu Prax 2 xj 13 67 Fault Configuration Biss deus pesa wd rte doe pe cea 13 68 Axis TiO Select outiscu acidi od Reto E ao Rute dac 13 69 Serva Polarity BI s Ces Red DE peto E C 13 70 Servo Loop Block Diderams voulu xr Rex 3 13 71 Velocity Feedforward Gain 0 0000005 13 74 Acceleration Feedforward Gain lilius 13 75 Position Proportional Gain si
53. reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 10096 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforward Acceleration Feedforward Gain scales the current Command Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing and Naming and Configuring Your Motion Axis 6 67 synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward is 10096 theoretically In reality however the val
54. regarding the use of Actual and Command Position Tolerance Actual Enter the value in coordination units for Actual Position to be used by Coordinated Motion instructions when they have a Termination Type of Actual Tolerance Command Enter the value in coordination units for Command Position to be used by Coordinated Motion instructions when they have a Termination Type of Command Tolerance Manual Adjust Button The Manual Adjust button on the Coordinate System Dynamics Tab accesses the Manual Adjust Properties dialog The Manual Adjust button is enabled only when there are no pending edits on the properties dialog At this screen you can make changes to the Vector and Position Tolerance values See the explanations for the Vector and Position Creating amp Configuring Your Coordinate System Tag 7 15 Tolerance fields in the explanation of the Dynamics Tab earlier in this chapter Figure 7 10 Coordinate System Properties Manual Adjust Screen of Dynamics Tab These changes can be made either on or off line The blue arrows to the right of the fields indicate that they are immediate commit fields This means that the values in those fields are immediately updated to the controller if on line or to the project file if off line Reset Button The Reset Button reloads the values that were present at the time this dialog was entered The blue arrow to the right of the Reset button means that the values are immed
55. you can modify motion configuration parameters using the SSV instruction For example you can change position loop gain velocity loop gain and current limits within your program For more information about the SSV instruction refer to the Logix Controller Instruction Set Reference Manual publication 1756 RM003 Handling Motion Faults Two types of motion faults exist Type Motion Instruction Errors Minor Maj or Faults Description e Do not impact controller operation e Should be corrected to optimize execution time and ensure program accuracy e Caused by a problem with the servo loop e Can shutdown the controller if you do not correct the fault condition Example A Motion Axis Move MAM instruction with a parameter out of range The application exceeded the PositionErrorTolerance value For more information about handling faults see Handling Controller Faults in the Logix Controller User Manual publication 1756 UM001 and Appendix F Fault Handling in this manual Publication 1756 UMO006G EN P May 2005 1 8 The ControlLogix Motion Control System Publication 1756 UMO006G EN P May 2005 Use This Chapter Quick Start Chapter 2 Use this chapter as an overview of how to set up and program motion control If you aren t using SERCOS interface drives and modules skip actions 3 and 4 Action See page 1 Make the Controller the CST Master 2 2 2 Add the Motion
56. 0 25 1 Z Velocity Bandwidth Hz For example if the maximum bandwidth of the velocity servo loop is 40 Hz and the damping factor Z is 0 8 the maximum the maximum position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed The Motor Inertia value represents the inertia of the motor without any load attached to the motor shaft in Torque Scaling units of Rated Pos Units per Sec The Load Inertia Ratio attribute s value represents the ratio of the load inertia to the motor inertia Auto tuning uses the Motor Inertia value to calculate the Load Inertia Ratio based on the following equation Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Motor Inertia REAL Rated Pos Units per Sec SSV GSV Load Inertia Ratio REAL Rated Pos Units per Sec Publication 1756 UMO006G EN P May 2005 Load Inertia Ratio Total Inertia Motor Inertia Motor Inertia Total Inertia is directly measured by the auto tuning algorithm and applied to the Torque Scaling attribute in units of Rated Pos Units per Sec If the Load Inertia Ratio value is known the Motor Inertia value can also be used to calculate a suitable Torque Scaling value for the fully loaded motor without performing an auto tune The equation used by RSLogix5000 to calculate the Torque Scaling value is as follows Torque Scaling 1 Load Inertia Ratio Motor Inertia
57. 13 89 Position Error Tolerance 13 86 Position Lock Tolerance 13 86 Servo Offsets 13 88 Torque Offset 13 89 Velocity Offset 13 89 Servo Loop Block Diagrams 13 71 Position Servo with Torque Servo Drive 13 71 Position Servo with Velocity Servo Drive 13 72 Servo Gains 13 73 Servo Status Attributes 13 42 Acceleration Command 13 45 Acceleration Feedback 13 46 Attribute Error Code 13 55 Attribute Error ID 13 55 Aux Position Feedback 13 44 Axis Control Bit Attributes 13 49 Abort Event Request 13 49 Abort Home Request 13 49 Abort Process Request 13 49 Change Cmd Reference 13 49 Shutdown Request 13 49 Zero DAC Request 13 49 Axis Response Bit Attributes 13 50 Abort Event Acknowledge 13 50 Abort Home Acknowledge 13 50 Abort Process Acknowledge 13 50 Index 15 Change Pos Reference 13 50 Shutdown Request Acknowl edge 13 50 Zero DAC Request Acknowl edge 13 50 Commissioning Status Attributes 13 56 Test Direction Forward 13 57 Test Output Direction 13 57 Test Status 13 56 Tune Acceleration 13 58 Tune Acceleration Time 13 58 Tune Deceleration 13 58 Tune Deceleration Time 13 58 Tune Inertia 13 59 Tune Rise Time 13 59 Tune Speed Scaling 13 58 Tune Status 13 57 Marker Distance 13 46 Module Fault Bit Attributes 13 53 Control Sync Fault 13 54 Module Hardware Fault 13 55 Module Syne Fault 13 54 Timer Event Fault 13 54 Position Command 13 43 Position Error 13 44 Position Feedback 13 43 Position Integrator Error 13 44 Se
58. 168 Damping Factor 13 170 Drive Model Time Constant 13 170 Motor Inertia amp Load Inertia Ra tio 13 172 Position Servo Bandwidth 13 171 Test Increment 13 169 Tuning Configuration Bits 13 173 Bi directional Tuning 13 174 Tune Acceleration Feedfor ward 13 174 Tune Friction Compensa Publication 1756 UMO06G EN P May 2005 12 Index Publication 1756 UMO006G EN P May 2005 tion 13 174 Tune Output Low Pass Fil ter 13 174 Tune Position Error Integra tor 13 173 Tune Torque Offset 13 174 Tune Velocity Error Integra tor 13 173 Tune Velocity Feedforward 13 173 Tuning Direction Reverse 13 173 Tuning Speed 13 169 Tuning Torque 13 169 Tuning Travel Limit 13 169 Velocity Servo Bandwidth 13 171 Commissioning Status Attributes 13 120 Test Direction Forward 13 121 Test Output Polarity 13 121 Test Status 13 121 Tune Acceleration 13 122 Tune Acceleration Time 13 122 Tune Deceleration 13 122 Tune Deceleration Time 13 122 Tune Inertia 13 123 Tune Status 13 122 Drive Fault Bit Attributes 13 110 Commutation Fault 13 115 Drive Control Voltage Fault 13 115 Drive Cooling Fault 13 115 Drive Enable Input Fault 13 114 Drive Hardware Fault 13 114 Drive Overcurrent Fault 13 116 Drive Overtemperature Fault 13 115 Drive Overvoltage Fault 13 116 Drive Undervoltage Fault 13 116 Feedback 1 Fault 13 113 Feedback 1 Noise Fault 13 113 Feedback 2 Fault 13 113 Feedback 2 Noise Fault 13 113 Feedback Fa
59. 1756 Mo85E My SERCOS Ring g 1 2094 ACO9 MO2 My_Kinetix_6000_Drive_1 l 2 2094 AMO1 My Drive Y fs ag Ml Module Properties My_SERCOS_Ring 2094 ACO9 MO2 1 1 General Connection Associated Axes Power Module Info r Identification m Status Vendor Allen Bradley Major Fault Product Type RA Miscellaneous Minor Fault Product Code 2094 4C09 M02 Internal State Revision 1 80 Configured 4 Serial Number 00000000 Owned Product Name 2094 AC09 M02 Module Identity Publication 1756 UM006G EN P May 2005 When a Kinetix 6000 drive is designated in the Associated Module box there is an additional option for the Node value It is the node associated with the drive plus 128 with Auxiliary after the number The range is 129 to 234 When the Auxiliary Node assignment is Naming and Configuring Your Motion Axis 6 13 chosen the axis configuration is changed to Feedback Only on the General Tab and the spat appears next to General e Axis Properties mysercosd4axis Bel X Conversion Homing Hookup Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Feedback Only Motion Group mymationgroup fa New Group r Associated Module Module my20S4drv Y Module T ype 2034 ACO5 MOT1 Node 123 Auxiliary Cancel Apply Help Figure 6 8 General Tab with a Kine
60. 2005 Position Error Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo Gin the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Soft Overtravel Specifies the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured in the Limits tab of this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Use this tab to specify the actions that are taken in response to the following faults e Drive Thermal Fault e Motor Thermal Fault e Feedback Noise Fault e Feedback Fault e Position Error Fault e Hard Overtravel Fault e Soft Overtravel Fault Naming and Configuring Your Motion Axis 6 103 for an axis of the type AXIS SERVO DRIVE Axis Properties mysercos1laxis P3 X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Set Custom Stop Action Drive Enable Input Disable Drive Drive Thermal Disable Drive Motor Thermal Disable Dive H Feedback Noise Disable Dive Feedback Disable Dive Position Error Disable Dive H Hard Jyert
61. 22GA i AUX PWR AUX PWR BLACK 22GA AUXCOM ECOM DRAIN optional optional DRAIN AXIS 0 AXIS 1 ANALOG COMMAND WHT GRN 22GA 0UT 0 5 e 1 m OUT 1 WHT GRN 22GA ANALOG COMMAND ANALOG COMMAND WHT BLU 22GA QUT 0 4 3 3 OUT 1 WHT BLU 22GA ANALOG COMMAND DRAIN CHASSIS 12 1 CHASSIS DRAIN 10 POWER BROWN 28GA ENABLE 0 6 e 3 5 ENABLE 1 T BROWN 28GA 10 POWER INPUT 1 ENABLE RED 28GA ENABLE 0 8 e 1 ENABLE 1 RED 28GA 2 INPUT 1 ENABLE OUTPUT 1 READY 3 ORANGE 28GA DRVFLT 0 10 On 9 DRVFLT 1 ORANGE28GA 3 OUTPUT 1 READY I0 COM YELLOW 286A In_com i e 13 INCOM X veowzsca X 10 COM DRAIN Q DRAIN eo x GREEN 286A CHA 0 6 e 25 CHA 1 GREEN 286A 7 AOUT AOUT BLUE 28GA CHA 0 28 7 CHA 1 BLUE 28GA Al AOUT BOUT VIOLET 28GA CHB 0 30 29 CHB 1 VIOLET 28GA BOUT BOUT GRAY 28GA CHB 0 32 31 CHB 1 IX GRAY 28GA X BOUT IOUT WHITE 28GA CHZ 0 34 e 3 33 CHZ 1 WHITE 28GA IOUT IOUT IX BLACK 28GA CHZ 0 36 83 35 CHZ 1 hi BLACK 28GA DRAIN CHASSIS 24 Oz 23 CHASSIS DRAIN 2090 U3AE D44xx Controller Interface Cable Ultra3000 CN1 Connector Axis 0
62. 460 VAC 750VDC SERCOS Drive 214 Cont 324 Peak 8720MC B027 8720MC 460 VAC 750VDC SERCOS Drive 274 Cont 414 Peak 8720MC B034 8720MC 460 VAC 750VDC SERCOS Drive 344 Cont 514 Peak zl Show Vendor Ai IV Other v Specialty 1 0 Select All v Analog M Digital v Communication v Motion v Controller Clear All Figure 9 3 Select Module Type Window 5 In the Select Module Type dialog select the desired drive module The Ultra drives begin with the 2098 prefix Publication 1756 UMO06G EN P May 2005 94 Configuring an Ultra 3000 Drive 6 Press the OK button to close the Select Module Type dialog The Ultra Drive Create Wizard Module Properties dialog opens my2098drv H m Er CompaibeModde m Figure 9 4 Module Properties Wizard Dialog Naming the Drive 7 You must fill in a name for the drive this is a required field Fill in the responses for the other parameters as needed then click the Next button to advance to the next wizard screen or click on the Finish gt gt button to set the drive 8 When you click the Finish button A new drive module displays beneath the selected 1756 MxxSE motion module E1 3 1 0 Configuration amp BJ 1 1756 M035E mym 3mod 0 Bl 1 2094 ACOS MO1 my2094drv R 3 8720MC B014 my8720drv od 10 1394C 5JTO05 D mym031394 E 2 1756 M 2AE mym02ae Ej B 3 1756 Mo35E mym 3semod Figure 9 5 Controller Organizer New
63. Axis State 13 5 Axis Structure Address 13 1 C2C Connection Instance 13 3 C2C Map Instance 13 2 Group Instance 13 2 Home Event Task Instance 13 6 Map Instance 13 2 Publication 1756 UMO006G EN P May 2005 10 Index Publication 1756 UMO006G EN P May 2005 Memory Usage 13 3 Memory Use 13 3 Module Channel 13 2 Module Class Code 13 2 Registration 1 Event Task Instance 15 5 Registration 2 Event Task Instance 13 6 Watch Event Task Instance 13 5 Introduction 13 1 Module Fault Bit Attribute 13 21 Control Sync Fault 13 21 Home Event Armed Status 13 23 Home Event Status 13 23 Registration 1 Event Armed Status 13 22 Registration 1 Event Status 13 22 Registration 2 Event Armed Status 13 23 Registration 2 Event Status 13 23 Watch Event Armed Status 13 22 Watch Event Status 13 22 Motion Coordinate System 13 174 Group Axis and Coordinate System Relationships 13 175 Status Attributes 13 176 Axis Fault 13 179 Configuration Fault 13 180 Faulted 13 180 Module Fault 13 180 Physical Axis Fault 13 179 Servo On Axes 13 180 Shutdown 13 180 Coordinate Motion Status 13 178 Acceleration Status 13 178 Actual Position Tolerance Status 13 178 Command Position Toler ance Status 13 178 Deceleration Status 13 178 Move Pending Queue Full Stat 13 179 Move Pending Status 13 179 Move Status 13 179 Move Transition Status 13 179 Stopping Status 13 178 Coordinate System Status 13 177 Motion Status 13 177 Ready Status 13 177 Shutdown Sta
64. B for increasing count This is the most commonly used decode mode with incremental encoders since it provides the highest resolution For example suppose this servo axis utilizes a 1000 line encoder in a motor coupled directly to a 5 pitch lead screw 5 turns per inch With a user defined Position Unit of Inches the conversion constant is calculated as shown below K 1000 Lines Rev 4 Counts Line 5 Revs Inch 20 000 Counts Inch Caution If Conversion Constant is changed it invalidates all of the settable attributes with Position Unit conversions in Semantics of Values column To be valid the Conversion Constant must be set to the desired value prior to setting including defaulting any of the affected attributes When the Rotary Axis attribute is set true 1 it enables the rotary unwind capability of the axis This feature provides infinite position range by unwinding the axis position whenever the axis moves through a complete physical revolution The number of encoder counts per physical revolution of the axis is specified by the Position Unwind attribute If the Rotary Axis attribute is false 0 indicating Publication 1756 UMO006G EN P May 2005 13 30 Motion Object Attributes linear operation the maximum total linear excursion is limited to 1 Billion feedback counts before rolling over to zero Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Rotary Axis SINT 0 L
65. C2C map instance C2C Connection Instance SINT Memory Use RSLogix 5000 software uses this attribute to create axis instances in I O memory for axes that are either to be produced or consumed The Memory Use attribute can only be set as part of an axis create service and is used to control which controller memory the object instance is created in Internal Access Rule Attribute Name Data Type Semantics of Values GSV Memory Use INT Controller memory space where instance exists 105 0x69 1 0 space 106 0x6a Data Table space Memory Usage The Memory Use attribute can be used to determine the amount of memory the created instance consumes in bytes Internal Access Rule Attribute Name Data Type Semantics of Values n a Memory Usage DINT Amount of memory consumed for this instance in bytes Publication 1756 UMO006G EN P May 2005 13 4 Motion Object Attributes Axis Data Type The Axis Data Type attribute and is used to determine which data template memory format and set of attributes are created and applicable for this axis instance This attribute can only be set as part of an axis create service Internal Access Rule Attribute Name Data Type Semantics of Values n a Axis Data Type SINT Associated motion axis tag data type 0 Feedback 1 Consumed 2 Virtual 3 Generic 4 Servo 5 Servo Drive Publication 1756 UMO006G EN
66. Cam Execution DINT Represents the number of Output Targets Cam nodes attached to this axis Valid range 0 8 with default of 0 The ability to configure the number of Output Cam Execution Targets for a specific axis reduces the memory required per axis for users who do not need Output Cam functionality or only need 1 or 2 Output Cam Execution Targets for a specific axis Each axis can be configured differently Publication 1756 UMO006G EN P May 2005 13 26 X Motion Object Attributes Master Input Configuration Bits Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Master Input Configuration DINT Bit Field Bits 0 Master Delay Compensation 1 Master Position Filter 2 31 Reserved Publication 1756 UMO006G EN P May 2005 Master Delay Compensation By default both the Position Camming and Gearing functions when applied to a slave axis perform Master Delay Compensation to compensate for the delay time between reading the master axis command position and applying the associated slave command position to the input of the slave s servo loop When the master axis is running at a fixed speed this compensation technique insures that the slave axis command position accurately tracks the actual position of the master axis in other words Master Delay Compensation allows for zero tracking error when gearing or camming to the actual position of a master axis This feature whil
67. Configuring a 1394x SJTxx D Digital Servo Drive 8 3 6 Fill in the required parameters for each page then click the Next button sercos31394 E Figure 8 3 Module Properties Wizard Dialog Naming the Drive 7 When you complete the last page click the Finish gt button A new drive module displays beneath the selected 1756 MxxSE motion module The 1756 MxxSE 8 Axis SERCOS interface motion module can be connected to any of three drives e 1394x SJT05 D 5 KW digital servo drive e 1394x SJT10 D 10 KW digital servo drive e 1394x SJT22 D 22 KW digital servo drive Each drive can be associated with up to 4 axes of the AXIS_SERVO_DRIVE tag type The 1756 MxxSE SERCOS interface module can support up to 32 axes Publication 1756 UMO006G EN P May 2005 8 4 Configuring a 1394x SJTxx D Digital Servo Drive The module for a 1394x SJTxx D drive has 5 tabs Module Properties sercos3 1394C SJT05 D 1 1 Connection Associated Axes Power Module Info 00000000 kercas31394 Um Figure 8 4 Module Properties General Tab e General tab e Connection tab e Axes Association e Power tab e Module Info tab General Tab Use this tab to enter the module properties for 1394x SJTxx D digital servo drive modules IMPORTANT To create any one of the 1394x SJT modules the parent module must be a 1756 MxxSE 8 or 16 Axis SERCOS interface module On this tab you can e view the type and descripti
68. EN P May 2005 1394x SJTxx D drive module It also allows you to refresh a module and reset a module to its power up state ISEITESIT I3ESEUTVIGGIUIE Figure 8 8 Module Properties Module Info Tab The information on this tab is not displayed if you are e offline or e currently creating a module TIP The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available Identification Displays the module s e Vendor e Product Type e Product Code e Revision e Serial Number Configuring a 1394x SJTxx D Digital Servo Drive 8 13 Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module Major Minor Fault Status Statuses are EEPROM fault Backplane fault None Internal State Status Displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configuration bad e Major Fault please refer to Major Minor Fault Status above e Run mode e Program mode 16 xxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured Displays a yes or no value indicating whether the module has been conf
69. Fault Also if the Drive Enable Input ever transitions from active to inactive while the drive axis is enabled the drive also declares a Drive Enable Input Fault If the Drive Enable Input Fault Handling bit is clear default then the drive does not generate a Drive Enable Input Fault Drive Enable Input Checking When the Drive Enable Input Checking bit is set the default the drive is regularly checks the current state of the Drive Enable Input This dedicated input serves as a permissive to enable the drive s power structure and servo loop Once the drive is enabled a transition of the Drive Enable Input from active to inactive results in a drive initiated axis stop where the axis is decelerated to a stop using the configured Stopping Torque and then disabled Publication 1756 UMOO6G EN P May 2005 13 128 Motion Object Attributes Drive Units If the drive enable Input Checking bit is clear then no Drive Enable Input checking is done hence the state of the input is irrelevant to drive operation The state of the switch is still reported as part of the Drive Status bits attribute The Drive Units attribute establishes the unit of measure that is applied to the Drive Resolution attribute value Units appearing in the enumerated list may be linear or rotary english or metric Further discrimination is provided in the enumerated list to specify whether the Drive Unit is referenced directly to the motor or to the external or
70. Faults Figure 7 3 Creating a New Coordinate System From Motion Group The final way to create a new coordinate system tag is by right clicking on Ungrouped Axes and selecting New Coordinate System from the menu MD myvirtualaxis een s Ungrouped Axes soa Trends New Axis 5 3 Data Types zu User Defined mcg Strings Cut Ctrl X Od Predefined Copy Ctrl C Ctrl Figure 7 4 Creating a Coordinate System From Ungrouped Axes Entering Tag Information Creating amp Configuring Your Coordinate System Tag 7 3 Regardless of the method you use the New Tag window appears New Tag x Name mycoordsyst Description Tag Type Base C Alias C Produced m consumers C Consumed Data Type COORDINAT E_SYSTEM Bi Configure Scope My Controller controller M Style Figure 7 5 New Tag Dialog The method used to access the New Tag Dialog determines how much of the dialog is already filled in when the window displays If you accessed the New Tag window from either Motion Group or Ungrouped Axes the Data Type fills in automatically A tag allows you to allocate and reference data stored in the controller A tag can be a single element array or a structure With COORDINATE_SYSTEM selected as the Data Type there are only two types of tags that you can create e A base tag allows you to create your own internal data storage e An alias tag allows you to assign yo
71. Filter Bandwidth With Enable Low pass Output Filter selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting is filtered out and not sent to the drive If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Publication 1756 UMOO6G EN P May 2005 6 80 Naming and Configuring Your Motion Axis Manual Adjust Click on this button to open the Output tab of the Manual Adjust dialog for online editing of Torque Force Scaling the Notch Filter Frequency and the Low pass Output Filter parameters Noten alter Frequency Low pass Wutput Filter bandwidth Figure 6 40 Axis Properties Output Tab for Axis_Servo_Drive Note The Manual Adjust button i
72. Hookup Diagnostic MRHD 12 5 Motion Direct Commands 12 5 Motion Event Instructions 12 3 Motion Arm Output Cam MAOC 12 4 Motion Arm Registration MAR 12 4 Motion Arm Watch Position MAW 12 4 Motion Disarm Output Cam MDOC 12 4 Motion Disarm Registration MDR 12 4 Motion Disarm Watch Position MDW 12 4 Motion Group Instructions 12 3 Motion Group Shutdown MGSD 12 3 Motion Group Shutdown Reset MG SR 12 3 Motion Group Stop MGS 12 3 Motion Group Strobe Position MG SP 12 3 Motion Move Instructions 12 2 12 5 Motion Axis Gear MAG 12 2 Motion Axis Home MAH 12 2 Motion Axis Jog MAJ 12 2 Motion Axis Move MAM 12 2 Motion Axis Position Cam MAPC 12 3 Motion Axis Stop MAS 12 2 Motion Axis Time Cam MATC 12 3 Motion Calculate Cam Profile MC CP 12 3 Motion Calculate Slave Values 12 3 Motion Change Dynamics MCD 12 2 Motion Redefine Position MRP 12 2 Motion State Instructions 12 1 Motion Axis Fault Reset MAFR 12 2 Motion Axis Shutdown MASD 12 2 Motion Axis Shutdown Reset MASR 12 2 Motion Direct Drive Off MDF 12 Motion Direct Drive On MDO 12 Motion Servo Off MSF 12 2 Motion Servo On MSO 12 1 motion instructions overview 2 14 Motion Move Instructions 12 2 motion planner set period 2 6 Motion Redefine Position 12 2 Motion Run Axis Tuning 12 4 Motion Run Hookup Diagnostic 12 5 2 2 Index 17 Motion Servo Off 12 2 Motion Servo On 12 1 MOTION INSTRUCTION control struct
73. Integrator Hold Enable SINT 0 disabled 1 enabled Advanced Drive Gain Attributes The following advanced attributes map directly to SERCOS IDNs Thus for a detailed description of these attributes refer to the corresponding IDN descriptions found in the SERCOS Interface standard or the AB SERCOS Drive PISD Since these attributes are automatically configured to reasonable default values manual configuration by the user is not required unless motivated by a specific application requirement Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Drive Limits Maximum Positive Negative Travel Velocity Droop REAL Position Units sec This section covers the various drive attributes that either apply limits to various servo loop real time parameters such as position and output voltage or are used in limit checks of servo loop parameters like position error The Axis Object provides configurable software travel limits via the Maximum Positive and Negative Travel attributes If the axis is configured for software overtravel limit checking by setting the Soft Overtravel Bit in the Drive Configuration Bit word and the axis passes outside these maximum travel limits a Software Overtravel Fault is issued Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Maximum Positive Travel REAL Position Units SSV GSV Maximum Negative Travel REAL Position Units
74. MCLM Initiates a single or multi dimensional linear Linear Move coordinated move for the specified axes within a Cartesian coordinate system Motion Coordinated MCCM Initiates a two or three dimensional circular Circular Move coordinated move for the specified axes within a Cartesian coordinate system Motion Coordinated MCCD Change Dynamics Initiates a change in path dynamics for coordinate motion active on the specified coordinate system Motion Coordinated Stop MCS Initiates a controlled stop of the specified coordinate motion profile taking place on the designated coordinate system Initiates a controlled shutdown of all of the axes of the coordinate system Motion Coordinated MCSD Shutdown Motion Coordinated MCSR Shutdown Reset Initiates a reset of all of the axes of the specified coordinate system from the shutdown state to the axis ready state and clears the axis faults Motion Direct Commands The Motion Direct Commands feature lets you issue motion commands while you are online without having to write or execute an application program Motion Direct Commands are particularly useful Publication 1756 UMO06G EN P May 2005 12 6 Motion Instructions Accessing Direct Commands From the Main Menu Publication 1756 UMO006G EN P May 2005 when you are commissioning or debugging a motion application During commissioning you can configure an axis and monitor the behavior
75. Master Position Filter Bandwidth 13 27 Motion Unit Configuration Attributes 13 28 Position Units isl ubere EIS bx 13 28 Average Velocity Timebase uoce oci eR eb WA 13 28 Motion Conversion Configuration 13 29 Publication 1756 UMOO6G EN P May 2005 Table of Contents 6 Publication 1756 UMO006G EN P May 2005 Conversion Constant llle 13 29 Rotary AXIS ieu bie doe ssim doe atte Goad ode dod d 13 29 Position Unwind iow aia Vou Moto teo si Sed tede Le Ab athe 13 30 Motion Homing Configuration 13 30 Home Mode 25e bcm MU ot GOT ad de Me edd 13 30 Home Sequence and Home Direction 13 32 Active HOMINES oc vua Ped Cubo FG EEE ES 13 32 Passive LTomiitig see decem ebd que Psp 13 37 Home Configuration Bits llle 13 38 Home POSION e ouv e me nexo T UR CR 13 38 Home Offset usen ofan aig p ENERO RS ER VW 13 38 Home SUCCUG CG e bur oer eG Ae die qp 13 39 Home Return Speed EE EINE AER RA 13 39 POMBIA Sa ea ce e Sos ardeo ated CE ot AC 13 39 Motion Dynamics Configuration isses 13 39 Maximum Speed uus qs do erm sane elaine x ware Lco 13 39 Maximum Acceleration Deceleration 13 40 Programmed Stop Mode 6 4564 ee be Res 13 40 Servo Status Attributes 0 0 00 ee 13 42 Position Command von ils th oe Bk a eae aod 13 43 Position Feedback os 5 04 23 oh ER eter TESTI 13 43 Aux Position Feedback 0 0 0 0 0000 e e
76. May 2005 Use this dialog to create new tags The parameters that appear on this dialog depend upon the type of tag you are creating You can create base tags and alias tags while the controller is online or offline as long as the new tag is verified You can only create consumed tags while the controller is offline Common Parameters The following parameters appear on the New Tag dialog whether you are creating a base tag alias tag or consumed tag Name Enter the name of the tag you want to create Description Enter a description of the tag Tag Type Check the type of tag you are creating e Base refers to a normal tag selected by default Alias refers to a tag which references another tag with the same definition Special parameters appear on the New Tag dialog that allow you to identify to which base tag the alias refers Produced refers to a tag that has been made available to other controllers If this type is chosen then you can set the maximum number of consumers allowed for this tag Consumed only available when the controller is offline refers to a tag that is produced by another controller whose data you want to use in this controller Special parameters appear on the New Tag dialog that allow you to identify from where the consumed tag is to come Data Type In the Data Type field you can either enter the type of tag you want to create directly or click on the ellipsis button to go to the
77. Module Major Fault On Controller If Connection Fails While in Run Mode Module Fault Status Offline Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module 4 11 loss of the connection to this module causes a major fault and view module faults when online Cancel Apply Help Figure 4 8 Module Properties Connection Tab The fault data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module and the controller Requested Packet Interval This does not apply to motion modules Inhibit Module checkbox Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken When a module is inhibited all of the associated axes are not used in the configuration process The system ignores them as if they were not there and allows configuration and operation of any axis associated to other modules in the group TIP Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module Publication 1756 UM006G EN P May 2005 4 12 Configuring the 1756 MO3SE 1756 MO08SE or 1756 M16SE Module ATTENTION Inhibiting the module causes the connection to the module to be broken and may result in loss of data When you check this box and go online the icon representing this module in the controller organizer displays the Atten
78. Modules 2 3 3 Add SERCOS interface Drives 2 4 4 Set Up Each SERCOS Interface Module 2 5 5 Add the Motion Group 2 6 6 Add Your Axes 2 0 7 Set Up Each Axis 2 9 8 Check the Wiring of Each Drive 2 12 9 Tune Fach Axis 2 13 10 Program Motion Control 2 14 11 Additional Actions 2 16 Publication 1756 UMO006G EN P May 2005 2 2 Quick Start Make the Controller the You wu Es du RE i a e Ra eas clock m um control This module is called the coordinated system time CS CST Master EE coordinated system time The master clock for motion control for a chassis The motion modules set their clocks to CST master the master In most cases make the controller the CST master 1 E Controller My_Controlle rar 3 Tasks h ut gy Verify 8 MainTask ca MainProgram Generate Report A Program Tags En MainRoutine B My subroutine rect a L Print d Unscheduled Programs Phases 38 Motion Groups fs Controller Properties My Controller General SerialPort System Protocol User Protocol Major Faults Minor Faults 2 Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory 3 lv Make this controller the Coordinated DANGER If CST master is cleared online System Time master active axes in any controller in this chassis or chassis synchronized by SynchLink may Q Is the master experience unexpected motion Synchronized with a master Duplicate m
79. Motion Object Attributes 13 75 velocity It does this by scaling the current Command Velocity by the Velocity Feedforward Gain and adding it as an offset to the Velocity Command generated by the position loop control elements With this done the position loop control elements do not need to generate much of a contribution to the Velocity Command hence the Position Error value is significantly reduced Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 10096 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations One thing that may force a smaller Velocity Feedforward value is that increasing amounts of feedforward tends to exacerbate axis overshoot If necessary the Velocity Feedforward Gain may be tweaked from the 10096 value by running a simple user program that jogs the axis in the positive direction and monitor the Position Error of the axis during the jog Increase the Velocity Feedforward Gain until the Position Error at constant speed is as small as possible but still positiv
80. Name Data Type Semantics of Values GSV Motor Electrical Angle REAL Degrees Publication 1756 UMOO6G EN P May 2005 13 104 Motion Object Attributes DC Bus Voltage This parameter is the present voltage on the DC Bus of the drive Internal Access Rule Attribute Name Data Type Semantics of Values GSV DC Bus Voltage DINT Volts Torque Limit Source This parameter displays the present source if any of any torque limiting for the axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Publication 1756 UMO006G EN P May 2005 Torque Limit Source DINT Enumeration 0 Not Limited 1 Neg e Torque Limit 2 Pos Torque Limit 3 Amp Peak Limit 4 Amp l t Limit 5 Bus Regulator Limit 6 Bipolar Torque Limit 7 Motor Peak Limit 8 Motor I t Limit 9 Voltage Limit Drive Status Bit Attributes Motion Object Attributes 13 105 Internal Access Rule Attribute Name Data Type Semantics of Values GSV Drive Status Bits DINT Direct Access Entire DINT DriveStatus 0 Servo Action Status No Tag 1 Drive Enable Status No Tag 2 Axis Shutdown Status No Tag 3 Process Status ProcessStatus 4 Reserved 5 Reserved 6 Home Input Status HomelnputStatus 7 Registration 1 Input Status RegInput Status 8 Registration 2 Input Status Reg2InputStatus 9 Positive
81. Name Data Type Semantics of Values SSV GSV Master Position Filter REAL Hertz Bandwidth Motion Unit Configuration Attributes Position Units If the Master Position Filter is disabled the Master Position Filter Bandwidth has no effect The Axis Object allows user defined engineering units rather than feedback counts to be used for measuring and programming all motion related values position velocity etc These position units can be different for each axis and should be chosen for maximum ease of use in your application For example linear axes might use position units of Inches Meters or mm while rotary axes might use units of Revs or Degrees Internal Access Rule Attribute Name Data Type Semantics of Values n a Position Units STRING Fixed length string of 32 characters Average Velocity Timebase The Position Units attribute can support an ASCII text string of up to 32 characters This string is used by RSLogix 5000 software in the axis configuration dialogs to request values for motion related parameters in the specified Position Units The Average Velocity Timebase attribute is used to specify the desired time in seconds to be used for calculating the Average Velocity of the axis When the Average Velocity Value is requested the value is computed by taking the total distance traveled by the axis in the amount of time given by the Average Velocity Timebase and dividing this value by the t
82. Nested Digital Servo Control Loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop again with proportional and integral gains for each axis These gains provide software control over the servo dynamics and allow the servo system to be completely stabilized Unlike analog servo controllers these digitally set gains do not drift Furthermore once these gains are set for a particular system another servo module Publication 1756 UMOO6G EN P May 2005 13 74 Motion Object Attributes programmed with these gain values operates identically to the original one Torque Offset e Acc p didt gt FF Velocity Sain Offset PME e Offset Output amp wi Filter Friction Servo oP didt gt FF BW Comp Polarity Gain Position Command Velocity Coarse Position Command Velocity Error Error Low Torque Fine Pos P Vel P Output Output 16 Bit Pass p Out I I 1 interpolator gt Gain gt Gain Gel Fie Scaling Limit DAC cae Position Command Velocity ervo Feedback End Error Error Position Accum mos Accum cs Feed
83. Output Limiting With Servo Output Limiting Servo Amplifier Output Position Error Figure 13 13 Servo Output Limit Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Output Limit REAL Volts Range 0 0 10 0 The servo output limit may be used as a software current or torque limit if you are using a servo drive in torque current loop mode The percentage of the drive s maximum current that the servo controller commands is equal to the specified servo output limit For example if the drive is capable of 30 Amps of current for a 10 Volt input setting Publication 1756 UMO006G EN P May 2005 13 88 Motion Object Attributes the servo output limit to 5V limits the maximum drive current to 15 Amps The servo output limit may also be used if the drive cannot accept the full 10 Volt range of the servo output In this case the servo output limit value effectively limits the maximum command sent to the amplifier For example if the drive can only accept command signals up to 7 5 Volts set the servo output limit value to 7 5 volts Direct Drive Ramp Rate The Direct Drive Ramp Rate attribute contains a slew rate for changing the output voltage when the Direct Drive On MDO instruction is executed A Direct Drive Ramp Rate of 0 disables the output ramp rate limiter allowing the Direct Drive On voltage to be applied directly Internal Access Rule Attribute Name Data Typ
84. Overtravel Input Status PosOvertravellnputStatus 10 Negative Overtravel Input Status NegOvertravellnputStatus 11 Enable Input Status EnablelnputStatus 12 Acceleration Limit Status AccelLimitStatus 13 Absolute Reference Status AbsoluteReferenceStatus 14 Reserved 15 Reserved 16 Velocity Lock Status VelocityLockStatus 17 Velocity Standstill Status VelocityStandstillStatus 18 Velocity Threshold VelocityThresholdStatus 19 Torque Threshold TorqueThresholdStatus 20 Torque Limit Status TorqueLimitStatus 21 Velocity Limit Status VelocityLimitStatus 22 Position Lock Status PositionLockStatus 23 Power Limit Status 24 Reserved 25 Lower Velocity Threshold Status LowVelocityThresholdStatus 26 High Velocity Threshold Status 27 31 Reserved Publication 1756 UMO006G EN P May 2005 13 106 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Servo Action Status The Servo Action Status bit attribute is set when servo loops on the associated with the axis is currently enabled and able to follow command If the bit is not set then servo action is disabled Drive Enable Status The Drive Enable Status bit attribute is set when the drive s power structure associated with the axis has been activated If the bit is not set then drive s power structure is currently deactivated Shutdown Status The Shutdown Status bit attribute is set when the associated axis is
85. P May 2005 Feedback A feedback only axis associated with feedback only modules like PLS II and CFE supporting quadrature encoder resolver HiperFace etc Consumed A consumed axis which consumes axis motion data produced by a motion axis on another Logix processor Virtual A virtual axis having full motion planner operation but not associated with any physical device Generic An axis with full motion planner functionality but no integrated configuration support associated with devices such as DriveLogix 1756 DM Servo An axis with full motion planner functionality and integrated configuration support associated with modules closing a servo loop and sending an analog command to an external drive i e 1756 MO2AE 1756 HYD02 and 1756 M02AS modules Servo Drive An axis with full motion planner functionality and integrated configuration support associated with digital drive interface modules sending a digital command to the external drive i e 1756 MO3SE 1756 MO8SE and 17556 M16SE SERCOS interface Motion Object Attributes 13 5 Axis Configuration State The Axis Configuration State attribute is used for debugging purposes to indicate where in the axis configuration state machine this axis presently is Even consumed and virtual axes will utilize this attribute Internal Access Rule Attribute Name Data Type Semantics of Values GSV Axis Configuration State SINT State of the axis configuration st
86. Performance Publication 1756 UMO006G EN P May 2005 Description Value SERCOS interface Important Only Kinetix 6000 drives let you use a 0 5 ms cycle time CUNE Data rate Number of drives Cycle time 4 Mb up to 2 0 5 ms up to 4 1 ms up to 8 2 ms You can t use more than 8 drives at a 4 Mb data rate 8 Mb up to 4 0 5 ms up to 8 1 ms up to 16 2 ms Plastic Fiber Optic Transmission Range 1 32 meters mee Core Diameter 980um 60um Cladding Diameter 1000um 60um Cable Attenuation 140 dB km 650nm Operating Temperature 55 to 85 C Connector F SMA standard screw type connector Bend Radius 2 5 cm Glass Fiber Optic Cable Certifications Transmission Range 1 200 meters Core Diameter Cladding Diameter Cable Attenuation 200um 4um 230um 0 10um 6 0 dB km 820nm Operating Temperature 20 to 85 C Connector F SMA standard screw type connector Bend Radius 2 5cm When marked the module has the following certifications See the Product Certification link at www ab com for Declarations of Conformity Certificates and other certification details Certification c UL us CE Description UL Listed for Class I Division 2 Group A B C D Hazardous Locations certified for U S and Canada European Union 89 336 EEC EMC Directive compliant with EN 50082 2 Industrial Immunity EN 61326 Meas Control Lab Industrial Requirements EN 61000 6 2
87. Polarity Negative 2 31 Reserved Publication 1756 UMO006G EN P May 2005 Feedback Polarity Negative This Feedback Polarity Negative bit attribute controls the polarity of the encoder feedback and when properly configured insures that when the axis is moved in the user defined positive direction that the axis Actual Position value increases This bit can be configured automatically using the MRHD and MAHD motion instructions Refer to the AC Motion Instruction Specification for more information on these hookup diagnostic instructions Servo Polarity Negative This Servo Polarity Negative bit attribute controls the polarity of the servo output to the drive When properly configured along with the Feedback Polarity Negative bit it insures that when the axis servo loop is closed that it is closed as a negative feedback system and not an unstable positive feedback system This bit can be configured automatically using the MRHD and MAHD motion instructions Refer Servo Loop Block Diagrams Motion Object Attributes 13 71 to the AC Motion Instruction Specification for more information on these hookup diagnostic instructions The following section illustrates the various servo loop configurations that are supported with the first release of this object Which of these servo loop topologies is in effect depends on the current settings of the of the Servo Loop Configuration and External Drive Type attributes Position Servo with
88. Position Servo Loop e Auxiliary Position Servo Loop e Dual Position Servo Loop e Motor Dual Command Servo Loop e Auxiliary Dual Command Servo Loop Publication 1756 UM006G EN P May 2005 6 66 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Velocity Servo Loop Torque Servo Loop The parameters on this tab can be edited in either of two ways edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Velocity Feedforward Velocity Feedforward Gain scales the current command velocity derivative of command position by the Velocity Feedforward Gain and adds it as an offset to the Velocity Command Hence the Velocity Feedforward Gain allows the following error of the servo system to be
89. Product Type e Catalog Number Major Revision e Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot Publication 1756 UMO006G EN P May 2005 Configuring a 1394x SJDxx D Digital Servo Drive 8 7 Connection Tab Use this tab to define controller to drive module behavior Module Properties sercos3 1394C SJT05 D 1 1 before Module LI Figure 8 5 Module Properties Connection Tab On this tab you can e choose to inhibit the module e configure the controller so loss of the connection to this module causes a major fault e view module faults TIP The data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module and the controller Requested packet Interval This field is disabled for all motion modules e g 1756 MO2AE 1756 MxxSE and all 1394 Ultra3000 Kinetix 6000 and 8720 modules Publication 1756 UMO006G EN P May 2005 8 8 Configuring a 1394x SJDocD Digital Servo Drive Publication 1756 UMO006G EN P May 2005 Inhibit Module checkbox Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken IMPORTANT ATTENTION Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module Inhibiting the module causes the connection to the
90. Scaling 100 Rated 3000 RPS2 0 033396 Rated Revs Per Second2 Note If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also do not reflect the true performance of the system Enable Notch Filter Select this to enable the drive s notch filter De select this to disable this filter Notch Filter With Enable Notch Filter selected this value sets the center frequency of the drive s digital notch filter If the Notch Filter value is set to zero the notch filter is disabled Currently implemented as a 2nd order digital filter with a fixed Q the Notch Filter provides approximately 40DB of output attenuation at the Naming and Configuring Your Motion Axis 6 79 Notch Filter frequency This output notch filter is particularly useful in attenuating mechanical resonance phenomena The output filter is particularly useful in high inertia applications where mechanical resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Note This value is not applicable for Ultra3000 drives Enable Low pass Output Filter Select this to enable the servo s low pass digital output filter De select this to dis able this filter Note During tuning if the controller detects a high degree of tuning inertia the controller enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Low pass Output
91. Search Logic Communications Tools Window Help Bj New Ctrl N E Open Ctrl O Close fel Save Ctrl S Kid save As 4 b A Favorites New Component Routine E Compact i Module Generate Report 3 Program Print gt Gs Task Print Options C Data Type 1My Controller ACD String Type 2 MCLM_MCCM_Programdecelerror5 ACD Ed Trendi Figure 7 1 File Menu to New Component to Tag Publication 1756 UMO006G EN P May 2005 7 2 Creating amp Configuring Your Coordinate System Tag Publication 1756 UMO006G EN P May 2005 The second way is to go the Controller organizer and right click on Controller Tags and select New Tag from the pop up menu E Controller Faul New Tag Ctrl W o 53 Power Up Hani E 3 Tasks Monitor Tags ELE MainTask Edit Tags 5 3 MainProgre Verify j E Unscheduled P Export T B ex Motion Groups m EET mymotiongrour Print gt PO P mygeneric Figure 7 2 Accessing the New Tag Menu From The Controller Tag The third way also employs the right mouse click method Right click on the Motion Group in the Controller Organizer and select New Coordinate System from the menu c rere mur Motion Groups MP mygenerica New Axis r i x mysercos2a New Coordinate Sys m mysercos3a mu mysercos4a Monitor Group Tag RD myservolax Fault Help 2 myvirtualaxi iE Ungrouped Axe Clear MotionGroup
92. Select Data Type dialog From this dialog you can select the appropriate axis data type AXIS CONSUMED AXIS SERVO AXIS SERVO DRIVE AXIS GENERIC or AXIS VIRTUAL Naming and Configuring Your Motion Axis 6 5 Make entries in the following fields Field Entry Name Type a name for the servo axis The name can have a maximum of 40 characters contain letters numbers and underscores _ Description Type a description for your motion axis This field is optional Data type AXIS CONSUMED AXIS SERVO AXIS SERVO DRIVE AXIS GENERIC AXIS VIRTUAL Scope Select the scope of the axis variable To use the axis Select Within the entire program Controller Editing Motion Axis Properties Once you have named your axis in the New Tag window you must then configure it You can make your configuring options in the Axis Properties screen These have a series of Tabs that access a specific dialog for configuring the axis Make the appropriate entries for each of the fields An asterisk appears on the Tab to indicate changes have been made but not implemented Press the Apply button at the bottom of each dialog to implement your selections TIP When you configure your axis some fields may be unavailable greyed out because of choices you made in the New Tag window Publication 1756 UMO006G EN P May 2005 6 6 Naming and Configuring Your Motion Axis Publication 1756 UMO006
93. Strobe Master Offset 13 14 Strobe Position 13 8 Watch Position 13 12 Servo Configuration Attributes 13 60 Absolute Feedback Enable 13 65 Absolute Feedback Offset 13 66 Axis Info Select 13 69 External Drive Type 13 67 Fault Configuration Bits 13 68 Drive Fault Checking 13 69 Drive Fault Normally Closed 13 69 Hard Overtravel Checking 13 68 Soft Overtravel Checking 13 68 Feedback Configuration 13 60 LDT Calibration Constant 13 63 LDT Calibration Constant Units 13 63 LDT Length 13 64 LDT Length Units 13 64 LDT Recirculations 13 63 LDT Scaling 13 63 LDT Scaling Units 13 64 LDT Type 13 63 Servo Configuration 13 66 Servo Feedback Type 13 61 A Quadrature B Encoder Inter Index 11 face 13 61 Linear Displacement Transducer 13 62 Synchronous Serial Interfac 13 61 Servo Loop Configuration 13 67 Servo Polarity Bits 13 70 Feedback Polarity Negative 13 70 Servo Polarity Negative 13 70 SSI Clock Frequency 13 65 SSI Code Type 13 64 SSI Data Length 13 64 SSI Overflow Detection 13 65 Servo Drive Attributes Attribute Error Code 13 119 Attribute Error ID 13 120 Axis Control Bit Attributes 13 108 Abort Process 13 108 Change Cmd Reference 13 109 Shutdown Request 13 108 Axis Info Select 13 135 Axis Response Bit Attributes 13 109 Abort Event Acknowledge 13 110 Abort Home Acknowledge 13 109 Abort Process Acknowledge 13 109 Change Pos Reference 13 110 Shutdown Request Acknowl edge 13 109 Commissioning Configuration At tributes 13
94. The Family filter box pull down list lets you narrow your motor search by restricting it to a particular family of motors The default is all Feedback Type The Feedback Type filter box pull down list lets you manipulate your motor search by acceptable Feedback types The default is all Calculate button The Calculate Button takes you to an input screen that is designed to calculate the Drive Resolution and Conversion Constant based upon your input for Position Unit Scaling and Position Range for Linear Positioning mode If you are in Rotary Positioning Mode then it calculates the Drive Resolution Conversion Constant and Position Unwind based upon your inputs for Position Unit Scaling and Position Unit Unwind Naming and Configuring Your Motion Axis 6 35 When the Conversion screen has Linear as the value for Position Mode clicking on the Calculate button displays the following screen Calculate Position Parameters x Position Unit Scaling E D Position Units per fi m Motor Inch Position Range E n Position Units Calculate Parameters Calculate Drive Resolution Drive Counts Motor Inch Conversion Constant Drive Counts Position Units Update Close Help Figure 6 19 Axis Properties Calculate Screen for Linear Position Unit Scaling Position Unit Scaling defines the relationship between the Position Units defined on the Units tab and the units selected to measure position Per
95. Torque Fine Pos P Vel P Output Output 16 Bit 9 interpolator gt Gain G gt Gain Pass gt scaling Z J mi gt bac b revo Position Command Velocity Servo Feedback Spend Error a Error Ww Position Accum pl Pos Accum vel Feedback ulator fan ulator Gain Position Velocity Integrator Integrator Error Error oy m Servo Config Position Servo Low Motor Pass Filter A Encoder l Polarity i didt Position Ch AB Feedback A Encoder y Coarse A A input Position 16 bit Aoa e Accum M e Encoder e 4 Encoder ulator Counter Watch Event Watch 4 Event e Handler l Watch Position ChZ Homing Marker Event Marker a Event Marker la Handler Latch l Registration Event Regist Regist Registration Event w Latch 4 Handler Input Position Command Figure 13 6 Servo Loop with Servo Attributes Position Command is the current value of the Fine Command Position into the position loop summing junction in configured axis Position Units Within the active servo loop the Position Command value is used to control the position of the axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Command REAL Position Units Position Feedback Position Feedback is the current value of the Fine Actual Position into the position loop summing junction in configured axis Position Units Publ
96. a high inertia load relative to the motor i e a high inertia mismatch But it can also occur Publication 1756 UMOO6G EN P May 2005 13 60 Motion Object Attributes Servo Configuration Attributes Feedback Configuration Publication 1756 UMO006G EN P May 2005 when working with a drive that is undersized for the motor or with a system having low feedback resolution In general the lower the Tune Inertia the better the performance of the digital servo loops will approximate that of an analog servo system Enhancements have been made to the Logix tuning algorithm to address excessive noise issues by managing quantization noise levels The product of the Tune Inertia Rated MCPS and the Velocity Servo BW Hert2 can be calculated to directly determine quantization noise levels Based on this product the tuning algorithm can take action to limit high frequency noise injection to the motor These are the actions that have been recently implemented For motors with a Tune Inertia BW product of 1000 or more the LP Filter is applied with a Filter BW of 5x the Velocity Servo Bandwidth in Hertz This will limit the amount of phase lag introduced by the LP filter to 12 degrees which is relatively small compared to the 30 to 60 degrees of phase margin that we have for a typical tuned servo system With a typical tuned LP filter BW value of 200 Hz we can expect the high frequency quantization noise in the 1 KHz range to be attenuated rough
97. a method of limiting the maximum servo output voltage of a physical axis to a specified level The servo output for the axis as a function of position servo error both with and without servo output limiting is shown below The servo output limit may be used as a software current or torque limit if you are using a servo drive in torque loop mode The percentage of the drive s maximum current that the servo controller ever commands is equal to the specified servo output limit For example if the drive is capable of 30 Amps of current for a 10 Volt input setting the servo output limit to 5V limits the maximum drive current to 15 Amps The servo output limit may also be used if the drive cannot accept the full 10 Volt range of the servo output In this case the servo output limit value effectively limits the maximum command sent to the amplifier For example if the drive can only accept command signals up to 7 5 Volts set the servo output limit value to 7 5 volts Publication 1756 UMOO06G EN P May 2005 6 84 4 Naming and Configuring Your Motion Axis Manual Adjust Click on this button to open the Limits tab of the Manual Adjust dialog for online editing of the Position Error Tolerance Position Lock Tolerance and Output Limit parameters Figure 6 42 Axis Properties Limits Tab Manual Adjust Screen for Axis Servo Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the ab
98. and Configuring Your 1756 MO02AE 1756 M02AS 1756 HYD02 Motion Module When you check this box and go online the icon representing this module in the controller organizer displays the Attention Icon If you are Check this checkbox to offline put a place holder for a module you are configuring online stop communication to a module If you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs go to the last configured Program mode state If you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted If you uninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module If you uninhibit a module while online and a fault condition occurs a connection is not made to the module Publication 1756 UMO006G EN P May 2005 Major Fault on Controller if Connection Fails checkbox Check this box to configure the controller so that fai
99. applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed The Position Lock Tolerance attribute value specifies how much position error the SERCOS module tolerates when giving a true Position Locked Status indication When used in conjunction with the Position Locked Status bit it is a useful parameter to control positioning accuracy The Position Lock Tolerance value should be set in Position Units to the desired positioning accuracy of the axis Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Lock Tolerance REAL Position Units Publication 1756 UMO06G EN P May 2005 13 158 Motion Object Attributes Torque Limit Note that the position lock tolerance value is interpreted as a quantity For example if your position units are Inches specifying a position lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 inches as shown below Position Lock Range 0 2 01 00 0 1 0 2 Position Error Figure 13 22 Position lock Range The Torque Limit attribute provides a method of limiting the maximum command current torque to the motor to a specified level in terms of the motor s continuous current torque ra
100. at any time Publication 1756 UMOO6G EN P May 2005 13 76 X Motion Object Attributes Internal Access Rule When interfacing with an external velocity servo drive Acceleration Feedforward can used to add a term to the Velocity Command that is proportional to the commanded acceleration This can be effective in cases where the external drive exhibits a steady state velocity error during acceleration and deceleration The optimal value for Acceleration Feedforward depends on the specific drive configuration Excessive Acceleration Feedforward values tend to produce axis overshoot For external torque servo drive applications the optimal value for Acceleration Feedforward is theoretically 10096 In reality however the value may need to be increased slightly to accommodate servo loops with non infinite loop gain and other application considerations For external velocity servo drive applications the optimal value for Acceleration Feedforward is highly dependent on the drive s speed scaling and servo loop configuration A value of 10096 in this case means only that 10096 of the commanded acceleration value is applied to the velocity command summing junction and may not be even close to the optimal value If necessary the Acceleration Feedforward Gain may be optimized by running a simple user program that jogs the axis in the positive direction and monitors the Position Error of the axis during the jog Usually Acceleration Feedforward
101. axis properties ATTENTION This tuning procedure may cause axis motion with the controller in program mode Unexpected motion may cause damage to the equipment personal injury or death Use this tab to view or edit the dynamics related parameters for an axis of the type AXIS_SERVO or AXIS_SERVO_DRIVE configured for Naming and Configuring Your Motion Axis 6 57 Servo operations in the General tab of this dialog box or AXIS VIRTUAL e Axis Properties mysercos1laxis Of x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Maximum Speed o o Position Units s Manual Adjust Maximum Acceleration foo Position Units s 2 Maximum Deceleration oo Position Units s 2 DK Cancel Apply Help Figure 6 30 Axis Properties Dynamics Tab for Axis Servo Drive TTTTNTUNE The parameters on this tab can be edited in either of two ways edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is onli
102. axis in RPM GSV Velocity Data Scaling DINT see IEC 1491 Factor GSV Velocity Data Scaling Exp INT see IEC 1491 GSV Accel Data Scaling INT Default rotary axis in Rad sec GSV Accel Data Scaling Factor DINT see IEC 1491 GSV Accel Data Scaling Exp INT see IEC 1491 GSV Torque Force Data Scaling INT Default 96 GSV Torque Data Scaling Factor DINT see IEC 1491 GSV Torque Data Scaling Exp INT see IEC 1491 A Changing the auto configured values of the above advanced attributes can result in unpredictable motion behavior Therefore values read only for 1 release Drive Polarity Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Data Scaling INT Default rotary axis in Revs GSV Position Data Scaling DINT see IEC 1491 Factor GSV Position Data Scaling Exp INT see IEC 1491 GSV Rotational Pos Resolution DINT Drive Units per Rev Publication 1756 UMO06G EN P May 2005 13 134 Motion Object Attributes Internal Access Rule Attribute Name Data Type Semantics of Values GSV Velocity Data Scaling INT Default rotary axis in RPM GSV Velocity Data Scaling DINT see IEC 1491 Factor GSV Drive Polarity DINT Enumeration 0 2 Custom Polarity 1 Positive Polarity 2 Negative Polarity Custom Polarity Custom Polarity is used to enable custom polarity configurations using the various polarity parameters defined by the SERCOS Interfa
103. been aborted Publication 1756 UMO006G EN P May 2005 13 110 Motion Object Attributes Abort Event Acknowledge When the Abort Home Acknowledge bit is set the servo module acknowledges that the active registration or watch position event procedure has been aborted Change Pos Reference The Change Position Reference bit attribute is set when the Servo loop has switched to a new position coordinate system The Logix processor to uses this bit when processing new position data from the servo drive to account for the offset implied by the shift in the reference point The bit is cleared when the Logix processor acknowledges completion of the reference position change by clearing its Change Cmd Reference bit Drive Fault Bit Attributes All of the fault bit attributes defined below can be handled by the Publication 1756 UMO006G EN P May 2005 ControlLogix processor as a Major Fault by configuring the associated Group Object s General Fault Type Mechanism attribute accordingly Otherwise any specific fault handling must be done as part of the user program Motion Object Attributes 13 111 Internal Access Rule Attribute Name Data Type Semantics of Values GSV Drive Fault Bits DINT Direct Access Entire DINT DriveFaults 0 Positive Soft Overtravel Fault PosSoftOvertravelFault 1 Negative Soft Overtravel Fault NegSoftOvertravelFault 2 Positive Hard Overtravel Fault PosHardOvertravelFau
104. being created e view the vendor of the module being created e enter the name of the module e enter a description for the module e select the slot number of the module on the network e select the minor revision number of your module e select Exact Match Compatible Module or Disable Keying Type Displays the type and description of the module being created read only Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant An error message is displayed if you enter an invalid character or a duplicate name If you exceed the maximum length the software ignores the extra characters Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software ignores any extra characters Slot Enter the slot number where the module resides The spin button contains values that range from 0 to 1 less than the chassis size e g if you have a 4 slot chassis the spin button spins from 0 to 3 Only available slot numbers are listed by the spin button However you can Configuring the 1756 MOSSE 1756 MOBSE or 1756 M16SE Module 4 9 edit the slot number manually If you enter a slot number that is out of this range you receive an error message when you apply your changes The slot number cannot be changed when online Revision The revi
105. box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken Note Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module Note A FLEX I O module using rack communication cannot be inhibited the Inhibit checkbox on the Connection tab is disabled in this case ATTENTION Inhibiting the module causes the connection to the module to be broken and may result in loss of data Publication 1756 UMO006G EN P May 2005 9 10 Configuring an Ultra 3000 Drive When you check this box and go online the icon representing this module in the controller organizer displays the Warning Icon If you are Check this checkbox to offline put a place holder for a module you are configuring online stop communication to a module e f you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs go to the last configured Program mode state e f you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted e f you uninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and
106. cage clamp 4 4 inch pounds 0 4Nm maximum Conductors Wire size Category 22 to 14 AWG 0 324 to 2 08 sq mm stranded 3 64 inch 1 2 mm insulation maximum 20 3 Screwdriver blade width for RTB 1 8 inch 3 2mm maximum Environmental Conditions Operating Temperature IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock 0 to 60 C 32 to 140 F Storage Temperature IEC 60068 2 1 Test Ab Un packaged Non operating Cold IEC 60068 2 2 Test Bb Un packaged Non operating Dry Heat IEC 60068 2 14 Test Na Un packaged Non operating Thermal Shock 40 to 85 C 40 to 185 F Relative Humidity IEC 60068 2 30 Test Db Un packaged Non operating Damp Heat 5 to 95 non condensing Vibration IEC60068 2 6 Test Fc Operating 2g Q 10 500Hz Shock IEC60068 2 27 Test Ea Unpackaged shock Operating 30g Non operating 50g Emissions CISPR 11 Group 1 Class A Publication 1756 UMO006G EN P May 2005 A 8 Specifications and Performance Publication 1756 UMO006G EN P May 2005 ESD Immunity IEC 61000 4 2 6kV contact discharges 8kV air discharges Radiated RF Immunity IEC 61000 4 3 10V m with 1kHz sine wave 8096AM from 80MHz to 2000MHz 10V m with 200Hz 5096 Pulse 10096AM at 900Mhz EFT B Immunity IEC 61000 4 4 2kV at bkHz on signal ports
107. clear if inactive Acceleration Limit Status The Acceleration Limit Status bit attribute is set when the magnitude of the commanded acceleration to the velocity servo loop input is greater than the configured Velocity Limit Absolute Reference Status The Absolute Reference Status bit attribute is set after an absolute homing procedure The bit remains set unless the drive resets its configuration parameters to default values or an active or passive home or redefine position is performed on the axis If the bit is clear it indicates that the reported position of the axis has not been or is no longer referenced to the absolute machine reference system established by an absolute homing procedure Velocity Lock Status The Velocity Lock Status bit attribute is set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Window of the current velocity command Velocity Standstill Status The Velocity Standstill Status bit attribute is set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Standstill Window of zero speed Velocity Threshold The Velocity Threshold Status bit attribute is set when the magnitude of the physical axis Velocity Feedback is less than the configured Velocity Threshold Publication 1756 UMOO6G EN P May 2005 13 108 Motion Object Attributes Axis Control Bit Attributes Torque Limit Status The Torque Limit Status bit attr
108. configured to provide some form of dynamic breaking this results in the axis coasting to a stop To recover from this state a reset instruction must be executed Master Delay Compensation Checkbox Use this checkbox to Enable Disable Master Delay Compensation Master Delay Compensation is used balance the delay time between reading the master axis command position and applying the associated slave command position to the slave s servo loop This feature ensures that the slave axis command position accurately tracks the actual position of the master axis i e zero tracking error Clicking on this box enables Master Delay Compensation The default setting is Disabled Publication 1756 UMOO6G EN P May 2005 6 20 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 If the axis is configured for Feedback only Master Delay Compensation should be disabled Enable Master Position Filter Checkbox Use this checkbox to Enable Disable Master Position Filter The default is disabled and must be checked to enable position filtering Master Position Filter when enabled effectively filters the specified master axis position input to the slave axis s gearing or position camming operation The filter smoothes out the actual position signal from the master axis and thus smoothes out the corresponding motion of the slave axis When this feature is enabled the Master Position Filter Bandwidth field is enabled Ma
109. current axis actual position and command position This homing sequence produces no axis motion When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Publication 1756 UMO006G EN P May 2005 6 48 Naming and Configuring Your Motion Axis Hookup Tab AXIS SERVO Publication 1756 UMO006G EN P May 2005 Mode This read only parameter is always set to Active Position Type the desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position is set to zero although any value within the software travel limits can be used After the homing sequence is complete the axis is left at this position If the Positioning Mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning Mode is Rotary then the home position should be less than the unwind distance in position units Sequence This read only parameter is always set to Immediate Use this tab to configure and initiate axis hookup and marker test sequences for an axis of the type AXIS SERVO Naming and Configuring Your Motion Axis 6 49 When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter va
110. deceleration For example the Change Dece operand of an MAS instruction is set to No This means the axis uses its maximum deceleration rate lt lt Less Units per sec2 Troubleshoot Axis Motion 15 9 Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e An S Curve profile has to get acceleration to 0 before the axis can speed up again e If you reduce the acceleration it takes longer to get acceleration to 0 e In the meantime the axis continues past 0 speed and moves in the opposite direction The following trends show how the axis stops and starts with a trapezoidal profile and an S Curve profile Start while decelerating and reduce the deceleration rate Trapezoidal S Curve 100 80 speed overshoots 0 and axis goes in opposite direction 20 acceleration The axis speeds back up as soon as you start the jog The jog instruction reduces the deceleration of the axis It now again The lower deceleration doesn t change the takes longer to bring the acceleration rate to 0 The speed response of the axis overshoots 0 and the axis moves in the opposite direction deceleration changes Publication 1756 UMO006G EN P May 2005 15 10 Troubleshoot Axis Motion Corrective action Use the same deceleration rate in the instruction that starts the axis and the instruction that stops
111. depend on the Drive Polarity attribute configuration This value combined with the Test Output Polarity is used by the MAHD Motion Apply Hookup Test instruction to properly configure the Drive Polarity attribute for correct directional sense Internal Access Rule Attribute Name Data Type Semantics of Values GSV Test Direction Forward SINT 0 reverse 1 forward Test Output Polarity The Test Output Polarity attribute reports the sign of the output torque command applied by the drive to the motor during the last test process initiated by a MRHD Motion Run Hookup Test instruction A Test Output Polarity value of 0 positive indicates that the sign of the torque command applied by the SERCOS drive during the test was positive A Test Output Polarity value of 1 negative indicates that the sign of the torque command applied by the SERCOS drive during the test was negative This condition occurs when the drive hookup test is Publication 1756 UMO06G EN P May 2005 13 122 Motion Object Attributes unsuccessful in moving the required Test Increment while applying a positive torque This situation can occur when testing a linear axis that is up against a hard stop Internal Access Rule Attribute Name Data Type Semantics of Values GSV Test Output Polarity SINT 0 positive 1 negative Tune Status The Tune Status attribute returns status of the last run MRAT Motion Run Axis Tuning instruction that in
112. device This attribute is only active if the Transducer Type is set to SSI Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSI Overflow Detection SINT Enumeration 0 Disabled 1 Enabled Absolute Feedback Enable This attribute controls whether or not the servo module utilizes the absolute position capability of the feedback device If Absolute Feedback Enable is set to True the servo module adds the Absolute Feedback Offset to the current position of the feedback device to establish the absolute machine reference position Since absolute feedback devices retain their position reference even through a power cycle the machine reference system can be restored at power up Internal Access Rule SSV GSV Absolute Feedback Enable SINT Attribute Name Data Type Semantics of Values Boolean To establish a suitable value for the Absolute Feedback Offset attribute the MAH instruction may be executed with the Home Mode configured for Absolute the only valid option when Absolute Feedback Enable is True When executed the servo module will compute the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the MAH instruction Because the actual position of the axis is re referenced during execution of the MAH
113. disabled in this case ATTENTION Inhibiting the module causes the connection to the module to be broken and may result in loss of data When you check this box and go online the icon representing this module in the controller organizer displays the Warning Icon If you are Check this checkbox to offline put a place holder for a module you are configuring online stop communication to a module e f you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs go to the last configured Program mode state If you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted If you uninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module If you uninhibit a module while online and a fault condition occurs a connection is not made to the module Configuring a Kinetix 6000 Drive 10 9 Major Fault on Controller if Connection Fails checkbox Che
114. down until the S Curve profile again brings the acceleration rate to 0 Corrective action 1f you want the axis to accelerate right away use a trapezoidal profile Publication 1756 UMO006G EN P May 2005 15 8 Troubleshoot Axis Motion Why does my axis reverse direction when stop and start it Example Look for Publication 1756 UMO006G EN P May 2005 While an axis is jogging at its target speed you stop the axis Before the axis stops completely you restart the jog The axis continues to slow down and then reverse direction Eventually the axis changes direction again and moves in the programmed direction You use a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you use a Motion Axis Jog MAJ instruction to start the axis again The axis continues to slow down and then moves in the opposite direction Eventually goes back to its programmed direction Jog_PB lt Local 4 Data O gt My Axis OK A Motion Axis Jog Axis My Axis Motion Control Jog 1 Direction 0 Speed Jog_1_Speed S Curve profile in the Pee fii 500 instruction that starts pe s s per sec i Accel Rate Jog 1 Accel the motion 200 Accel Units Units per sec2 Decel Rate Jog 1 Decel 200 Decel Units Units per sec2 Profile S Curve Merge Disabled Stop Typeis set to a specific type Merge Speed Programmed of motion such as Jog or Move Jog_PB lt Locat 4 1 Data O gt The stopping instruction changes the
115. drives can be P rti edited by highlighting the drive to be edited right click with the roperties mouse and selecting Properties S B 1 1756 M035E mym 3mod 1 2094 ACOS MO1 my2094drv fly 2 2098 DSD 005 SE my2098dr J New Module fl 3 8720MC B014 my8720drv Bex Wo Configuration f 10 1394C SJTOS D mymO3139 db Cut Ctrl x BJ 2 1756 M02AE mymO2ae Copy Ctrl C 6 E 3 1756 M035E mymO3semod EMT Cue fl 1 2094 AC32 M05 k6kdrv2 Delete Del m E Associated Axes AD mysercos2axis Cross Reference Ctrl E Figure 10 6 Accessing the Properties of the Drive The Module Properties screen displays imi Module Properties mym03mod 2094 ACO5 MO1 13 1 General Connection Associated Axes Power Module Info Type 2084 ACO5 MOT1 Kinetix 6000 230 AC IAM 3kw PS 94 Cont 174 Peak Vendor Allen Bradley Name my2094drv Node p a Description g zl Revision 5 H Electronic Keying Compatible Module Status Offline Figure 10 7 Module Properties General Tab General Tab The General Tab is where you edit the basic values for the Ultra drive Publication 1756 UMO006G EN P May 2005 Configuring a Kinetix 6000 Drive 10 5 Type Displays the type and description of the module being created read only Vendor Displays the vendor of the module being created read only Name Enter a name for the module The name must be IEC 1131 3 compliant This
116. feedback fault has occurred e Correct the source of the problem by checking the encoder and power connections e Clear the servo fault using the MAFR instruction e Resume normal operation If the LED displays Then the module status is Take this action Off e The axis is not used e Theaxis is a position only axis type e None if you are not using the axis or have configured it as a position only axis e Otherwise make sure you have configured the module associated an axis tag with the module and configured the axis as a servo axis Hashing green light The axis drive is in the normal disabled state None You can change the servo axis state by executing a motion instruction Steady green light The axis drive is in the normal enabled state None You can change the servo axis state by executing a motion instruction Hashing red light The axis drive output is in the Shutdown state e Check for faults that may have generated this state e Execute the shutdown reset motion instruction e Resume normal operation 14 3 Publication 1756 UMO006G EN P May 2005 14 4 Troubleshoot Module Lights Ifthe LED Then the module status is Take this action displays Solid red The axis drive is faulted e Check the drive status light e Clear the drive fault condition at the drive e Execute a fault reset motion instruction
117. for the axis are automatically set to 85 of the measured Tune Acceleration and Tune Deceleration by the MAAT Motion Apply Axis Tune instruction If set manually these values should typically be set to 85 of the maximum acceleration and maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration and deceleration limits of the drive and motor Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Maximum Acceleration REAL Position Units Sec SSV GSV Maximum Deceleration REAL Position Units Sec Programmed Stop Mode The Programmed Stop Mode attribute value determines how a specific Publication 1756 UMO006G EN P May 2005 axis will stop when the ControlLogix processor undergoes a critical processor mode change or when an explicit MGS Motion Group Stop instruction executed with it s stop mode set to programmed There are currently four modes defined for the ControlLogix processor Program Mode Run Mode Test Mode and Faulted Mode Any mode change into or out of program mode prog gt run prog gt test run gt prog amp test gt prog will initiate a programmed stop for every axis owned by that processor Each individual axis can have Motion Object Attributes 13 41 its own Programmed Stop Mode configuration independent of other axes Three methods of stopping a given axis are currently supported
118. in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed The Position Lock Tolerance attribute value specifies how much position error the servo module tolerates when giving a true Position Locked Status indication When used in conjunction with the Position Locked Status bit it is a useful parameter to control positioning accuracy The Position Lock Tolerance value should be set in Position Units to the desired positioning accuracy of the axis Motion Object Attributes 13 87 Note that the position lock tolerance value is interpreted as a quantity For example if your position units are Inches specifying a position lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 inches as shown below Position Lock Range 0 2 0 1 0 0 01 02 Position Error Figure 13 12 Position Lock Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Lock Tolerance REAL Position Units Output Limit The Output Limit attribute provides a method of limiting the maximum servo output voltage of a physical axis to a specified level The servo output for the axis as a function of position servo error both with and without servo output limiting is shown below Without Servo
119. in configured axis Position Units between the command and actual positions of a drive axis For an axis with an active servo loop position error is used along with other error terms to drive the motor to the condition where the actual position is equal to the command position Internal Access Rule GSV Position Integrator Error Attribute Name Data Type Semantics of Values Position Integrator Error is the running sum of the Position Error in the configured axis Position Units for the specified axis For an axis with an active servo loop the position integrator error is used along with other error terms to drive the motor to the condition where the actual position is equal to the command position Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Integrator Frror REAL Position Units mSec Velocity Error velocity Error is the difference in configured axis Position Units per Second between the commanded and actual velocity of a drive axis For an axis with an active velocity servo loop velocity error is used along with other error terms to drive the motor to the condition where the velocity feedback is equal to the velocity command Internal Access Rule Attribute Name Data Type Semantics of Values GSV Velocity Integrator Error Publication 1756 UMO006G EN P May 2005 Velocity Error REAL Position Units Sec Velocity Integrator Error is the run
120. in the last most recently executed MAW Motion Arm Watch instruction for that axis Refer to the AC Motion Instruction Specification for a detailed description of the MAW instruction Internal Access Rule Data Type Semantics of Values GSV Command Acceleration REAL Position Units Sec Registration Position Two registration position attributes are provided to independently store axis position associated with two different registration input events The Registration Position value is the absolute position of a physical or virtual axis in the position units of that axis at the occurrence of the most recent registration event for that axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Registration 1 Position REAL Position Units GSV Registration 2 Position REAL Position Units Publication 1756 UMO006G EN P May 2005 The figure below shows how the registration position is latched by the registration input when a registration event occurs The latching mechanism can be implemented in the controller software soft registration or for greater accuracy in physical hardware hard registration Registration Position Figure 13 2 Registration Position Registration Time Motion Object Attributes 13 13 The Registration Latch mechanism is controlled two Event Control instructions MAR Motion Arm Registration and MDR Motion Disarm Registration Refer to the AC Motion Instruc
121. indicating whether the module has been configured by an owner controller connected to it Once a module has been configured it stays configured until the module is reset or power is cycled even if the owner drops connection to the module Owned This field displays a yes or no value indicating whether an owner controller is currently connected to the module Adding and Configuring Your 1756 MO02AE 1756 MO02AS 1756 HYD02 Motion Module 3 17 Module Identity Displays If the module in the physical slot Match agrees with what is specified on the General Tab In order for the Match condition to exist all of the following must agree e Vendor e Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch does not agree with what is specified on the General Tab Backplane Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Refresh Click on this button to refresh the tab with new data from the module Reset Module Click on this button to return a module to its power up state by emulating the cycling of power Resetting a module causes all connections to or through the module to be closed and this may result in loss of control IMPORTANT The following modules return an error if a reset is attempted 1756 L1 ControlLogix5550 Programmable Controller 1336T AC Vector D
122. is increased Whether to use the Coordinate System Auto Tag Update feature depends upon the trade offs between ease in programming Creating amp Configuring Your Coordinate System Tag 7 11 and increase in execution time Some users may want to enable this feature in the initial programming of their system to work out the kinks and then disable it and enter the GSV statements to their program to lower their execution time Note Enabling this feature may result in some performance penalty Press Apply to implement your entries or cancel to not save the new entries To edit the Units properties select the Units tab to access the Coordinate System Properties Units dialog w Coordinate System Properties mycoordsyst Mi X General Units Dynamics Tag Coordination Units Coordination Units Conversion Ratio Unis 10 EE Position Units Coordination Units mysercosimxs 10 mysercos mis 10 Units Tab Position Units Coordination Units Units Coordination Units Position Units Coordination Units coc La e Figure 7 8 Coordinate System Properties Units Tab The Units Tab of the Coordinate System Properties is where you determine the units that define the coordinate system This screen is where you define the Coordination Units and the Conversion Ratios Coordination Units The Coordination Units field lets you define the units to be used for measuring and calculating motion relate
123. is locked to the master axis in a gearing relationship according to the specified gear ratio The clutch function of the gearing planner is used to ramp an axis up or down to speed in a gearing process MAG with Clutch selected During the intervals where the axis is clutching the Gearing Lock Status bit is clear Position Cam Lock Status The Position Cam Lock Status bit attribute is set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the MAPC instruction As soon as the current position cam profile completes or is superseded by some other motion operation the Position Cam Lock bit is cleared In uni directional master direction mode the Position Cam Lock Status bit clears when moving in the wrong direction and sets when moving in the correct direction Axis Status Bit Attributes Motion Object Attributes 13 19 Master Offset Move Status The Master Offset Move Status bit attribute is set 1f a Master Offset Move motion profile is currently in progress As soon as the Master Offset Move is complete or superseded by some other motion operation the Master Offset Move Status bit is cleared Coordinated Motion Status The Coordinated Motion Status bit attribute is set if any coordinated motion profile Is currently active upon this axis As soon as the Coordinated Motion is comple
124. is successfully executed a Result message is displayed in the results window below the dialog Since the use of this button is an abrupt means of stopping motion an additional message is displayed in the error text field The message MOTION GROUP SHUTDOWN executed is displayed with the intention of giving greater awareness of the execution of this command If the command fails then an error is indicated as per normal operation See Error Conditions later in this chapter There is space above the Motion Group Shutdown button and below the line where status text is displayed when a command is executed Execute Button Clicking the Execute button verifies the operands and initiates the current Motion Direct Command Verification and error messages display as the Close Button To end a Motion Direct Command session click on the Close button The data is not saved and the command is not executed It acts the same as a Cancel button Help Button Click on the Help button to access the on line Help Chapter 13 Introduction Motion Object Interface Attributes Object Support Attributes Axis Structure Address Motion Object Attributes The Motion Object Attributes are included in this manual to provide you with a greater understanding of how the system works Your familiarity with these attributes allows you to take greater advantage of the flexibility inherent in the RSLogix software The Axis Object Interface Attributes c
125. is associated Displays none if the axis is not associated with any drive Module Type This read only field displays the type of SERCOS drive if any with which the axis is associated An axis of the AXIS SERVO DRIVE data type can be associated only with 1756 MxxSE motion modules Displays none if the axis is not associated with any drive Node Displays the base node of the associated SERCOS drive Disabled when the axis is not associated with any drive Publication 1756 UMOO06G EN P May 2005 6 12 Naming and Configuring Your Motion Axis Node with a Kinetix 6000 Drive IMPORTANT Do you want to use the auxiliary feedback port of a Kinetix 6000 drive as a feedback only axis If YES then make sure the drive has firmware revision 1 80 or later e Axis Properties My Feedback Axis Tag Aux Feedback Hookup Drive Motor Fault Actions Motor Feedback Conversion Homing General Motion Planner Units Feedback Only My Motion Group z E Axis Configuration Motion Group Associated Module Module My Kineti B DO Drive 1 ka Module Type 2094 AC09 M02 Node 129 Auxiliary m E Controller My Controller Tasks E Motion Groups EI Trends 3 Data Types amp I O Configuration H 6 1756 Backplane 1756 410 fa 3 1756 L62 My Controller El EF D H Ela SERCOS Network E E 4
126. is at best under damped and at worst unstable in the condition where the gear teeth are not engaged In the worst case scenario the motor axis and the input gear oscillates wildly between the limits imposed by the output gear teeth The net effect is a loud buzzing sound when the axis is at rest If this situation persists the gearbox wears out prematurely To prevent this condition the conventional approach is to de tune the servo so that the axis is stable without the gearbox load applied Unfortunately system performance suffers Due to its non linear discontinuous nature adaptive tuning algorithms generally fall short of addressing the backlash problem However a very effective backlash compensation algorithm can be demonstrated using the Torque Scaling gain The key to this algorithm is the tapered Torque Scaling profile shown below as a function of the position error of the servo loop The reason for the tapered profile as opposed to a step profile is that when the position error exceeds the backlash distance a step profile would create a very large discontinuity in the torque output This repulsing torque tends to slam the axis back against the opposite gear tooth and perpetuate the buzzing effect The profile below is only run when the acceleration command to the servo loop is zero i e when we are not commanding any acceleration or deceleration that would engage the teeth of the gearbox Properly configured with a suitable valu
127. module 4 1 Motion Module Overview 4 6 Properties General Tab 4 8 set up 2 5 1756 MO08SE Properties Publication 1756 UMO006G EN P May 2005 Backplane Tab 4 19 ControlBus Parameters 4 20 ControlBus Status 4 20 Multicast CRC Error Threshold 4 20 Receive Error Counters 4 21 Refresh 4 21 Set Limit Button 4 21 Transmit Error Counters 4 21 Transmit Retry Limit 4 20 Connection Tab 4 10 Inhibit Module checkbox 4 11 Major Fault On Controller 4 12 Module Fault 4 12 Requested Packet Interval 4 11 General Tab Description 4 8 Electronic Keying 4 9 Compatible Module 4 9 Disable Keying 4 9 Exact Match 4 9 Name 4 8 Revision 4 9 Slot 4 8 Status 4 9 Type 4 8 Vendor 4 8 Module Info Tab 4 16 Configured 4 18 Identification 4 17 Internal State Status 4 18 Major Minor Fault Status 4 18 Module Identity 4 19 Owned 4 18 Refresh 4 19 Reset Module 4 19 SERCOS Interface Info Tab 4 15 Fault Type 4 15 Refresh 4 16 Ring Comm Phase 4 15 SERCOS Interface Tab 4 13 Cycle Time 4 14 Data Rate 4 14 Transmit Power 4 14 1756 M08SE SERCOS interface module 1 2 1756 M16SE 4 1 add to controller 2 3 Adding the module 4 1 Configuring 4 1 configuring the module 4 1 Properties General Tab 4 8 set up 2 5 1756 M16SE Properties Backplane Tab 4 19 ControlBus Parameters 4 20 ControlBus Status 4 20 Multicast CRC Error Threshold 4 20 Receive Error Counters 4 21 Refresh 4 21 Set Limit Button 4 21 Transmit Error Counters 4 21 Transmit Retry Limit 4 20 C
128. motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Command and Velocity Offset These values are updated at the coarse update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Velocity Servo The Velocity Servo configuration provides velocity servo control using the motor mounted feedback device Synchronous input data to the Publication 1756 UMO006G EN P May 2005 Torque Servo Drive Gains Position Proportional Gain Motion Object Attributes 13 147 servo loop includes Velocity Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Velocity Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag acc
129. move to the Home Position In this case the PC bit leg of the associated MAH instruction is not set when the IP bit leg is cleared In the case where this homing sequence is performed on a rotary axis and the Home Offset value is less than the deceleration distance when the home event is detected the control automatically adds one or more revolutions to the move distance This guarantees the resulting move to the Home Position is unidirectional Active Uni directional Home with Switch then Marker This active homing sequence is useful for multi turn rotary applications when uni directional motion is required When this sequence is performed in the Active Homing Mode the axis moves in the specified Home Direction at the specified Home Speed until the home switch is detected The axis continues in the same direction at the Home Speed until the first marker event is detected The Home Position is assigned to the axis position at the precise position where the marker was detected and the axis then decelerates to a stop If Home Offset is non zero then the Home Position is offset from the point where the marker was detected by this value The controller then continues to move the axis to the Home Position at the specified Home Speed using a trapezoidal move profile By setting a Home Offset greater than the deceleration distance unidirectional motion to the Home Position is insured However if the Home Offset value is less than the deceleratio
130. name displayed in the Product Name field is read from the module This name displays the series of the module If the module is a 1756 L1 module this field displays the catalog number of the memory expansion board this selection applies to any controller catalog number even if additional memory cards are added Major Minor Fault Status If you are configuring a This field displays one of the following digital module EEPROM fault Backplane fault None analog module Comm Lost with owner Channel fault None Any other module None Unrecoverable Recoverable Internal State Status Displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configuration bad e Major Fault please refer to Major Minor Fault Status above e Run mode e Program mode e 16 xxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured Displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once a module Publication 1756 UMOO6G EN P May 2005 10 14 Configuring a Kinetix 6000 Drive Publication 1756 UMO006G EN P May 2005 has been configured it stays configured until the module is reset or power is cycled even if
131. of 0 to 1000 Offset Tab AXIS SERVO Use this tab to make offline adjustments to the following Servo Output values e Friction Compensation e Velocity Offset e Torque Offset e Output Offset Publication 1756 UMOO06G EN P May 2005 6 92 Naming and Configuring Your Motion Axis for an axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog e Axis Properties myservolaxis General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Friction Deadband Compensation PA Manual Adjust Friction Compensation im m Window oo Position Units m Backlash Compensation Reversal Offset oo Position Units Stabilization Window joo Position Units Velocity Offset oo Position Units s Torque Offset joo Dutput Offset 0 0 Volts D Cancel Apply Help Figure 6 46 Axis Properties Offset Tab for Axis_Servo The parameters on this tab can be edited in either of two ways edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read onl
132. of command position by the Velocity Feedforward Gain and adding it as an offset to the Velocity Command generated by the position loop control elements With this done the position loop control elements do not need to generate much of a contribution to the Velocity Command hence the Position Error value is significantly reduced The Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other Acceleration Feedforward Gain Motion Object Attributes 13 151 application considerations One thing that may force a smaller Velocity Feedforward value is that increasing amounts of feedforward tends to exacerbate axis overshoot If necessary the Velocity Feedforward Gain may be tweaked from the 10096 value by running a simple user program that jogs the axis in the positive direction and monitor the Position Error of the axis during the jog Increase the Velocity Feedforward Gain until the Position Error at constant speed is as small as possible but still positive If the Posi
133. of letters numbers or underscores C Description Enter a description of the tag This is an optional field and is used for annotating the tag Tag Type For a Coordinate System you may choose either Base or Alias for the Tag Type Click on the appropriate radio button for the type of tag you are creating e Base refers to a normal tag selected by default Coordinate System Wizard Screens Creating amp Configuring Your Coordinate System Tag 7 5 Alias refers to a tag which references another tag with the same definition Special parameters appear on the New Tag dialog that allow you to identify to which base tag the alias refers Alias For If you selected Alias as the Tag Type the Alias For field displays Enter the name of the associated Base Tag Data Type In the Data Type field select COORDINATE SYSTEM if you entered from either method that did not fill this field automatically Scope Enter the Scope for the tag A Coordinated System Tag can only be Controller Scope Style The Style parameter is not activated No entry for this field is possible After the information for the tag is entered you have two options You can either press the OK button to create the tag or you can press the Configure Button located next to the Data Type field to use the Wizard screens to enter the values for the Coordinate System Tag Pressing the OK button creates the tag and automatically places it in the Ungro
134. of the axis which is a measure of the Motion Object Attributes 13 77 corrective force that is applied to an axis for a given position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability A well tuned system moves and stops quickly or smartly and exhibits little or no ringing during constant velocity or when the axis stops If the response time is poor or the motion sloppy or slow the proportional gain may need to be increased If excessive ringing or overshoot is observed when the motor stops the proportional gain may need to be decreased While the Pos P Gain is typically established by the automatic servo tuning procedure the Pos P gain may also be set manually Before doing this it must be stressed that the Output Scaling factor for the axis must be established for the drive system Refer to Output Scaling attribute description for an explanation of how the Output Scaling factor can be calculated Once this is done the Pos P Gain can be computed based on either the desired loop gain or the desired bandwidth of the position servo system Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Proportional Gain REAL 1 Sec Loop Gain Method If you know the desired loop gain in Inches per Minute per mil or millimeters per minute per mil use the foll
135. of the total position update delay time Clearly from both a noise and acceleration error perspective minimizing the coarse update period is vital Master Position Filter Bandwidth Motion Object Attributes 13 27 In some applications there is no requirement for zero tracking error between the master and the slave axis In these cases it may be beneficial to disable the Master Delay Compensation feature to eliminate the disturbances the extrapolation algorithm introduces to the slave axis When the Master Delay Compensation feature is disabled bit cleared the slave axis will appear to be more responsive to movements of the master and run generally smoother than when Master Delay Compensation feature is enabled bit set However when the master axis is running at a constant velocity the slave will lag the master by a tracking error that is proportional to the speed of the master Note that Master Delay Compensation even if explicitly enabled is not applied in cases where a slave axis is gearing or camming to the master axis command position Since the Logix controller generates the command position directly there is no intrinsic master position delay to compensate for Master Position Filter The Master Position Filter bit controls the activity of an independent single poll low pass filter that effectively filters the specified master axis position input to the slave s gearing or position camming operation When enabled bi
136. period at which the position and or velocity feedback is sampled and a new servo loop is closed to generate a new servo output The time of this period is a user defined setting from 250us to 2000us All other inputs Type Input voltage Maximum on Minimum on Maximum off Input impedance Optically isolated current sinking input 24V dc nominal 26 4V dc 17 0V dc 8 5V dc 7 5 kQ Publication 1756 UM006G EN P May 2005 A 4 Specifications and Performance Publication 1756 UMO006G EN P May 2005 Servo output Type Voltage range Voltage resolution Load Maximum offset Gain error Analog voltage x 10V dc 16 bits 5 6 kOhms resistive minimum 25 mV 4 All other outputs Type Operating voltage Maximum Operating current Solid state isolated relay contacts 24V dc nominal 26 4V dc 75 mA Isolation Voltage User to System 30V continuous RTB keying User defined Field wiring arm 36 position RTB 1756 TBCH or TBS6H RTB screw torque cage clamp 4 4 inch pounds 0 4Nm maximum Conductors Wire size Category 22 to 14 AWG 0 324 to 2 08 sq mm stranded 3 64 inch 1 2 mm insulation maximum 20 3 Screwdriver blade width for RTB 1 8 inch 3 2mm maximum Environmental Conditions Operating Temperature IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Therm
137. physically connected together to form a double wide ControlLogix module It is comprised of the 1756 L63 controller and a 1756 MO3SE motion module This product is targeted to users that have a 3 axis or less SERCOS interface application The 1756 M02AE servo module connects to a servo drive and closes a high speed position and velocity loop Each Logix controller can support up to 16 1756 MO2AE servo modules Each 1756 MO2AE module can control up to two axes The 1756 HYD02 is modeled along the lines of the 1756 MO2AE with emphasis on hydraulic applications It supports two axes and the AXIS SERVO data type The 1756 M02AS is a two channel Synchronous Serial Interface SSD module that implements a complete two axis digital position servo system using absolute transducers with SSI feedback The 1756 M03SE SERCOS interface module serves as the interface between one ControlLogix processor and 1 to 3 axes operating in either position or velocity mode The module has a programmable ring Cycle Period of 0 5 ms 1 ms or 2 ms depending on the number of axes and a ring Data Rate of 4 or 8 Mbaud Publication 1756 UMO006G EN P May 2005 1 2 The ControlLogix Motion Control System e The 1756 MO8SE SERCOS interface module serves as the interface between one ControlLogix processor and 1 to 8 axes operating in either position or velocity mode The module has a programmable ring Cycle Period of 0 5 ms 1 ms or 2 ms depending on the number of axes
138. re test and re tune the servo loop parameters The Commissioning Configuration Attributes shown in the table below are used to control the axis test and tuning processes that are initiated by the MRHD and MRAT instructions Therefore these values should be established before the MRHD or MRAT instructions are executed The Motor Feedback Test Increment attribute is used in conjunction with the MRHD Motion Run Hookup Diagnostic instruction to determine the amount of motion that is necessary to satisfy the MRHD initiated test process This value is typically set to approximately a quarter of a revolution of the motor Internal Access Rule SSV GSV Publication 1756 UMO006G EN P May 2005 Attribute Name Data Type Semantics of Values Motion Object Attributes 13 93 Tuning Travel Limit The Tuning Travel Limit attribute is used in conjunction with the MRAT Motion Run Axis Tuning instruction to limit the excursion of the axis during the test If while performing the tuning motion profile the servo module determines that the axis is not able to complete the tuning process before exceeding the Tuning Travel Limit the servo module terminates the tuning profile and report that the Tuning Travel Limit was exceeded via the Tune Status attribute This does not mean that the Tuning Travel Limit was actually exceeded but that had the tuning process gone to completion that the limit would have been exceeded Internal Access Rule A
139. set when a registration checking has been armed for registration input 2 through execution of the MAR Motion Arm Registration instruction This bit is cleared when either a registration event occurs or a MDR Motion Disarm Registration instruction is executed for registration input 2 Registration 2 Event Status The Registration 2 Event Status bit attribute is set when a registration event has occurred on registration input 2 This bit is cleared when either another MAR Motion Arm Registration instruction or a MDR Motion Disarm Registration instruction is executed for registration input 2 Home Event Armed Status The Home Event Armed Status bit attribute is set when a home event has been armed through execution of the MAH Motion Axis Home instruction This bit is cleared when a home event occurs Home Event Status The Home Event Status bit attribute is set when a home event has occurred This bit is cleared when another MAH Motion Axis Home instruction is executed Output Cam Status The Output Cam Status bit is set when an Output Cam has been initiated The Output Cam Status bit is reset when the cam position moves beyond the cam start or cam end position in Once execution mode with no Output Cam pending or when the Output Cam is terminated by a MDOC instruction Internal Access Rule Attribute Name Data Type Semantics of Values GSV Output Cam Status DINT Set of Output Cam Status bits Output Cam P
140. source of the drive parameter update failure that resulted in the Axis Configuration Fault The error codes for this attribute are derived from the IEC 1394 SERCOS Interface standard The list of Commissioning Status Attributes associated with the Axis Object provides access to attributes associated with the state of various motion instruction generated commissioning processes Motion instructions involved in commissioning an axis are MRAT Motion Run Axis Tune and MRHD Motion Run Hookup Diagnostic which are described in detail in the AC Motion Instruction Specification Commissioning Status Attributes are primarily used by external software e g RSLogix5000 to implement the Test and Tuning dialogs associated with the axis configuration tool However these same attributes may also be used as part of the user program to implement a built in axis test and tuning procedure A list of all Commissioning Status Attributes is shown in the table below In order for position unit based attributes to return a meaningful value the Conversion Constant Axis Configuration Attribute must be established Furthermore attributes having time units Position Units Sec must also have a valid coarse update period which is established through association with a fully configured Motion Group Object Test Status Motion Object Attributes 13 121 The Test Status attribute returns status of the last run MRHD Motion Run Hookup Diagnostic inst
141. step response that have no overshoot but have a significantly lower servo bandwidth The default value for the Damping Factor of 0 8 should work fine for most applications Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Damping Factor REAL Drive Model Time Constant The value for the Drive Model Time Constant represents lumped model time constant for the drive s current loop used by the MRAT instruction to calculate the Maximum Velocity and Position Servo Bandwidth values The Drive Model Time Constant is the sum of the drive s current loop time constant the feedback sample period and the time constant associated with the velocity feedback filter This value is set to a default value when the axis is configured based on the specific drive amplifier and motor feedback selection Since the bandwidth of the velocity feedback filter is determined by the resolution of the feedback device the value for the Drive Model Time Constant is smaller when high resolution feedback devices are selected Internal Access Rule SSV GSV Publication 1756 UMO006G EN P May 2005 Attribute Name Data Type Semantics of Values Drive Model Time Constant REAL Sec Motion Object Attributes 13 171 Velocity Servo Bandwidth The value for the Velocity Servo Bandwidth represents the unity gain bandwidth that is to be used to calculate the gains for a subsequent MAAT Motion Apply Axis Tune instru
142. that workstation but not edit them Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups Naming and Configuring Your Motion Axis 6 15 branch of the Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis button Opens the Motion Group Properties dialog box for the Motion Group where you can edit the properties of the Motion Group If no Motion Group is assigned to this axis this button is disabled New Group button Opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created The AXIS GENERIC General Tab is shown below Axis Properties mygenericaxis General Motion Planner Units Conversion Homing Dynamics Tag Axis Configuration Servo Motion Group mymotiongroup Y a Hew Group Associated Module Module lt none gt hd Module Type lt none gt Channel 0 v Cancel Apply Help Figure 6 10 Axis Properties General Tab for AXIS_GENERIC General Tab AXIS GENERIC Use this tab to do the following for an axis of the data type AXIS GENERIC Publication 1756 UMO006G EN P May 2005 6 16 Naming and Configuring Your Motion Ax
143. the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Set Custom Stop Action Opens the Custom Stop Action Attributes dialog Custom Stop Action Attributes x Name tue junts Type SteingToqe oferata REAL StoppingTimelin moos REAL BrakeEngageDelayTime oos REAL BrakeReleeseDelayTine oos ea ResistveBrakeContactDelay 00s Rea Close Cancel Help Figure 6 52 Set Custom Stop Action Dialog From Fault Actions Tab for the AXIS_SERVO_DRIVE Publication 1756 UM006G EN P May 2005 6 106 Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis Use this dialog to monitor and edit the Stop Action related attributes When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Attributes The following attribute or parameter values can be monitored and edited in this dialog box
144. the associated drive feedback interface typically support 4x interpolation so the Interpolation Factor for these devices would be set to 4 Feedback Counts per Cycle Cycles are sometimes called Lines High Resolution Sin Cosine feedback device types can have interpolation factors as high as 2048 Counts per Cycle The product to the Feedback Resolution and the corresponding Feedback Interpolation Factor is the overall resolution of the feedback channel in Feedback Counts per Feedback Unit In our example a Quadrature encoder with a 2000 line rev resolution and 4x interpolation factor would have an overall resolution of 8000 counts rev Internal Access Rule Attribute Name Data Type Semantics of Values GSV Publication 1756 UMO006G EN P May 2005 Motor Feedback Interpolation Factor Aux Feedback Interpolation Factor DINT Feedback Counts per Cycle Motion Object Attributes 13 141 Servo Loop Block Diagrams The following section illustrates the various servo loop configurations that are supported with the first release of this object Which of these servo loop topologies is in effect depends on the current settings of the of the Servo Loop Configuration and External Drive Type attributes Motor Position Servo The Motor Position Servo configuration provides full position servo control using only the motor mounted feedback device to provide position and velocity feedback This servo configuration is a good choi
145. the associated feedback device counts These attributes are derived from the corresponding Motor and Auxiliary Feedback Unit attributes Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motor Feedback INT Configuration Aux Feedback Configuration Bit map 0 Feedback type 0 rotary 1 linear 1 reserved 2 Linear feedback unit 0 metric 1 english 3 Feedback Polarity Aux Only 0 not inverted 1 inverted 4 15 Reserved Feedback Type The Feedback Type bit attribute is used to determine how the drive scales the feedback counts into drive counts When the bit is clear default the feedback type is rotary so the associated Feedback Resolution attribute is expressed as Feedback Cycles per Feedback Rev When the bit is set the feedback type is linear and the associated Feedback Resolution attribute is interpreted as Feedback Cycles per inch or mm Linear Feedback Unit The Linear Feedback unit bit attribute is used to determine whether the Logix processor scales the feedback counts based on Metric or English Feedback Units When the bit is clear default the drive is to use Metric feedback scaling so the associated Feedback Resolution attribute is expressed as Feedback Cycles per mm When the bit is set the drive is to use English feedback scaling so the associated Feedback Cycles attribute is interpreted as Feedback Cycles per inch If the Feedback Type is s
146. the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Position Units User defined engineering units rather than feedback counts used for labeling all motion related values e g position velocity etc These position units can be different for each axis Publication 1756 UMO006G EN P May 2005 6 22 Naming and Configuring Your Motion Axis Servo Tab AXIS SERVO Note Position Units should be chosen for maximum ease of use in your application For example linear axes might use position units of Inches Meters or mm whereas rotary axes might use units of Revs or Degrees Average Velocity Timebase Specifies the time in seconds to be used for calculating the average velocity of the axis This value is computed by taking the total distance the axis travels in the amount of time specified and dividing this value by the timebase The average velocity timebase value should be large enough to filter out the small changes in velocity that would result in a noisy velocity value but small enough to track significant changes in axis velocity A value of 0 25 to 0 50 seconds should work well for most applications Click on the Apply button to accept your changes Click on the Servo Tab from the Axis Properties for AXIS SERVO to access the
147. the immediate left of the OK LED is the SERCOS Ring LED This is marked with a ring icon and displays the status of the SERCOS network A third LED is situated on the far left and displays the status of the SERCOS Communication Phases The CP LED is for informational purposes only The following diagram shows the positioning of the LEDs SERCOS Communication Phase Figure 14 4 LED Location and Description SERCOS interface SERCOS Ring Status Status CP o Module Health amp Communication 1756 M03SE MO08SE amp M16SE SERCOS Communication Phase Status Using the CP Indicator 1756 MO3SE MO08SE amp M16SE Module Status Using the OK Indicator Troubleshoot Module Lights 14 11 During power up the module completes a self test that includes an indicator test All LEDs go red for one second green for one second and off for one second If the CP LED displays Then the module status is Solid Orange light e n Phase 1 Autobaud detection in progress OFF e n Phase 0 looking for a closed ring Flashing Red light e n Phase 1 looking for active nodes Alternating Red Green light In Phase 2 configuring nodes for communication Flashing Green light In Phase 3 configuring device specific parameters Solid Green light In Phase 4 configured and active If the OK Then the modul
148. the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog The major revision is used to indicate the revision of the interface to the module The minor revision is used to indicate the firmware revision Publication 1756 UMOO6G EN P May 2005 8 6 Configuring a 1394x SJDocD Digital Servo Drive Electronic Keying Select one of these keying options for your module during initial module configuration e Exact Match all of the parameters described below must match or the inserted module rejects the connection e Vendor e Product Type e Catalog Number e Major Revision e Minor Revision e Compatible Module the Module Types Catalog Number and Major Revision must match the Minor Revision of the physical module must be equal to or greater than the one specified in the software or the inserted module rejects the connection e Disable Keying Controller does not employ keying at all ATTENTION Changing the Electronic Keying selection may cause the connection to the module to be broken and may result in a loss of data Be extremely cautious when using this option if used incorrectly this option can lead to personal injury or death property damage or economic loss When you insert a module into a slot in a ControlLogix chassis RSLogix 5000 compares the following information for the inserted module to that of the configured slot Vendor e
149. the owner drops connection to the module This information applies to I O modules only and does not apply to adapters scanners bridges or other communications modules Owned Displays a yes or no value indicating whether an owner controller is currently connected to the module This information applies to I O modules only and does not apply to adapters scanners bridges or other communications modules Module Identity Displays If the physical module Match agrees with what is specified on the General Tab order for the Match condition to exist all of the following must agree e Vendor e Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch does not agree with what is specified on the General Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Note The Generic modules such as the 1756 MODULE always show a Mismatch because the configured Generic Key does not match any target device Reset Module Click on this button to return a module to its power up state by emulating the cycling of power Resetting a module causes all connections to or through the module to be closed and this may result in loss of control Note The following modules return an error if a reset is attempted e 1756 L1 ControlLogix5550 Programmable Controller e 1336T AC Vector Drive e 1395 D
150. the unity gain bandwidth that is to be used to calculate the gains for a subsequent MAAT Motion Apply Axis Tune instruction The unity gain bandwidth is the frequency beyond which the position servo is unable to provide any significant position disturbance correction In general within the constraints of a stable servo system the higher the Position Servo Bandwidth is the better the dynamic performance of the system A maximum value for the Position Servo Bandwidth is generated by the MRAT Motion Run Axis Tune instruction Computing gains based on this maximum value via the MAAT instruction results in dynamic response in keeping with the current value of the Damping Factor described above Alternatively the responsiveness of the system can Publication 1756 UMO006G EN P May 2005 13 96 Motion Object Attributes be softened by reducing the value of the Position Servo Bandwidth before executing the MAAT instruction Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Servo Bandwidth REAL Hertz Tuning Configuration Bits Internal Access Rule There are limitations to the maximum bandwidth that can be achieved for the position loop based on the dynamics of the inner velocity and current loops of the servo system and the desired damping of the system Z Exceeding these limits could result in an unstable system These bandwidth limitations may be expressed as follows Max P
151. then the Axis Type associated with the unused axis should be set to 0 Axis Type is not only used to qualify many operations associated with the axis servo loop it also controls the behavior of the servo module s Axis Status LEDs An Axis Type of 1 Feedback Only results in the DRIVE LED being blanked while a value of 0 Unused blanks both the FDBK and DRIVE LEDs Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Axis Type INT Enumeration 1 feedback only 2 servo Motion Planner Configuration Attributes Output Cam Execution Targets External software RSLogix5000 also uses the current configured value for Axis Type to control the look of many of the tab dialogs associated with the axis configuration tool The following configuration attributes apply to and control various aspects of the motion planner functionality The Output Cam Execution Targets attribute is used to specify the number of Output Cam nodes attached to the axis This attribute can only be set as part of an axis create service and dictates how many Output Cam Nodes are created and associated to that axis Each Output Cam Execution Target requires approximately 5 4k bytes of data table memory to store persistent data With four Output Cam Execution Targets per axis an additional 21 6k bytes of memory is required for each axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Output
152. this box and go online the icon representing this module in the controller organizer displays the Warning Icon Publication 1756 UMO006G EN P May 2005 11 10 Configuring an 8720MC Drive If you are Check this checkbox to offline put a place holder for a module you are configuring online stop communication to a module e f you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs go to the last configured Program mode state e f you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted e f you uninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module e f you uninhibit a module while online and a fault condition occurs a connection is not made to the module Major Fault on Controller if Connection Fails checkbox Check this box to configure the controller so that failure of the connection to this module caus
153. to a read only state while online Click on the Ellipses C button to the right of this field to open the Axis properties dialog box for the associated axis New Axis button Click this button to navigate to the New Tag dialog to create an AXIS SERVO DRIVE tag to associate with one of the channels Configuring a 1394x SJDocD Digital Servo Drive 8 11 Power Tab Use this tab to select a bus regulator for your 1394x SJTxx D drive module 1394 SR104 ha Figure 8 7 Module Properties Power Tab Bus Regulator ID Select the catalog number that describes bus regulator device used by the 1394x SJTxx D drive module Depending upon the Drive Module you have selected one or more of the following are available Bus Regulator ID Description 1394 SR10A 1400 Watt Resistor for 5 and 10 KW modules 1394 SR9A 300 Watt External Shunt No Fan for 22 kW modules 1394 SR9AF 900 Watt External Shunt No Fan for 22 kW modules 1394 SR36A 1800 Watt External Shunt No Fan for 22 kW modules 1394 SR36AF 3600 Watt External Shunt No Fan for 22 kW modules none No bus regulator Internal The bus regulator is internal to the drive and need not be specified Custom A bus regulator not listed above Publication 1756 UMO006G EN P May 2005 8 12 Configuring a 1394x SJTxx D Digital Servo Drive Module Info tab Use this tab to display identifying and status information about the Publication 1756 UMO06G
154. to provide smoother feedforward behavior This servo configuration is a good choice in applications where positioning accuracy and good feedforward performance is important The smoothness and stability may be limited however due to the mechanical non linearities external to the motor Note that the motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Command and Velocity Offset These values are updated at the coarse update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Publication 1756 UMOO06G EN P May 2005 13 146 Motion Object Attributes Function Block programs provides custom outer control loop capability Servo Config Auxiliary Dual Command Velocity Offset Acc Gain Velocity edn Command Output pd Pos Ne g Ce Low Pass Notch Coarse m Torque ma Pa Titer Torque e Offset BW BW Limit Fine Interpolator Sik Eaton Tisi Torus omman Velocity Command c d Coarse Position Command Velocity n Error Error Low Fi
155. to the 1756 M03SE MO8SE M16SE motion controller TIP The settings on this tab are specific to the 1756 MO8SE M16SE motion controller Data Rate Select the baud rate for the SERCOS ring Your options are e Auto Detect automatically scans to detect the SERCOS ring baud rate as set by the drive s e 4 Mb sets the SERCOS ring baud rate to 4 Mb This value must match the baud rate set on the drives All drives included in the ring must be set to 4 Mbaud e 8 Mb sets the SERCOS ring baud rate to 8 Mb This value must match the baud rate set on the drives All drives included in the ring must be set to 8 Mbaud IMPORTANT If drives are set to both 4 and 8 Mbaud rates and the motion module s Data Rate is set to 4 Mbaud it only detects the 4Mbaud drives and indicates a closed ring Those drives set to 8 Mbaud are ignored When the program is run it errs because the drives set to 8 Mbaud are not found In the above scenario with the motion module s Data Rate set to 8 Mbaud it errs with Wrong baud rate Cycle Time This field sets the rate at which drives on the SERCOS ring are updated Select the update rate for the SERCOS ring e 0 5 ms NOTE Many drives to not support an update rate of 0 5 ms Check your drive documentation for appropriate values e ims e 2 ms Transmit Power Select the optic transmit power range for the SERCOS ring e High e Low Publication 1756 UMO006G EN P May 2005 Co
156. update is initiated the ControlLogix processor sets the Configuration Update in Process bit The bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation All of the fault bit attributes defined below can be handled by the ControlLogix processor as a Major Fault by configuring the associated Group Object s General Fault Type Mechanism attribute accordingly Otherwise any specific fault handling must be done as part of the user program Internal Access Rule Attribute Name Data Type Semantics of Values GSV Axis Fault Bits DINT Direct Access Entire DINT AxisFault 0 Physical Axis Fault PhysicalAxisFault 1 Module Fault ModuleFault 2 Configuration Fault ConfigFault Publication 1756 UMO006G EN P May 2005 Physical Axis Fault If the Physical Axis Fault bit is set it indicates that there is one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis Module Fault The Module Fault bit attribute is set when a serious fault has occurred with the motion module associated with the sel
157. when a Home event occurs An instance value of 0 indicates that no event task has been configured to be triggered by the Home Event Publication 1756 UMO006G EN P May 2005 Motion Object Attributes 13 7 Motion Object Status Attributes Motion Status Attributes Actual Position The Motion Status Attributes are comprised of all Motion Axis Object variables that are read only i e attributes that you can get from the axis object but not set The Motion Status Attributes associated with the Axis Object provide access to the current and historical position velocity and acceleration information of the axis These values may be used as part of the user program to implement sophisticated real time computations associated with motion control applications A list of all Motion Status Attributes is shown in the tables below For all of the Motion Status attributes to return a meaningful value the Conversion Constant Axis Configuration Attribute must be established Attributes having velocity units Position Units Sec must have a valid coarse update period which is established through association with a fully configured Motion Group Object All Motion Status attributes support Direct Tag Access via RSLogix5000 software Thus a Motion Status attribute may be directly referenced in a program as axis tag name motion status tag name An example of this might be FeedAxis ActualPosition To avoid the unn
158. when you go to apply your changes The slot number cannot be changed when online Revision Select the minor revision number of your module The revision is divided into the major revision and minor revision The major revision displayed cannot be changed as the major revision number of the module is lockstepped with the major revision of the software that you have running on your system Publication 1756 UMOO06G EN P May 2005 3 10 Adding and Configuring Your 1756 MO02AE 1756 M02AS 1756 HYD02 Motion Module Electronic Keying Select one of these keying options for your module during initial module configuration e Exact Match all of the parameters must match or RSLogix rejects the inserted module e Vendor e Product Type e Catalog Number e Major Revision e Minor Revision e Compatible Module the Module Types Catalog Number and Major Revision must match e the Minor Revision of the physical module must be equal to or greater than the one specified in the software or RSLogix 5000 will reject the inserted module Disable Keying RSLogix 5000 will not employ keying at all When you insert a module into a slot in a ControlLogix chassis RSLogix 5000 compares the following information for the inserted module to that of the configured slot Vendor e Product Type e Catalog Number Major Revision e Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot
159. 00 is offline the following parameters can be edited and the program saved to disk using either the Save command or by Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 61 clicking on the Apply button You must re download the edited program to the controller before it can be run Proportional Position Gain Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability To set the gain manually you must first set the appropriate output scaling factor Ceither the Velocity Scaling factor or Torque Scaling factor in the Output tab of this dialog Your selection of External Drive Configuration type either Torque or Velocity in the Servo tab of this dialog determines which scaling factor you must configure before manually setting gains If you know the desired loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P ga
160. 006G EN P May 2005 action to limit high frequency noise injection to the motor These are the actions that have been recently implemented For motors with a Tune Inertia BW product of 1000 or more the LP Filter is applied with a Filter BW of 5x the Velocity Servo Bandwidth in Hertz This limits the amount of phase lag introduced by the LP filter to 12 degrees which is relatively small compared to the 30 to 60 degrees of phase margin that we have for a typical tuned servo system With a typical tuned LP filter BW value of 200 Hz we can expect the high frequency quantization noise in the 1 KHz range to be attenuated roughly by a factor of 5 When the Tune Inertia BW product reaches 4000 or more the LP filter alone is not going to be enough to manage the quantization noise level So the tune algorithm begins to taper the system bandwidth by the ratio of 4000 Tune Inertia Vel Servo BW This holds the quantization noise level at a fixed value independent of the Tune Inertia BW product For example Dave s 420 motor with a Tune Inertia value of 213 and a Vel Servo BW of 1 Hz 8733 Inertia BW product tunes with a Pos P Gain of 46 and a Vel P Gain of 117 and LP Filter BW of 93 This he has found to be a good noise free gain set The following sections define in more detail the behavior of all the various configuration attributes associated with the Servo Drive data type of the Motion Axis Object The attributes by definition have read wr
161. 1756 UMOO6G EN P May 2005 13 168 Motion Object Attributes of the actual supply hardware an error is generated during the drive configuration process Internal Access Rule Attribute Name Data Type Semantics of Values GSV Bus Regulator ID Power Supply ID INT The Bus Regulator ID attribute contains the enumeration of the specific A B Bus Regulator or System Shunt catalog numbers associated with the axis If the Bus Regulator ID does not match that of the actual bus regulator or shunt hardware an error is generated during the drive configuration process Internal Access Rule Attribute Name Data Type Semantics of Values GSV Bus Regulator ID INT PWM Frequency Select The PWM Frequency Select attribute controls the frequency of the pulse width modulated voltage applied to the motor by the drive s power structure Higher PWM Frequency values reduce torque ripple and motor noise based on the motor s electrical time constant Higher PWM frequencies however mean higher switching frequencies which tends to produce more heat in the drive s power structure So for applications that have high torque demands a lower PWM frequency would be more appropriate Internal Access Rule Attribute Name Data Type Semantics of Values GSV Commissioning Configuration Attributes Publication 1756 UMO006G EN P May 2005 PWM Frequency SINT Enumeration 0 low frequency default 1 high
162. 2 2098 DSD 005 5E my2098drv 3 8720MC B014 my872 drv fl 10 1394C 5JT05 D mym031 f New Module fJ 2 1756 M 2AE mym02ae E BJ 3 1756 Mo35E mymo3semod b cu Ctrl x Bl 1 2n94 ACa32 Mnh kfkrrv Copy Ctrl C O Associated Axes Status Module Fault el Paste Ctrl V Delete Del Cross Reference Ctri E Figure 11 6 Accessing the Properties of the Drive The Module Properties screen displays I Module Properties mym03mod 8720MC BO014 13 1 General Connection Associated Axes Power Module Info Type 8720MC B014 8720MC 460 VAC 750VDC SERCOS Drive 144 Cont 214 Peak Vendor Allen Bradley Name fry8720drv Node E Description zl Revision 5 Electronic Keying Compatible Module Status Offline Cancel Apply Help Figure 11 7 Module Properties General Tab General Tab The General Tab is where you edit the basic values for the drive Publication 1756 UM006G EN P May 2005 11 6 Configuring an 8720MC Drive Publication 1756 UMO006G EN P May 2005 Type Displays the type and description of the module being created read only Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant This is a required field and must be completed otherwise you receive an error message when you exit this tab An error message is also displayed if a duplicate n
163. 24 VDC Field Power Supply OK Pilot Relay 0K From 1756 MO2AE gt Belden 9501 0K Ta mm 24V AC DC Start Contacts Stop CRI or 120VAC Figure B 16 OK Contacts Wiring Publication 1756 UMO006G EN P May 2005 Symbols Brackets 7 9 Numerics 1394C Drive module Associated Axes Tab 8 9 New Axis button 8 10 Node X0 8 10 Node X1 8 10 Node X2 8 10 Node X3 8 10 Connection Tab 8 7 Inhibit Module checkbox 8 8 Major Fault on Controller if Connec tion Fails checkbox 8 8 Module Fault 8 9 Connection Request Error 8 9 Electronic Keying Mismatch 8 9 Module Configuration Invalid 8 9 Service Request Error 8 9 Requested packet Interval 8 7 General Tab 8 4 Base Node 8 5 Description 8 5 Electronic Keying 8 6 Compatible Module 8 6 Disable Keying 8 6 Exact Match 8 6 Name 8 5 Revision 8 5 Type 8 5 Vendor 8 5 inhibit an axis 16 4 Module Info tab 8 12 16 xxxx unknown 8 13 Configured 8 13 Internal State Status 8 13 Major Minor Fault Status 8 13 Module Identity 8 14 Owned 8 13 Product Name 8 13 Refresh 8 14 Reset Module 8 14 Power Tab 8 11 Bus Regulator ID 8 11 1394 CFLAExx Cable Pinouts B 10 Wiring Diagram B 10 1394x SJTxx Digital Servo Drive Overview 8 3 Index 1398 CFLAExx Cable Diagram B 6 Pinouts B 7 1756 HYD02 add to controller 2 3 1756 HYD02 Hydraulic Module 1 1 1756 M02AE add to controller 2 3 1756 M02AE Module Properties Associated Axes Tab 3 13 C
164. 3 Power Capacita aa rate ia duse tap foede ua at So Das 13 103 Bus Regulator Capacity os ecu uw a ew eee kae Sac 13 103 Motor Electrical Degrees a aes a ptor petes 13 103 Joc BUS VONAGE Se gone Doe eden Fre e EU dn 13 104 Torque Limit 500661 bye xp Eoo e FOR A Oan 13 104 Drive Status Bit Attributes u epo ek em ee ga 13 105 Axis Control Bit Attributes 13 108 Table of Contents 9 Axis Response Bit Attributes 13 109 Drive Fault Bit Attributes vu peque nicis ee oes 13 110 Module Fault Bit Attributes 0050 13 116 Drive Warning Bit Attributes 13 118 Attribute Error Code er os ot UP a EE e died 13 119 Attribute Error EE use s tea eck beh EIC Rd Roto 13 120 SERGOS BITOF Code oo anand Seu mE PORE ERS AY 13 120 Commissioning Status Attributes 13 120 y cuero e DPI DP DET 13 121 Test Direction Forward i ois atalino SOR Kee Gy 13 121 Test Output Polarity ots bade toes so CER 13 121 Tune SUAVE S 5 up a sip Sead OE dte deh ea cae Bee SR Ren I ee QS 13 122 Tune Acceleration Deceleration Time 13 122 Tune Acceleration Deceleration 13 122 Tune lb oo 912 CR S a NOE TR Oe a 13 123 Servo Drive Configuration Attributes 13 124 Drive Configuration D 1 9 eer o t ed ee tread 13 124 Dive Musep bee eo BRE ENDE 13 125 Servo Loop Configuration ees es seen 13 125 Advanced Servo Configuration Attributes 13 125
165. 394C 5JT05 D mym Copy Ctrl C B 2 1756 MO2AE mymOZae ex paste Ctrl y Ei BJ 3 1756 M035E mymO3sem um ll 1 2094 AC32 MNS kekdr Delete Del Cross Reference Ctrl E Properties Bde ck te Mo l Figure 9 2 New Module Selection from Pop Up Menu The following fields are displayed only if you are viewing this tab through the Create wizard Next gt Click this button to view the next Create wizard page lt Back Click this button to view the previous Create wizard page Finish gt gt Click this button to close the Create wizard Publication 1756 UMO006G EN P May 2005 Configuring an Ultra 3000 Drive 9 3 The Select Module Type dialog displays Select Module Type 5m Type 2098 DsD 020 SE Type Description 2098 DSD 020 SE TEEN SERCOS Drive 104 Cont 304 Peak 2098 DSD 030 SE Ultra3000 230V4C SERCOS Drive 154 Cont 304 Peak 2098 DSD 075 SE Ultra3000 230V4C SERCOS Drive 354 Cont 754 Peak 2098 DSD 150 SE Ultra3000 230V4C SERCOS Drive 654 Cont 1504 Peak 2098 DSD HV030 SE Ultra3000 460 VAC SERCOS Drive 7A Cont 144 Peak 2098 DSD HV050 SE Ultra3000 460V4C SERCOS Drive 114 Cont 224 Peak 2098 DSD H 100 SE Ultra3000 460V4C SERCOS Drive 234 Cont 464 Peak 2098 DSD HV150 SE Ultra3000 460V4C SERCOS Drive 344 Cont 684 Peak 2098 DSD H 220 SE Ultra3000 460V4C SERCOS Drive 474 Cont 944 Peak 8720MC BO14 8720MC 460 VAC 750VDC SERCOS Drive 144 Cont 214 Peak 8720MC B021 8720MC
166. 4 Cont 49A P Allen Bradley 2094 4C32 M05 Kinetix 6000 230VAC IAM 23kw PS 494 Cont 98A P Allen Bradley 4 2094 AM01 Kinetix 6000 230VAC AM 9A Cont 17A Peak Allen Bradley 2094 AMO2 Kinetix 6000 230VAC AM 15A Cont 30A Peak 2094 AM03 Kinetix 6000 230VAC AM 24A Cont 49A Peak New Module 2094 AM0S Kinetix 6000 230VAC AM 49A Cont 984 Peak Type 2094 4C05 M01 Kinetix 6000 230VAC IAM 3kW PS 94 Cont 174 Pe Vendor Allen Bradle CI Name for my drive Find By Vendor J Favorites Name Revision p fi zi lectronic Keying Compatible Keying 5 6 Node number of the drive on the SERCOS ring 7 OK Can Publication 1756 UMO006G EN P May 2005 Quick Start 2 5 Set Up Each SERCOS Set the data rate and cycle time for each SERCOS interface module in ject Interface Module your projec Action Details 1 Decide which data rate to use Do your drives have a 8 Mb data rate most do e YES Use a 8 MB data rate e NO Use a 4 MB data rate 2 Decide which cycle time to use Use the following table to decide the cycle time for your SERCOS interface module Data rate Numberofdrives Type of drives Cycle time on the ring 4Mb 1or2 Kinetix 6000 0 5 ms NOT Kinetix 6000 1 ms 3or4 P ims 5 8 p 2ms 9 16 gt Can t do You must have 2 motion modules 8 M
167. 460V4C IAM 30kW PS 304 Cont 454 Peak xl Vendor Ai v Other v Specialty 1 0 Select All v Analog WM Digital V Communication I Motion v Controller Clear All OK Cancel Help Figure 10 3 Select Module Type Window 3 In the Select Module Type dialog select the desired drive module The Kinetix 6000 drives begin with the 2094 prefix Publication 1756 UM006G EN P May 2005 Configuring a Kinetix 6000 Drive 10 3 Press the OK button to close the Select Module Type dialog The Kinetix 6000 Drive Create Wizard Module Properties dialog opens my2094dry m Eu Figure 10 4 Module Properties Wizard Dialog Naming the Drive You must fill in a name for the drive this is a required field Fill in the responses for the other parameters as needed then click the Next button to advance to the next wizard screen or click on the Finish button to add the drive to your Controller Organizer 5 A new drive module displays beneath the selected 1756 MxxSE motion module o I O Configuration B 1 1756 MO35E mym 3mod P 2 2098 DSD 005 SE my2098drv 3 8720MC B014 my8720drv B 2 1756 Mo2AE mymo2ae E E 3 1756 M035E mymO3semod E Bil 1 2094 AC32 MO5 k kdrv2 Figure 10 5 Controller Organizer New Kinetix Drive Publication 1756 UMO006G EN P May 2005 10 4 Configuring a Kinetix 6000 Drive Editing the Kinetix Drive The Module Properties for any of the Kinetix 6000
168. 5V 9 5 kOhms 1 2 kOhms 1us Publication 1756 UMO006G EN P May 2005 A 2 Specifications and Performance Publication 1756 UMO006G EN P May 2005 All other inputs Type Optically isolated current sinking input Input voltage 24V dc nominal Maximum 26 4V Minimum on 17 0V Maximum off 8 5V Input impedance 7 5 kOhms Servo output Type Analog voltage Isolation 200 kOhms Voltage range 10V Voltage resolution 16 bits Load 5 6 kOhms resistive minimum Maximum offset 25 mV Gain error 4 All other outputs Type Solid state isolated relay contacts Operating voltage 24V dc nominal Maximum 26 4V Operating current 75 mA RTB keying User defined Field wiring arm 36 position RTB 1756 TBCH or TBS6H RTB screw torque cage clamp 5lb in 0 5 Nm maximum Conductors Wire size Category 22 gauge 3 1 mm minimum to copper 3 64 inch 1 2 mm insulation maximum 123 Screwdriver blade width for RTB Environmental conditions Operating temperature Storage temperature Relative humidity 1 8 inch 3 2 mm maximum 0 to 60 C 32 to 140 F 40 to 85 C 40 to 185 F 5 to 9596 noncondensing Agency certification when product or packaging is marked Ge Class 1 Division 2 hazardous location c marked for all applicable directives Maximum wire size will require the extended depth RTB housing 1756 TBE Use this conductor category information for planning conducto
169. 61 Feedback configuration is accomplished by first establishing the feedback interface type of the associated servo module using the Feedback Type attribute of the Motion Axis Object This attribute provides a selection for the Feedback Type Enumerations are LDT Linear Displacement Transducer SSI Synchronous Serial Interface and AQB A Quadrature B When LDT is selected only parameters applicable to an LDT Transducer are valid When SSI is selected only parameters applicable to an SSI Transducer are valid Internal Access Rule Attribute Name Data Type Semantics of Values GSV Servo Feedback Type SINT Enumeration 0 AQB 1 2 SSI 2 LDT A Quadrature B Encoder Interface AOB Servo modules such as the 1756M02AE provide interface hardware to support incremental quadrature encoders equipped with standard 5 Volt differential encoder interface signals This interface hardware provides a robust differential encoder input interface to condition each of the encoder signals before being applied to an Encoder to Digital Converter EDC FPGA The EDC decodes the encoder signals and uses a 16 bit bi directional counter to accumulate feedback counts A regular Timer Event signal applied to the EDC latches the encoder counters for all axes simultaneously This same Timer Event signal also triggers the servo interrupt service routine that performs the servo loop computations One of the first things done by the in
170. 720MC Digital Servo Drive with fiber optic SERCOS interface simplifies the integration of the 8720MC with the ControlLogix architecture by providing single point drive commissioning through RSLogix 5000 software and reducing the control wiring to a single fiber optic cable You can initiate the configuration of an 8720MC drive module by either of two methods 1 In the Controller Organizer in the I O Configuration branch select a 1756 MxxSE motion module Publication 1756 UMO006G EN P May 2005 11 2 Configuring an 8720MC Drive Publication 1756 UMO006G EN P May 2005 2 In the File menu select New Component then Module RSLogix 5000 My Controller 1756 L63 e jl Ctrl O Ctr His Ww Favorite Routine omponent Tag Ctrl Module A Compact Generate Report Program Print Task Print Options Data Type 1 My_Controller 4CD zig Types 2 ted1 ACD Boy Trend Figure 11 1 File Menu New Component Module OR 1 Right click on the selected 1756 MO8SE or 1756 MxxSE module in the I O Configuration branch of the Controller Organizer 2 Select New Module from the pop up menu E1 3 1 0 Configuration E i 1756 MO3SE mymO3moa Bl 12094 ACO5 MO1 myz D Miam fll 2 2098 DSD 005 5E m B 10 1394C 5ITOS D myi fJ 2 1756 MO2AE mym 2ae iS Copy Ctrl C Cut Ctrl g E B 3 1756 M035E mymO3ser A Paste Ctrl y f 12094 AC32 MOS k6ke Dele
171. 756 M16SE Module 4 21 Set Limit Button You must click on the Set Limit button to make the new Transmit Retry Limit effective If you do not and then click either the OK or the Apply button this limit is not set Receive Error Counters This box displays the number of receiving errors that occurred in the following categories e Bad CRC errors that occurred on received frames messages e Bus time out when the receiver timed out e CRC error multicast receive errors Transmit Error Counters This box displays the number of transmitting errors that occurred in the following categories e Bad CRC errors that occurred on transmitted frames e Bus Time out when the transmitter bus timed out Refresh Click on the Refresh button to refresh the tab When you refresh the tab if you re using then digital analog or motion counters are cleared modules another module the tab is refreshed but the counters are not cleared Publication 1756 UMOO6G EN P May 2005 4 22 Configuring the 1756 MO3SE 1756 MO08SE or 1756 M16SE Module Publication 1756 UMO006G EN P May 2005 Chapter 5 Creating A Motion Group The Motion Group Each acd program must have one motion group There can be only one You must create it before an axis can be assigned to the group and have it function within the acd program To create the motion group right click on Motion Group and select New Motion Group from th
172. 756 UMO006G EN P May 2005 13 112 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 This fault can only occur when the drive is in the enabled state and the Soft Overtravel Checking bit is set in the Fault Configuration Bits attribute If the Soft Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attempt however to move the axis further beyond the soft overtravel limit using a motion instruction results in an instruction error As soon as the axis is moved back within the specified soft overtravel limits the corresponding soft overtravel fault bit is automatically cleared However the soft overtravel fault persists through any attempt to clear it while the axis position is still beyond the specified travel limits while the axis is enabled Positive Negative Hardware Overtravel Faults If either the Positive Hard Overtravel Fault or Negative Hard Overtravel Fault bit attributes are set it indicates that the axis has traveled beyond the current position limits as established by hardware overtravel limit switches mounted on the machine This fault can only occur when the drive is in the enabled state and the Hard Overtravel Checking bit is set in the Fault Configuration Bits attribute If the Hard Overtravel Fault Action is set for Stop Command the faulted axis can be moved or jogged back inside the soft overtravel limits Any attem
173. 99 Compensation Velocity Offset Torque Offset and Output Offset parameters Figure 6 49 Axis Properties Offset Tab Manual Adjust Screen for Axis Servo Drive Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Fault Actions Tab AXIS SERVO Use this tab to specify the actions that are taken in response to the following faults e Drive Fault e Feedback Noise Fault e Feedback Loss Fault Position Error Fault e Soft Overtravel Fault Publication 1756 UMO06G EN P May 2005 6 100 Naming and Configuring Your Motion Axis for an axis of the type AXIS SERVO Axis Properties myservolaxis General Motion Planner Units Servo Feedback Conversion Homina Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Drive Fault Disable Dive Feedback Noise Disable Dive Feedback Disable Dive x Disable Dive xl Disable Drive Position Error Soft Jvertravel Figure 6 50 Axis Properties Fault Actions Tab for Axis_Servo When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only t
174. AXIS CONSUMED AXIS SERVO New Coordinate System Ctrl Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 3 The New Tag window appears Name Description Tag Type Base C Alias C Produced consumers C Consumed Data Type axis SERVO DRIVE os Configure Scope My Controller controller m Style z Figure 6 4 New Tag Dialog If you accessed the New Tag window from either Motion Group or Ungrouped Axes the Data Type is already filled in Entering Tag Information A tag allows you to allocate and reference data stored in the controller A tag can be a simple single element or an array or a structure There are four types of tags that you can create A base tag allows you to create your own internal data storage e An alias tag allows you to assign your own name to an existing tag structure tag member or bit A produced tag lets you make the tag available to remote controllers through controller to controller messaging e A consumed tag allows you to retrieve data from a tag in another controller You must set up only one consumed tag to get data from the same producing tag in another controller ATTENTION Setting up more than one consumed tag results in unpredictable controller to controller behavior Publication 1756 UMO006G EN P May 2005 6 4 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P
175. Allen Bradley Logix5000 Motion Modules 1756 ControlLogix 1789 SoftLogix User Manual Rockwell Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for tbe 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 ab com manuals gi describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Throughout this ma
176. Associate the axis with a 1756 MO2AE motion module e Select the channel 0 or 1 on the 1756 MO2AE motion module to which the axis is connected Note RSLogix 5000 supports only one Motion Group tag per controller When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Publication 1756 UMO006G EN P May 2005 6 8 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Axis Configuration Selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The Tabs for Servo Tune Dynamics Gains Output Limits and Offset are not displayed e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Motion Group Selects and displays the Motion Group to which the axis is asso
177. Attributes Publication 1756 UMO006G EN P May 2005 Scaling Unit The Scaling Unit attribute is used to determine whether the Logix processor scales position velocity and acceleration attributes based on rotary or metric scaling parameters and their associated Drive Units that are defined by the SERCOS Interface standard When the bit is clear default the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also cleared which instructs the drive to use the rotary scaling parameters When the bit is set the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also set which instructs the drive to use the linear scaling parameters Linear Scaling Unit When the Scaling Unit is set to linear the Linear Scaling bit attribute is used to determine whether the Logix processor scales position velocity and acceleration attributes based on Metric or English Drive Units as defined by the SERCOS Interface standard When the bit is clear default the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also cleared which instructs the drive to use the Metric scaling parameters When the bit is set the corresponding bits in the SERCOS Position Data Scaling Velocity Data Scaling and Acceleration Data Scaling parameters are also set
178. Bapter cats EESateexa xo ra OO ESO Ys 2 1 Make the Controller the CST Master 2 2 If you have more than 1 controller in the chassis 2 2 Add the Motion Modules nonan eek ae POR tandi ak 2 3 Add SERCOS interface Drives av es C RS oa PSP ES 2 4 Set Up Each SERCOS Interface Module 46 4 coda reet 2 5 Add the Motion Group ses LEG RR REDE 2 6 Add YOU AXES sop eed a te OR AES AOE Ono E 2 8 Sep Up Each AXiS 4X tss Gobet ole SRS PS ae epe edu 2 9 Check the Wiring of Each Drive lc usu Le ay eee ks 2 12 DUE Each Sum ct E ceria ose WARE GEN as Vai Sg 2 13 Program Motion Control iia gh oars doe eed EE bs 2 14 Additional Actions cu o 0o nd en Qd reor ke od See OSS 2 16 Chapter 3 Adding the 1756 M02AE 1756 HYD02 or 1756 M02AS Module 3 1 New Module EET 3 3 Editing Your Motion Module Settings 3 7 GIG EAD zs aps Cea tradas Fed eG d 3 8 Connection Tab sssaaa dob 4 GEE Fes E edo 3 10 Associated Axes Tab 225 asg ade wees wos Bate aa 3 13 Module Info Tab uode ce Paget os RE A CR ee SR 3 14 Backplane AA sis oy cce eve CAEN GS ES PETES AS 3 17 Assigning Additional Motion Modules 3 19 Publication 1756 UMO006G EN P May 2005 Table of Contents 2 Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module The Motion Group Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Chapter 4 Adding the 1756 M03SE 1756 MOSSE or 1756 MI6SE
179. Drive Publication 1756 UMO06G EN P May 2005 Configuring an Ultra 3000 Drive 9 5 Editing the Ultra Drive The Module Properties for any of the Ultra3000 drives can be edited P rti by highlighting the drive to be edited right click with the mouse and roperties selecting Properties 5 6 I O Configuration S f 1 1756 M035E mymO3mod l 1 2094 ACOS MO1 my2094drv N 2098 DSD 005 SE my2098drv B 3 8720MC B014 my8720drv ji New Module l 10 1394C 5JT05 D mym031394 B 2 1756 M 2AE mym02ae db Cut Ctrl x EB 3 1756 MO3SE mymO03semod Copy Ctrl C RI 1 2094 AC32 M05 k kdrv2 FA Paste Ctrl Delete Del E Associated Axes M mysercos3axis Cross Reference Ctrl E Module Fault Figure 9 6 Accessing the Properties of the Drive The Module Properties screen displays imi Module Properties mym03mod 2098 DSD 005 SE 13 1 General Connection Associated Axes Power Module Info Type 2098 DSD 005 SE Ultra3000 230VAC SERCOS Drive 2 54 Cont 7 54 Peak Vendor Allen Bradley Name rny2038drv Node 2 E Description E zl Revision 5 fi E Electronic Keying Compatibie Module Status Offline Cancel Apply Help Figure 9 7 Module Properties General Tab General Tab The General Tab is where you edit the basic values for the Ultra drive Publication 1756 UMO06G EN P May 2005 9 6 Configuring an Ultra 3000 Drive Publication 1756 UMO006G EN P May 2005
180. EAL Coordination Units Sec Maximum Deceleration The Maximum Deceleration attribute value is used by motion instructions such as MCLM MCCM etc to determine the deceleration Publication 1756 UMO006G EN P May 2005 Motion Object Attributes 13 185 rate to apply to the coordinate system vector when the deceleration is specified as a percent of the Maximum Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSV Maximum Deceleration REAL Coordination Units Sec Actual Position Tolerance The Actual Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM etc specify a Termination Type of Actual Position Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSV Actual Position Tolerance REAL Coordination Units Command Position Tolerance The Command Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM etc specify a Termination Type of Command Position Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSV Command Position REAL Coordination Units Tolerance Publication 1756 UMOO06G EN P May 2005 13 186 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Chapter 14 1756 M02AE LED Indicators 1756 M02AE Module Status Using the OK Indicator Troubleshoot Module Lights This chapter describes how to troubleshoot your ControlLogix
181. EN P May 2005 13 18 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Time Cam Status The Time Cam Status bit attribute is set if a Time Cam motion profile is currently in progress As soon as the Time Cam is complete or superseded by some other motion operation the Time Cam Status bit is cleared Position Cam Pending Status The Position Cam Pending Status bit attribute is set if a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MAPC instruction with Pending execution selected As soon as the current position cam profile completes initiating the start of the pending cam profile the Position Cam Pending bit is cleared This bit is also cleared if the position cam profile completes or superseded by some other motion operation Time Cam Pending Status The Time Cam Pending Status bit attribute is set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected As soon as the current time cam profile completes initiating the start of the pending cam profile the Time Cam Pending bit is cleared This bit is also cleared if the time cam profile completes or superseded by some other motion operation Gearing Lock Status The Gearing Lock Status bit attribute is set whenever the slave axis
182. Fault Configuration Bits a s v waa TUER oes ex 13 126 Dive Dfits uv s io Ren REA GE See Re 13 128 Drive Re 350lutionD e v grs ere ties x rts 13 128 Drive Travel Range Limit css avem ep E ES 13 129 Fractional Unwind aces btote t e P net 13 129 Advanced Scaling Attributes dcs ebES Ra 13 131 Drive Polirniy vase Tera MU peo EACUS i 13 133 Advanced Polarity Attributes 13 134 Axis Info Se Ot ae ope a qup Sd hCG be dr eee s 13 135 Motor and Feedback Configuration 13 136 MOlORID as aye eadera bac ted ates s 13 136 NIGLOI DIES va 2 norte ow VO ea RE Ades 13 136 Feedback Types usne e A qoot alte Geka dps 13 137 Feedback Units ooa ea ripas m V S ER ee xe rd 13 138 Feedback Resolution 24 24049 S e Hashes EYE es 13 138 Aux Feedback Ratio 2 po Vee y coe ete lees 13 138 Feedback Configuration o aci xe oc aie a 13 139 Feedback Interpolation 2042 29 XR EPA 13 140 Servo Loop Block Diagrams 13 141 Motor Position Servos as leit Xe Rsur Sak aoe tue 13 141 Auxiliary Position SEIVO qc noaua rev Ke SEU 13 142 Dual Beeclback38fVO nan s ute hetero que Fes des 13 143 Motor Dual Command Servo 24141 0 rk RDEYG 13 144 Auxiliary Dual Command Servo 13 145 Dual Command Feedback Servo 0 13 146 Velocity Servo Setter ERE NUR PRIVI e 13 146 Publication 1756 UMOO6G EN P May 2005 Table of Contents 10 Publication 1756 UMO006G EN P May 2005 TORqUe DOEVOS I Vases de
183. For a SERCOS ring the SERCOS ring has phased up again My Axis XInhibitStatus My Axis X Servo amp ctionStatus My Axis X OK Sa This axis is OK to run Publication 1756 UM006G EN P May 2005 Appendix A 1756 M02AE Motion Module Specifications and Performance This appendix shows specifications and performance guidelines for the motion modules Number of axes per chassis Motion commands Configurable 32 Number of axes per module 2 axes maximum Servo loop Type Gain resolution Absolute position range Nested PI digital position and velocity servo 32 bit floating point 1 000 000 000 encoder counts Rate 5 kHz Module location 1756 ControlLogix chassis Module keying Electronic Power dissipation 5 5W maximum Backplane current 5V dc Q 700 mA 24V dc Q 2 5 mA Encoder input Type Mode Rate Electrical interface Voltage range On state Off state Input impedance Incremental AB quadrature with marker 4X quadrature 4 MHz counts per second maximum Optically isolated 5V differential 3 4V to 5 0V OV to 1 8V 531 Ohms differential Registration inputs Type 24V input voltage Maximum Minimum on Maximum off 5V input voltage Maximum Minimum on Maximum off Input impedance 24V input 5V input Response time position latched Optically isolated current sourcing input 24V dc nominal 26 4V 18 5V 3 5V 5V dc nominal 5 5V 3 7V 1
184. G EN P May 2005 In the Controller Organizer right click on the axis to edit and select Axis Properties from the drop down menu ge Motion Groups DB ca mymotiongroup io i mygenericaxis i mysercos3axis x mysercostaxis i myservolaxis X myvirtualaxis xb mycoordsyst Z3 Ungrouped Axes User Defined i Strinns Figure 6 5 Axis Properties Access Goto Module Monitor Axis Tag Fault Help Clear Axis Faults Cut Ctrl X Copy Ctrl C Paste Ctrl Delete Del Motion Direct Commands Cross Reference CtrltE Print Properties Naming and Configuring Your Motion Axis 6 7 The Axis Properties General window appears The General screen depicted below is for an AXIS SERVO data type Axis Properties myservolaxis Of X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Axis Configuration Servo Y Motion Group mymotiongroup H Hew Group Associated Module Module mymO2module Module Type 1755 M 2AE Channel h zl Cancel Apply Help Figure 6 6 Axis Properties General Tab for Axis_Servo General Tab AXIS SERVO Use this tab to do the following for an axis of the data type AXIS SERVO e Configure the axis for Servo operation or for position Feedback Only Assign the axis or terminate the assignment of an axis to a Motion Group e
185. HCDOR eu ede Ps ved on med BA Mies eot e EXC EE E CCS 13 1 Motion Object Interface Attributes 13 1 Object Support Attributes S eX4 TI RYS Sheesh S SS 13 1 Axis Structure Address 2 00 0 00 00 les 13 1 AXIS Instance coss na god ede ED ea Fat 13 1 Group InstanCe sek eas 44 SENG ed Se eee 13 2 Map Instances s ce ees ae peret edo Ene RIP ayer petet d 13 2 Mod le Ghannel 24 see dd doe E e pesos 13 2 Module 611ss C OU seio ios pO RATS DR EA 13 2 2C Map Instance 4 amp 5 s e aote dry esp eis Bes 13 2 C2C Connection Instance lees 13 3 ied oput or Ie RF e vo os Memory Use 13 3 Memory USage sco uae E RET Eu EE Rr PUE E 13 3 Axis Data Type uites 2 9 4a E dep xt et mas ERR 13 4 Table of Contents 5 Axis Configuration SEXE iu aseo et Xe b p oe nb 13 5 AXIS ri h epee Uae iTowns E a bic piel te Ge aA 13 5 Watch Event Task Instance i 6 la ca ewe dus 13 5 Registration 1 Event Task Instance 13 5 Registration 2 Event Task Instance 13 6 Home Event Task Instance 4 3 24 640k a iadax choad 13 6 Motion Object Status Attributes 4 43 5S een Sexe o lt 8 13 7 Motion Status Attributes c a 5 cea hot ac tme i a 13 7 Actual POSON o ute oi dans egeo oae a Gee ates See a 13 7 C mmand POSION crape rad ates wee a na AA 13 8 SU ODE Position es utes w oS bates Php oS Eds 13 8 St r POSIUOTIE 2 4 fey wid ee ena mo ur i om detis E s 13 9 Average Velocity 98 6 REOR UA X des M PCR REIS 13 9 A
186. Hashing The axis drive is in the normal None The servo axis state can green light disabled state be changed by executing motion instructions Steady The axis drive is in the normal None The servo axis state can green light enabled state be changed by executing motion instructions Publication 1756 UMO006G EN P May 2005 14 10 Troubleshoot Module Lights SERCOS interface LED Indicators Publication 1756 UMO006G EN P May 2005 If the DRIVE indicator displays The module status is Flashing red The axis drive output is in the light shutdown state Steady red The axis drive is faulted light Take this action Check for faults that may have generated this state Execute the Shutdown Reset motion instruction Resume normal operation Check the drive status Clear the Drive Fault condition at the drive Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation Check the configuration for the Drive Fault If configured to be normally open and there is no voltage this is the normal condition If configured to be normally closed and 24V dc is applied this is the normal condition The module provides three LED indicators to show the state of the system The LEDs are located on the bezel of the 1756 MO8SE and 1756 M16SE modules The LED on the right marked by OK indicates the present health of the module and the communication status To
187. Home Sequence for an absolute Homing Mode is immediate In this case the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device Prior to execution of the absolute homing process via the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled This restriction currently applies only to Axis Servo Drive data types Publication 1756 UM006G EN P May 2005 13 32 Motion Object Attributes Home Sequence and Home Direction Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV SSV GSV Enumeration 0 uni directional forward 1 bi directional forward 2 unidirectional reverse 3 bi directional reverse Home Direction SINT SINT Enumeration 0 immediate default 1 switch 2 marker 3 switch then marker Home Sequence Active Homing Active homing sequences with the exception of the Immediate Publication 1756 UMO006G EN P May 2005 home sequence type employ trapezoidal jog velocity profiles to move the axis while waiting for a homing event to occur When Active is the configured Home Mode the Home Sequence attribute is used to specify whether or not a home limit switch and or the feedback device marker is to be used for the homing events The Home Direction attribute determines the directional behavior of jog p
188. IS SERVO AXIS SERVO DRIVE and AXIS VIRTUAL When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 41 Positioning Mode This parameter is not editable for an axis of the data type AXIS CONSUMED Instead this value is set in and taken from a producing axis in a networked Logix processor This value can be edited for AXIS SERVO AXIS SERVO DRIVE and AXIS VIRTUAL The option are e Linear provides a maximum total linear travel of 1 billion feedback counts With this mode the unwind feature is disabled and you can limit the linear travel distance traveled by the axis by specifying the positive and negative travel limits for the axis e Rotary enables the rotary unwind capability of the axis This feature provides infinite position range by unwinding the axis position whenever the axis moves through a complete unwind distance The number of encoder counts per unwind o
189. If the Low pass Output Filter Bandwidth value is set to zero the low pass output filter is disabled The lower the Filter Bandwidth value the greater the attenuation of these high frequency components of the output signal Because the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Filter Bandwidth value usually requires lowering the Position or Velocity Proportional Gain settings to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Publication 1756 UMOO6G EN P May 2005 6 76 X Naming and Configuring Your Motion Axis Manual Adjust Click on this button to access the Output tab of the Manual Adjust dialog for online editing Velocity Scaling Figure 6 38 Axis Properties Output Tab Manual Adjust Screen for Axis_Servo Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Output Tab Overview Use this dialog box to make the following offline configurations AXIS SERVO DRIVE e set the torque scaling value which is used to generate gains e enable and configure the Notch Filter e enable and configure servo s low pass digital output filter Publication 1756 UMO06G EN P May 2005 Naming and Configuring Your Motion Axis 6 77
190. In the Controller Organizer in the I O Configuration branch select a 1756 MO8SE or 1756 M16SE motion module 2 In the File menu select New Component then Module 45 RSLogix 5000 FredsStructure in Fredstest ACD 17 File New Component FIC ra Pradafinad Figure 8 1 File Menu to New Component to Module 3 You can also right click on a selected 1756 MxxSE module and select New Module from the pop up menu Publication 1756 UMO006G EN P May 2005 8 2 Configuring a 1394x SJDocD Digital Servo Drive In the Select Module Type dialog select the desired 1394x SJTxx D drive module 1394 4B V AC SERCOS System Module 5kw PS 1384 450v AC SERCOS System Module 10kw PS 1384 450v AC SERCOS System Module 22kw PS Kinetix 6000 230VAC IAM 3k w PS 104 Cont 204 Peak Kinetix 6000 230VAC IAM Bk w PS 154 Cont 304 Peak Kinetix 6000 230V4C AM 104 Cont 204 Peak Kinetix 6000 230V4C AM 154 Cont 304 Peak Kinetix 6000 460VAC IAM Bkw PS 104 Cont 155 Peak Kinetix 6000 460V4C IAM 15kw PS 174 Cont 264 Peak Kinetix 6000 460V4C AM 104 Cont 155 Peak Kinetix 6000 460V4C AM 174 Cont 264 Peak Ultra3000 230V4C SERCOS Drive 2 54 Cont 7 54 Peak Figure 8 2 Select Module Type Screen 5 Press the OK button to close the Select Module Type dialog The Module Properties wizard opens Publication 1756 UMO006G EN P May 2005 1394x SJTxx D Digital Servo Drive Overview
191. Industrial Immunity EN 61000 6 4 Industrial Emissions C Tick Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions Appendix B Understanding Block Diagrams Loop and Interconnect Diagrams This appendix shows the loop interconnect diagrams for common motion configurations The control block diagrams in this section use the following terms for motion attributes Diagram term Motion attribute name as used in the GSV and SSV instructions Acc FF Gain AccelerationFeedforwardGain Vel FF Gain VelocityFeedforwardGain Pos P Gain PositionProportionalGain Pos Gain PositionIntegralGain Vel P Gain VelocityProportionalGain Vel Gain VelocityIntegralGain Output Filter BW OutputFilterBandwidth Output Scaling OutputScaling Friction Comp FrictionCompensation Output Limit OutputLimit Output Offset OutputOffset Position Error PositionError Position Integrator Error PositionIntegratorError Velocity Error VelocityError Velocity Integrator Error VelocityIntegratorError Velocity Feedback VelocityFeedback Velocity Command VelocityCommand Servo Output Level ServoOutputLevel Registration Position RegistrationPosition Watch Position WatchPosition Publication 1756 UMO006G EN P May 2005 B 2 Loop and Interconnect Diagrams Using a 1756 M02AE Module With a
192. Logix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Friction Compensation The percentage of output level added to a positive current Servo Output value or subtracted from a negative current Servo Output Naming and Configuring Your Motion Axis 6 97 value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called sticktion that even with a significant position error the axis refuses to budge Friction Compensation is used to break sticktion in the presence of a non zero position error This is done by adding or subtracting a percentage output level called Friction Compensation to the Servo Output value The Friction Compensation value should be just less than the value that would break the sticktion A larger value can cause the axis to dither i e move rapidly back and forth about the commanded position Friction Compensation Window To address the issue of dither when applying Friction Compensation and hunting from the integral gain a Friction Compensation Window is applied around the current command position when the axis is not being commanded to move If the actual position is within the Friction Compensation Window the Fricti
193. M02AE Module With a Velocity Servo Drive Command Acceleration Acc gt d dt gt FF Gain Output Offset Output amp pos vi Filter Friction Servo gt didt gt FF BW Comp Polarity Coarse Gain Command Position Fine Relative Command Position Y Velocity Accumulator Position Error Pos P Command Low Output Output 16 Bit Velocity gt _ and Fine Gain Pass Scalin Limit gt DAC Servo Interpolator Filter 9 Drive Servo Outpu Velocity Level Error gt Pos Feedback Accumulator Gain A Position Integrator Error Fine Actual Position Low Optical Pass Encoder Filter ry Watch Position Coarse d dt Actual i Encoder Position Polarity Relative Watch Event Watch iti 16 bit Event Accumulator e Encoder j pond Handler Counter Homing Mani Event larker Event j heed x Handler ale Registration Event and Hed Position egist i Registration k Eent e ea zm Handler Home Input Figure B 2 Velocity Servo Drive Publication 1756 UMO006G EN P May 2005 B 4 Loop and Interconnect Diagrams Understanding Wiring Diagrams Wiring to a Servo Module RTB
194. Motion Direct Commands Motion Instructions 12 7 When you access the Motion Direct Commands dialog from the Tools pull down it defaults to the MSO command and the Axis field is defaulted to a question mark Figure 12 2 Motion Direct Command Dialog from Tool Menu Publication 1756 UMO006G EN P May 2005 12 8 Motion Instructions From Group in the Controller You can access the Motion Direct Commands by right clicking on the Organizer Group in the Controller Organizer This is the recommended way when you want to invoke a Motion Group Instruction Logix 5000 FredsStructure i in Fredstest ACD 17 756 L55 f E RUN m DK M BAT Ex 0 A MainT ask Es MainProgram aE a EE WI Favorite E BS Motion Direct A Program Tags oon BD MainRoutine 3 Unscheduled Programs E ics Motion Groups myM otio nGroup MyConsume MyServo amp x i myservodriv myservodriv x5 MyServoDri xo MyVirtual x Ungrouped Axe servodrivea Trends 3 Data Types oy User Defined B E Strings 48 STRING i Predefined lg Module Definec B e 140 Configuration E zip Vi Guan LaT GUT evils else H Re Re MSF Qe MASD Re MASR Re MDO Re MDF Re MAFR Motion Mo Re MAS Re MAH Re MAJ Re MAM Re MAG Re MCD Re MAP hintinn Gre Bh aT ST Figure 12 3 Controller Organizer Group Motion Direct Commands When the Motion Direct Commands dialog is accessed fro
195. Motor Thermal Specifies the fault action to be taken when a Motor Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Feedback Noise Specifies the fault action to be taken when excessive feedback noise is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Naming and Configuring Your Motion Axis 6 105 Feedback Specifies the fault action to be taken when Feedback Fault is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Position Error Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis configured as Servo Gin the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Hard Overtravel Specifies the fault action to be taken when an axis encounters a travel limit switch for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Soft Overtravel Specifies the fault action to be taken when a software overtravel error occurs for an axis with Soft Travel Limits enabled and configured in the Limits tab of this dialog that is configured as Servo in
196. My Axis x x Motion Control My Axis X Jog Direction My Axis X Jog Direction pe Speed My Axis x_SetUp ManuallogSpeed amp 0e Speed Units Units per sec More If Jog Pushbutton off then The MAS instruction stops the axis at 100 units s Make sure that Change Decelis Yes Otherwise the axis decelerates at its maximum speed Jog Pushbutton MAS Motion Axis Stop EN Axis My Axis X zz PCDN2 Motion Control My Axis X M S ER2 Stop Type Jog IP2 Change Decel Yes PC2 Decel Rate My Axis X SetUp ManuallogDecel 100 0 Decel Units Units per sec2 If Move Command on and the axis on My Axis X ServoActionStatus on then The MAM instruction moves the axis The axis moves to the position of 10 units at 1 unit s Move Command My Axis X Servo amp ctionStatus AM Motion Axis Move EN Axis My Axis x E COND Motion Control My Axis X Move ER2 Move Type D IP2 Position 10 Speed My Axis X SetUp AutoS peedCommand 10 Speed Units Units per sec More gt gt Publication 1756 UMO006G EN P May 2005 2 16 Quick Start Additional Actions The following actions are optional and depend on your situation Action Details Set up a coordinate system A coordinate system lets you interpolate circular or linear moves using coordinate points Set up the coordinate in either 1 2 or 3 dimensions Controller My Controller 4 Tasks Coordinate System Properties My Coord
197. N P May 2005 6 46 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Direction For active homing sequences except for the Immediate Sequence type select the desired homing direction Direction Description Forward Uni directional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Forward Bi directional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Reverse Uni directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then continues in the same direction until axis motion stops after decelerating or moving the Offset distance Reverse Bi directional The axis jogs in the negative axial direction until a homing event switch or marker is encountered then reverses direction until motion stops after decelerating or moving the Offset distance Speed Type the speed of the jog profile used in the first leg of an active homing sequence The homing speed specified should be less than the maximum speed and greater than zero Return Speed The speed of the jog profile used in the return leg s of an active homing seque
198. O6G EN P May 2005 4 10 Configuring the 1756 MO3SE 1756 MO08SE or 1756 M16SE Module Validating A transient state that occurs prior to connecting to the module Connecting The state while the connection s to the module are established Running The module is communicating and everything is working as expected Sbutting Down The connections are in the process of closing Inbibited The module is prevented from connecting to the controller Waiting A connection to this module has not been made due to one of the following reasons e Its parent has not yet made a connection to it e Its parent is inhibited e Its parent is faulted Offline The module is not currently online When you insert a module into a slot in a ControlLogix chassis RSLogix5000 compares the following information for the inserted module to that of the configured slot e Vendor e Product Type e Catalog Number e Major Revision e Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot Connection Tab The Connection Tab reflects controller to module behavior This is Publication 1756 UMO006G EN P May 2005 where you choose to inhibit the module configure the controller so im Module Properties Local 1 1756 MO3SE 13 1 Ea General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Requested Packet Interval RPI ms IV Inhibit
199. PosToleranceStatus 4 Stopping Status StoppingStatus 5 Reserved 6 Move Status MoveStatus 7 Transition Status MoveTransitionStatus 8 Move Pending Status MovePendingStatus 9 Move Pending Queue Full Status MovePendingQueueFullStatus 10 31 Reserved Acceleration Status Deceleration Status The Acceleration Status amp Deceleration Status bit attributes can be used to determine if the coordinated vectored motion is currently being commanded to accelerate or decelerate Actual Position Tolerance Status The Actual Position Tolerance Status bit attribute can be used to determine when a coordinate move is within the Actual Position Tolerance Command Position Tolerance Status The Command Position Tolerance Status bit attribute can be used to determine when a coordinate move is within the Command Position Tolerance Stopping Status The Stopping Status bit attribute is set if there is a coordinated stopping process currently in progress on this coordinated system Axis Fault Motion Object Attributes 13 179 Move Status The Move Status attribute is set if a Coordinated Move motion profile is currently in progress As soon as the Coordinated Move is complete or stopped the Move Status bit is cleared Move Transition Status The Move Transition Status attribute is set any time the Coordinate Move motion profile transitions into a coordinate move Move Pending Status The Move Pending Status bit a
200. Position Servo Dual Command Servo or Aux Dual Command Servo Use this tab to configure motor and auxiliary feedback device Gf any parameters for an axis of the type AXIS SERVO DRIVE e Axis Properties Axis1 Yl x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion FeedbackT ype me xl Cycles on per nv e Interpolation Factor fi Feedback Ratio fio Aux Rev Motor Rev Cancel Apply Help Figure 6 22 Axis Properties Aux Feedback Tab for Axis Servo Drive Feedback Type For applications that use auxiliary feedback devices select the type of auxiliary feedback device type These are drive dependent Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 39 Cycles The number of cycles of the auxiliary feedback device This helps the Drive Compute Conversion constant used to convert drive units to feedback counts Depending on the feedback type selected this value may either be read only or editable Per The units used to measure the cycles Interpolation Factor This field displays a fixed constant value for the selected feedback type This value is used to compute the resolution of the feedback device Feedback Ratio Represents the quantitative relationship between the auxiliary feedback device and the mot
201. Position Units Pes programming such as revs degrees D T inches Or millimeters verage Velocity Imebase d econds Publication 1756 UMO06G EN P May 2005 2 10 Quick Start Action Details 4 Select the drive and motor catalog numbers Axis Properties My Axis X B Select the catalog number of the drive C Select the catalog number of the motor 5 Set the conversion between drive counts and units Homing i Hookup Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Amplifier Catalog Number o0s4acobMO2 o Motor Catalog Number MPLASIOPM Loop Configuration Position Sevo x Drive Resolution 200000 Drive Counts per MotorRev v Cal IV Drive Enable Input Checking Drive Enable Input Fault Axis Properties My Axis X Homing Hookup Tune Dynamics Gains Output Limits Oset TFaut amp ctons Taq General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion B Select whether this is a rotary or linear axis Positioning Mode i Drive Counts 1 0 Revs C Type the number of drive counts Conversion Constant 200000 0 Based on 200000 Counts Motor Rev that equal one unit from Step 3B Position Unwind 200000 Drive Counts Unwind Based on 200000 Counts Motor Rev D If this is a rotary axis type the number of drive counts that you want to unwind
202. Position Units Sec Publication 1756 UMOO6G EN P May 2005 13 46 Motion Object Attributes Acceleration Feedback Acceleration Feedback is the actual velocity of the axis as estimated by the servo module in the configured axis Position Units per Second The Estimated Acceleration is calculated by taking the difference in the Estimated Velocity over the servo update interval Acceleration Feedback is a signed value the sign or depends on which direction the axis is currently moving Internal Access Rule Attribute Name Data Type Semantics of Values GSV Acceleration Feedback REAL Position Units Sec Servo Output Level Servo Output Level is the current voltage level of the servo output of the specified axis The Servo Output Level can be used in drilling applications for example where the servo module is interfaced to an external Torque Loop Servo Drive to detect when the drill bit has engaged the surface of the work piece Internal Access Rule Attribute Name Data Type Semantics of Values GSV Servo Output Level REAL Volts Marker Distance Marker Distance is the distance between the axis position at which a home switch input was detected and the axis position at which the marker event was detected This value is useful in aligning a home limit switch relative to a feedback marker pulse to provide repeatable homing operation Internal Access Rule Attribute Name Data Type Semanti
203. R Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Publication 1756 UMOO06G EN P May 2005 13 114 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Drive Enable Input Fault This fault would be declared if either one of two possible conditions occur 1 If an attempt is made to enable the axis typically via MSO or MAH instruction while the Drive Enable Input is inactive 2 If the Drive Enable Input transitions from active to inactive while the axis is enabled This fault can only occur when the Drive Enable Input Fault Handling bit is set in the Fault Configuration Bits attribute If the Drive Enable Input Fault Action is set for Stop Command and the axis is stopped as a result of a Drive Enable Input Fault the faulted axis cannot be moved until the fault is cleared Any attempt to move the axis in the faulted state using a motion instruction results in an instruction error Note If the Drive Enable Fault Action setting is Status Only or Stop Command and an attempt is made to enable the axis typically via MSO or MAH instruction while the Drive Enable Input is active the axis enables in the faulted state indicating a Drive Enable Input Fault When the Drive Enable Fault Action setting is Stop Command instructions that both enable the axis and initiate motion MAH MRAT MAHD abort the motion process leaving the instruction with both the IP and PC bits clear This fault con
204. RCOS interface LED CP Indicator 14 11 OK Indicator 14 11 Ring Status Indicator 14 12 1756 MO8SE LED SERCOS interface LED 14 10 CP Indicator 14 11 OK Indicator 14 11 Ring Status Indicator 14 12 1756 M16SE LED SERCOS interface LED 14 10 CP Indicator 14 11 OK Indicator 14 11 Ring Status Indicator 14 12 SERCOS interface LED Indicators 14 10 tune axis 2 13 U Ultra 3000 Drive 9 1 W Windows New module 3 5 Select module type 3 2 Wiring diagrams B 4 1394 drive B 9 24V registration sensor B 11 5V registration sensor B 11 Home limit switch B 12 OK contacts B 12 Servo module RTB B 4 Ultra 100 drive B 5 Ultra 200 drive B 6 Ultra3000 Drive B 7 Wiring Registration Sensors B 10 How Are We Doing ANB Your comments on our technical publications will help us serve you better in the future Thank you for taking the time to provide us feedback Ty You can complete this form and mail or fax it back to us or email us at RADocumentComments ra rockwell com Pub Title Type Logix5000 Motion Modules Cat No Pub No 1756 UMO06G EN P Pub Date May 2005 PartNo 957955 83 Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Overall Usefulness 1 2 3 How can we make this publication more useful for you 2 3 Can we add more information to help you Completeness all necessary information procedure step il
205. Revs of the gearbox output shaft the Conversion Constant is still rational since our scaling is Load Referenced The user simply sets the Conversion Constant to 200 000 Drive Counts Output Shaft Rev based on the default Drive Resolution value of 200 000 Drive Counts Aux Rev The system would work in this configuration without any loss of mechanical precision i e a move of 1 output shaft revolution would move the output shaft exactly 1 revolution Linear Ball Screw Ball Screw Combination WITH Aux Feedback Device Based on a linear aux feedback selection Drive Resolution would be expressed as Drive Counts per Linear Unit say Millimeters Metric bit selection and be applied to the Linear Position Data Scaling IDNs Now that position is based on the auxiliary feedback device according to the Servo Loop Configuration the Data Reference bit of the various Advanced Scaling Attributes Motion Object Attributes 13 131 Scaling Types should again be Load Referenced rather than Motor Referenced The motor feedback would be rotary and resolution expressed in cycles per motor rev The aux feedback device is now linear and its resolution expressed in cycles per say mm The Aux Feedback Ratio would be set to the number of aux feedback units mm per motor rev and internally applied to IDNs 123 the purpose of relating position servo loop counts to velocity servo loop counts in a dual servo loop configuration The Aux Feedback Ratio attribute i
206. SV Module Fault Bits DINT Direct Access Entire DINT ModuleFaults 0 Control Sync Fault ControlSyncFault 1 31 Reserved Control Sync Fault The Control Sync Fault bit attribute is set when the Logix controller detects that several position update messages in a row from the producing controller have been missed due to a failure of the controller to controller communications connection This condition results in the automatic shutdown of the associated servo module The consuming Logix controller is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module The Control Sync Fault bit is cleared when the connection is reestablished Publication 1756 UMOO6G EN P May 2005 13 22 Motion Object Attributes Axis Event Bit Attributes Internal Access Rule Attribute Name Data Type Semantics of Values Template Axis Event Bits DINT Direct Access Entire DINT AxisEvent 0 Watch Event Armed Status WatchEventArmedStatus 1 Watch Event Status WatchEventStatus 2 Registration Event 1Armed Status RegEvent1ArmedStatus 3 Registration Event 1Status RegEvent1Status 4 Registration Event 2 Armed Status RegEvent2ArmedStatus 5 Registration Event 2 Status RegEvent2Status 6 Home Event Armed Status Ho
207. Scaling attribute description for an explanation of how the Torque Scaling factor can be calculated Once this is done the Pos I Gain can be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 0 25 0 001 Sec mSec Pos P Gain Assuming a Pos P Gain value of 100 Sec this results in a Pos I Gain value of 2 5 0 1 mSec l sec Servo Drives require non zero command input to generate steady state axis acceleration or velocity To provide the non zero output from the drive to the motor a non zero position or velocity error needs to be present We call this dynamic error while moving following error Well this non zero following error condition is a situation are trying to avoid We ideally want zero following error all the time This could be achieved through use of the position integral gain controls as described above but typically the response time of the integrator action is too slow to be effective An alternative approach that has superior dynamic response is to use Velocity and Acceleration Feedforward Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Publication 1756 UMO006G EN P May 2005 Velocity Feedforward Gain REAL The Velocity Feedforward Gain attribute is used to provide the Velocity Command output necessary to generate the commanded velocity It does this by scaling the current command velocity derivative
208. Servo dialog e Axis Properties myservolaxis X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup External Drive Configuration Torque Loop Configuration v Enable Drive Fault Input Drive Fault Input Normally Open Closed v Enable Direct Drive Ramp Control Direct Drive Ramp Rate 50 0 Volts Second Real Time Axis Infomation Attribute 1 Attribute 2 Position Servo Position Command Position Feedback Publication 1756 UMO006G EN P May 2005 DK Cancel Help Figure 6 13 Axis Properties Servo Tab for Axis_Servo Naming and Configuring Your Motion Axis 6 23 For an axis of the data type AXIS SERVO configured for Servo operation in the General tab of this dialog box use the SERVO tab to e configure an external drive e configure the drive fault input e select up to two axis attributes whose status can be monitored When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Rea
209. Surge Transient Immunity IEC 61000 4 5 2kV line earth CM on shielded ports Conducted RF Immunity IEC 61000 4 6 10Vrms with 1kHz sine wave 8096AM from 150kHz to 80MHz Enclosure Type Rating None open style Certifications when product is marked UL UL Listed Industrial Control Equipment CSACSA Certified Process Control Equipment CSACSA Certified Process Control Equipment for Class I Division 2 Group A B C D Hazardous Locations CE European Union 89 336 EEC EMC Directive compliant with EN 50082 2 Industrial Immunity EN 61326 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions C Tick Australian Radiocommunications Act compliant with AS NZS 2064 Industrial Emissions Maximum wire size requires the extended depth RTB housing 1756 TBE manual Use the conductor category information for planning conductor routing as described in the system level installation B Refer to Industrial Automation Wiring and Grounding Guidelines publication number 1770 4 1 V See the Product Certification link at www ab com for Declarations of Conformity Certificates and other certification details 1756 MO3SE 1756 M08SE amp 1756 M16SE Motion Module Specifications and Performance A 9 Specifications Description Value Power Dissipation 5 0W Backplane Current 760 mA 5 1V dc 2 5 mA 24V dc Operational IEC 60068 2 1 Test Ad O
210. T ESTO RS TOI GI VT Figure 12 6 Motion Direct Command Dialog from Axis Supported Commands The list of instructions supported by the Motion Direct Commands feature include Motion State Command Description MSO Enable the servo drive and activate the axis servo loop MSF Disable the servo drive and deactivate the axis servo loop MASD Force an axis into the shutdown operating state Once the axis is in the shutdown operating state the controller blocks any instructions that initiate axis motion MASR Change an axis from an existing shutdown operating state to an axis ready operating state If all of the axes of a servo module are removed from the shutdown state as a result of this instruction the OK relay contacts for the module close Publication 1756 UMO006G EN P May 2005 12 12 Motion Instructions Motion Move Motion Group Motion Event Publication 1756 UMO006G EN P May 2005 Command Description MDO Enable the servo drive and set the servo output voltage of an axis MDF Disable the servo drive and set the servo output voltage to the output offset voltage MAFR Clear all motion faults for an axis Command Description MAS Initiate a controlled stop of any motion process on an axis MAH Home an axis MAJ Initiate a jog motion profile for an axis MAM Initiate a move profile for an axis MAG Provide electronic ge
211. Tab Identification Displays the module s e Vendor e Product Type e Product Code e Revision Number e Serial Number e Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module If the module is a 1756 L1 module this field displays the catalog number of the memory expansion board this selection applies to any controller catalog number even if additional memory cards are added 1756 L1M1 1756 L1M2 Publication 1756 UMO006G EN P May 2005 3 16 X Adding and Configuring Your 1756 MO02AE 1756 M02AS 1756 HYD02 Motion Module Publication 1756 UMO006G EN P May 2005 Major Minor Fault Status If you are configuring a This field displays one of the following EEPROM fault Backplane fault None digital module Comm Lost with owner Channel fault None analog module any other module None Unrecoverable Recoverable Internal State Status This field displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configuration bad e Major Fault e Run mode e Program mode e 16 xxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured This field displays a yes or no value
212. The connection to this module has not yet been made due to one of the following e its parent has not yet made a connection to it e its parent is inhibited e its parent is faulted Offline You are not online Connection Tab Use this tab to define controller to module behavior F inhibit Module Iv Figure 10 8 Module Properties Connection Tab On this tab you can Requested Packet Interval does not pertain to this drive Choose to inhibit the module e Configure the controller so loss of the connection to this module causes a major fault e View module faults TIP The data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module and the controller Publication 1756 UM006G EN P May 2005 10 8 Configuring a Kinetix 6000 Drive Publication 1756 UMO006G EN P May 2005 Requested Packet Interval This field is disabled for all motion modules e g 1756 MO2AE 1756 MxxSE and all 1394 and Ultra3000 Kinetix 6000 and 8720 drives Inhibit Module Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken Note Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module Note A FLEX I O module using rack communication cannot be inhibited the Inhibit checkbox on the Connection tab is
213. The maximum torque of the tune test This attribute should be set to the desired maximum safe torque level prior to running the tune test The default value is 10096 which yields the most accurate measure of the acceleration and deceleration capabilities of the system Note In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases Direction The direction of the tuning motion profile The following options are available e Forward Uni directional the tuning motion profile is initiated in the forward tuning direction only e Forward Bi directional the tuning motion profile is first initiated in the forward tuning direction and then if successful is repeated in the reverse direction Information returned by the Bi directional Tuning profile can be used to tune Friction Compensation and Torque Offset e Reverse Uni directional the tuning motion profile is initiated in the reverse tuning direction only e Reverse Bi directional the tuning motion profile is first initiated in the reverse tuning direction and then if successful is repeated in the forward direction Information returned by the Bi directional Tuni
214. The units used for Position Unit Scaling The options are Motor Inch Motor Millimeter or Motor Rev Position Range Maximum travel limit that your system can go Position Unit Unwind For Rotary applications the Position Unit Unwind field displays Enter the value for the maximum number of unwinds in position units per unwind cycle Publication 1756 UMO006G EN P May 2005 6 36 X Naming and Configuring Your Motion Axis Calculate Parameters The Calculate Parameters shows the values that are to be calculated based upon the values entered for the Position Unit Scaling and Position Range Drive Resolution Recalculates the resolution based upon the new values entered on this screen Conversion Constant Recalculates the Conversion Constant based upon the new values entered on this screen When the Conversion screen has Rotary as the value for Position Mode clicking on the Calculate button displays the following screen Jpaate Publication 1756 UM006G EN P May 2005 Figure 6 20 Axis Properties Calculate Screen for Rotary Naming and Configuring Your Motion Axis 6 37 Motor Feedback Tab Use this tab to configure motor and auxiliary feedback device if any AXIS SERVO DRIVE parameters for an axis of the type AXIS SERVO DRIVE e Axis Properties AxisO ml x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Un
215. Torque Servo Drive Command 2 Acceleration Acc d dt gt FF Gain Output Offset Output amp Command T Filter Friction Servo s ciat Velocity Ha BW Comp Polarity Coarse Gain Command Position Fine Velocity p Relativ y i Command Postion Command velocity Y gt iccumulator Position rror ow orque as a i iti gt Pos P gt Vel P Pass gt Output Output _ 16 Bit dus Interpolator Gain Gain i Filter Scaling Limit DAC Drive Servo Output Level Error Pos Error Vel Accumulator Gain Accumulator gt Gain Position Velocity Integrator Velocity Integrator Error Feedback Error Fine Actual Position Low Optical Pass Encoder Filter Watch Position Coarse wat Servo Actual i Encoder Motor Position Polarity Relative E o Watch Event Watch iti 16 bit Event j lt e a ORAT s e Encoder lt pus Handler Counter Homing MEX Event arker Event Marker lt 4 Handler ate Registration Event and ET Position egist i Registration ber la irae S Handler Home e Input Figure B 1 Torque Servo Drive Publication 1756 UMO006G EN P May 2005 Loop and Interconnect Diagrams B 3 Using a 1756
216. Torque Servo Drive This configuration provides full position servo control using an external torque loop servo drive Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions which when used in Publication 1756 UMOO06G EN P May 2005 13 72 Motion Object Attributes conjunction with future Function Block programs provides custom outer control loop capability Torque Offset e Acc gt didt D gt FF Velocity m oret Output e Offset Output amp Vel Filter Friction Servo e aat gt FF BW Comp Polarity Gain Position 4 Command Velocity Coarse Position Command Velocity i Error Error Low 7 Torque Fine Pos P Vel P Output Output 16 Bit gt interpolator z gt Gain z z gt Gain p Eass P Scaling Z H Wm X bac t Serve Filter D
217. Torque attribute value determines the maximum torque of the MRAT Motion Run Axis Tune initiated tuning motion profile This attribute should be set to the desired maximum safe torque level prior to running the MRAT instruction The default value is 100 which Publication 1756 UMO006G EN P May 2005 13 170 Motion Object Attributes Internal Access Rule yields the most accurate measure of the acceleration and deceleration capabilities of the system In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Note that the extrapolation error increases as the Tuning Torque value decreases Attribute Name Data Type Semantics of Values SSV GSV Tuning Torque REAL 96 Damping Factor The Damping Factor attribute value is used in calculating the maximum Position Servo Bandwidth see below during execution of the MRAT Motion Run Axis Tune instruction In general the Damping Factor attribute controls the dynamic response of the drive axis When gains are tuned using a small damping factor like 0 7 a step response test performed on the axis would demonstrate under damped behavior with velocity overshoot A gain set generated using a larger damping factor like 1 0 would produce a system
218. Torque attribute value determines the maximum torque of the MRAT Motion Run Axis Tune initiated tuning motion profile This attribute should be set to the desired maximum safe torque level prior to running the MRAT instruction The default value is 10096 which yields the most accurate measure of the acceleration and deceleration capabilities of the system In some cases a lower tuning torque limit value may be desirable to limit the stress on the mechanics during the Publication 1756 UMO06G EN P May 2005 13 94 Motion Object Attributes tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based on the ratio of the tuning torque to the maximum torque output of the system Note that the extrapolation error increases as the Tuning Torque value decreases Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Tuning Torque REAL 96 Damping Factor The Damping Factor attribute value is used in calculating the maximum Position Servo Bandwidth see below during execution of the MRAT Motion Run Axis Tune instruction In general the Damping Factor attribute controls the dynamic response of the servo axis When gains are tuned using a small damping factor like 0 7 a step response test performed on the axis would demonstrate under damped behavior with velocity overshoot A gain set generated using a larger damping factor like 1 0 would produce a
219. Type 1756 MO3SE 3 Axis SERCOS Interface H Other Vendor Allen Bradle By Category ByVendm Favorites Can Publication 1756 UM006G EN P May 2005 2 4 Quick Start Add SERCOS interface Choose from these SERCOS interface drives Drives 1394 e Kinetix 6000 e Ultra3000 See e Motion Analyzer PST SG003 e 8 20MC e ControlLogix Selection Guide 1756 SG001 Add SERCOS interface drives to the I O configuration of the controller This lets you use RSLogix 5000 software to set up the drives J E Controller My Controller Tasks 3 Motion Groups CI Trends amp Data Types 5 6 1 0 Configuration rd 1756 Backplane 1756 A13 fa 0 1756 L55 My Controller 1 S 12 1756 Mo85E My SERCOS Ring EE SERCOS Network H A LN jj New Module N i Paste CUT E Select Module Description Vendor 1394C 5JTOS D 1394 460VAC SERCOS System Module Skw PS Allen Bradley 3 1394C 5JT10 D 1394 460VAC SERCOS System Module 10kW PS Allen Bradley 1394C 53T22 D 1394 460VAC SERCOS System Module 22kW PS Allen Bradley 2094 ACOS MO1 Ki 4 IAM 3kW PS 9A Cont 17A Peak Allen Bradley 2094 ACOS MP5 Kinetix 6000 230VAC IAM 3kW PS 54 Cont 10A Peak Allen Bradley 2094 ACO9 M02 Kinetix 6000 230VAC IAM 6kW PS 15A Cont 304 Peak Allen Bradley 2094 AC16 M03 Kinetix 6000 230VAC IAM 15kw PS 24
220. VO DRIVE 6 102 Drive Thermal 6 104 Feedback 6 105 Feedback Noise 6 104 Hard Overtravel 6 105 Motor Thermal 6 104 Position Error 6 105 Set Custom Stop Action 6 105 Soft Overtravel 6 105 Feedback Tab AXIS SERVO 6 25 Feedback Type 6 25 A Quadrature B Encoder Inter face AQB 6 25 Linear Displacement Transducer LDT 6 26 Absolute Feedback Offset 6 29 Calculated Values 6 29 Calculate Button 6 30 Conversion Constant 6 29 Minimum Servo Up date Period 6 30 Calibration Constant 6 28 Enable Absolute Feedback 6 29 LDT Type 6 28 Length 6 29 Recirculations 6 28 Scaling 6 29 Synchronous Serial Interface SSI 6 25 Absolute Feedback Offset 6 27 Clock Frequency 6 27 Code Type 6 26 Data Length 6 27 Enable Absolute Feedback 6 27 Gains Tab AXIS SERVO Differential 6 62 Integral Position Gain 6 61 Integrator Hold 6 64 Manual Tune 6 64 Proportional Position Gain 6 61 Proportional Velocity Gain 6 62 Gains Tab AXIS SERVO DRIVE 6 59 6 65 Acceleration Feedforward 6 63 6 66 Integral Position Gain 6 67 Integral Velocity Gain 6 62 6 68 Integrator Hold 6 69 Manual Tune 6 70 Proportional Position Gain 6 67 Proportional Velocity Gain 6 62 6 68 Set Custom Gains 6 71 Velocity Feedforward 6 63 6 66 Homing Tab AXIS VIRTUAL 6 47 Mode 6 48 Position 6 48 Sequence 6 48 Homing Tab SERVO AXIS and SERVO AXIS DRIVE 6 42 Direction 6 46 Homing Configurations 6 46 Limit Switch 6 45 Mode 6 42 Offset 6 45 Positi
221. When the Abort Home Request bit is set any active homing procedures are cancelled Abort Event Request When the Abort Event Request bit is set any active registration or watch event procedures are cancelled Change Cmd Reference The Change Command Reference bit attribute is set when the Logix processor has switched to a new position coordinate system for command position The servo drive processor uses this bit when processing new command position data from the Logix processor to account for the offset implied by the shift in the reference point The bit is cleared when the drive axis acknowledges completion of the reference position change by clearing its Change Position Reference bit Internal Access Rule GSV Attribute Name Data Type Semantics of Values Axis Control Bits DINT Abort Process Acknowledge Shutdown Acknowledge Reserved Abort Home Acknowledge Abort Event Acknowledge 14 Reserved 5 Change Pos Reference 6 31 Reserved 0 1 2 3 4 5 1 1 Abort Process Acknowledge When the Abort Process Acknowledge bit is set the servo module acknowledges that the tuning or test process has been aborted Shutdown Request Acknowledge When the Shutdown Acknowledge bit is set the servo module acknowledges that the axis has been forced into the shutdown state Abort Home Acknowledge When the Abort Home Acknowledge bit is set the servo module acknowledges that the active home procedure has
222. a general wiring example only Other configurations are possible For more information refer to the Ultra 200 Series Drive Installation Manual publication number 1398 5 0 1398 CFLAExx Cable Diagram 1 0 in m Individually J acketed pairs 24V BRAKE a 5 0 in Ez 1398 CFLAE gon ra Figure B 6 1398 Cable Diagram The 1398 CFLAE Cable is available in 3 ft C76 m 10 ft 2 5 m 25 ft 7 6 m and 50 ft 12 7 m lengths Publication 1756 UMO006G EN P May 2005 Loop and Interconnect Diagrams B 7 Pinouts for 1398 CFLAExx Cable WHTORG 226A cs 49 BRAKE v WHT YEL 22GA TuS 50 BRAKE me DRAIN M 1 a Bee een cuc NE LS ECT TAN BA dee 21 RESET Wires pete dey DRAINS a Stripped ox ee Back Oy WHT RED 22GA EN 24VDC 25 in WHT BLK 22GA 6 24VCOM AAT DRAIN hz ai Soi SCNT GRATES STE E MIC NUR CR SB gu MHTIGRN 226A es 22 COMMAND Tuv WHT BLU 22GA Tiv 2 COMMAND Pod DRAIN bod aaa uu 26 24VDC i E Q 24 READY Tir z Oy 20 ENABLE et URANGEZSGA rar 25 READY v YELLOW 28GA TY B 24VCOM iT DRAIN E Wires ecco qe que qu qm ce ard Terminated with qeu GREEN 28GA vues 7 AOUT 4 Xt BLUE 28GA Xt Ferrules HA ETAGE en 8 AOUT A ne 1e 9 BOUT WHITE 286A d Beda IQ ace nag 1e 1 louT A A 12 lour i DRAIN Mi T Figure B 7 1398 CFLAExx Cable W
223. a mu Soi ce chin das hugely Gapian pao xit e dot 15 6 19219 31 3 Spin ra RT NEED NUR 15 6 CAB MT PUTET 15 7 Corrective ACU OM GS qu a de Eee dioc oO oe ee ree Red 15 7 Why does my axis reverse direction when I stop and start it 15 8 EID DIG gur eic pottea uper e hap acd re at dte Gece hs 15 8 LOOK O 5 uar eh 5 dca ita op deg ge d e coa e A 15 8 CAUSE ure qon XE XE PR TRO P RUE EC ES Own ee 15 9 Corrective action eus a 3 4 oz pee doc rer e 9B bed bed 15 10 Chapter 16 PUIDOSO meo eee Qa bota ded qubd ure Db Eo dns ees 16 1 WEI Aca nana tice aa dn Ve da Bae a one Drs 16 1 Example Trga borat wee RE E Ori EET II e E E 16 1 Example 26s ust seda f efe oe LE frs 16 1 Before You Begin soi Abo Ib RU orla ab tede e s aa 16 2 Example Inhibit an Axis sona acer EY pO 16 5 Example Uninhibit an Axis isssesee d ee edo dont 16 6 Appendix A 1756 MO2AE Motion Module 0 000000 eee A 1 1756 HYD02 Motion Module vu vaus cease x Cx PR A 3 1756 MO2AS Motion Module 0 00 00 0 0 eee A 6 1756 MOSSE 1756 MO8SE amp 1756 M16SE Motion Module A 9 Table of Contents 13 Appendix B Loop and Interconnect Diagrams Understanding Block Diagrams 004 B 1 Using a 1756 MO2AE Module With a Torque Servo Drive B 2 Using a 1756 MO2AE Module With a Velocity Servo Drive B 3 Understanding Wiring Diagrams 0005 B 4 Wiring to a Servo Module RTB 0 B 4 Wiring to an Ultra 100 Series Drive
224. ack Y Channel Hardware je Feedback lq Paride ulator Motor Dual Command Servo Publication 1756 UMO06G EN P May 2005 Position Figure 13 18 Dual Feedback Servo The Motor Dual Command Servo configuration provides full position servo control using only the motor mounted feedback device to provide position and velocity feedback Unlike the Motor Position Servo configuration however both command position and command velocity are applied to the loop to provide smoother feedforward behavior This servo configuration is a good choice in applications where smoothness and stability are important Positioning accuracy is limited due to the fact that the controller has no way of compensating for non linearities in the mechanics external to the motor Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Command and Velocity Offset These values are updated at the coarse update rate of the associated motion group The Position and Velocity Command values are derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The velocity offset attribute may be changed programmatically via SSV instructions or direct Tag access which Velocity Offset Velocity Motion Object Attrib
225. acquire a measurement from an LDT Calibration Constant This is a number that is engraved on the LDT by the manufacturer It specifies the characteristics of the individual LDT Each LDT has its own calibration constant therefore if you change the LDT you must change the Calibration constant Naming and Configuring Your Motion Axis 6 29 Length This value defines the stroke of travel of the hydraulic cylinder The length value is used with the number of recirculations to determine the minimum servo update period Scaling Scaling defines the relationship between the LDT unit of measure length field and the unit of measure defined at the Units Tab Enable Absolute Feedback This field is grayed out because it is always active when Feedback Type is LDT Absolute Feedback Offset Enter the amount of offset in position units to be added to the current position of the LDT The LDT is an absolute feedback device To establish an appropriate value for the Offset the MAH instruction can be executed with the Home Mode set to Absolute the only valid option if Enable Absolute Feedback is enabled When executed the module computes the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the MAH instruction The actual position of the axis is re ref
226. ae 13 44 POSION ETON x ous Rutas Hod ecw ee bed UR eor bane 13 44 Position Integrator EHOER S ex ex xus o4 p Xo RA EN 13 44 Velocity COImtiatidu su art o gegen kone enses 13 44 Velocity Feedbacks ceo pita quae Puce Ra ERS Des 13 45 Xelociby EOL ec V a tae ps re eens Kare GONS 13 45 Velocity Integrator EXFOE vu eere tex RI EROS 13 45 Acceleration Command lees 13 45 Acceleration Feedback 0 000000 cece eae 13 46 Servo O tp t Level s ex pie Se tie wen dro eee a 13 46 Marker Distance eda uere Ese pe REST 13 46 Servo Status Bit Attributes llle 13 46 Servo Status Bit Attributes vou eer RES 13 47 Axis Control Bit Attributes 0 0 000 13 49 Axis Response Bit Attributes o ues qe coe tes 13 50 Servo Fault Bit Attributes vais ex races 13 51 Module Fault Bit Attributes llle 13 53 Attribute Error COGGu c e e USE CO odor dr ROUES 13 55 Attribute Error 1D qs cows e Eb em x eor des 13 55 Commissioning Status Attributes 13 56 Test Statusa aho e 2 cof aos tendo e ARR AR E eth ans 13 56 Test Direction Forward gag m eque Ta enc EE ER Ds 13 57 Test Output Direction e ee Y ut Y RUDI ERO AS 13 57 TUNE Status v 38 gue de eeu RUE e nies 13 57 Tune Acceleration Deceleration Time 13 58 Table of Contents 7 Tune Acceleration Deceleration 13 58 Tune Speed Scaling qo no ed ete e tco Red d 13 58 UNS se TINS Sis Wri ove aed gh e eth 13 59 Tuncdnet d
227. after 6 Set up the homing sequence B Select the type of homing sequence that you want Axis Properties My Axis X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ac Mode Active Position 0 0 Revs Offset 0 0 Revs Sequence Marker ad itch Normally Ope n p Active Home Sequence Group Direction Forward Bi directional z Speed 0 25 Revs s C Type homing speeds Publication 1756 UM006G EN P May 2005 Return Speed o 25 Revs s Quick Start 2 11 Action Details 7 Apply your changes ppyy g Axis Properties My Axis X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ax Mode active Position foo Revs Offset joo Revs Sequence Maker o e Normally Open Glo Active Home Sequence Group Direction Forward Bi directional Speed 0 25 Revs s Return Speed 0 25 Revs s Cancel ppl Publication 1756 UMO06G EN P May 2005 2 12 Quick Start Check the Wiring of Each Use the hookup tests to check the wiring of a drive Drive This test Does this Notes Test marker Checks that the drive gets the marker You must manually move the pulse axis for this test Testfeedback Che
228. ag When RSLogix 5000 software is online all of the attributes on this tab transition to a read only state When an attribute transitions to a read only state all pending attribute changes are reverted Coarse Update Period Selects the periodic rate at which the motion task executes to compute the servo commanded position velocity and accelerations to be sent to the 1756 MO2AE or 1756 MxxSE modules when executing motion instructions Auto Tag Update This parameter determines whether or not the axis parameter values are automatically updated during operation Choose either Publication 1756 UMO06G EN P May 2005 The Motion Group 5 7 e Enabled turns On automatic tag updating e Disabled turns Off automatic tag updating General Fault Type Selects the general fault type mechanism for the motion group The available selections are e Non Major Fault Any faults detected by the motion group will not cause the processor to fault The application programmer needs to handle the fault in the program Major Fault Any faults detected by the motion group will cause the processor OK light to go blinking red and the fault routine to be invoked If the fault routine handles the fault and clears it then the OK light turns green If the fault routine does not clear the fault then the OK light becomes solid red and the processor stops executing the program Scan Times elapsed time e Max displays the value fr
229. ajor Minor Fault Status If you are configuring a This field displays one of the following digital module EEPROM fault Backplane fault None analog module Comm Lost with owner Channel fault None Any other module None Unrecoverable Recoverable Internal State Status Displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configuration bad e Major Fault please refer to Major Minor Fault Status above e Run mode e Program mode e 16 xxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured Displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once a module has been configured it stays configured until the module is reset or power is cycled even if the owner drops connection to the module Configuring an Ultra 3000 Drive 9 15 This information applies to I O modules only and does not apply to adapters scanners bridges or other communications modules Owned Displays a yes or no value indicating whether an owner controller is currently connected to the module This information applies to I O modules only and does not apply to adapters scanners bridges or other communications modu
230. ake sure the drive has firmware revision 1 80 or later imi Module Properties LocalSERCOS 2094 AC09 M02 1 General Connection Associated Axes Power Module Info Node 97 Fine Bett CS n essel Mode 225 aux Feedback ILI Auxiliary Axis New Axis Status Offline OK Cancel Apply Help E Controller My Controller H Tasks in fs gd il Module Properties My SERCOS Ring 2094 ACO9 M02 1 1 Motion Groups Trends General Connection Associated Axes Power i T DIR Types Identification Status IO Configuration Vendor Allen Bradley Major Fault ae EU Ce ke Product Type RA Miscellaneous Minor Fault d 4 1058 WEEE My SERCOS Ring Product Code 2094 4C09 M02 Internal State H SERCOS Network B Revision 1 80 Configured g 1 2094 AC09 M02 My _Kinetix_6000_Drive_1 pika Serial Number 00000000 Owned g 2 2094 AMO1 My Drive Y Product Name 2094 ACO03 M02 Module Identity Publication 1756 UMO006G EN P May 2005 Configuring a Kinetix 6000 Drive 10 11 Node Displays the selected node of the Kinetix 6000 drive as entered on the General tab This field allows you to associate an AXIS SERVO DRIVE tag with the driver s node Note This field is read only while you are online Ellipsis Click on this button to access the Axis Properties dialog for the associated axis New Axis Click on th
231. al Shock 0 to 60 C 32 to 140 F Storage Temperature IEC 60068 2 1 Test Ab Un packaged Non operating Cold IEC 60068 2 2 Test Bb Un packaged Non operating Dry Heat IEC 60068 2 14 Test Na Un packaged Non operating Thermal Shock 40 to 85 C 40 to 185 F Relative Humidity IEC 60068 2 30 Test Db Un packaged Non operating Damp Heat 5 to 95 non condensing Vibration IEC60068 2 6 Test Fc Operating 2g Q 10 500Hz Shock IEC60068 2 27 Test Ea Unpackaged shock Operating 30g Non operating 50g Emissions CISPR 11 Group 1 Class A ESD Immunity Specifications and Performance A 5 IEC 61000 4 2 6kV contact discharges 8kV air discharges Radiated RF Immunity IEC 61000 4 3 10V m with 1kHz sine wave 8096AM from 80MHz to 2000MHz 10V m with 200Hz 50 Pulse 100 AM at 900Mhz EFT B Immunity IEC 61000 4 4 2kV at bkHz on signal ports Surge Transient Immunity IEC 61000 4 5 2kV line earth CM on shielded ports Conducted RF Immunity IEC 61000 4 6 10Vrms with 1kHz sine wave 8096AM from 150kHz to 80MHz Enclosure Type Rating None open style Certifications when product is marked UL UL Listed Industrial Control Equipment CSACSA Certified Process Control Equipment CSACSA Certified Process Control Equipment for Class I Division 2 Group A B C D Hazardous Locations CE European Union 89 336 EEC EMC Directive compliant with
232. al external Resistive Brake Module RBM The RBM sits between the drive and the motor and uses an internal contactor to switch the motor between the drive and a resisted load This contactor is controlled by the dedicated RBM output of the drive Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Resistive Brake Contact REAL Sec Delay Publication 1756 UMO006G EN P May 2005 When the drive s RBM output is energized the RBM contactor is switched from the load resistors to the UVW motor lines connecting the drive to the motor This switching does not occur instantaneously and enabling the power structure too early can cause electrical arcing across the contactor The resistive brake contact delay is the time that it takes to fully close the contactor across the UVW motor lines In order to prevent electrical arcing across the the contactor the enabling of the drive s power structure is delayed The delay time is variable depending on the RBM model When applying an RBM the customer must set the Resistive Brake Contact Delay to the recommended value found in the RBM specification The following cases outline how the RBM output relates to the normal enable and disable sequences Case 1 Enable Sequence 1 Enable axis is initiated via MSO or MAH instruction 2 Turn on RBM output to connect motor to drive 3 Wait for Resistive Brake Contact Delay while RBM contacts close 7 Motion Object Att
233. al signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive Loss of feedback power or feedback common electrical connection between the drive and the feedback device This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Feedback 1 or Feedback 2 Noise Fault If the Feedback Noise Fault bit attribute is set for a specific feedback source it indicates that noise has been detected on the feedback devices signal lines For example simultaneous transitions of the feedback A and B channels of an A Quad B encoder is referred to generally as feedback noise When the feedback device is an encoder feedback noise shown below is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope sud hr I t Figure 13 15 Channel Quadrature For example loss of channel quadrature for an encoder can be caused by physical misalignment of the feedback transducer components or excessive capacitance or other delays on the encoder signals Proper grounding and shielding techniques can usually cure radiated noise problems This fault condition is latched and requires execution of an explicit MAF
234. ame is detected or you enter an invalid character If you exceed the maximum name length allowed by the software the extra character s are ignored Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software ignores any extra character s Node Select the network node number of the module on the network Valid values include those network nodes not in use between 1 to 99 Revision Select the minor revision number of your module The revision is divided into the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog The major revision is used to indicate the revision of the interface to the module The minor revision is used to indicate the firmware revision Electronic Keying Select one of these keying options for your module during initial module configuration Configuring an 8720MC Drive 11 7 e Exact Match all of the parameters described below must match or the inserted module will reject the connection e Compatible Modules The following criteria must be met or else the inserted module will reject the connection e The Module Types Catalog Number and Major Revision must match e The Minor Revision of the physical module must be equal to or greater than the one specified in the software e Disable Keying does not employ ke
235. amics 12 2 Motion Configuration Instructions 12 4 motion control add axis 2 8 choose a motion module 2 3 coarse update period 2 6 coordinate system 2 16 execution 2 6 handle faults 2 16 overview 2 1 program 2 14 set the coordinated system time master 2 2 set up an axis 2 9 status information 2 16 Publication 1756 UMO006G EN P May 2005 Motion Coordinated Change Dynamics 12 5 Motion Coordinated Circular Move 12 5 Motion Coordinated Linear Move 12 5 Motion Coordinated Shutdown 12 5 Motion Coordinated Shutdown Reset 12 5 Motion Coordinated Stop 12 5 Motion Direct Commands 12 5 Motion Direct Drive Off 12 2 Motion Direct Drive On 12 2 Motion Disarm Output Cam 12 4 Motion Disarm Registration 12 4 Motion Disarm Watch Position 12 4 Motion Event Instructions 12 3 Motion Group 5 1 motion group set up 2 6 Motion Group Instructions 12 3 Motion Group Shutdown 12 3 Motion Group Shutdown Reset 12 3 Motion Group Stop 12 3 Motion Group Strobe Position 12 3 Motion Instructions 12 1 Coordinated Motion Instructions Motion Coordinated Change Dynam ics MCCD 12 5 Motion Coordinated Circular Move MCCM 12 5 Motion Coordinated Linear Move MCLM 12 5 Motion Coordinated Shutdown MCSD 12 5 Motion Coordinated Shutdown Re set MCSR 12 5 Motion Coordinated Stop MCS 12 5 Motion Configuration Instructions 12 4 Motion Apply Axis Tuning MAAT 12 4 Motion Apply Hookup Diagnostic MAHD 12 5 Motion Run Axis Tuning MRAT 12 4 Motion Run
236. aming and Configuring Your Motion Axis 6 19 Program Stop Action Select how a specific axis is stopped when the processor undergoes a mode change or when an explicit Motion Group Programmed Stop MGPS instruction is executed e Fast Disable The axis is decelerated to a stop using the current configured value for maximum deceleration Servo action is maintained until the axis motion has stopped at which time the axis is disabled i e Drive Enable is disabled and Servo Action is disabled e Fast Shutdown The axis is decelerated to a stop using the current configured value for maximum deceleration Once the axis motion is stopped the axis is placed in the shutdown state i e Drive Enable is disabled Servo Action is disabled and the OK contact is opened To recover from this state a reset instruction must be executed Fast Stop The axis is decelerated to a stop using the current configured value for maximum deceleration Servo action is maintained after the axis motion has stopped This mode is useful for gravity or loaded systems where servo control is needed at all times Hard Disable The axis is immediately disabled i e Drive Enable is disabled Servo Action is disabled but the OK contact is left closed Unless the drive is configured to provide some form of dynamic breaking this results in the axis coasting to a stop e Hard Shutdown The axis is immediately placed in the shutdown state Unless the drive is
237. an input of 100 e g 10 Volts the motor goes 5 000 RPM or 83 3 RPS the Torque Scaling attribute value would be calculated as shown below Velocity Scaling 100 83 3 RPS 1 2 Revs Per Second Publication 1756 UMO006G EN P May 2005 13 82 Motion Object Attributes Torque Scaling The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent96 rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios In fact the Torque Scaling value when properly established represents the inertia of the system and is related to the Tune Inertia attribute value by a factor of the Conversion Constant The Torque Scaling value is typically established by the MAAT instruction as part of the controller s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Torque Scaling 10096 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs and that with 10096 rated torque applied to the motor the motor accelerates at a rate of 3000 Revs Sec the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS 0 033396 Rated Revs Per S
238. and a ring Data Rate of 4 or 8 Mbaud The 1756 M16SE SERCOS interface module serves as the interface between one ControlLogix processor and 1 to 16 axes operating in either position or velocity mode The module has a programmable ring Cycle Period of 0 5 ms 1 ms or 2 ms depending on the number of axes and a ring Data Rate of 4 or 8 Mbaud RSLogix 5000 programming software provides complete axis configuration and motion programming support RSLOGIX 5000 SOFTWARE LOGIX5000 CONTROLLER 1756 MO2AE SERVO MODULE priyo PROGRAM EXECUTION Axis integrated Motion Configuration Programming cw Motion Trajectory Planner Position Velocity Feadback Figure 1 1 ControlLogix System with 1756 M02AE 1755 MxxSE SERCOS interface MODULE LOGIX5000 CONTROLLER RSLOGIX 5000 SOFTWARE Drive Axis integrated Motion Configuration Programming y reges He Planner M aloc Feedback Publication 1756 UMO006G EN P May 2005 Components of the ControlLogix Motion System The ControlLogix Motion Control System 1 3 Figure 1 2 ControlLogix System with 1756 MxxSE The ControlLogix Controller The ControlLogix controller is the main component in the The Combo Module 1756 L60M03SE The Analog Encoder Servo Module 1756 MO2AE ControlLogix system It supports sequential and motion functions and it performs all of the motion command execution and motion trajectory planner functions You can use one or more Con
239. andling 13 127 Hard Overtravel Checking Publication 1756 UMO06G EN P May 2005 14 Index Publication 1756 UMO006G EN P May 2005 13 127 Soft Overtravel Checkin 13 126 Fractional Unwind 13 129 Linear Ball Screw WITHOUT Aux Feedback Device 13 130 Linear Ball Screw Ball Screw Combination WITH Aux Feedback Device 13 130 Rotary Gear Head WITH Aux Feedback Device 13 130 Rotary Gear Head WITHOUT Aux Feedback Device 13 129 Servo Loop Configuration 13 125 Servo Loop Block Diagrams 13 141 Auxiliary Dual Command Servo 13 145 Auxiliary Position Servo 13 142 Dual Command Feedback Servo 13 146 Dual Feedback Servo 13 143 Motor Dual Command Servo 13 144 Motor Position Servo 13 141 Torque Servo 13 147 Velocity Servo 13 146 Servo Drive Status Attributes 13 98 Acceleration Command 13 101 Acceleration Feedback 13 102 Aux Position Feedback 13 100 Bus Regulator Capacity 13 103 DC Bus Voltage 13 104 Drive Capacity 13 103 Drive Status Attributes 13 98 Drive Status Bit Attributes 13 105 Absolute Reference Status 13 107 Acceleration Limit Status 13 107 Drive Enable Status 13 106 Enable Input Status 13 107 Home Input Status 13 106 Negative Overtravel Input Sta tus 13 107 Position Lock Status 13 108 Positive Overtravel Input Status 13 106 Process Status 13 106 Registration 1 2 Input Status 13 106 Registration 2 Input Status 13 106 Servo Action Status 13 106 Shutdown Status 13 106 Torque Limit Status 13 108 Velocity Limit S
240. anges are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication 1756 UMO006G EN P May 2005 6 82 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Soft Travel Limits Enables software overtravel checking for an axis when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for software overtravel limits and if that axis passes beyond these maximum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog Software overtravel limits are disabled during the tuning process Maximum Positive Type the maximum positive position to be used for software overtravel checking in position units Note The Maximum Positive limit must always be greater than the Maximum Negative limit Maximum Negative Type the maximum negative position to be used for software overtravel checking in positio
241. ant to Drive Counts per user defined Position Unit If it is a 5mm pitch ball screw and the user s Position Unit is say mm the user simply sets the Conversion Constant to 200 000 5 or 40 000 Drive Counts per mm based on the default Drive Resolution value of 200 000 Drive Counts Motor Rev If the pitch is irrational the method for addressing this is the same as described above Rotary Gear Head WITH Aux Feedback Device Based on a rotary motor feedback selection Drive Resolution would be expressed as Drive Counts per Aux Rev and be applied to the Rotational Position Resolution IDN Now that position is based on the auxiliary feedback device according to the Servo Loop Configuration the Data Reference bit of the various Scaling Types should be Load Referenced rather than Motor Referenced The motor feedback would be rotary and resolution expressed in cycles per motor rev The aux feedback device is also rotary and its resolution expressed in cycles per aux rev The Aux Feedback Ratio would be set to the number of aux feedback revs per motor rev and internally applied to IDNs 121 and 122 for the purpose of relating position servo loop counts to velocity servo loop counts in a dual servo loop configuration The Aux Feedback Ratio attribute is also used in range limit and default value calculations during configuration based on the selected motor s specifications If the application uses a 3 1 gearbox and the user s Position Unit is say
242. are automatically calculated Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Interpolation Time DINT CST time to interpolate to Publication 1756 UMO006G EN P May 2005 13 14 Motion Object Attributes Interpolated Actual Position Interpolated Actual Position is the interpolation of the actual position based on past axis trajectory history at the time specified by the Interpolated Time attribute Internal Access Rule Attribute Name Data Type Semantics of Values GSV Interpolated Actual REAL Position Units Position Interpolated Command Position Interpolated Command Position is the interpolation of the commanded position based on past axis trajectory history at the time specified by the Interpolated Time attribute Internal Access Rule Attribute Name Data Type Semantics of Values GSV Interpolated Command REAL Position Units Position Master Offset The Master Offset is the position offset that is currently applied to the master side of the position cam The Master Offset is returned in master position units The Master Offset will show the same unwind characteristic as the position of a linear axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Master Offset REAL Master Position Units Strobe Master Offset The Strobe Master Offset is the position offset that was applied to the master side of the po
243. aring between any two axes MCD Change the speed acceleration rate or deceleration rate of a move profile or a jog profile in progress MRP Change the command or actual position of an axis Command Description MGS Initiate a stop of motion on a group of axes MGSD Force all axes in a group into the shutdown operating state MGSR Transition a group of axes from the shutdown operating state to the axis ready operating state MGSP Latch the current command and actual position of all axes in a group Command Description MAW Arm watch position event checking for an axis MDW Disarm watch position event checking for an axis MAR Arm servo module registration event checking for an axis MDR Disarm servo module registration event checking for an axis Motion Instructions 12 13 For more information about the use and operation of Motion Direct Commands see the Logix Controller Motion Instruction Set Reference Manual publication number 1756 RMO007 i i The Motion Direct Commands dialog is similar in position and Motion Direct Command g p Dialo behavior to other dialogs in RSLogix5000 The dialog can be accessed g when the system is either off line or on line Motion Direct Command Dialog In order to execute a Motion Direct Command you must be on line On line The on line dialog has the Motion Group Shutdown and Execute buttons active If you click on either of these action is taken immediately Instance Desi
244. as stopped the axis no further motion can be generated until the fault is first cleared e Status Only If a fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate ATTENTION Selecting the wrong fault action for your application can cause a dangerous condition resulting in unexpected motion damage to the equipment and physical injury or death Keep clear of moving machinery Drive Fault Specifies the fault action to be taken when a drive fault condition is detected for an axis with the Drive Fault Input enabled in the Servo tab of this dialog that is configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown and Disable Drive Feedback Noise Specifies the fault action to be taken when excessive feedback noise is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Feedback Loss Specifies the fault action to be taken when feedback loss condition is detected The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only Publication 1756 UMO06G EN P May 2005 6 102 Naming and Configuring Your Motion Axis Fault Actions Tab AXIS SERVO DRIVE Publication 1756 UMO006G EN P May
245. associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis button Opens the Motion Group Properties dialog box for the Motion Group where you can edit the properties of the Motion Group If no Motion Group is assigned to this axis this button is disabled Naming and Configuring Your Motion Axis 6 17 New Group button Opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Module Selects and displays the name of the motion module to which the axis is associated Displays none if the axis is not associated with any motion module Module Type This read only field displays the type of motion module if any with which the axis is associated Displays none if the axis is not associated with any motion module Channel Selects and displays the motion module channel either 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module Press Apply to accept your edits Publication 1756 UMOO06G EN P May 2005 6 18 Naming and Configuring Your Motion Axis Select the Motion Planner tab to access the Axis Properties Motion Planner dialog
246. asted to its new location The new name is the same as the old one but with a one added after the last existing character For example Copying and pasting the coordinate system tag coord syst2 would create a new tag with the name coord syst21 Subsequent copying and pasting of the same tag would increment the name by one on the last digit i e coord syst22 coord syst23 coord syst24 etc It can be pasted into the same motion group tag or into the Ungrouped Folder A maximum of 32 Coordinate System tags can be created Cut Paste A Cut Paste operation is used for moving the Coordinate System tag from either a Motion Group Tag to the Ungrouped Axes folder or vice versa When a Cut Paste operation is performed on a tag being moved from a Motion Group tag to the Ungrouped Axes folder it unassigns the coordinate system tag from the motion group Likewise when it moves to the Motion Group tag it becomes assigned to the Motion group tag Delete Delete removes the Coordinate System tag from a Motion Group Tag or the Ungrouped Axes folder If a Motion Group is deleted all coordinate system tags associated with that motion group are unassigned and placed in the Ungrouped Axes folder Publication 1756 UMOO6G EN P May 2005 7 20 X Creating amp Configuring Your Coordinate System Tag Publication 1756 UMO006G EN P May 2005 Chapter 8 Configuring a 1394x SJTxx D Digital Servo Drive To configure a 1394x SJTxx D drive module 1
247. aster detected 4 Timer hardware faulted If you have more than 1 controller in the chassis If you have more than 1 controller in the chassis choose 1 of the controllers to be the CST master You can t have more than one CST master for the chassis Publication 1756 UMO006G EN P May 2005 Quick Start 2 3 Add the Motion Modules Use up to 16 motion modules with your ControlLogix controller For your motion modules use the firmware revision that goes with IMPORTANT ir the firmware revision of your controller See the release notes for your controller s firmware SERCOS interface Use this motion module Yes 3 axes 1756 MO3SE 3 axes plus controller 1756 L60MO3SE 8 axes 1756 MO8SE 16 axes 1756 M16SE No quadrature feedback 1756 M02AE LDT feedback 1756 HYD02 SSI feedback 1756 M02AS H E Controller My Controller 3 Tasks rend e 1 Data Types a amp 1 0 Configuration s New Module Wi Select Module Module E Analog Communications E Controllers Digital 2 E Motion 1756 HYD02 2 Axis Hydraulic Servo Allen Bradley 1756 MO2AE 2 Axis Analog Encoder Servo Allen 1756 M0245 2 Axis Analog SSI Servo illan 1756 M035E 3 Axis SERCOS Interface 1756 M085E 8 Axis SERCOS Interface Bradley New Module 4 1756 M08SEG 8 Axis Generic SERCOS Interface 1756 MI6SE 16 Axis SERCOS Interface
248. ate machine Axis State The Axis State attribute indicates what the operating state is of the axis Possible states are axis ready direct drive control servo control axis faulted amp axis shutdown Reference the Ac Motion Instructions Software Functional Specification for further detail on these states Internal Access Rule Attribute Name Data Type Semantics of Values GSV Axis State SINT Axis State 0 Axis Ready 1 Direct Drive Control 2 Servo Control 3 Axis Faulted 4 Axis Shutdown Watch Event Task Instance The Watch Event Task Instance attribute indicates which user Task is triggered when a watch event occurs The user Task is triggered at the same time that the Process Complete bit is set for the instruction that armed the watch event This attribute attributes is set through internal communication from the user Task object to the Axis object when the Task trigger attribute is set to an select the Watch Event Task Instance attribute of the Axis This attribute should not be set directly by an external device This attribute is available to be read externally Get attributes List for diagnostic information Internal Access Rule Attribute Name Data Type Semantics of Values n a Watch Event Task Instance DINT User Event Task that is triggered to execute when a Watch event occurs An instance value of 0 indicates that no event task has been configured to be triggered by the Wa
249. ation 1756 UMO006G EN P May 2005 DINT Direct Access Entire DINT DriveWarnings 0 Drive Overload Warning DriveOverloadWarning 1 Drive Overtemperature Warning DriveOvertempWarning 2 Motor Overtemperature Warning MotorOvertempWarning 3 Cooling Error Warning CoolingErrorWarning 4 31 Reserved Drive Warning Bits Overload Warning When the load limit of the motor is exceeded the Overload Warning bit is set If the condition persists an Overload Fault occurs This warning bit gives the control program an opportunity to reduce motor loading to avoid a future shutdown situation Drive Overtemperature Warning When the over temperature limit of the drive is exceeded the Drive Overtemperature Warning bit is set If the condition persists a Drive Overtemperature Fault occurs This warning bit gives the control program an opportunity to reduce motor loading or increasing drive cooling to avoid a future shutdown situation Motion Object Attributes 13 119 Motor Overtemperature Warning When the over temperature limit of the motor is exceeded the Motor Overtemperature Warning bit is set If the condition persists an Motor Overtemperature Fault occurs This warning bit gives the control program an opportunity to reduce motor loading or increasing motor cooling to avoid a future shutdown situation Cooling Error Warning When the ambient temperature limit inside the drive enclosure is exceeded the Cooli
250. ation bad e Major Fault e Run mode e Program mode e 16 xxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured This field displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once a module has been configured it stays configured until the module is reset or power is cycled even if the owner drops connection to the module Owned This field displays a yes or no value indicating whether an owner controller is currently connected to the module Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module 4 19 Module Identity Displays If the module in the physical slot Match agrees with what is specified on the General Tab In order for the Match condition to exist all of the following must agree e Vendor e Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch does not agree with what is specified on the General Tab Backplane Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Refresh Click on this button to refresh the tab with new data from the module Reset Module Click on
251. ault The Drive Undervoltage Fault bit is set when drive DC bus voltage is below the predefined operating limits for the bus Power Phase Loss Fault The Power Phase Loss Fault bit is set when the drive detects that one or more of the three power line phases is lost from the 3 phase power inputs SERCOS Fault The SERCOS Fault bit is set when either a requested SERCOS procedure fails to execute properly or the associated drive node has detected a SERCOS communication fault The Module Fault Bit attribute is a collection of all faults that have module scope as opposed to axis scope Generally a these module faults are reflected by all axes supported by the associated SERCOS module Module Fault attribute information is passed from a physical module or device to the controller via an 8 bit value contained in the in the header of the Synchronous Input connection assembly Thus these fault bits are updated every coarse update period by the Motion Task The module s map driver should also monitor module Faults so module fault conditions can be reflected to the user through the Module Properties dialog All of the fault bit attributes defined below can be handled by the ControlLogix processor as a Major Fault by configuring the associated Group Object s General Fault Type Mechanism attribute accordingly Motion Object Attributes 13 117 Otherwise any specific fault handling must be done as part of the user program Inter
252. auxiliary feedback Internal Access Rule Attribute Name Data Type Semantics of Values GSV Drive Resolution Drive Unit INT Enumeration 0 motor revs 1 aux revs 2 motor inches 3 aux inches 4 motor mm 5 aux mm The Drive Resolution attribute determines how many Drive Counts there are in a Drive Unit Drive Units may be configured as Revs Inches or Millimeters depending on the specific drive application Furthermore the configured Drive Unit may apply to either a motor or auxiliary feedback device All position velocity and acceleration data to the drive is scaled from the user s Position Units to Drive Units based on the Drive Resolution and Conversion Constant The ratio of the Conversion Constant to Drive Resolution determines the number of Position Units in a Drive Unit Conversion Constant Drive Resolution Drive Units rev inch or mm Position Unit Internal Access Rule Attribute Name Data Type Semantics of Values GSV Publication 1756 UMO006G EN P May 2005 Drive Resolution DINT Drive Counts Drive Unit Conversely all position velocity and acceleration data from the drive is scaled from the user s Position Units to Drive Units based on the Drive Resolution and Conversion Constant The ratio of Drive Resolution and the Conversion Constant determines the number of Position Units in a Drive Unit Drive Resolution Conversion Constant Position Units
253. ave configured the the backplane module check the slot number in the 1756 M02AS Properties dialog box Steady One of the following None green light Module is exchanging axis data The module is in the normal operating state Flashing red One of the following If an NVS update is in progress light A major recoverable failure has complete the NVS update occurred If an NVS update is not in A communication fault timer progress fault or non volatile memory Check the Servo Fault word for storage NVS update is in the source of the error progress Clear the servo fault condition The OK contact has opened via Motion Axis Fault Reset instruction Resume normal operation If the flashing persists reconfigure the module Steady red One of the following light A potential non recoverable Reboot the module fault has occurred If the solid red persists replace The OK contact has opened the module Ifthe FDBK The module status is Take this action LED displays Off The axis is not used None if you are not using this axis If you are using this axis make sure the module is configured and an axis tag has been associated with the module Hashing The axis is in the normal servo None The servo axis state can green light loop inactive state be changed by executing motion instructions Steady The axis is in the normal servo None The servo axis state can green light loop active state be changed by executing motion
254. ay 2005 Torque Motion Object Attributes 13 73 instructions which when used in conjunction with future Function Block programs provides custom outer control loop capability Offset e Acc P dat gt FF Velocity Gain Offset opui l e Offset Output amp Wa Filter Friction Servo OP diat gt FF BW Comp Polarity Gain Position P Command Velocity Coarse Sijah Command l i Error Low Velocity Fine Pos P Output Output 16 Bit Pass J p I gt interpolator gt Gain x Fior Scaling Limit DAC oe Position Command Velocity ervo Feedback enat Error Bi Position Accum p Pos I Feedback iator Gain Position Integrator Error Uem iti Servo Config Position Servo Motor Encoder i Polarity Position h Feedback y Sois Yy oar Position 16 bit input e Accum led Encoder amp e AQB Encoder ulator Counter Watch Event Watch Event Handler Watch Position chz Homing eae Event Marker P Event Marker le Handler Latch Registration vent Regist Regist Registration Event MW Latch s Handler Input Figure 13 9 Position Servo with Velocity Servo Drive Servo Gains The 1756 MO2AE 2 Axis Servo module uses a
255. b 1 4 Kinetix 6000 0 5 ms NOT Kinetix 6000 1 ms 5 8 ims 9 16 p 2ms 3 Set the data rate and cycle time H E Controller My Controller C3 Tasks 2 Motion Groups Copy Ctrl C 7 Trends CJ Data Types E 1 0 Configuration B S 1756 Backplane 1756 413 fa 0 1756 L55 My Controller A 3 8 12 1756 MO8SE My _SERCOS_Ring _ Ele SERCOS Network l 1 2094 ACO9 MO2 My Drive 3 E E D E Cross Reference Ctrl E BL 2 2094 AMD1 My Drive Y Wil Module Properties Local 5 1756 MO8SE 15 1 C Cycle Time DENN M ms v Transition To Phase po a Status Offline Cancel Apply Help Publication 1756 UM006G EN P May 2005 2 6 Quick Start Add the Motion Group Add a motion group to set up the motion planner motion planner Part of the controller that takes care of position and velocity information for your axes coarse update period How often the motion planner runs When the motion planner runs it interrupts all other tasks regardless of their priority motion planner scans of your code system overhead etc 0 ms 10 ms 20 ms 30 ms 40 ms In this example the coarse update period 10 ms Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner IMPORTANT Add only 1 motion group for the project RSLogix 5000 soft
256. back This servo configuration is a good choice in applications positioning accuracy is important The smoothness and stability may be limited however due to the mechanical non linearities external to the motor Note that the motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which Torque Offset Velocity Offset Motion Object Attributes 13 143 when used in conjunction with future Function Block programs provides custom outer control loop capability Servo Config Aux Position Servo Position Command Coarse Position Feedback Coarse 4 Fine interpolator didt Position Command Position Feedback Position Error Error Accum gt ulator Position Integrator Error Position Accum Output Output Low Pass Notch Filter Filter BW BW Notch Torque Amplifier P
257. back ulator ulator I Position Velocity Integrator Integrator Error Error A iti Servo Config Position Servo Low Motor Pass Filter A l Encoder I Polarity didt Position h Feedback A y oi Yy Coarse Position 16 bit Input AGE e Accum fq e Encoder amp Eiend ulator Counter Watch Event Watch Event 4 l Handler Watch Position chz Homing eae Event Marker se Event Marker be Handler Latch Registration vent Regist Regist Registration Event MW Latch s Handler Input Figure 13 10 Servo Gains Velocity Feedforward Gain Servo Drives require non zero command input to generate Publication 1756 UMO006G EN P May 2005 steady state axis acceleration or velocity To provide the non zero output from the Servo Module a non zero position or velocity error needs to be present We call this dynamic error while moving following error Well this non zero following error condition is a situation are trying to avoid We ideally want zero following error all the time This could be achieved through use of the position integral gain controls as described above but typically the response time of the integrator action is too slow to be effective An alternative approach that has superior dynamic response is to use Velocity and Acceleration Feedforward The Velocity Feedforward Gain attribute is used to provide the Velocity Command output necessary to generate the commanded
258. blication 1756 UMO06G EN P May 2005 Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module 4 7 the 1756 MO3SE MOSSE M16SE module and select Properties from the drop down menu The tabbed Module Properties screen displays Connection SERCOS Interface SERCOS Interface Info Module Info Backplane z E s Figure 4 7 Module Properties General Tab The Module Properties screen has the following tabs e The General tab references the 1756 M03SE MO8SE M16SE motion module e The Connection tab references the connection of the module to the controller e The SERCOS Interface tab is for configuring SERCOS communication settings for the 1756 M03SE MO8SE M16SE motion module e The SERCOS Interface Info tab is used to monitor the status of the SERCOS communication ring The Module Info tab when Online displays the current condition of the module e The Backplane tab when Online displays diagnostic information about the module s communication over the backplane and the chassis in which it is located Publication 1756 UMO006G EN P May 2005 4 8 Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module Editing 1756 M03SE M08SE M16 SE Module Properties General Tab Use this tab to create view module properties for the Publication 1756 UMO006G EN P May 2005 1756 M03SE MO8SE M16SE motion module On this tab you can e view the type and description of the module
259. brake output off to engage the motor brake e Wait Brake Engage Delay Time e Disable the drive power structure Drive Enable Status bit clears If the axis is shutdown through either a fault action or motion instruction the drive power structure is disabled immediately and the motor brake is engaged immediately e Drive stops tracking command reference Servo Action Status bit clears e Disable drive power structure Drive Enable Status bit clears e Turn off brake output to engage brake Brake Release Delay The Brake Release Delay attribute controls the amount of time that the drive holds of tracking command reference changes after the brake output is changed to release the brake This gives time for the brake Publication 1756 UMOO6G EN P May 2005 13 166 Motion Object Attributes to release Below is the sequence of events associated with engaging the brake Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Brake Release Delay Time REAL Sec e Enable axis is initiated via MSO or MAH Drive power structure enabled Drive Enable Status bit sets e Turn motor brake output on to release the brake e Wait Brake Release Delay Time e Track command reference Servo_Action_Status bit sets The drive does not release the brake unless there is holding torque Resistive Brake Contact Delay The Resistive Brake Contact Delay attribute is used to control an option
260. can assign additional axes by repeating the preceding sections To name and assign another axis refer to the Naming an Axis section You can assign up to 32 axes to a Logix5550 5555 or 5563 controller Chapter Creating amp Configuring Your Coordinate System Tag Introduction The Coordinate System tag is used to set the attribute values to be used by the Multi Axis Coordinated Motion instructions in your motion applications The Coordinate System tag must exist before you can run any of the Multi Axis Coordinated Motion instructions This is where you introduce the COORDINATE SYSTEM data type associate the Coordinate System to a Motion Group associate the axes to the Coordinate System set the dimension and define the values later used by the operands of the Multi Axis Motion Instructions The values for Coordination Units Maximum Speed Maximum Acceleration Maximum Deceleration Actual Position Tolerance and Command Position Tolerance are all defined by the information included when the Coordinate System tag is configured This chapter describes how to name configure and edit your Coordinate System tag Creating a Coordinate Creating a coordinate system adds it to your application There are four ways in which you can initiate the creation of a coordinate system The first way is to go to the File pull down menu select New Component and then select Tag System 4 RSLogix 5000 My Controller 1756 L63 File Edit View
261. ccess Rule Attribute Name Data Type Semantics of Values SSV GSV Backlash Reversal Error REAL Compensation for mechanical backlash can be achieved by adding a directional offset specified by the Backlash Reversal Error attribute to the motion planner s command position as it is applied to the associated servo loop Whenever the commanded velocity changes sign a reversal the Logix controller adds or subtracts the Backlash Distance value from the current commanded position This causes the servo to immediately move the motor to the other side of the backlash window and engage the load It is important to note that the application of this directional offset is completely transparent to the user the offset does not have any affect on the value of the Command Position attribute Publication 1756 UMO006G EN P May 2005 13 162 Motion Object Attributes If a value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a non zero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position Backlash Stabilization Window The Backlash Stabilization Window attribute is used to control the Backlash Stabilization feature in the servo control loop What follows is a description of this feature and the general backlash instability phenomenon Inter
262. ce standard Positive Negative Polarity Positive and Negative Polarity bit attribute determines the overall polarity of the servo loop of the drive All the advanced polarity parameters are automatically set based on whether the Drive Polarity is configured as Positive or Negative Proper wiring guarantees that the servo loop is closed with negative feedback However there is no such guarantee that the servo drive has the same sense of forward direction as the user for a given application Negative Polarity inverts the polarity of both the command position and actual position data of the servo drive Thus selecting either Positive or Negative Drive Polarity makes it possible to configure the positive direction sense of the drive to agree with that of the user This attribute is configured automatically using the MRHD and MAHD motion instructions Refer to the Logix Motion Instruction Specification for more information on these hookup diagnostic instructions Advanced Polarity Attributes The above advanced attributes are derived from the Drive Polarity Bits Publication 1756 UMO006G EN P May 2005 attribute and map directly to SERCOS IDNs Thus for a detailed description of these attributes refer to the corresponding IDN descriptions found in the SERCOS Interface standard Since these attributes are automatically configured to appropriate values based on the current Drive Polarity Bits settings the user need not be concerned with manually c
263. ce in applications where smoothness and stability are more important that positioning accuracy Positioning accuracy is limited due to the fact that the controller has no way of compensating for non linearity in the mechanics external to the motor Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which Publication 1756 UMOO06G EN P May 2005 13 142 Motion Object Attributes Fanar tmm Tamm when used in conjunction with future Function Block programs provides custom outer control loop capability Tug nup lanlum Male Tien es rin M Fma Fokk Won teu EJ ES T T Jar DLL TS i i EA Figure 13 16 Motor Position Servo Auxiliary Position Servo The Auxiliary Position Servo configuration provides full position servo Publication 1756 UM006G EN P May 2005 control using an auxiliary i e external to the motor feedback device to provide position and velocity feed
264. ch I Gain results in axis oscillation and servo instability Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Publication 1756 UMO006G EN P May 2005 Velocity Integral Gain REAL 1 mSec Sec In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation Another common case is when performing certain motion When the Integrator Hold Enable attribute is set the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered Position Differential Gain Motion Object Attributes 13 81 mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Velocity Integral Gain is the better choice The typical value for the Velocity Integral Gain is 15 mSec l Sec In some External Velocity Servo Drive applications where the level of damping provided by the external drive is insufficient for good position servo loop performance additional damping may be achieved via the Position Loop Differential Gain Assuming a non zero Position Loop Differential Gain value the difference between the current Position Error val
265. ciated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis button Opens the Motion Group Properties dialog box for the Motion Group where you can edit the properties of the Motion Group If no Motion Group is assigned to this axis this button is disabled New Group button Opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Module Selects and displays the name of the motion module to which the axis is associated Displays none if the axis is not associated with any motion module Naming and Configuring Your Motion Axis 6 9 Module Type This read only field displays the type of motion module if any with which the axis is associated An axis of the AXIS SERVO data type can be associated only with 1756 MO2AE motion modules Displays none if the axis is not associated with any motion module Channel Selects and displays the 1756 MO2AE motion module channel either 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module General Tab AXIS SERVO DRIVE The General screen shown below is for an AXIS SERVO DRIVE Data Type e Axis Prope
266. city Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability The velocity loop also allows higher effective position loop gain values to be used however too much Velocity Proportional Gain leads to high frequency instability and resonance effects Note that units for Velocity Proportional Gain are identical to that of the Position Proportional Gain making it easy to perform classic calculations to determine damping and bandwidth If you know the desired unity gain bandwidth of the velocity servo in Hertz use the following formula to calculate the corresponding P gain Vel P Gain Bandwidth Hertz 6 28 Motion Object Attributes 13 153 In general modern velocity servo systems typically run with a unit gain bandwidth of 40 Hertz The typical value for the Velocity Proportional Gain is 250 Sect Maximum Bandwidth There are limitations to the maximum bandwidth that can be achieved for the velocity loop based on the dynamics of the inner torque loop of the system and the desired damping of the system Z These limitations may be expressed as follows Bandwidth Velocity 0 25 1 Z Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz Based on this number the corresponding gains for the loop can be computed Note that the bandwidth of the torque loop in
267. ck this box to configure the controller so that failure of the connection to this module causes a major fault on the controller if the connection for the module fails Module Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred The following are common categories for errors e Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the software and the module Publication 1756 UMOO06G EN P May 2005 10 10 Configuring a Kinetix 6000 Drive Associated Axes Tab Kinetix 6000 Use this tab to configure the selected 1756 MxxSE motion module by Drives associating axis tags of the type AXIS SERVO DRIVE with nodes available on the module Figure 10 9 Module Properties Associated Axes Tab IMPORTANT Do you want to use the auxiliary feedback port of a Kinetix 6000 drive as a feedback only axis If YES then m
268. cks the polarity of the feedback You must manually move the axis for this test Test command Checks the polarity of the drive and feedback ATTENTION These tests make the axis move even with the controller in remote program mode e Before you do the tests make sure no one is in the way of the axis Do not change the polarity after you do the tests Otherwise you may cause an axis runaway condition 1 controller T i download 2 RUN REM PROG 3 drive 4 Controller My Controller E Tasks Motion Groups E C3 My Motion Group ro Motion Direct Commands Cross Reference Ctrl E X My Axis Y Ungrouped Axes Print id E Trends 9 1 0 Configuration N 5 Axis Properties My Axis X 6 Type how far you want the axis to move during the tests Publication 1756 UMO06G EN P May 2005 Test Feedback 1 est Command amp Fi eedback D Quick Start 2 13 Tune Each Axis Use the Tune tab to tune an axis ATTENTION When you tune an axis it moves even with the controller in remote program mode In that mode your code is not in control of the axis Before you tune an axis make sure no one is in the way of the axis The default tuning procedure tunes the proportional gains Typically tune the proportional gains first and see how your equipment runs 7 controller lt download RUN REM PROG 4 Controller My Controller Tasks
269. cludes feedback sampling delay and filter time constant Velocity Integral Gain When configured for a torque current loop servo drive every servo update the current Velocity Error is also accumulated in variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Torque Command that attempts to correct for the velocity error The characteristic of Vel I Gain correction however is that any non zero Velocity Error will accumulate in time to generate enough force to make the correction This attribute of Vel I Gain makes it invaluable in applications where velocity accuracy is critical The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too much I Gain will result in axis oscillation and servo instability Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Velocity Integral Gain REAL 1 mSec In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation Another common case is when performing certain motion When the Integrator Hold Enable attribute is set the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended
270. corresponding dedicated Registration input This bit is set if the registration input is active and clear if inactive Positive Overtravel Input Status The Positive Overtravel Input Status bit attribute represents the current state of the dedicated Positive Overtravel input This bit is set if the Positive Overtravel input is active and clear if inactive Negative Overtravel Input Status The Negative Overtravel Input Status bit attribute represents the current state of the dedicated Negative Overtravel input This bit is set if the Negative Overtravel input is active and clear if inactive Axis Control Bit Attributes Motion Object Attributes 13 49 Internal Access Rule Attribute Name Data Type Semantics of Values GSV Axis Control Bits DINT 0 Abort Process Request Shutdown Request Zero DAC Request 14 Reserved 5 Change Cmd Reference 6 31 Reserved 1 3 4 1 1 Abort Process Request When the Abort Process bit is set the servo module disables any active process such as a tuning or test process Shutdown Request When the Shutdown Request bit is set the servo module forces the axis into the shutdown state which opens the OK contact and zeroes the DAC output Zero DAC Request When the Zero DAC Request bit is set the servo module forces the DAC output for the axis to zero volts This bit only has an affect if the axis is in the Direct Drive State with the drive enabled but no servo ac
271. cs of Values GSV Actual Acceleration REAL Position Units Sec Command Acceleration Actual Acceleration is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on actual velocity is 1 feedback counts per coarse update period per coarse update period Command Acceleration is the commanded speed of an axis in the configured axis Position Units per second per second as generated by any previous motion instructions It is calculated as the current increment to the command velocity per coarse update interval Publication 1756 UMOO6G EN P May 2005 13 12 Motion Object Attributes Command Acceleration is a signed value the sign or depends on which direction the axis is being commanded to move Internal Access Rule Attribute Name Data Type Semantics of Values GSV Command Acceleration REAL Position Units Sec Command Acceleration is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on command velocity is 0 00001 feedback counts per coarse update period per coarse update period Watch Position Watch Position is the current set point position of an axis in the configured axis Position Units as set up
272. cs of Values GSV Marker Distance REAL Position Units Servo Status Bit Attributes This section describes the various Servo Axis Object status bit attributes Publication 1756 UMO006G EN P May 2005 Servo Status Bit Attributes Motion Object Attributes 13 47 Internal Access Rule Attribute Name Data Type Semantics of Values GSV DINT Direct Access Entire DINT ServoStatus 0 Servo Action Status No Tag 1 Drive Enable Status No Tag 2 Axis Shutdown Status No Tag 3 Process Status ProcessStatus 4 Output Limit Status OutputLimitStatus 5 Position Lock Status PositionLockStatus 6 Home Input Status HomelnputStatus 7 Registration 1 Input Status Reg1Input Status 8 Registration 2 Input Status Reg2InputStatus 9 Positive Overtravel Input Status PosOvertravellnputStatus 10 Negative Overtravel Input Status NegOvertravellnputStatus Servo Status Bits 12 15 Reserved 16 31 Reserved Servo Action Status The Servo Action Status bit attribute is set when servo action is currently enabled on the associated axis If the bit is not set then servo action is disabled Drive Enable Status The Drive Enable Status bit attribute is set when the Drive Enable output of the associated physical axis is currently enabled If the bit is not set then physical servo axis Drive Enable output is currently disabled Shutdown Status The Shutdown Status bit attribute is set when
273. ction The unity gain bandwidth is the frequency beyond which the velocity servo is unable to provide any significant position disturbance correction In general within the constraints of a stable servo system the higher the Velocity Servo Bandwidth is the better the dynamic performance of the system A maximum value for the Velocity Servo Bandwidth is generated by the MRAT Motion Run Axis Tune instruction Computing gains based on this maximum value via the MAAT instruction results in dynamic response in keeping with the current value of the Damping Factor described above Alternatively the responsiveness of the system can be softened by reducing the value of the Velocity Servo Bandwidth before executing the MAAT instruction Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Servo Bandwidth Velocity Servo Bandwidth REAL Hertz There are practical limitations to the maximum Velocity Servo Bandwidth for the velocity servo loop based on the drive system and the desired damping factor of the system Z Exceeding these limits could result in an unstable servo operation These bandwidth limitations may be expressed as follows Max Velocity Servo Bandwidth Hz 0 159 0 25 1 Z 1 Drive Model Time Constant The factor of 0 159 represents the 1 2PI factor required to convert Radians per Second units to Hertz The value for the Position Servo Bandwidth represents the unity
274. ctual Velocity coax a ae tec aD ot A 13 10 Command Velocity uat ti 256 4426 p ead as 13 11 Actual Acceleration aL Saa actae oi edhe oh 30 odes cb S 13 11 Command Acceleration uode id o atc etc tad ds 13 11 Watch Position uaa e abo ou Viet E oen 13 12 Registration Position 0 20 00 2 eee eee 13 12 Registration Fides oux erp a RU de BE OES 13 13 Interpolation Die s 335544522445 hee POP ESS EG 13 13 Interpolated Actual Position lille 13 14 Interpolated Command Position 13 14 M ster offset nS s eq axcubs k EDS ESO Od Oxia eed EN 13 14 Strobe Master Offset oci abet or ERU s 13 14 Statt Master Offsets crea e D Ree tree Een se ES eod 13 14 Motion Status Bit Attributes esci art eer 13 16 Motion Status Bits Ceu pi aaa 13 16 Axis Status Bit Attributes 11 fo eR pes scq vos 13 19 Axis Fault Bit Attributes 6324 GG ri ERG t OR Ea tase 13 20 Module Fault Bit Attribute auc erc EC x XXI ACH 13 21 Axis Event Bit Attributes uses vx T por 84 QE 13 22 Output Cam Status llle 13 23 Output Cam Pending Status 4s nein s 13 23 Output Cam Lock Status sich ese tase eebecs v 13 24 Output Cam Transition Status qe wee lee ed 13 24 Motion Object Configuration Attributes 13 24 Axe TVDE aua ile x ed xir Ev ve ERR EXER EPA 13 24 Motion Planner Configuration Attributes 13 25 Output Cam Execution Tareets vai ig v ees 13 25 Master Input Configuration Bits 13 26
275. currently in the Shutdown state As soon as the axis is transitioned from the Shutdown state to another state the Shutdown Status bit is cleared Process Status The Process Status bit attribute is set when there is an axis tuning operation or an axis hookup diagnostic test operation in progress on the associated physical axis Home Input Status The Home Input Status bit attribute represents the current state of the dedicated Home input This bit is set if the Home input is active and clear if inactive Registration 1 2 Input Status The Registration Input 1 and Registration Input 1 Status bit attributes represent the current state of the corresponding dedicated Registration input This bit is set if the registration input is active and clear if inactive Positive Overtravel Input Status The Positive Overtravel Input Status bit attribute represents the current state of the dedicated Positive Overtravel input This bit is set if the Positive Overtravel input is active and clear if inactive Motion Object Attributes 13 107 Negative Overtravel Input Status The Negative Overtravel Input Status bit attribute represents the current state of the dedicated Negative Overtravel input This bit is set if the Negative Overtravel input is active and clear if inactive Enable Input Status The Enable Input Status bit attribute represents the current state of the dedicated Enable input This bit is set if the Enable input is active and
276. d backplane Publication 1756 UMOO06G EN P May 2005 14 8 Troubleshoot Module Lights 1756 HYD02 Module Status Using the FDBK Indicator Publication 1756 UMO006G EN P May 2005 If the OK The module status is Take this action indicator displays Hashing The module has passed internal None if you have not configured green light diagnostics but it is not the module communicating axis data over If you have configured the the backplane module check the slot number in the 1756 HYD02 Properties dialog box Steady One of the following None green light Module is exchanging axis data The module is in the normal operating state Flashing red One of the following If an NVS update is in progress light A major recoverable failure has complete the NVS update occurred If an NVS update is not in A communication fault timer progress fault or non volatile memory Check the Servo Fault word for storage NVS update is in the source of the error progress Clear the servo fault condition The OK contact has opened via Motion Axis Fault Reset instruction Resume normal operation If the flashing persists reconfigure the module Steady red One of the following light A potential non recoverable Reboot the module fault has occurred If the solid red persists replace The OK contact has opened the module Ifthe FDBK The module status is Take this action indicator displays Off The axis is not used
277. d the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Velocity Offset REAL Position Units per sec Torque Offset Torque Offset compensation can be used to provide a dynamic torque command correction to the output of the velocity servo loop Since this value is updated synchronously every Coarse Update Period the Torque Offset can be tied into custom outer control loop algorithms using Function Block programming Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Backlash Reversal Error Torque Offset REAL Rated Backlash Reversal Error provides the user the capability to compensate for positional inaccuracy introduced by mechanical backlash For example power train type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical components a motor a gearbox and a ball screw that may introduce inaccuracies and that are subject to wear over their lifetime Hence when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw etc may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved Internal A
278. d 32 and the frequency can be set to either 208kHz or 650kHz The clock signal is maintained in the High state between pulse strings The transducer shifts data out on the Data line MSB first on each rising edge of the clock signal The transducer also maintains the data signal in specified states before and after the data is shifted out These states are checked by the controller to detect missing transducers or broken wires A Field Programmable Gate Array FPGA is used to implement a multi channel SSI Interface on the controller Each channel is functionally equivalent Linear Displacement Transducer LDT Servo modules like the 1756 HYD02 is the Linear Magnetostrictive Displacement Transducer or LDT A Field Programmable Gate Array FPGA is used to implement a multi channel LDT Interface Each channel is functionally equivalent and is capable of interfacing to an LDT device with a maximum count of 240 000 The LDT interface has transducer failure detection and digital filtering to reduce electrical noise The FPGA can interface to two types of LDTs Start Stop and PWM Start Stop transducers accept an input interrogate signal to start the measurement cycle and respond with two pulses on the Return line The time between the pulses is proportional to the position PWM transducers respond to the interrogate signal with a single long pulse on the Return line The pulse width is proportional to the position The FPGA generates the In
279. d Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them External Drive Configuration Select the drive type for the servo loop e Velocity disables the servo module s internal digital velocity loop e Torque the servo module s internal digital velocity loop is active which is the required configuration for interfacing the servo axis to a torque loop servo drive Hydraulic enables features specific to hydraulic servo applications Loop Configuration Select the configuration of the servo loop For this release only Position Servo is available Enable Drive Fault Input Check this box if you wish to enable the Drive Fault Input When active the motion module receives notice whenever the external drive detects a fault Drive Fault Input Specifies the usual state of the drive fault input when a fault is detected on the drive Publication 1756 UMOO6G EN P May 2005 6 24 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 e Normally Open when a drive fault is detected it opens its drive fault output contacts e Normally Closed when a drive fault is detected it closes its drive fault output contacts Enable Direct Drive Ramp Control Clicking on the Enable Direct drive Ramp Control check box lets you set the Direct Drive Ramp Rate in volts per second for when an MDO instruction is executed Direct Drive Ramp Rat
280. d unnecessary communication traffic transferring data that is not of interest it is necessary to explicitly activate transfer of the specific Servo Status Attribute data from the servo module using the Axis Info Select attributes Thus a Servo Status Attribute value is ONLY valid if the attribute has been selected by one of the Axis Info Select attributes Otherwise the Servo Status Attribute value is forced to zero In order for the position unit based servo status attributes to return a meaningful value the Conversion Constant Axis Configuration Attribute must be established Furthermore attributes having velocity or acceleration units Position Units Sec must also have a valid coarse update period which is established through association with a fully configured Motion Group Object Motion Object Attributes 13 43 Each of the Servo Status Attributes appears in the following Servo block diagram Torque Offset e Acc pe didt FF Velocity Gain Offset Sues OI e Offset Output amp ia Filter Friction Servo baat ort BW Comp Polarity Gain Position Command Velocity Coarse Position Command Velocity l R Error Error Low l
281. d values such as position velocity and the like The coordination units do not need to be the Publication 1756 UMO006G EN P May 2005 1 12 Creating amp Configuring Your Coordinate System Tag Publication 1756 UMO006G EN P May 2005 same for each coordinate system Enter units that are relevant to your application and maximize ease of use When you change the Coordination Units the second portion of the Coordination Ratio Units automatically changes to reflect the new units Coordination Units is the default Axis Grid The Axis Grid of the Units page displays the axis names associated with the Coordinate System the conversion ratio and the units used to measure the conversion ratio Axis Name The Axis Name column contains the names of the axes assigned to the Coordinate System in the General screen These names appear in the order that they were configured into the current coordinate system This column is not editable from this screen Conversion Ratio The Conversion Ratio column defines the relationship of axis position units to coordination units for each axis For example If the position units for an axis is in millimeters and the axis is associated with a coordinate system whose units are in inches then the conversion ratio for this axis coordinate system association is 25 4 1 and can be specified in the appropriate row of the Axis Grid Note The numerator can be entered as a float or an integer The denomina
282. dition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Any attempt to clear the fault while the drive enable input is still inactive and the drive is enabled is unsuccessful However the drive enable input fault may be cleared with the drive enable input inactive if the drive is disabled If the Drive Enable Input Checking bit is clear then the state of the Drive Enable Input is irrelevant so no fault would be declared in any of the above conditions Ground Short Fault When the drive detects an imbalance in the DC bus supply current the Ground Short Fault bit is set indicating that current is flowing through an improper ground connection Drive Hardware Fault The Drive Hardware Fault bit is set when the drive detects a serious hardware fault Motion Object Attributes 13 115 Overspeed Fault The Overspeed Fault bit is set when the speed of the axis as determined from the feedback has exceeded the overspeed limit which is typically set to 15096 of configured velocity limit for the motor Overload Fault When the load limit of the motor drive is first exceeded the Overload warning bit is set If however the condition persists the Overload fault is set Often this bit is tied into the IT limit of the drive Drive Overtemperature Fault The Drive Overtemperature Fault bit is set when the drive s temperature exceeds the drive shutdown t
283. does my axis overshoot its target speed 15 3 Why is there a delay when stop and then restart a jog 15 6 Why does my axis reverse direction when stop and start it 15 8 Why does my axis While an axis is accelerating you try to stop it The axis keeps accelerating for a short time before it starts to decelerate accelerate when stop it Example You start a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you start a Motion Axis Stop MAS instruction The axis continues to speed up and then eventually slows to a stop Look for Jog PB lt Local4 Data O gt My Axis OK Motion Axis Jog Axis My Axis Motion Control Jog_1 Direction 0 Speed Jog_1_Speed S Curve profile in the ee m 60 0 instruction that start paoa Ut nits per sec Re th l gps Accel Rate Jog 1 Accel e motion 200 Accel Units Units per sec2 Decel Rate Jog 1 Decel 200 Decel Units Units per sec2 Profile Merge Disabled Merge Speed Programmed lt lt Less Publication 1756 UMO006G EN P May 2005 15 2 Troubleshoot Axis Motion Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e An S Curve profile has to get acceleration to 0 before the axis can slow down e The time it takes depends on the acceleration and speed In the meantime the axis continues to speed up The following trends show how the axis stops with a trapezoidal pro
284. drive hookup diagnostics and auto tuning Ladder based application programming including support for 31 motion commands This section provides an introduction to concepts used in developing application programs for motion control These concepts include e Application program development e The MOTION INSTRUCTION tag Motion status and configuration parameters Modifying motion configuration parameters e Handling motion faults Publication 1756 UMOO6G EN P May 2005 1 6 The ControlLogix Motion Control System Application Program Development Developing a motion control application program involves the following Task Description Select the master coordinated system time Sets one controller as the master controller Once you complete this step you can synchronize all the motion modules and ControlLogix controllers in your chassis Name and Configure an axis Adds an axis to your application program Develop a motion application program Create a program for your motion control application Add a motion module Adds a motion module to your application program Assign additional servo modules and axes Adds additional modules and axes to your application program Run hookup diagnostics and auto tuning Completes hookup diagnostics and auto tuning for each axis The MOTION INSTRUCTION Tag The controller uses the MOTION INSTRUCTION tag structure to store status information d
285. dule 1756 MO2AE 1 3 Application program Developing 1 6 Assigning Additional Motion Axes 6 108 Assigning in an application program Additional modules 3 19 axis add to controller 2 8 check wiring 2 12 get status 2 16 inhibit 16 1 set up 2 9 tune 2 13 Axis Properties Aux Feedback Tab AXIS_SERVO_DRIVE 6 38 Aux Feedback Tab AXIS_SERVO_DRIVE Cycles 6 39 Feedback Ratio 6 39 Feedback Type 6 38 Interpolation Factor 6 39 Per 6 39 Conversion Tab 6 40 Conversion Constant 6 41 Position Unwind 6 41 Positioning Mode 6 41 Drive Motor Tab AXIS SERVO DRIVE 6 30 Amplifier Catalog Number 6 31 Attribute 1 Atrribute 2 6 33 Calculate button 6 34 Calculate Parameters 6 36 Per 6 35 Position Range 6 35 Position Unit Scaling 6 35 Position Unit Unwind 6 35 Publication 1756 UMO006G EN P May 2005 4 Index Publication 1756 UMO006G EN P May 2005 Change Catalog Button 6 33 Catalog Number 6 33 Filters 6 34 Family 6 34 Feedback Type 6 34 Voltage 6 34 Drive Enable Input Checking 6 32 Drive Enable Input Fault 6 32 Drive Resolution 6 32 Loop Configuration 6 31 Real Time Axis Information 6 33 Drive Motor Tab AXIS SERVO DRIVE Motor Catalog Number 6 31 Dynamics Tab 6 56 Manual Tune 6 59 Maximum Acceleration 6 58 Maximum Deceleration 6 58 Maximum Velocity 6 58 Fault Actions Tab AXIS SERVO 6 99 Drive Fault 6 101 Feedback Loss 6 101 Feedback Noise 6 101 Position Error 6 102 Soft Overtravel 6 102 Fault Actions Tab AXIS SER
286. dule Fault 9 10 Requested Packet Interval 9 9 11 9 General Tab 9 5 Description 9 6 Electronic Keying 9 7 Name 9 6 Node 9 6 Revision 9 6 Slot 9 6 Status 9 8 Type 9 6 Vendor 9 6 Module Info 9 12 Configured 9 14 Identification 9 13 Internal State Status 9 14 Major Minor Fault Status 9 14 Module Identity 9 15 Owned 9 15 Refresh 9 16 Power Tab Ultra Drive 9 12 Bus Regulator ID 9 12 Editing Your1756 M02AE Motion Module Settings 3 7 Encoder 13 29 Encoder Noise 13 52 F Faults Types 1 7 faults axis 2 16 motion control 2 16 G General Tab AXIS VIRTUAL 6 14 Assigned Motion Group 6 14 Ellipsis button 6 15 New Group button 6 15 Publication 1756 UMO06G EN P May 2005 8 Index GSV instruction Reading status and configuration parameters 1 7 H hookup tests run 2 12 l inhibit axis 16 1 axis of a 1394 drive 16 4 Inputs Home Limit Switch 13 33 K Kinetix 6000 Drive Configuring 10 1 Kinetix Drive Properties 10 4 Associated Axes Tab 10 10 Ellipsis 10 11 New Axis 10 11 Node 10 11 Connection Tab 10 7 Major Fault 10 9 Module Fault 10 9 Requested Packet Interval 10 8 General Tab 10 4 Type 10 5 Description 10 5 Electronic Keying 10 6 Name 10 5 Node 10 5 Revision 10 5 Status 10 6 Vendor 10 5 Module Info Tab 10 12 Configured 10 13 Identification 10 12 Internal State Status 10 13 Major Minor Fault Status 10 13 Module Identity 10 14 Owned 10 14 Refresh 10 15 Reset Module 10 14 Pow
287. e The Direct Drive Ramp Rate is a slew rate for changing the output voltage when a Direct Drive On MDO instruction is executed A Direct Drive Ramp Rate of 0 disables the output rate limiter letting the Direct Drive On voltage to be applied directly Real Time Axis Information Attribute 1 Attribute 2 Select up to two axis attributes whose status are transmitted along with the actual position data to the Logix processor The values of the selected attributes can be accessed via the standard GSV or Get Attribute List service Note The servo status data update time is precisely the coarse update period If a GSV is done to one of these servo status attributes without having selected this attribute via the Drive Info Select attribute the attribute value is static and does not reflect the true value in the servo module Click on the Apply button to accept your changes Naming and Configuring Your Motion Axis 6 25 Feedback Tab AXIS SERVO The Feedback Tab allows you to select the type of Feedback used with your Servo axis Axis Properties myservolaxis Biel x Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type AQB 4 Quadrature B coc La e Figure 6 14 Axis Properties Feedback Tab for Axis_Servo Feedback Type Select the appropriate Feedback for your current configuration Yo
288. e If the Position Error at constant speed is negative the actual position of the axis is abead of the command position If this occurs decrease the Velocity Feedforward Gain such that the Position Error is again positive Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Velocity Feedforward Gain REAL 96 Acceleration Feedforward Gain When interfacing to an external torque servo drive the Acceleration Feedforward Gain attribute is used to provide the Torque Command output necessary to generate the commanded acceleration It does this by scaling the current Command Acceleration by the Acceleration Feedforward Gain and adding it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position
289. e but rather on the Publication 1756 UMO006G EN P May 2005 Command Velocity Motion Object Attributes 13 11 conversion constant of the axis and the fact that the internal resolution limit on actual velocity is 1 feedback counts per coarse update Command Velocity is the commanded speed of an axis in the configured axis Position Units per second as generated by any previous motion instructions It is calculated as the current increment to the command position per coarse update interval Command Velocity is a signed value the sign or depends on which direction the axis is being commanded to move Internal Access Rule ASA Data Semantics of Values Type GSV Actual Acceleration Command Velocity REAL Position Units Sec Command Velocity is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebase but rather on the conversion constant of the axis and the fact that the internal resolution limit on command velocity is 0 00001 feedback counts per coarse update Actual Acceleration is the current instantaneously measured acceleration of an axis in the configured axis Position Units per second per second It is calculated as the current increment to the actual velocity per coarse update interval Actual Acceleration is a signed value the sign or depends on which direction the axis is currently accelerating Internal Access Rule Attribute Name Data Type Semanti
290. e indicated in the title bar so that you may view the changes from that workstation but not edit them Axis Configuration Selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The Tabs for Tune Dynamics Gains Output Limits and Offset are not displayed e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Motion Group Selects and displays the Motion Group to which the axis is associated An axis assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis button Opens the Motion Group Properties dialog box for the Motion Group where you can edit the properties of the Motion Group If no Motion Group is assigned to this axis this button is disabled Naming and Configuring Your Motion Axis 6 11 New Group button Opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Module Selects and displays the name of the SERCOS drive to which the axis
291. e 8720MC prefix Publication 1756 UMO06G EN P May 2005 11 4 Configuring an 8720MC Drive Press the OK button to close the Select Module Type dialog The 8720MC Drive Create Wizard Module Properties dialog opens my8720drv 3 m NI sz Figure 11 4 Module Properties Wizard Dialog Naming the Drive 5 You must fill in a name for the drive this is a required field Fill in the responses for the other parameters as needed The following fields are displayed only if you are viewing this tab through the Create wizard Next gt Click this button to view the next Create wizard page Back Click this button to view the previous Create wizard page Finish gt gt Click this button to close the Create wizard 6 Click the Finish button to place the new drive in the Controller Organizer 7 After you click the Finish button a new drive module displays beneath the selected 1756 MxxSE motion module aS I O Configuration E E 1 1756 Mo35E mymo3mod 0 Ry 10 1394C 5JT05 D mym031394 Figure 11 5 Controller Organizer New 8720MC Drive Publication 1756 UMO06G EN P May 2005 Configuring an 8720MC Drive 11 5 Editing the 8720MC Drive The Module Properties for any of the 8720MC drives can be edited by P rti highlighting the drive to be edited right click with the mouse and roperties selecting Properties B 63 1 0 Configuration S B 1 1756 MO35E mymO3mod fl 1 2094 ACOS MO1 my2094drv fl
292. e Axis Type is set to feedback only the Servo Loop Configuration is used to select which feedback port is to be used Initial release of this object however will not support the auxiliary feedback port When the application requires the servo module axis to interface with an external velocity servo drive the External Drive Type should be configured for velocity servo drive This disables the servo module s internal digital velocity loop If the External Drive Type attribute is set to torque servo drive the servo module s internal digital velocity loop is active This configuration is the required configuration for interfacing to a torque loop servo drive If the External Drive Type attribute is set to hydraulic servo the object will enable certain features specific to hydraulic servo applications In general selecting Publication 1756 UMO006G EN P May 2005 13 68 Motion Object Attributes the hydraulic External Drive Type configures the servo loop the same as selecting the velocity servo External Drive Type Internal Access Rule Attribute Name Data Type Semantics of Values GSV External Drive Type DINT Enumeration 0 torque servo 1 velocity servo 2 hydraulic servo Fault Configuration Bits Internal Access Rule Attribute Name Data Type Semantics of Values GSV Fault Configuration Bits DINT Bit Field Publication 1756 UMO006G EN P May 2005 0 Soft Overtravel Checking 1
293. e Feedback or Output amp Feedback Tests can cause a runaway condition resulting in unexpected motion damage to the equipment and physical injury or death Output Polarity The polarity of the servo output to the drive this field is automatically set by executing the Output amp Feedback Test e Positive e Negative Note When properly configured this setting and the Feedback Polarity setting insure that when the axis servo loop is closed it is closed as a negative feedback system and not an unstable positive feedback system This bit can be configured automatically using the MRHD and MAHD motion instructions Test Marker Runs the Marker test which ensures that the encoder A B and Z channels are connected correctly and phased properly for marker detection When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Test Feedback Runs the Feedback Test which checks and if necessary reconfigures the Feedback Polarity setting When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Test Output amp Feedback Runs the Output amp Feedback Test which checks and if necessary reconfigures both the polarity of encoder feedback the Feedback Polarity setting and the po
294. e Offset Publication 1756 UMO06G EN P May 2005 6 96 Naming and Configuring Your Motion Axis for an axis of the type AXIS SERVO DRIVE configured as a Servo drive in the General tab of this dialog e Axis Properties AxisO Of x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup r Friction Compensation Friction Compensation Window r Backlash Compensation Reversal Offset Stabilization Window Velocity Offset Torque Force Offset Publication 1756 UMO006G EN P May 2005 Tune Dynamics Gains Output Limits Offset Fault Actions Tag oo Manual Adjust oo Position Units joo Position Units oo Position Units joo Position LInits s Cancel Apply Help Figure 6 48 Axis Properties Offset Tab for Axis_Servo_Drive The parameters on this tab can be edited in either of two ways edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RS
295. e Semantics of Values SSV GSV Direct Drive Ramp Rate REAL Volts Second Servo Offsets This section covers the various servo attributes that provide offsets to real time servo loop operation Friction Compensation It is not unusual for an axis to have enough static friction so called sticktion that even with a significant position error refuses to budge Of coarse integral gain can be used to generate enough output to the drive to correct the error but this approach may not be responsive enough for the application An alternative is to use Friction Compensation to break sticktion in the presence of a non zero position error This is done by adding or subtracting a fixed output level called Friction Compensation to the Servo Output value based on its current sign The Friction Compensation value should be just under the value that would break the sticktion A larger value results in the Axis to dither a phenomena describing a rapid back and forth motion of the axis centered on the commanded position Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Friction Compensation REAL Range 0 to 100 Friction Compensation Window To address the issue of dither when applying Friction Compensation and hunting from the integral gain a Friction Compensation Window is applied around the current command position when the axis is not Publication 1756 UMO006G EN P May 2005 Moti
296. e currently armed and the pending Output Cam is in process Therefore each Output Cam controls a subset of Output Bits The Output Cam Transition Status bit is reset when the transition to the pending Output Cam is complete or when the Output Cam is terminated by a MDOC instruction Internal Access Rule Data Type Semantics of Values GSV Output Cam Transition DINT Set of Output Cam Transition Status Status bits Motion Object The following sections define in more detail the behavior of all the various configuration attributes associated with the Motion axis Configuration Attributes Object The attributes are by definition have read write access The Servo Object Configuration Attributes are divided into five categories Motion General Configuration Motion Units Motion Conversion Motion Homing Motion Dynamics and Motion Instruction attributes These categories correspond roughly to the organization of the RSLogix 5000 Axis Properties pages Axis Type The Axis Type attribute is used to establish the intended use of the axis If the axis is intended for full servo operation than a value of 2 Publication 1756 UMO006G EN P May 2005 Motion Object Attributes 13 25 is required If only the position information from the feedback interface is of interest than a Axis Type should be set to 1 Finally if the axis is unused in the application which is a common occurrence when there are an odd number of axes in the system
297. e drop down menu i oa rri vg am 0 5d Unscheduled Programs EE ez Motion Groups i i ml Lingroupi Mew Motion Group E Trends 1 3 Data Types BA Cut Ctrl x i tg Liser Def Copy Ctrl C Cy strings eS Paste Ctrl C Predefinee E Module Defined Figure 5 1 Controller Organizer New Motion Group Pop up This calls the New Tag window Name mymotiongroup Description Tag Type Base C Alias Produced E Consumers C Consumed Data Type MOTION GROUP Ej Configure Scope Mv Controller controller hy Style Figure 5 2 New Tag Dialog 1 Enter a name for the Motion Group in the Name field Publication 1756 UMO006G EN P May 2005 5 2 The Motion Group 2 In the Description field enter a description of the tag 3 Click on the respective radio button to select one of the following tag types Base refers to a normal tag selected by default Alias refers to a tag which references another tag with the same definition Special parameters appear on the New Tag dialog that allows you to identify to which base tag the alias refers 4 Select MOTION GROUP for the Data Type 5 From the Scope pull down menu select the scope for the tag 6 If you want to produce this tag for other controllers to consume check the Produce box and enter the maximum number of consumers TTTTNTUMMO producing a tag requires a connection for each consumer Connections are a limited r
298. e for the Backlash Stabilization Window this algorithm entirely eliminates the gearbox buzz without sacrificing any servo performance The Backlash Stabilization parameter determines the width of the window over which backlash stabilization is applied In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Patent Pending The Output Filter Bandwidth attribute controls the bandwidth of the servo s low pass digital output filter The programmable low pass output filter is bypassed if the configured Output Filter Bandwidth for this filter is set to zero the default This output filter can be used to filter out or reduce high frequency variation of the servo module output to the drive The lower the Output Filter Bandwidth the greater the attenuation of these high frequency components of the output signal Unfortunately since the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing Motion Object Attributes 13 85 the Output Filter Bandwidth usually requires lowering the Position or Velocity Proportional Gain of the system to maintain stability Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Integrator Hold Enable Output LP Filter Bandwidth REAL Hertz The output filter is particularly useful in high inertia applications where resonance behavior ca
299. e name of the parent module You can also enter the name and a description for the module Other fields and buttons on this dialog let you set the slot location of the module Publication 1756 UMO006G EN P May 2005 Adding and Configuring Your 1756 MO02AE 1756 M02AS 1756 HYD02 Motion Module 3 9 review information for both channels go to the New Tag dialog to create an axis to associate with one of the channels select the minor revision number and select an electronic keying option You can also view the status the controller has about the module but only when online Type Displays the type and description of the module being created read only Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant If you attempt to enter an invalid character or exceed the maximum length the software beeps and ignores the character Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software beeps to warn you and ignores any extra characters Slot Enter the slot number where the module resides The spin button contains values that range from 0 to 1 less than the chassis size e g if you have a 4 slot chassis the spin button will spin from 0 to 3 If you enter a slot number that is out of this range you will receive an error message
300. e necessary in many applications doesn t come without a price The Master Delay Compensation algorithm extrapolates the position of the master axis at the predicted time when the command position is applied to the slave s servo loop Since master axis position is measured in discrete feedback counts and is inherently noisy the extrapolation process amplifies that noise according to the total position update delay The total position update delay is proportional to the Coarse Update Period of the motion group and if the master or the slave involves an AXIS SERVO DRIVE data type it also includes the delay term that is proportional to the SERCOS Update Period The greater the delay the greater the noise introduced by the extrapolator The Master Delay Compensation feature also includes an extrapolation filter to filter the noise introduced by the extrapolation process The time constant of the filter is fixed at 4x the total position update delay independent of the Master Position Filter Bandwidth which again is a function of the Coarse Update Period and the SERCOS Update Period if a AXIS SERVO DRIVE data type The Logix engine currently implements a 1 order extrapolation algorithm that results in zero tracking error while the master axis is moving at constant velocity If the master axis accelerates or decelerates the tracking error is non zero and proportional to the acceleration or deceleration rate and also proportional to the square
301. e selected 1756 MxxSE in the I O Configuration branch of the Controller Organizer Publication 1756 UMO06G EN P May 2005 10 2 Configuring a Kinetix 6000 Drive BS I O Configuratio 2 Select New Module from the pop up menu g 3j 1 1756 M035E mymO3mod 0 EL 12094 ACO5 M01 my20 BJ fl 2 2098 DSD 005 SE my2 fl 3 8720MC B014 my8720 By cut Ctrlex fly 10 1394C SITO5 D mym Copy Ctrl C bes 2 1756 MO2AE mymO02ae i Paste Ckri V S B 3 1756 Mo35E mymo3semc fl 1 2094 AC32 MO05 k kdr Delete Del Cross Reference Ctri E Properties sala Thee Figure 10 2 New Module Selection from Pop Up Menu The Select Module Type dialog displays Type 2034 AC05 M01 Type Description 2094 4C05 M01 Kinetix 6000 230V4C IAM 3kw PS 94 Cont 174 Peak a Kinetix 6000 230VAC IAM 3kw PS 54 Cont 104 Peak Kinetix 6000 230VAC IAM Bkw PS 154 Cont 304 Peak Kinetix 6000 230VAC IAM 15kw PS 244 Cont 494 Peak Kinetix 6000 230VAC IAM 23kW PS 494 Cont 984 Peak Kinetix 6000 230VAC AM 94 Cont 174 Peak Kinetix 6000 230VAC AM 154 Cont 304 Peak Kinetix 6000 230VAC AM 244 Cont 494 Peak Kinetix 6000 230VAC AM 494 Cont 984 Peak Kinetix 6000 230VAC 4M 54 Cont 104 Peak Kinetix 6000 460V4C IAM Bk w PS 94 Cont 134 Peak Kinetix 6000 460VAC IAM 6k W PS 44 Cont 64 Peak Kinetix 6000 460V4C IAM 15kw PS 154 Cont 224 Peak Kinetix 6000
302. e status is Take this action LED displays Off The module is not operating e Apply chassis power e Verify the module is completely inserted into the chassis and backplane Hashing The module has passed internal e None if you have not greenlight diagnostics but has not configured the module established active communications Solid green e Datais being exchanged None The module is ready for light e The module is in the action normal operating state Hashing e Amajor recoverable If an NVS update is in progress red light failure has occurred complete the NVS update e An NVS update is in If an NVS update is not in progress progress Reboot Solid red A potential nonrecoverable e Reboot the module light fault has occurred e If the solid red persists replace the module Publication 1756 UMOO6G EN P May 2005 14 12 Troubleshoot Module Lights 1756 MO3SE MO8SE amp M16SE SERCOS Ring Status If the SERCOS Ring LED displays Then the ring status is Take this action Solid green light The ring drive and axes are configured and are actively communicating through to the nodes on the ring None Hashing red light The module has detected a setup or configuration fault with the ring Check your system setup and configuration as follows e Ensure drive and axes addresses are correct e Remove excess axes from ring e Make sure application program has selected the proper R
303. e used to tune Friction Compensation and Torque Offset Tune Friction Compensation The Tune Friction Compensation bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Friction Compensation Gain This tuning configuration is only valid if configured for bi directional tuning If this bit is clear false the value for the Friction Compensation Gain is not be affected Tune Torque Offset The Tune Torque Offset bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Torque Offset This tuning configuration is only valid if configured for bi directional tuning If this bit is clear false the value for the Torque Offset will not be affected Motion Coordinate System Object Introduction The specification applies to a Logix controller based object called the Coordinate System Object Instances of this object are needed to Publication 1756 UMO006G EN P May 2005 Group Axis and Coordinate System Relationships Motion Object Attributes 13 175 support coordinated motion control using Logix based servo controllers drives and other physical motion devices Applicable Logix controllers are the ControlLogix and SoftLogix5000 The Coordinate System Object is an CIP compliant object grouping motion axes to span any of the supported coordinate systems being added to the Logix controller family This object is the targe
304. ear false the value for the Velocity Integral Gain is set to zero Tune Velocity Feedforward The Tune Velocity Feedforward bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Velocity Feedforward Gain If this bit is clear false the value for the Velocity Feedforward Gain is set to zero Publication 1756 UM006G EN P May 2005 13 174 Motion Object Attributes Tune Acceleration Feedforward The Tune Acceleration Feedforward bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Acceleration Feedforward Gain If this bit is clear false the value for the Acceleration Feedforward Gain is set to zero Tune Output Low Pass Filter The Tune Output Low Pass Filter bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Output Filter Bandwidth If this bit is clear false the value for the Output Filter Bandwidth is set to zero which disables the filter Bi directional Tuning The Bi directional Tuning bit attribute determines whether the tuning motion profile initiated by the MRAT Motion Run Axis Tune instruction is uni directional or bi directional If this bit is set true the tuning motion profile is first initiated in specified tuning direction and then is repeated in the opposite direction Information returned by the Bi directional Tuning profile can b
305. ecessary processor effort associated with real time conversion of certain Motion Status tags that are not of interest to the user it is necessary to explicitly activate real time update of these attributes via the Auto Tag Update attribute of the associated motion group A subset of the Motion Status attributes must have the Auto Tag Update attribute enabled or the tag value is forced to zero The following Motion Status attributes are affected e Actual Position e Actual Velocity e Actual Acceleration e Master Offset e Command Position e Command Velocity e Command Acceleration Average Velocity Actual Position is the current absolute position of an axis in the configured Position Units of that axis as read from the feedback transducer Note however that this value is based on data reported to the ControlLogix Processor as part of an ongoing synchronous data transfer process which results in a delay of one coarse update period Publication 1756 UMOO6G EN P May 2005 13 8 Motion Object Attributes Thus the Actual Position value that is obtained is the actual position of the axis one coarse update period ago Internal Access Rule Attribute Name Data Type Semantics of Values GSV Actual Position REAL Position Units Command Position Command Position is the desired or commanded position of a physical axis in the configured Position Units of that axis as generated by the controller in response
306. econd Note that if the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also do not reflect the true performance of the system Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Torque Scaling REAL Position Units Per Second Directional Scaling Ratio In some cases the speed or velocity scaling of the external drive actuator may be directionally dependent This non linearity can be substantial in hydraulic applications To compensate for this behavior the Directional Scaling Ratio attribute can be applied to the Output Scaling based on the sign of the Servo Output Specifically the Output Scaling value is scaled by the Directional Scaling Ratio when the sign of the Servo Output is positive Thus the Directional Scaling Ratio is the ratio of the Output Scaling in the positive direction positive servo output to the Output Scaling in the negative direction negative servo output The value for the Directional Scaling ratio can be empirically determined by running the auto tune procedure in the positive direction and then in the negative direction and calculating the ratio of the resulting Velocity Torque Scaling values Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Publication 1756 UMO006G EN P May 2005 Directional Scaling Ratio REAL Backlash Reversal Error Motion Obj
307. ect Attributes 13 33 stop the controller then moves the axis back to the Home Position at the Home Return Speed using a trapezoidal move profile If the axis is configured as a Rotary Axis the move back to the Home Position takes the shortest path G e no more than revolution The motions for this active homing sequence are shown below Homing Vel Axis Velocity Return Vel 1 Home Limit Switch Detected 2 Home Limit Switch Cleared 3 Home Position Figure 13 3 Home Limit Switch If the controller detects that the state of the home switch at the start of the homing sequence is active the controller immediately reverses the homing direction and begins the return leg of the homing sequence Neglecting the mechanical uncertainty of the home limit switch the accuracy of this homing sequence depends on the time uncertainty in detecting the home limit switch transitions The position uncertainty of the home position is the product of the maximum time for the control to detect the home limit switch 10 milliseconds and the specified Home Return Speed For this reason the Home Return Speed is often made significantly slower than the Home Speed For example if a Home Return Speed of 0 1 inches per second 6 IPM is specified the uncertainty of the home position is calculated as shown below Uncertainty 0 1 Inch Sec 0 01 Sec 0 001 Inch Active Bi directional Home with Marker This active homing sequence is useful
308. ect Attributes 13 83 Backlash Reversal Error provides the user the capability to compensate for positional inaccuracy introduced by mechanical backlash For example power train type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical components a motor a gearbox and a ball screw that may introduce inaccuracies and that are subject to wear over their lifetime Hence when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw etc may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved Compensation for mechanical backlash can be achieved by adding a directional offset specified by the Backlash Reversal Error attribute to the motion planner s command position as it is applied to the associated servo loop Whenever the commanded velocity changes sign a reversaD the Logix controller adds or subtracts the Backlash Distance value from the current commanded position This causes the servo to immediately move the motor to the other side of the backlash window and engage the load It is important to note that the application of this directional offset is completely transparent to the user the offset does not have any affect on the value of the Command Position attribute If a value of
309. ect the connection e Compatible Modules The following criteria must be met or else the inserted module will reject the connection The Module Types Catalog Number and Major Revision must match The Minor Revision of the physical module must be equal to or greater than the one specified in the software e Disable Keying the controller does not employ keying at all ATTENTION Changing the Electronic Keying selection may cause the connection to the module to be broken and may result in a loss of data Be extremely cautious when using this option if used incorrectly this option can lead to personal injury or death property damage or economic loss Status Displays the status the controller has about the module This status Indicates Standby A transient state that occurs when shutting down Faulted The controller is unable to communicate with the module When the status is Faulted the Connection tab displays the fault Validating A transient state that occurs before connecting to the module Connecting A state that occurs while the connection s are being established to the module Running The module is communicating and everything is working as expected Shutting Down The connections are closing Publication 1756 UMO006G EN P May 2005 Configuring a Kinetix 6000 Drive 10 7 This status Indicates Inhibited The connection to the module is inhibited Waiting
310. ected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition Module Fault Bit Attribute Motion Object Attributes 13 21 Configuration Fault The Configuration Fault bit is set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module The Module Fault Bit attribute is a collection of faults that have module scope as opposed to axis scope Besides being a valid attribute for axes of data type Servo and Servo Drive this attribute is also valid for a consumed axis data type In this case however the module is the producing Logix processor rather than a motion module such as the 1756M02AE or 1756MO8SE Thus these fault bits are updated every coarse update period of the consuming Logix processor The fault bit attributes defined below can be handled by the Logix processor as a Major Fault by configuring the associated Group Object s General Fault Type Mechanism attribute accordingly Otherwise any specific fault handling must be done as part of the user program Internal Access Rule Attribute Name Data Type Semantics of Values G
311. ectronic camming between any two axes designated in the specified Cam Profile Motion Axis Time Cam MATC Performs electronic camming as a function of time designated in the specified Cam Profile Motion Calculate Slave MCSV Calculates the slave value slope Values value and derivative of the slope for a given cam profile and master value For more information about motion state instructions refer to the Motion Move Instructions chapter of Logix Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendix E Instruction Timing Motion group instructions initiate action on all axes in a group The motion group instructions are Instruction Abbreviation Description Motion Group Stop MGS Initiates a stop of motion on a group of axes Motion Group Shutdown MGSD Forces all the axes in a group into the shutdown operating state Motion Group Shutdown MGSR Transitions a group of axes from the Reset shutdown operating state to the axis ready operating state Motion Group Strobe MGSP Latches the current command and actual positions of all the axes ina group Position For more information about motion state instructions refer to the Motion Group Instructions chapter of Logix Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendi
312. ed the Connection tab displays the fault Validating Connecting A transient state that occurs before connecting to the module A state that occurs while the connection s are being established to the module Running The module is communicating and everything is working as expected Shutting Down Inhibited The connections are closing The connection to the module is inhibited Waiting The connection to this module has not yet been made due to one of the following e its parent has not yet made a connection to it e its parent is inhibited e its parent is faulted Offline You are not online Connection Tab Use this tab to define controller to module behavior Inhibit Module v Publication 1756 UMO06G EN P May 2005 Configuring an Ultra 3000 Drive 9 9 Figure 9 8 Module Properties Connection Tab On this tab you can e Select a requested packet interval Choose to inhibit the module e Configure the controller so loss of the connection to this module causes a major fault e View module faults TIP The data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module and the controller Requested Packet Interval This field is disabled for all motion modules e g 1756 MO2AE 1756 MxxSE and all 1394 Ultra3000 Kinetix 6000 and 8720 modules Inhibit Module Check Uncheck this
313. edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication 1756 UMO006G EN P May 2005 6 78 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Motor Inertia The Motor Inertia value represents the inertia of the motor without any load attached to the motor shaft in Torque Scaling units Load Inertia Ratio The Load Inertia Ratio value represents the ratio of the load inertia to the motor inertia Torque Scaling The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent 96 rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Torque Scaling 10096 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 10096 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque
314. een the software and the module Associated Axes Tab Ultra3000 Use this tab to configure the selected 1756 MxxSE motion module by Drives associating axis tags of the type AXIS SERVO DRIVE with nodes available on the module res zh Figure 9 9 Module Properties Associated Axes Tab Node Displays the selected node of the Ultra3000 drive as selected on the General tab This field allows you to associate an AXIS SERVO DRIVE tag with the driver s node Note This field is read only while you are online Ellipsis Click on this button to access the Axis Properties dialog for the associated axis New Axis Click on this button to access the New Tag dialog with the scope data type and produced settings appropriate for a produced axis tag Publication 1756 UMO006G EN P May 2005 9 12 Configuring an Ultra 3000 Drive Power Tab Ultra Drive Use this tab to select a bus regulator for your Ultra 3000 drive module Module Info Tab Publication 1756 UMO06G EN P May 2005 Figure 9 10 Module Properties Power Tab Note This parameter does not apply to the Ultra3000 SERCOS drives The only available selection in the Bus Regulator ID pull down menu is none Bus Regulator ID Select the catalog number that describes bus regulator device used by the Ultra 3000 drive module Depending upon the Drive Module you have selected one or more of the following are available Note This parameter does not appl
315. elocity loop servo drive the Pos I Gain should be zero most analog velocity loop servo amplifiers have integral gain of their own and do not tolerate any amount of Pos I Gain in the position loop without producing severe oscillations If Pos I Gain is necessary for the application the velocity integrator in the drive must be disabled Motion Object Attributes 13 79 In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation Another common case is when performing certain motion When the Integrator Hold Enable attribute is set the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automatic servo tuning procedure the Pos I Gain value may also be set manually Before doing this it must be stressed that the Output Scaling factor for the axis must be established for the drive system Refer to Output Scaling attribute description for an explanation of how the Output Scaling factor can be calculated Once this is done the Pos I Gain can be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 0 25 0 001 Sec mSec Pos P Gain Assuming a Pos P Gain value of 100 Sec this results in a Pos I Gain value of 2 5 0 1 mSec l sec Internal Access Rule A
316. emperature Motor Overtemperature Fault The Motor Overtemperature Fault bit is set when the motor s temperature exceeds the motor shutdown temperature Drive Cooling Fault The Drive Cooling Fault bit is set when the ambient temperature surrounding the drive s control circuitry temperature exceeds the drive ambient shut down temperature Drive Control Voltage Fault The Drive Control Voltage Fault bit is set when the power supply voltages associated with the drive circuitry fall outside of acceptable limits Feedback Fault The Feedback Fault bit is set when one of the feedback sources associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable position information from the feedback device Commutation Fault The Commutation Fault bit is set when the commutation feedback source associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable motor shaft information to perform commutation Publication 1756 UMOO6G EN P May 2005 13 116 Motion Object Attributes Module Fault Bit Attributes Publication 1756 UMO006G EN P May 2005 Drive Overcurrent Fault The Drive Overcurrent Fault bit is set when drive output current exceeds the predefined operating limits for the drive Drive Overvoltage Fault The Drive Overvoltage Fault bit is set when drive DC bus voltage exceeds the predefined operating limits for the bus Drive Undervoltage F
317. ence in the Estimated Velocity over the servo update interval Acceleration Feedback is a signed value the sign or depends on which direction the axis is currently moving Internal Access Rule Attribute Name Data Type Semantics of Values GSV Marker Distance Acceleration Feedback REAL Position Units Sec Marker Distance is the distance between the axis position at which a home switch input was detected and the axis position at which the marker event was detected This value is useful in aligning a home limit switch relative to a feedback marker pulse to provide repeatable homing operation Internal Access Rule Attribute Name Data Type Semantics of Values GSV Torque Command Marker Distance REAL Position Units This is the command value when operating in torque mode Internal Access Rule Attribute Name Data Type Semantics of Values GSV Torque Command REAL Rated Torque Feedback This is the torque feedback value when operating in torque mode Internal Access Rule Attribute Name Data Type Semantics of Values GSV Torque Feedback REAL Rated Pos Neg Dynamic Torque Limit These parameters represent the currently operative maximum positive Publication 1756 UMO006G EN P May 2005 and negative torque current limit magnitude Each value should be the lowest value of all torque current limits in the drive at a given Motion Object Attrib
318. ending Status The Output Cam Pending Status bit is set if an Output Cam is currently pending the completion of another Output Cam This would be initiated by executing an MAOC instruction with Pending execution selected As soon as this output cam is armed being triggered when the currently executing Output Cam has completed the Output Cam Publication 1756 UMO06G EN P May 2005 13 24 Motion Object Attributes Pending bit is cleared This bit is also cleared if the Output Cam is terminated by a MDOC instruction Internal Access Rule Attribute Name ASA Data Semantics of Values Type GSV Output Cam Pending Status DINT Set of Output Cam Pending Status bits Output Cam Lock Status The Output Cam Lock Status bit is set when an Output Cam has been armed This would be initiated by executing an MAOC instruction with Immediate execution selected when a pending output cam changes to armed or when the axis approaches or passes through the specified axis arm position As soon as this output cam current position moves beyond the cam start or cam stop position the Output Cam Lock bit is cleared This bit is also cleared if the Output Cam is terminated by a MDOC instruction Internal Access Rule Attribute Name Data Type Semantics of Values GSV Output Cam Lock Status DINT Set of Output Cam Lock Status bits Output Cam Transition Status The Output Cam Transition Status bit is set when a transition between th
319. er Tab 10 11 Bus Regulator Catalog Number Publication 1756 UMO006G EN P May 2005 10 11 L Logix5550 controller 1 1 Features 1 3 Menus Setup 13 92 Motion Apply Axis Tuning 12 4 Motion Apply Hookup Diagnostic 12 5 Motion Arm Output Cam 12 4 Motion Arm Registration 12 4 Motion Arm Watch Position 12 4 Motion Attributes 13 1 Axis Event Bit Attributes 13 22 Axis Fault Bit Attributes 13 20 Configuration Fault 13 21 Module Fault 13 20 Physical Axis Fault 13 20 Axis Status Bit Attributes 13 19 Configuration Update in Process 13 20 Drive Enable Status 13 19 Servo Action Status 13 19 Shutdown Status 13 19 Commissioning Configuration Attributes 13 92 Damping Factor 13 94 Drive Model Time Constant 13 94 Position Servo Bandwidth 13 95 Test Increment 13 92 Tuning Configuration Bits 13 96 Bi directional Tuning 13 97 Tune Acceleration Feedforward 13 97 Tune Friction Compensation 13 97 Tune Output Low Pass Filter 13 97 Tune Position Error Integrator 13 96 Tune Torque Offset 13 98 Tune Velocity Error Integrator 13 97 Tune Velocity Feedforward 13 97 Tuning Direction Reverse 13 96 Tuning Speed 13 93 Tuning Torque 13 93 Tuning Travel Limit 13 93 Velocity Servo Bandwidth 13 94 Configuration Attributes 13 24 Axis Type 13 24 Motion Conversion Configuration 13 29 Conversion Constant 13 29 Motion Dynamics Configuration 13 39 Maximum Acceleration 13 40 Maximum Deceleration 13 40 Maximum Speed 13 39 Programmed Stop Mode 13 40 Fas
320. er major faults overtravel limit e Can shutdown the controller if you do not correct the fault condition Publication 1756 UMO006G EN P May 2005 Chapter J Adding and Configuring Your 1756 M02AE 1756 M02AS 1756 HYD02 Motion Module This chapter describes how to add configure and edit your 1756 MO2AE 1756 MO02AS and 1756 HYD02 motion modules for use in your motion control application Many of the steps are identical regardless of the module you are adding to the control system Adding the 1756 M02AE To use your motion module in a control system you must add your 1756 HYD02 or 1756 MO02AS motion module to the application program To add a motion module r Module 1 Right click the I O Configuration folder E E Controller MyL61cntroller Controller Tags Controller Fault Handler Power Up Handler E amp Tasks B MainTask MainProgram iE Unscheduled Programs amp Motion Groups E Ungrouped Axes E Trends amp Data Types CR User Defined CR Strings ER Predefined gi Module Defined IjO Configuratia EE cut Ctrl x Copy Ctrl C el Paste Ctrl Figure 3 1 Selecting New Module from the Controller Organizer Publication 1756 UMO006G EN P May 2005 3 2 Adding and Configuring Your 1756 MO2AE 1756 M02AS 1756 HYD02 Motion Module 2 Select New Module The Select Module Type window appears Type 1756 CFM7A Type Description 1756 CFM 7A Configurable Flow Meter 1756 ControlNet Bridge 1756 Co
321. erenced during execution of the MAH instruction therefore the servo loop must not be active If the servo loop is active the MAH instruction errors When the Enable Absolute Feedback is disabled the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer A homing or redefine position operation is required to establish the absolute machine reference position The Absolute Home Mode is invalid Calculated Values Conversion Constant The Conversion Constant is calculated from the values entered on the Feedback screen when the Calculate button is selected This calculated value must be typed into the Conversion Constant field on the Conversion tab as it is not automatically updated Publication 1756 UMOO6G EN P May 2005 6 30 Naming and Configuring Your Motion Axis Minimum Servo Update Period The Minimum Servo Update period is calculated based on the values entered for Recirculations and Length on the Feedback Tab When these values are changed selecting the Calculate button recalculates the Minimum Servo Update Period based on the new values Calculate Button The Calculate Button becomes active whenever you make changes to the values on the Feedback Tab Clicking on the Calculate Button recalculates the Conversion Constant and Minimum Servo Update Period values however you must then reenter the Conversion Constant value at the Conversion Tab as the values are not
322. ers the various drive attributes that provide motor and feedback device configuration information The Motor ID attribute contains the enumeration of the specific A B motor catalog number associated with the axis If the Motor ID does not match that of the actual motor an error is generated during the drive configuration process Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motor Data Publication 1756 UMO006G EN P May 2005 Motor ID INT The Motor Data attribute is a structure with a length element and an array of bytes that contains important motor configuration information needed by an A B SERCOS drive to operate the motor The length element represents the number of valid data elements in the data Motion Object Attributes 13 137 array The meaning of data within the data array is understood only by the drive The block of data stored in the Motor Data attribute is derived at configuration time from an RSLogix 5000 motion database file Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motor Data Struct Struct length data INT SINT 256 Feedback Type The Motor and Aux Feedback Type attributes are used to identify the motor mounted or auxiliary feedback device connected to the drive A list of A B feedback devices supported at the time of this writing is as follows
323. erved Printed in the U S A Al le n B ra dle y Logix5000 Motion Modules User Manual
324. ervo loop may be compromised due to excessive digitization noise associated with the velocity estimator This noise is amplified by the Torque Scaling gain which is related to the Tune Inertia factor and passed on to the torque output of the drive A high Tune Inertia value can thus result in excitation of mechanical resonances and also result in excessive heating of the motor due to high torque ripple The only solution to this problem is to lower the loop bandwidths and optionally apply some output filtering Since the Tune Inertia value represents a measure of the true system inertia this situation can occur when driving a high inertia load relative to the motor i e a high inertia mismatch But it can also occur when working with a drive that is undersized for the motor or with a system having low feedback resolution In general the lower the Tune Inertia the better the performance of the digital servo loops approximates that of an analog servo system Enhancements have been made to the Logix tuning algorithm to address excessive noise issues by managing quantization noise levels The product of the Tune Inertia Rated MCPS and the Velocity Servo BW Hertz can be calculated to directly determine quantization noise levels Based on this product the tuning algorithm can take Publication 1756 UMO006G EN P May 2005 13 124 Motion Object Attributes Servo Drive Configuration Attributes Drive Configuration Publication 1756 UMO
325. es a major fault on the controller if the connection for the module fails Module Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred The following are common categories for errors e Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault Publication 1756 UMO006G EN P May 2005 Configuring an 8720MC Drive 11 11 Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the software and the module Associated Axes Tab 8720MC Use this tab to configure the selected 1756 MxxSE motion module by Drives associating axis tags of the type AXIS SERVO DRIVE with nodes available on the module Figure 11 9 Module Properties Associated Axes Tab Node Displays the selected node of the 8720MC drive as selected on the General tab This field allows you to associate an AXIS SERVO DRIVE tag with the driver s node Note This field is read only while you are online
326. es return an error if a reset is attempted e 1756 L1 ControlLogix5550 Programmable Controller e 1336T AC Vector Drive e 1395 Digital DC Drive Note A controller cannot be reset Refresh Click on this button to refresh the tab with new data from the module Publication 1756 UM006G EN P May 2005 11 16 Configuring an 8720MC Drive Publication 1756 UMO006G EN P May 2005 If you are online in Program Remote Program or Remote Run mode and this controller is the owner controller and you have changed the module s configuration in the software then when you click the Apply or the OK button the information is automatically sent to the controller The controller tries to send the information to the module Gf the module s connection is not inhibited If you don t click Apply your changes are not sent to the controller Chapter 12 Motion State Instructions Motion Instructions This chapter describes the motion instructions for RSLogix 5000 programming software The motion instructions for the RSLogix 5000 programming software consist of seven main categories e Motion State instructions to control or change the operating state of an axis e Motion Move instructions to control all aspects of axis position e Motion Group instructions to control a group of axes Motion Event instructions control the arming and disarming of special event checking functions Motion Configuration instructions
327. esServoOnStatus Bit 0 axis 0 Bit 7 axis 7 Bits 8 31 Reserved Actual Position The Actual Position attribute gives the actual position of each associated axis in coordination unit Internal Access Rule Attribute Name Data Type Semantics of Values Tag Actual Position Struct Array of actual positions in coordination units UINT Struct REAL n UINT length REAL actual position Length range 1 8 must be equal to Dimension Address of Internal Access Rule Attribute Name Data Type Semantics of Values n a Address of UDINT Physical address of this instance of the object Motion Coordinate System Configuration Attributes The following sections define in more detail the behavior of all the various configuration attributes associated with the Coordinate System Object The attributes by definition have read write access The Coordinate System Object Configuration Attributes are divided into three categories Coordinate System General Configuration Coordinate System Units and Coordinate System Dynamics attributes These categories correspond roughly to the organization of the RSLogix 5000 Coordinate System Properties pages Publication 1756 UMO006G EN P May 2005 13 182 Motion Object Attributes Coordinate System General Configuration Attributes System Type This field displays the type of geometry associated with this coordinate system For first release the only choice is Car
328. esi sete led Ce ie ak n 13 179 Faulted Shutdown Servo On Axes 13 180 Actal POSON os quede god BE i pau o P SCRI 13 181 Address OP oua qure GR ue qe tede sse t acie teo es 13 181 Motion Coordinate System Configuration Attributes 13 181 Coordinate System General Configuration Attributes 13 182 Syst m TV Le eor e p ap EBENE qo VUE NE 13 182 DUitriensiOD s oh s street oh pt tetur e tta hoes fla dati 13 182 Pos C IM 13 182 Max Pending Moves i icu dun eb Re et 13 182 Coordination Mode 2 4 a psc wk Re ee a 13 183 Coordinate System Auto Tag Update 13 183 Coordinate System Units Configuration 13 183 Coordination Units llle 13 183 Conyerstort Ratio s uh at sten Y Bama ede sorts 13 184 Coordinate System Dynamics Configuration 13 184 Maximum Speed orae acd ans doe bete b C peers 13 184 Masamam Acceleratiofis d 9 5 x d ard ae eo E oes 13 184 Maximum Deceleratloti o y opa a VR Pte E 13 184 Actual Position Tolerance v voa PR eo E RE 13 185 Command Position Tolerance lilius 13 185 Chapter 14 1756 M02AE LED Indicators 2 2s eit Bhd Bh ELS 14 1 1756 MO2AE Module Status Using the OK Indicator 14 1 1756 MO2AE Module Status Using the FDBK Indicator 14 2 1756 MO2AE Module Status Using the DRIVE Indicator 14 3 1756 M02AS LED Indicators 2s de Ra 14 4 1756 M02AS Module Status Using the OK Indicator 14 4 1756 M02AS Module Status Using the FDBK Indicat
329. esource in the controller so only produce tags that you know you are needed in other controllers 7 Click on the Configure button to proceed through the Motion Group Wizard screens to set the properties for the motion group If you had clicked on OK instead of the Configure button it would have created the group and closed the dialog You would then need to access the Motion Group Properties screen to configure the Motion Group Publication 1756 UMO006G EN P May 2005 The Motion Group 5 3 The Motion Group Wizard group Axis Assignment screen displays Coordinated sys Figure 5 3 Motion Group Wizard Dialog Axis Assignment Add any existing axes to the group 8 Continue on through the Motion Group Wizard to configure your Motion Group tag as necessary Click on Finish to close the wizard Publication 1756 UMO006G EN P May 2005 5 4 The Motion Group Editing the Motion Group The Motion Group properties can be edited by right clicking on the P rti group name and selecting Motion Group Properties from the drop roperties down menu E g Motion Groups 0 MD mysercoste New Axis E e Ungrouped Axe New Coordinate System b x5 mygenerica i X myservola Monitor Group Tag Trends 5 6 Data Types Fault Help 0 Cg User Defined Clear MotionGroup Faults oa Strings H E Predefined cut Ctrl x fi Module Defined Copy Ctrl C 1 3 I O Configuration gm Paste Ctr V
330. ess which when used in conjunction with future Function Block programs provides custom outer control loop capability The Torque Servo configuration provides torque servo control using only the motor mounted feedback device for commutation Synchronous input data to the servo loop includes only the Torque Offset This values are updated at the coarse update rate of the associated motion group The Torque Offset value is derived from the current value of the corresponding attribute This offset attribute may be changed programmatically via SSV instructions or direct Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Rockwell Automation servo drives use Nested Digital Servo Control Loop such as shown in the block diagrams above consisting typically of a position loop with proportional integral and feed forward gains around a digitally synthesized inner velocity loop again with proportional and integral gains for each axis These gains provide software control over the servo dynamics and allow the servo system to be completely stabilized Unlike analog servo controllers these digitally set gains do not drift Furthermore once these gains are set for a particular system another SERCOS module programmed with these gain values will operate identically to the original one The Position Error is multiplied by the Position Proportional Gain or Pos P Gain to p
331. et to rotary the Linear Scaling Unit bit has no affect Publication 1756 UMOO6G EN P May 2005 13 140 Motion Object Attributes Feedback Interpolation When interfacing to Rockwell SERCOS drive products the Standard Feedback Units specified using the above Feedback Configuration bit selections are shown in the following table Standard Feedback Units Metric English Rotary Rev Rev Linear Millimeter Inch Feedback Polarity The Feedback Polarity bit attribute can be used to change the sense of direction of the feedback device This bit is only valid for auxiliary feedback devices When performing motor feedback hookup diagnostics on an auxiliary feedback device using the MRHD and MAHD instructions the Feedback Polarity bit is configured for the auxiliary feedback device to insure negative feedback into the servo loop Motor feedback devices must be wired properly for negative feedback since the Feedback Polarity bit is forced to 0 or non inverted The above Motor and Aux Feedback Configuration attributes map directly to SERCOS IDNs Thus for further description of these attributes refer to the corresponding IDN descriptions found in the SERCOS Interface standard The Feedback Interpolation attributes establish how many Feedback Counts there are in one Feedback Cycle The Feedback Interpolation Factor depends on both the feedback device and the drive feedback circuitry Quadrature encoder feedback devices and
332. evices This attribute is only active if the Transducer Type is set to LDT Internal Access Rule Attribute Name Data Type Semantics of Values LDT Calibration Constant REAL LDT Calibration Constant Units This attribute provides a selection for the units of the LDT calibration constant attribute This attribute is only active if the Transducer Type is set to LDT Internal Access Rule Attribute Name Data Type Semantics of Values GSV LDT Calibration Constant Units SINT Enumeration 0 m sec 1 Usec in LDT Scaling This attribute provides for setting the scaling factor for LDT devices This attribute is only active if the Transducer Type is set to LDT Internal Access Rule Attribute Name Data Type Semantics of Values GSV LDT Scaling REAL Publication 1756 UM006G EN P May 2005 13 64 Motion Object Attributes LDT Scaling Units This attribute provides a selection for the units of the LDT scaling attribute This attribute is only active if the Transducer Type is set to LDT Internal Access Rule Attribute Name Data Type Semantics of Values GSV LDT Scaling Units SINT Enumeration 0 UU m 1 UU in LDT Length This attribute provides for setting the length of an LDT device This attribute is only active if the Transducer Type is set to LDT Internal Access Rule Attribute Name Data Type Semantics of Values GSV LDT Length REAL LDT Lengt
333. f the axis is specified by the Position Unwind parameter Conversion Constant Type the number of feedback counts per position unit This conversion or K constant allows axis position to be displayed and motion to be programmed in the position units set in the Units tab The conversion constant is used to convert axis position units into feedback counts and vice versa for the AXIS SERVO type and for the AXIS SERVO DRIVE the number of counts per motor revolution as set in the Drive Resolution field of the Drive tab Position Unwind This parameter is not editable for an axis of the data type AXIS CONSUMED Instead this value is set in and taken from a producing axis in a networked Logix processor For a Rotary axis AXIS SERVO this value represents the distance in feedback counts used to perform automatic electronic unwind Electronic unwind allows infinite position range for rotary axes by subtracting the unwind distance from both the actual and command position every time the axis travels the unwind distance For axes of the type AXIS SERVO DRIVE e when you save an edited Conversion Constant or a Drive Resolution value a message box appears asking you if you want the controller to automatically recalculate certain attribute settings Refer to Conversion Constant and Drive Resolution Attributes Publication 1756 UMOO6G EN P May 2005 6 42 Naming and Configuring Your Motion Axis e the label indicates
334. feedback devices signal lines For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback noise In this case feedback noise shown below is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope I I H 1 CHB LI Li f i pd Figure 13 7 Feedback Noise For example loss of channel quadrature for an encoder can be caused by physical misalignment of the feedback transducer components or excessive capacitance or other delays on the encoder signals Proper Module Fault Bit Attributes Motion Object Attributes 13 53 grounding and shielding techniques can usually cure radiated noise problems This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Position Error Fault If the Position Error Fault bit attribute is set it indicates that the servo has detected that the axis position error has exceeded the current configured value for Position Error Tolerance This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Drive Fault If the Drive Fault bit attribute is set it indicates that the external se
335. file and an S Curve profile Stop while accelerating Trapezoidal S Curve speed goes up until acceleration is 0 acceleration 40 The axis slows down as soon as you start the The axis continues to speed up until the S Curve profile brings stopping instruction the acceleration rate to 0 Corrective action If you want the axis to slow down right away use a trapezoidal profile Publication 1756 UM006G EN P May 2005 Troubleshoot Axis Motion 15 3 Why does my axis overshoot its target speed Example Look for While an axis is accelerating you try to stop the axis or change its speed The axis keeps accelerating and goes past its initial target speed Eventually it starts to decelerate You start a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you try to stop it with another MAJ instruction The speed of the second instruction is set to 0 The axis continues to speed up and overshoots its initial target speed Eventually it slows to a stop Jog PB lt Local4 Data O gt My Axis OK mu Motion Axis Jog EN Axis My Axis Motion Control Jog 1 DN Direction 0 Speed Jog_1_Speed 500 IP Speed Units Units per sec The MAJ instruction that starts Accel Rate Jog 1 Accel the axis has a higher acceleration 200 rate than the instruction that cceUni
336. folder Select an axis from the pulldown list The default is none It is possible to assign fewer axes to the coordinate system than the Dimension field allows however you will receive a warning when you verify the coordinate system and if left in that state the instruction generates a run time error You can only assign an axis once in a coordinate system Ungrouped axes also generate a runtime error Ellipsis Button The Ellipsis buttons in this column take you to the Axis Properties pages for the axis listed in the row See the Creating and Configuring Your Motion Axis chapter in this manual for information about the Axis Properties page Coordination Mode The Coordination Mode column indicates the axes that are used in the velocity vector calculations Only Primary axes are used in these calculations Currently the only option is Primary Therefore this column is automatically filled in as Primary and cannot be edited Enable Coordinate System Auto Tag Update The Enable Coordinate System Auto Tag Update checkbox lets you determine whether or not the Actual Position values of the current coordinated system are automatically updated during operation Click on the checkbox to enable this feature The Coordinate System Auto Tag Update feature can ease your programming burden if you would need to add GSV statements to the program in order to get the desired result However by enabling this feature the Coarse Update rate
337. for single turn rotary and linear encoder applications since these have only one encoder marker for full axis travel When this sequence is performed the axis moves in the specified Home Direction at the specified Home Speed until the marker is detected The Home Position is then assigned to the axis position corresponding to the marker location and the axis decelerates to a stop If Home Offset is non zero then the Home Position is offset from the point where the marker is detected by this value The controller then moves the axis back to the Home Position Publication 1756 UMOO6G EN P May 2005 13 34 Motion Object Attributes Publication 1756 UMO06G EN P May 2005 at the specified Home Return Speed using a trapezoidal move profile If the axis is configured as a Rotary Axis the move back to the Home Position takes the shortest path G e no more than revolution The axis behavior for this homing sequence is shown below Homing Vel Axis Position Axis Velocity Return Vel 1 Encoder Marker Detected 2 Home Position Figure 13 4 Bi directional Marker The accuracy of this homing sequence depends only on the time delay in detecting the marker transition The position uncertainty of the home position is the product of the maximum delay for the control to detect the marker pulse 1 microsecond and the specified Home Speed For example if a Home Speed of 1 inches per second 60 IPM is specified the uncertainty
338. frequency The Axis Object provides sophisticated automatic test tuning instructions which allow it to determine proper settings for the servo loop attributes for each axis These include not only the polarities the gains and also the maximum acceleration deceleration and velocity parameters Usually the servo loop parameters need only be tested and tuned once when the motion controller is first integrated into the machine or when the machine is being commissioned at start up However if the load on any axis changes significantly or if the motor or drive amplifier is replaced for any reason it may be necessary to re test and re tune the servo loop parameters The Commissioning Configuration Attributes shown in the table below are used to control the axis test and tuning processes that are initiated Test Increment Motion Object Attributes 13 169 by the MRHD and MRAT instructions Therefore these values should be established before the MRHD or MRAT instructions are executed The Test Increment attribute is used in conjunction with the MRHD Motion Run Hookup Diagnostic instruction to determine the amount of motion that is necessary to satisfy the MRHD initiated test process This value is typically set to approximately a quarter of a revolution of the motor Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Test Increment REAL Position Units Tuning Travel Limit The Tunin
339. fset REAL Position Units per sec Torque Offset Torque Offset compensation can be used to provide a dynamic torque command correction to the output of the velocity servo loop Since this value is updated synchronously every Coarse Update Period the Torque Offset can be tied into custom outer control loop algorithms using Function Block programming Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Torque Offset REAL Range 100 to 100 Output Offset Another common situation when interfacing an external Servo Drive particularly for velocity servo drives is the effect of drive offset Cumulative offsets of the servo module s DAC output and the Servo Drive Input result in a situation where a zero commanded Servo Output value causes the axis to drift If the drift is excessive it can play havoc on the Hookup Diagnostic and Tuning procedures as well Publication 1756 UMO006G EN P May 2005 13 90 Motion Object Attributes as result in a steady state non zero position error when the servo loop is closed Output offset compensation can be used to correct this problem by adding a fixed value called Output Offset to the Servo Output This value is chosen to achieve near zero drive velocity when the uncompensated Servo Output value is zero Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Output Offset REAL Volts Range 10 Servo Fault Configuration Ser
340. g Travel Limit attribute is used in conjunction with the MRAT Motion Run Axis Tuning instruction to limit the excursion of the axis during the test If while performing the tuning motion profile the SERCOS module determines that the axis is not able to complete the tuning process before exceeding the Tuning Travel Limit the SERCOS module terminates the tuning profile and report that the Tuning Travel Limit was exceeded via the Tune Status attribute This does not mean that the Tuning Travel Limit was actually exceeded but that had the tuning process gone to completion that the limit would have been exceeded Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Tuning Speed Tuning Travel Limit REAL Position Units The Tuning Speed attribute value determines the maximum speed of the MRAT Motion Run Axis Tune initiated tuning motion profile This attribute should be set to the desired maximum operating speed of the motor prior to running the MRAT instruction The tuning procedure measures maximum acceleration and deceleration rates based on ramps to and from the Tuning Speed The accuracy of the measured acceleration and deceleration capability is reduced by tuning at a speed other than the desired operating speed of the system Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Tuning Torque Tuning Speed REAL Position Units Sec The Tuning
341. g screen lets you rename your Tag edit your description and review the Tag Type Data Type and Scope information Editing Coordinate System Properties Creating amp Configuring Your Coordinate System Tag 7 7 The only fields that are editable on the Tag screen are the Name and Description fields These are the same fields as on the New Tag screen and the Coordinate System Properties Tag Tab Once you have created your Coordinate System in the New Tag window you must then configure it If you did not use the Wizard screens available from the Configure button on the New Tag screen you can make your configuration selections from the Coordinate System Properties screen You can also use the Coordinate System Properties screens to edit an existing Coordinate System tag These have a series of Tabs that access a specific dialog for configuring the different facets of the Coordinate System Make the appropriate entries for each of the fields An asterisk appears on the Tab to indicate changes have been made but not implemented Press the Apply button at the bottom of each dialog to save your selections TIP When you configure your Coordinate System some fields may be unavailable greyed out because of choices you made in the New Tag window In the Controller Organizer right click on the coordinate system to edit and select Coordinate System Properties from the drop down menu D gt myservolaxis AD myvirtualaxis 3 Ungro
342. g the primary axes The ancillary axes are ignored for the vector calculations Internal Access Rule Attribute Name Data Type Semantics of Values n a Coordination Mode Struct Struct length mode UINT Length range 1 8 must be equal to Dimension SINT n Enumeration of mode 0 Primary default for axes 0 1 amp 2 1 Ancillary default for all others Coordinate System Auto Tag Update The Coordinate System Auto Tag Update attribute configures whether the Actual Position attribute is automatically updated each motion task scan This is similar to but separate from the Motion Group s Auto Tag Update attribute Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSV Coordinate System Auto Tag Update Coordinate System Units Configuration SINT 0 auto update disabled 1 auto update enabled default Coordination Units The Coordinate System Object allows user defined engineering units rather than feedback counts to be used for measuring and programming all motion related values position velocity etc These coordination units can be different for each Coordinate System and should be chosen for maximum ease of use in your application Internal Access Rule Attribute Name Data Type Semantics of Values n a Coordination Units STRING Fixed length string of 32 characters with preceding length by
343. g the Stopping Torque for up to the Stopping Time Limit During this period the servo is active but no longer tracking the command reference from logix Once the axis is stopped Cor the stopping limit is exceeded the servo and power structure are disabled e Stop Motion If a fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared e Status Only If a fault action is set to Status Only then when the associated fault occurs no action is taken The application program must handle any motion faults In general this setting should only be used in applications where the standard fault actions are not appropriate ATTENTION Selecting the wrong fault action for your application can cause a dangerous condition Keep clear of N moving machinery Drive Thermal Specifies the fault action to be taken when a Drive Thermal Fault is detected for an axis configured as Servo in the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only
344. gain bandwidth that is to be used to calculate the gains for a subsequent MAAT Motion Apply Axis Tune instruction The unity gain bandwidth is the frequency beyond which the position servo is unable to provide any significant position disturbance correction In general within the constraints of a stable servo system the higher the Position Servo Bandwidth the better the dynamic performance of the system A maximum value for the Position Servo Bandwidth is generated by the MRAT Motion Run Axis Tune instruction Computing gains based on this maximum value via the MAAT instruction result in dynamic responses in keeping with the current value of the Damping Factor described above Alternatively the responsiveness of the system can Publication 1756 UMO006G EN P May 2005 13 172 Motion Object Attributes be softened by reducing the value of the Position Servo Bandwidth before executing the MAAT instruction Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Motor Inertia amp Load Inertia Ratio Position Servo Bandwidth REAL Hertz There are limitations to the maximum bandwidth that can be achieved for the position loop based on the dynamics of the inner velocity and current loops of the servo system and the desired damping of the system Z Exceeding these limits could result in an unstable system These bandwidth limitations may be expressed as follows Max Position Bandwidth Hz
345. gnation Active Command Axis or Group Designation G3 Motion Direct Commands my_virtual_axis 4 lel XI Jryvitualans 2 5 wi Command Tree Trapezoidal Disabled Status Text Display Area Action Buttons Figure 12 7 Motion Direct Command Dialog on line When the Motion Direct Command dialog is opened focus is given to the Command Tree In the Command list you can either type the mnemonic and the list advances to the closest match or you can scroll Publication 1756 UMO006G EN P May 2005 12 14 Motion Instructions Publication 1756 UMO006G EN P May 2005 down the list to select a command Click on the desired command and its dialog displays At the top of the dialog in the title bar there is a number at the end of the axis or group that the command is being applied upon This is the Instance reference number This number increases by one every time a command is accessed for that axis or group The number is cleared when you execute RSLogix Located at the bottom of the dialog are the following buttons Motion Group Shutdown Execute Close and Help Motion Group Shutdown Button The Motion Group Shutdown button is located to the left of the screen to avoid accidental invoking of this command when you really want to execute the command accessed from the Command tree Clicking on this button causes the Motion Group Shutdown instruction to execute If you click on the Motion Group Shutdown button and it
346. guration process Internal Access Rule Attribute Name Data Type Semantics of Values GSV Drive Axis ID INT Product Code of Drive Amplifier Servo Loop Configuration The Servo Loop Configuration attribute determines the specific configuration of the servo loop topology when the Drive Axis Configuration is set to servo The Servo Loop Configuration establishes several advanced drive configuration attributes that are part of the SERCOS Interface standard Internal Access Rule Attribute Name Data Type Semantics of Values GSV Advanced Servo Configuration Attributes Enumeration 0 custom 1 feedback only 2 aux feedback only 3 position servo 4 aux position servo 5 dual position servo 6 dual command servo 7 aux dual command servo 8 velocity servo 9 torque servo 10 dual command feedback servo Servo Loop Configuration INT The above advanced attributes map directly to SERCOS IDNs Thus for a detailed description of these attributes refer to the corresponding IDN descriptions found in the SERCOS Interface standard Since these attributes are automatically configured based on the current Servo Loop Configuration the user need not be concerned with manually configuring each of these attributes A Changing the auto configured values of the above advanced attributes can result in unpredictable motion behavior Therefore these values read only fo
347. h Units This attribute provides a selection for the units of the LDT length attribute This attribute is only active if the Transducer Type is set to LDT Internal Access Rule Attribute Name Data Type Semantics of Values GSV LDT Length Units SINT Enumeration 02m J in SSI Code Type This attribute provides for setting the whether the SSI device is using Binary or Gray code This attribute is only active if the Transducer Type is set to SSI Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSI Code Type SINT Enumeration 0 Binary Gray SSI Data Length This attribute provides for setting the data length of the SSI device This attribute is only active if the Transducer Type is set to SSI Internal Access Rule Attribute Name Data Type Semantics of Values GSV Publication 1756 UMO006G EN P May 2005 SSI Data Length SINT Motion Object Attributes 13 65 SSI Clock Frequency This attribute provides for setting the Clock Frequency in kHz of the SSI device It provides the following enumerated values 208 or 650 KHz This attribute is only active if the Transducer Type is set to SSI Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSI Clock Frequency SINT Enumeration 0 208Khz 1 650KHz SSI Overflow Detection This attribute provides for setting whether overflow detection is enabled on the SSI
348. hannel 0 3 13 Channel 1 3 14 New Axis button 3 14 Servo Update Period 3 13 Backplane Tab 3 17 ControlBus Parameters 3 18 ControlBus Status 3 18 Multicast CRC Error Threshold 3 18 Receive Error Counters 3 19 Refresh 3 19 Set Limit Button 3 19 Transmit Error Counters 3 19 Transmit Retry Limit 3 18 Connection Tab 3 10 Inhibit Module checkbox 3 11 Major Fault on Controller if Connec tion Fails checkbox 3 12 Module Fault 3 12 Requested Packet Interval 3 11 General Tab 3 8 Description 3 9 Electronic Keying 3 10 Name 3 9 Revision 3 9 Slot 3 9 Type 3 9 Vendor 3 9 Module Info Tab 3 14 Configured 3 16 Internal State Status 3 16 Major Minor Fault Status 3 16 Module Identity 3 17 Owned 3 16 Refresh 3 17 Reset Module 3 17 1756 M02AE servo module 1 1 Adding to a program 3 1 6 1 Additional modules and axes 3 19 Block diagrams Torque servo drive B 2 Velocity servo drive B 3 Features 1 3 Loop and interconnect diagrams B 1 Publication 1756 UMO06G EN P May 2005 2 Index Specifications A 1 Troubleshooting 14 1 Wiring diagrams 1394 drive B 9 24V registration sensor B 11 5V registration sensor B 11 Home limit switch B 12 OK contacts B 12 Servo module RTB B 4 Ultra 100 drive B 5 Ultra 200 drive B 6 Ultra3000drive B 7 1756 M02AS add to controller 2 3 1756 M02AS SSI module 1 1 1756 MO3SE 4 1 add to controller 2 3 set up 2 5 1756 M03SE SERCOS interface module 1 1 1756 M08SE 4 1 add to controller 2 3 configuring
349. he servo output voltage of an axis Motion Direct Drive Off MDF Disables the servo drive and sets the servo output voltage to the output offset voltage MAFR Motion Axis Fault Reset Clears all motion faults For more information about motion state instructions refer to the Motion State Instructions chapter of the Logix Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendix E Instruction Timing Motion move instructions control all aspects of axis position The motion move instructions are Instruction Abbreviation Description Motion Axis Stop MAS Initiates a controlled stop of any motion process on an axis Motion Axis Home MAH Homes an axis Motion Axis Jog MAJ Initiates a jog motion profile for an axis Motion Axis Move MAM Initiates a move profile for an axis Motion Axis Gear MAG Enables electronic gearing between two axes Motion Change Dynamics MCD Changes the speed acceleration rate or deceleration rate of a move profile or jog profile in progress Motion Redefine Position MRP Changes the command or actual position of an axis Motion Instructions 12 3 Motion Group Instructions Motion Event Instructions Motion Calculate Cam MCCP Calculates a Cam Profile based on Profile an array of cam points Motion Axis Position Cam MAPC Performs el
350. he Torque Scaling factor can be calculated Once this is done the Pos P Gain can be computed based on either the desired loop gain or the desired bandwidth of the position servo system Loop Gain Method If you know the desired loop gain in Inches per Minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil Thus according to an old machine tool rule of thumb a loop gain of 1 IPM mil Pos P gain 16 7 Sec provides stable positioning for virtually any axis In general however modern position servo systems typically run much tighter than this The typical value for the Position Proportional Gain is 100 Sec Bandwidth Method If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 In general modern position servo systems typically run with a unit gain bandwidth of 16 Hertz The typical value for the Position Proportional Gain is 100 Sec Maximum Bandwidth There are limitations to the maximum bandwidth that can be achieved for the position loop based on the dynamics of the inner velocity and torque loops of the system and the desired damping of the system Z These limitations may be expressed as follows Motion Object Attributes 13 149 Bandwidth Pos 0 25 1 Z Bandwidth Ve
351. he Ultra3000 Digital Servo Drive with fiber optic SERCOS interface simplifies the integration of the Ultra3000 with the ControlLogix architecture by providing single point drive commissioning through RSLogix5000 software and reducing the control wiring to a single fiber optic cable You can initiate the configuration of an Ultra3000 drive module by either of two methods 1 In the Controller Organizer in the I O Configuration branch select a 1756 MxxSE motion module 2 In the File menu select New Component then Module 15 RSLogix 5000 My Controller 1756 L63 File Edit View Search Logic Communications Tools Window Help Bj New Ctrl N f Open Ctrl O Close fel Save Ctrl s il Save Bs 4 gt Favorite Routine Mew Component Ctrl Program Task Print Options Og Data Type Compact Generate Report Print gt Q qd c2 E S ry String Type x Trend 1My Controller ACD 2 ted1 ACD Figure 9 1 File Menu New Component Module OR 3 Right click on the selected 1756 MxxSE in the I O Configuration branch of the Controller Organizer Publication 1756 UMO06G EN P May 2005 9 2 Configuring an Ultra 3000 Drive Select New Module from the pop up menu BS Io Configuration 8 1 1756 MO3SE mym O3mo 0 8 12094 ACOS MO1 my2C f fl 2 2098 DSD 005 5E my Bl 3 8720MC B014 my872 Cut Ctrl x ffl 10 1
352. he axes in any order Yes B No SERCOS ring Yes Publication 1756 UM006G EN P May 2005 Inhibit all of the axes to the right of the one that you want to inhibit It s OK to inhibit them at the same time NOT inhibited NOT inhibited inhibited inhibited inhibited inhibited NOT inhibited NOT inhibited Xa la Inhibit an Axis 16 5 Example Inhibit an Axis 1 Make sure all exes are off This axis is off And this axis is off All axes are off My Axis X ServoActionstatus My amp xis Y ServoActionStatus A amp xes Off hnr i m 2 Use a one shot instruction to trigger the inhibit Your condition to inhibit Your condition to All axes are off Give the command to inhibit the the axis is on uninhibit the axis is off am Ne My Axis X Inhibit My Axis X Lnlnhibit amp ll amp xes Off e o One Shot Rising Storage Bit My amp xis X Inhibit SB Output Bit My Axis X Inhibit Cmd 3 Inhibit the axis The inhibit command turns on My Axis X Inhibit Cmd SSY Set System Value Class Name AXIS Instance Name My Axis X Attribute Name Inhibit amp xis Source One 4 Inhibit the axis 4 Wait for the inhibit process to finish All of these have happened e The axis is inhibited e All uninhibited axes are ready e The connectio
353. he first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type e Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly and completely as possible Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 101 e Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated e Stop Motion If a fault action is set to Stop Motion then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults After the stop command fault action h
354. he maximum deceleration rate of the axis in Position Units second it is initially set to about 8596 of the measured tuning deceleration rate by the tuning process If set manually this value should typically be set to about 8596 of the maximum deceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the deceleration limits of the drive and motor Any change in value caused by manually changing the spin control is instantaneously sent to the controller Naming and Configuring Your Motion Axis 6 59 Manual Adjust Click on this button to open the Dynamics tab of the Manual Adjust dialog for online editing of the Maximum Velocity Maximum Acceleration and Maximum Deceleration parameters Figure 6 31 Axis Properties Dynamics Tab Manual Adjust Screen for Axis Servo Drive Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Gains Tab AXIS SERVO Use this tab to perform the following offline functions adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog e manually configure gains for the velocity and position loops Publication 1756 UMO006G EN P May 2005 6 60 Naming and Configuring Your Motion Axis for an axis of the type AXIS SERVO which has been configured for Servo operation
355. however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Note Acceleration Feedforward Gain is not applicable for applications employing velocity loop servo drives Such systems would require the acceleration feedforward functionality to be located in the drive itself Integrator Hold If the Integrator Hold parameter is set to e Enabled the servo loop temporarily disables any enabled position or velocity integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion e Disabled all active position or velocity integrators are always enabled Manual Adjust Click on this button to access the Gains tab of the Manual Adjust dialog for online editing Manual Adjust myservolaxis X Dynamics Gains Output Limits Offset Position Gains Proportional ao 4 1 s Integral oo 1 ms s Differential oo 4 e Velocity Gains Feedforward Gains Proportional oo E 1 s Velocity 0 0 ex Integral oo E 1 ms s Acceleration oo E EL Heset e OK Cancel Apply Help Figure 6 33 Axis Properties Gains Tab Manual Adjust Screen for Axis Servo Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters
356. iately reset when the Reset button is clicked Publication 1756 UMO006G EN P May 2005 7 16 Creating amp Configuring Your Coordinate System Tag Tag Tab Tag Tab Publication 1756 UMO06G EN P May 2005 The Tag Tab is for reviewing your Tag information and renaming the tag or editing the description Figure 7 11 Coordinate System Properties Tag Tab Use this tab to modify the name and description of the coordinate system When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you save your changes all pending changes revert to their previously saved state Displays the name of the current tag You can rename the tag at this time The name can be up to 40 characters and can include letters numbers and underscores When you rename a tag the new name replaces the old one in the Controller Organizer after click on the OK or Apply button Description Displays the description of the current tag if any is available You can edit this description The edited description replaces the existing description when you click on either the OK or Apply button Creating amp Configuring Your Coordinate System Tag 7 17 Tag Type Indicates the type of the current Coordinate System tag This type may be e Dase e Alias The field is not editable and is for informational purposes only Data Type Displays the data type of the current Co
357. ibute is set when the magnitude of the axis torque command is greater than the configured Torque Limit Velocity Limit Status The Velocity Limit Status bit attribute is set when the magnitude of the commanded velocity to the velocity servo loop input is greater than the configured Velocity Limit Position Lock Status The Position Lock Status bit attribute is set when the magnitude of the axis position error has become less than or equal to the configured Position Lock Tolerance value for the associated physical axis If this bit is not set then the magnitude of the axis position error is greater than the configured Position Lock Tolerance value Power Limit Status The Power Limit Status bit attribute is set when the magnitude of the actual supplied power is greater than the configured Power Threshold Internal Access Rule Attribute Name Data Type Semantics of Values GSV Publication 1756 UMO006G EN P May 2005 Axis Control Bits DINT 0 Abort Process Request 1 Shutdown Request 2 Reserved 3 Abort Home Request 4 Abort Event Request 5 14 Reserved 15 Change Cmd Reference 16 31 Reserved Abort Process When the Abort Process bit is set any active tuning or test process on the drive axis is aborted Shutdown Request When the Shutdown Request bit is set the drive axis is forced into the shutdown state Axis Response Bit Attributes Motion Object Attributes 13 109 Abort Home Request
358. ibutes These offset attributes may be changed programmatically via SSV instructions or direct Tag access which when used in Publication 1756 UM006G EN P May 2005 13 144 Motion Object Attributes Torque Offset conjunction with future Function Block programs provides custom outer control loop capability Servo Config Dual Feedback Velocity Offset Acc y Gain Position Command Coarse didt Vel v Gain Position Error Pos P Velocity Command Velocity Accel Command Low Pass Output Filter BW Output Pos Neg Torque Limit Torque Command Error Vel P x Torque v Frict gt Low Pass Notch Torque p Torque gt Position Feedback Coarse 4 Interpolator e Position Command Position Feedback 5 Gain Error Pos Accum gt ulator Position Integrator Error Gain Position Accum i Velocity Feedback Low Gain Scaling Comp Filter gt Fitter Limit Amplifier Error Accum ulator gt Vel 1 Velocity Integrator Error Gain Motor Filter Feedback Polarity Motor Feedback Y Channel Hardware Feedback e Position Motor Feedback Aux i Feedb
359. ibutes of the physical module and the software configured module Compatible module Disable the electronic keying protection mode Match the vendor catalog number major revision and minor revision attributes of the physical module and the software configured module Disable keying Exact match 7 Press the Next button to proceed to the next Create Wizard screen Figure 3 5 Module Properties Wizard Fault Handling Publication 1756 UMO06G EN P May 2005 Adding and Configuring Your 1756 MO02AE 1756 MO02AS 1756 HYD02 Motion Module 3 7 8 This screen is where you determine how faults are to be handled The choices are to inhibit module or to configure the module so that a loss of connection to this module causes a major fault Make your entries and press the Next button to proceed to the next wizard screen zo rj LIr ena me zl Editing Your Motion Module Settings Figure 3 6 Module Properties Wizard Servo Update Associated Axis 9 This screen lets you associate an axis with the module Make the appropriate choices for your application At this point the rest of the screens are informational only and it would be best to press the Finish button to create the module All of the above screens can be accessed and edited by going to the tabbed Module Property screens Further explanations of the fields in this dialog are detailed below The follo
360. ication 1756 UMOO6G EN P May 2005 13 44 Motion Object Attributes Within the servo loop the Position Feedback represents the current position of the axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Feedback REAL Position Units Aux Position Feedback Aux Position Feedback is the current value of the position feedback coming from the auxiliary feedback input This value is not supported in the first release Internal Access Rule Attribute Name Data Type Semantics of Values GSV REAL Position Units Aux Position Feedback Position Error Position Error is the difference in configured axis Position Units between the command and actual positions of a servo axis For an axis with an active servo loop position error is used along with other error terms to drive the motor to the condition where the actual position is equal to the command position Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Integrator Error Position Error REAL Position Units Position Integrator Error is the running sum of the Position Error in the configured axis Position Units for the specified axis For an axis with an active servo loop the position integrator error is used along with other error terms to drive the motor to the condition where the actual position is equal to the command position Inter
361. ice Publication 1756 UMOO6G EN P May 2005 6 98 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 may indicate movement even though the axis has not physically moved If a value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a non zero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position Stabilization Window The Backlash Stabilization Window controls the Backlash Stabilization feature in the servo control loop Properly configured with a suitable value for the Backlash Stabilization Window entirely eliminates the gearbox buzz without sacrificing any servo performance In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Velocity Offset Provides a dynamic velocity correction to the output of the position servo loop in position units per second Torque Force Offset Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output Manual Adjust Click on this button to open the Offset tab of the Manual Adjust dialog for online editing of the Friction Deadband Compensation Backlash Naming and Configuring Your Motion Axis 6
362. ield displays the catalog number of the module highlighted in the Type list box You can either type in a module catalog number in this field to quickly select find the module you want to create or you can scroll through the list of modules in the Type list box Type list box This box lists the installed module catalog numbers based on the selected check boxes Publication 1756 UMO06G EN P May 2005 3 4 X Adding and Configuring Your 1756 MO2AE 1756 M02AS 1756 HYD02 Motion Module Description list box This portion of the list box contains descriptions of the modules Show Displays check boxes which support filtering on particular types of modules Check this box If you want to Digital display digital modules supported by the software Analog display analog modules supported by the software Communication display communication modules supported by the software Motion display motion modules supported by the software Controller display controller modules supported by the software Vendor display a particular vendor s module profiles that are installed on the system Other display modules that do not fit under the rest of the check box categories Select All Click on this button to display all modules in the list box all the check boxes in the Show field are checked Clear All Click on this button to clear all check boxes in the Show field 4 In the Type field select the appropriate motion
363. if the connection for the module fails Configuring a 1394x SJTxx D Digital Servo Drive 8 9 Module Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred The following are common categories for errors Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made e Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully e Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the Associated Axes Tab Use this tab to configure the selected 1394x SJTxx D drive module by associating up to four AXIS SERVO DRIVE axis tags with configured axis modules Module Properties sercos3 1394C SJTO5 D 1 1 servodriveaxis4 Figure 8 6 Module Properties Associated Axis Tab Publication 1756 UMO006G EN P May 2005 8 10 Configuring a 1394x SJTxx D Digital Servo Drive Publication 1756 UMO006G EN P May 2005 Node X0 Represents Axis 0 on the 1756 MxxSE SERCOS module The node number is the sum of the Base Node set
364. igital DC Drive Note A controller cannot be reset Configuring a Kinetix 6000 Drive 10 15 Refresh Click on this button to refresh the tab with new data from the module If you are online in Program Remote Program or Remote Run mode and this controller is the owner controller and you have changed the module s configuration in the software then when you click the Apply or the OK button the information is automatically sent to the controller The controller tries to send the information to the module Gf the module s connection is not inhibited If you don t click Apply your changes are not sent to the controller Publication 1756 UMOO06G EN P May 2005 10 16 Configuring a Kinetix 6000 Drive Publication 1756 UMO006G EN P May 2005 Chapter 11 Configuring an 8720MC Drive The Allen Bradley 8720MC Drive System is a family of products designed to satisfy a wide range of machine tool spindle and power servo applications For applications which do not require line regeneration Allen Bradley offers five 380 to 460 VAC input high performance digital drives with current outputs ranging from 21 to 48 amperes For applications requiring line regeneration the same five drives plus an additional 14 amp drive can be connected to a regenerative power supply via a 750V DC common bus interface The complete family includes a set of twelve drive amplifiers capable of controlling a family of motors ranging in power from 5 5 to 93 kW The 8
365. igured by an owner controller connected to it Once a module has been configured it stays configured until the module is reset or power is cycled even if the owner drops connection to the module This information does not apply to adapters Owned Displays a yes or no value indicating whether an owner controller is currently connected to the module This information does not apply to adapters Publication 1756 UMO006G EN P May 2005 8 14 Configuring a 1394x SJTxx D Digital Servo Drive Module Identity Displays If the module in the physical slot Match agrees with what is specified on the General Tab In order for the Match condition to exist all of the following must agree Vendor Module Type the combination of Product Type and Product Code for a particular Vendor Major Revision Mismatch does not agree with what is specified on the General Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Refresh Click on this button to refresh the tab with the new data from the module Reset Module Click on this button to return a module to its power up state by emulating the cycling of power ATTENTION Resetting a module causes all connections to or through the module to be closed this may result in N loss of control Publication 1756 UMO006G EN P May 2005 Chapter 9 Configuring an Ultra 3000 Drive T
366. iles 15 1 Inhibit an axis 16 1 Publication 1756 UMO006G EN P May 2005 Summary of Changes 2 Notes Publication 1756 UMO006G EN P May 2005 Preface The Purpose of This Manual Use this manual to setup and program motion control using a Logix5000 motion module Related Documentation To get started with a Logix5000 controller See Logix5000 Controllers Quick Start publication 1756 0001 use a ControlLogix controller ControlLogix System User Manual publication 1756 UM001 program a Logix5000 controller detailed and comprehensive information Logix5000 Controllers Common Procedures publication 1756 PMO001 You are set up and program motion control here D gt Logix5000 Motion Modules User Manaul publication 1756 UM006 program a specific instruction e Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 e Logix5000 Controllers Process and Drives Instructions Reference Manual publication 1756 RM006 e Logix5000 Controllers Motion Instructions Reference Manual publication 1756 RM007 e use equipment phases e set up a state model for your equipment e program in a way that is similar to S88 and PackML models PhaseManager User Manual publication LOGIX UM001 EtherNet IP network control devices EtherNet IP Modules in Logix5000 Control Systems User Manual publication ENET UMOO1 ControlNet V network control devices ControlNet Modu
367. imebase Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Average Velocity Timebase REAL Sec Publication 1756 UMO006G EN P May 2005 The Average Velocity Timebase value should be large enough to filter out the small changes in velocity which would otherwise result in a noisy velocity value but small enough to track significant changes in axis velocity Typically a value between 0 25 and 0 5 seconds works well for most applications Motion Conversion Configuration Motion Object Attributes 13 29 Conversion Constant To allow axis position to be displayed and motion to be programmed in the position units specified by the Position Unit string attribute a Conversion Constant must be established for each axis The Conversion Constant sometimes known as the K constant allows the Axis Object to convert the axis position units into feedback counts and vice versa Specifically K is the number of feedback counts per Position Unit Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Conversion Constant REAL Counts Position Unit Range 0 1 1e Default 8000 0 Rotary Axis Note that the 1756M02AE encoder based servo module uses 4X encoder feedback decoding both edges of channel A and B are counted The count direction is determined from both the direction of the edge and the state of the opposite channel Channel A leads channel
368. in Pos P Gain Bandwidth Hertz 6 28 The typical value for the Position Proportional Gain is 100 Sec 1 Integral Position Gain The Integral i e summation of Position Error is multiplied by the Position Loop Integral Gain or Pos I Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Publication 1756 UMOO6G EN P May 2005 6 62 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 While the Pos I Gain if employed is typically established by the automatic servo tuning procedure in the Tuning tab of this dialog the Pos I Gain value may also be set manually Before doing this it must be stressed that the Output Scaling factor for the axis must be established for the drive system Once this is done the Pos I Gain can be computed based on the current or computed value for
369. in the General page of this dialog box X0 and the axis number 1 This field allows you to associate an AXIS SERVO DRIVE tag with Axis 0 This field transitions to a read only state while online Click on the Ellipses C button to the right of this field to open the Axis properties dialog box for the associated axis Node X1 Represents Axis 1 on the 1756 MxxSE SERCOS module The node number is the sum of the Base Node set in the General page of this dialog box X0 and the axis number 1 This field allows you to associate an AXIS SERVO DRIVE tag with Axis 1 This field transitions to a read only state while online Click on the Ellipses C button to the right of this field to open the Axis properties dialog box for the associated axis Node X2 Represents Axis 2 on the 1756 MxxSE SERCOS module The node number is the sum of the Base Node set in the General page of this dialog box X0 and the axis number 2 This field allows you to associate an AXIS SERVO DRIVE tag with Axis 2 This field transitions to a read only state while online Click on the Ellipses C button to the right of this field to open the Axis properties dialog box for the associated axis Node X3 Represents Axis 3 on the 1756 MxxSE SERCOS module The node number is the sum of the Base Node set in the General page of this dialog box X0 and the axis number 3 This field allows you to associate an AXIS SERVO DRIVE tag with Axis 3 This field transitions
370. inate System 38 Motion Groups My Motion Group General Units Dynamics Tag x My Axis X Motion Group My Motion Go xl ig 2 My Axis Y xb eer Type M Z 3 Ungrouped Axes Dimension 2m Coordinate Axis Name Coordination Mode 0 x1 My Axis X i 1 x2 My Axis Y Primary Get status information Use these methods to read motion status and configuration parameters in your code Method Example Read the MOTION GROUP and AXIS tags e Axis faults e Actual position of an axis e Motion status Use a Get System Value GSV instruction Actual position Change configuration parameters Use a Set System Value SSV instruction to write code that changes motion parameters For example you can change position loop gain velocity loop gain and current limits within your code Handle motion faults The controller has these types of motion faults Type Description Example Instruction error Caused by a motion instruction A Motion Axis Move MAM e Instruction errors do not impact controller operation instruction with a parameter out of e Look at the error code in the motion control tag to see range why an instruction has an error e Fix instruction errors to optimize execution time and make sure that your code is accurate Fault Caused by a problem with the servo loop e Loss of feedback e You choose whether or not motion faults give the e Actual position exceeding an controll
371. inear 1 Rotary Position Unwind If the axis is configured as a rotary axis by setting the corresponding Rotary Axis bit Servo Configuration Bit word a value for the Position Unwind attribute is required This is the value used to perform automatic electronic unwind of the rotary axis Electronic unwind allows infinite position range for rotary axes by subtracting the unwind value from both the actual and command position every time the axis makes a complete revolution To avoid accumulated error due to round off with irrational conversion constants the unwind value is requested in units feedback counts per axis revolution and must be an integer Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Unwind DINT Counts per Revolution Motion Homing Configuration For example suppose that a given axis is configured as a Rotary Axis with Position Units of Degrees and 10 feedback counts per degree It is desired to unwind the axis position after every revolution In this case the Position Unwind attribute should be set to 3600 since there are 3600 feedback counts 10 360 per revolution of the axis Home Mode Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Home Mode SINT Enumeration 0 passive 1 active default 2 absolute Publication 1756 UMO006G EN P May 2005 There are currently three Homing Modes supported b
372. ing Cycle Period and Baud Rate Solid red light The module has detected a hardware or installation fault with the ring Check your system hardware and installation as follows e Make sure all cables are properly installed e Make sure cable is of the correct type and length e Make sure application program has configured the module s ring transmit level to High when using specified cables e Make sure the drive s transmit levels are set appropriately e Inspect cables for degradation e Inspect drives for any faults and correct them Off The module has detected no ring data on its receiver or has not successfully completed phase 2 Check your system and installation as follows e Make sure all cables are properly installed e Inspect cable for degradation and breakage e Inspect drives for faults Hashing green light Publication 1756 UMO006G EN P May 2005 The ring drive or axes are not configured but at least one has been identified Not a problem if the system has not been configured If you are having trouble configuring the ring drive and axes Make sure that the application program is setup properly for the equipment in use Chapter 15 Troubleshoot Axis Motion About this chapter This chapter helps you troubleshoot some situations that could happen while you are running an axis Situation See page Why does my axis accelerate when stop it 15 1 Why
373. initiated operation has successfully completed Conditions may occur however that make it impossible for the control to properly perform the operation When this is the case the test process is automatically aborted and a test fault reported that is stored in the Test Status output parameter Internal Access Rule GSV Publication 1756 UMO006G EN P May 2005 Attribute Name Data Type Semantics of Values Test Status INT Enumeration 0 test process successful 1 test in progress 2 test process aborted by user 3 test process time out fault 2 seconds 4 test process failed due to servo fault Motion Object Attributes 13 57 Test Direction Forward The Test Direction Forward attribute reports the direction of axis travel during hookup test as seen by the servo module during the last test process initiated by a MRHD Motion Run Hookup Test instruction A Test Direction value of 1 forward indicates that the direction of motion as observed by the servo module was in the forward Cor positive direction Note that the value for Test Direction as determined by the MRHD process does not depend on the Servo Polarity Bits configuration prior to executing the test The Test Direction Forward attribute when combined with the Test Output Polarity is used by the MAHD Motion Apply Hookup Test instruction to properly configure the Servo Polarity Bits attribute for negative feedback and correct directional sense
374. instruction the servo loop must not be active If the servo loop is active the MAH instruction errors If Absolute Feedback Enable is set to False the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer In this case a homing or redefine Publication 1756 UMOO06G EN P May 2005 13 66 Motion Object Attributes Absolute Feedback Offset position operation is therefore needed to establish the absolute machine reference position The Absolute Home Mode in this case is considered invalid This attribute is configurable if the Transducer Type is set to SSI For an LDT transducer the Absolute Feedback Enable is forced to True For an AQB transducer the Absolute Feedback Enable is forced to False This attribute is used to determine the relative distance between the absolute position of the feedback device and the absolute position of the machine At power up this attribute is sent to the servo module and added to the current position of the feedback device to restore the absolute machine position reference Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Servo Configuration Publication 1756 UMO006G EN P May 2005 Absolute Feedback Offset REAL Position Units If the axis is configured for Linear operation absolute position may be recovered after power cycle as long as the feedback device has not exceeded its range li
375. ion from the user Task object to the Axis object when the Task trigger attribute is set to an select the Registration 2 Event Task Instance attribute of the Axis This attribute should not be set directly by an external device This attribute is available to be read externally Get attributes List for diagnostic information Internal Access Rule Attribute Name Data Type Semantics of Values n a Registration 2 Event Task DINT Instance User Event Task that is triggered to execute when a Registration 2 event occurs An instance value of 0 indicates that no event task has been configured to be triggered by the Registration 2 Event Home Event Task Instance The Home Event Task Instance attribute indicates which user Task is triggered when a home event occurs The user Task is triggered at the same time that the Process Complete bit is set for the instruction that armed the home event This attribute attributes is set through internal communication from the user Task object to the Axis object when the Task trigger attribute is set to an select the Home Event Task Instance attribute of the Axis This attribute should not be set directly by an external device This attribute is available to be read externally Get attributes List for diagnostic information Internal Access Rule Attribute Name Data Type Semantics of Values n a Home Event Task Instance DINT User Event Task that is triggered to execute
376. ion that warrants shutdown of the servo module The Synchronous Connection Fault bit is cleared when the connection is reestablished Timer Event Fault If the Timer Event Fault bit attribute is set it indicates that the associated servo module has detected a problem with the module s timer event functionality used to synchronize the motion module s servo loop to the master timebase of the Logix rack i e Coordinated Attribute Error Code Motion Object Attributes 13 55 System Time The Timer Event Fault bit can only be cleared by reconfiguration of the motion module Module Hardware Fault If the Module Hardware Fault bit attribute is set it indicates that the associated servo module has detected a hardware problem that in general is going to require replacement of the module to correct Internal Access Rule Attribute Name Data Type Semantics of Values GSV Attribute Error ID Attribute Error Code INT ASA Error code returned by erred set attribute list service to the module See Appendix B When an Axis Configuration Fault occurs one or more axis parameters associated with a servo module or device has not been successfully updated to match the value of the corresponding parameter of the local controller The fact that the configuration of the servo axis no longer matches the configuration of the local controller is a serious fault and results in the shutdown of the faulted axis The Attribute Error C
377. ions where positioning accuracy or tracking accuracy is critical The higher the Pos I Gain value the faster the axis is driven to the zero Position Error condition Unfortunately Pos I Gain control is intrinsically unstable Too much Pos I Gain will result in axis oscillation and servo instability If the axis is configured for an external velocity loop servo drive the Pos I Gain should be zero most analog velocity loop servo amplifiers have integral gain of their own and will not tolerate any amount of Pos I Gain in the position loop without producing severe oscillations If Pos I Gain is necessary for the application the velocity integrator in the drive must be disabled In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation Another common case is when performing certain motion When the Integrator Hold Enable attribute is set the servo loop automatically disables the integrator during commanded motion Publication 1756 UMO06G EN P May 2005 13 150 Motion Object Attributes Velocity Feedforward Gain While the Pos I Gain if employed is typically established by the automatic servo tuning procedure the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system Refer to Torque
378. iring the Ultra3000 Drive This section helps you to wire the Ultra3000 drive to the 1756 MO2AE The following diagram shows the 2090 U3AE D44xx Cable AXIS 0 CN 10 AXO RELAY AXO 10 PWR AXO Connector e AUX PWR AXO mi AXIS 0 CN1 D sub high MO2AE density 44 pin view shown with 45 black without cover PVC overmold NS msi v AUX PWR AX1 SS 10 PWR AXI RELAY AX1 AXIS 1 CN1 10 AXI Figure B 8 2090 U3AE D44xx Cable Publication 1756 UMOO06G EN P May 2005 Loop and Interconnect Diagrams The next diagram is the Ultra3000 to 1756 MO2AE Interconnect 1756 M02AE SERVO MODULE diagram RELAY WHT ORG 226A WHT ORG 226A RELAY RELAY R WHT YEL 226A RELAY RELAY WHT YEL 22GA RELAY DRAIN user configured user configured DRAIN WHT RED 22GA WHT RED 22GA 10 PWR WHT BLACK 22GA fit Ti Gr fr apwal lio PWR WHT BLACK 226A 10 COM DRAIN DRAIN e AUX PWR 5 RED 226A RED 226A AUX PWR 45 AUXCOM ECOM g BLACK
379. is Publication 1756 UMO006G EN P May 2005 e Configure the axis for Servo operation or for position Feedback Only Assign the axis or terminate the assignment of an axis to a Motion Group e Associate the axis with a motion module e Select the channel 0 or 1 on the motion module to which the axis is connected Note RSLogix 5000 supports only one Motion Group tag per controller When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Axis Configuration Selects and displays the intended use of the axis e Feedback Only If the axis is to be used only to display position information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The Tab for Dynamics is not available e Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Motion Group Selects and displays the Motion Group to which the axis is
380. is a required field and must be completed otherwise you receive an error message when you exit this tab An error message is also displayed if a duplicate name is detected or you enter an invalid character If you exceed the maximum name length allowed by the software the extra character s are ignored Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software ignores the extra character s Node Enter the SERCOS node number of the drive module Valid values include those nodes not already in use You can determine the SERCOS node number by checking the position of the rotary switch on the associated drive IAM has node switch which specifies remaining slot location node addresses Revision Select the minor revision number of your module The revision is divided into the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog The major revision is used to indicate the revision of the interface to the module The minor revision is used to indicate the firmware revision Publication 1756 UMOO6G EN P May 2005 10 6 Configuring a Kinetix 6000 Drive Electronic Keying Select one of these keying options for your module during initial module configuration e Exact Match all of the parameters described below must match or the inserted module will rej
381. is a tapered Torque Scaling profile that is a function of the position error of the servo loop The reason for the tapered profile as opposed to a step profile is that when the position error exceeds the backlash distance a step profile creates a very large discontinuity in the torque output This repulsing torque tends to slam the axis back against the opposite gear tooth and perpetuate the buzzing effect The tapered profile is only run when the acceleration command to the servo loop is zero i e when no acceleration or deceleration is commanded to engage the teeth of the gearbox Drive Fault Actions Motion Object Attributes 13 163 Properly configured with a suitable value for the Backlash Stabilization Window this algorithm entirely eliminates the gearbox buzz without sacrificing any servo performance The Backlash Stabilization parameter determines the width of the window over which backlash stabilization is applied In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature The Backlash Distance parameter determines the width of the window over which backlash compensation and backlash stabilization is applied Each axis can be configured to respond to each of the five types of drive faults in any one of four different ways This flexibility is important because motion control applications differ widely in their fault action requirements
382. is as calculated from the measurements made during the last MRAT Motion Run Axis Tune initiated tuning process In actuality the units of Tune Inertia are not industry standard inertia units but rather in terms of percent 96 of full scale servo output per MegaCounts Sec of feedback input In this sense it represents the input gain of torque servo drive These units represent a more useful description of the inertia of the system as seen by the servo controller The Tune Inertia value is used by the MAAT Motion Apply Axis Tune instruction to calculate the Torque Scaling attribute Internal Access Rule GSV Attribute Name Data Type Semantics of Values Tune Inertia REAL MegaCounts Per Sec If the Tune Inertia value exceeds 10096Rated MegaCounts Per Second performance of the digital servo loop may be compromised due to excessive digitization noise associated with the velocity estimator This noise is amplified by the Torque Scaling gain which is related to the Tune Inertia factor and passed on to the torque output of the drive A high Tune Inertia value can thus result in excitation of mechanical resonances and also result in excessive heating of the motor due to high torque ripple The only solution to this problem is to lower the loop bandwidths and optionally apply some output filtering Since the Tune Inertia value represents a measure of the true system inertia this situation can occur when driving
383. is button to access the New Tag dialog with the scope data type and produced settings appropriate for a produced axis tag Power Tab Kinetix Drive Use this tab to select a bus regulator for your Kinetix 6000 drive Figure 10 10 Module Properties Power Tab Bus Regulator Catalog Number Select the catalog number that describes the bus regulator device used by the Kinetix 6000 drive module Publication 1756 UMO006G EN P May 2005 10 12 Publication 1756 UMO06G EN P May 2005 Configuring a Kinetix 6000 Drive Module Info Tab The Module Info Tab displays module and status information about the module It also allows you to reset a module to its power up state The information on this tab is not displayed if you are either offline or currently creating a module Benes Heset Module Figure 10 11 Module Properties Module Info TIP You can use this tab to determine the identity of the module The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available e Refresh to display new data from the module Reset Module to return the module to its power up state by emulating the cycling of power By doing this you also clear all faults Identification Displays the module s e Vendor e Product Type e Product Code Configuring a Kinetix 6000 Drive 10 13 e Revision e Serial Number e Product Name The
384. is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Velocity Feedforward Gain is 100 theoretically In reality however the value may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Acceleration Feedforward Acceleration Feedforward Gain scales the current Command Acceleration by the Acceleration Feedforward Gain and adds it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much of a contribution to the Servo Output hence the Position and or Velocity Error values are significantly reduced Hence when used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing position camming and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time The optimal value for Acceleration Feedforward Publication 1756 UMO06G EN P May 2005 6 64 Naming and Configuring Your Motion Axis is 10096 theoretically In reality
385. is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Test Command amp Feedback Runs the Command amp Feedback Test which checks and if necessary reconfigures both the polarity of encoder feedback the Feedback Polarity setting and the polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Note Executing any test operation automatically saves all changes to axis properties Naming and Configuring Your Motion Axis 6 53 Tune Tab AXIS SERVO Use this tab to configure and initiate the axis tuning sequence for an AXIS SERVO DRIVE axis of the types AXIS SERVO or AXIS SERVO DRIVE e Axis Properties sercosaxis1 Ble X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Travel Limit Speed 20 0 Tune Dynamics Gains Output Limits Offset Fault Actions Tag Position Units Start Tuning Position Units s DANGER This tuning procedure may cause axis Torque Force 1100 0 Rated eed Se Direction Forward Bi directional Damping Factor jae Tune v Position Error Integrator velocity Error integrator I Friction Compensation v Velocity Feedforward JV Acceleration Feedforward IM Torque Offset v Output Filter OK Cancel Help
386. is module has not yet been made due to one of the following e its parent has not yet made a connection to it e its parent is inhibited e its parent is faulted Offline You are not online Connection Tab Use this tab to define controller to module behavior Inhibit Module v Figure 11 8 Module Properties Connection Tab On this tab you can e Select a requested packet interval Choose to inhibit the module e Configure the controller so loss of the connection to this module causes a major fault Publication 1756 UMO06G EN P May 2005 Configuring an 8720MC Drive 11 9 e View module faults TIP The data on this tab comes directly from the controller This tab displays information about the condition of the connection between the module and the controller Requested Packet Interval Does not apply to this setup Field is greyed out Note This field is disabled for all motion modules e g 1756 MO2AE 1756 MO8SE 1756 M16SE modules and all 1394 Ultra3000 Kinetix 6000 and 8720MC drives Inhibit Module Check Uncheck this box to inhibit uninhibit your connection to the module Inhibiting the module causes the connection to the module to be broken Note Inhibiting uninhibiting connections applies mainly to direct connections and not to the CNB module ATTENTION Inhibiting the module causes the connection to the module to be broken and may result in loss of data When you check
387. is set true then the condition of the switch prior to homing is closed When the switch is engaged by the axis during the homing sequence the switch is opened which constitutes a homing event Refer to the Homing Sequence configuration attribute described earlier in this section The Home Position is the desired absolute position for the axis after the specified homing sequence has been completed After an active homing sequence has completed the axis is left at the specified Home Position Internal Access Rule Data Type Semantics of Values SSV GSV Home Offset Publication 1756 UMO006G EN P May 2005 REAL Position Units In most cases Home Position is set to zero although any value within the Maximum Positive and Negative Travel limits of the axis Cif enabled may also be used A description of the Maximum Positive and Negative Travel configuration attributes may be found in the Servo and Drive Axis Object specifications For a rotary axis the Home Position is constrained to be a positive number less than the Position Unwind value divided by the Conversion Constant When configured for absolute Homing Mode the Home Position value is applied directly to the absolute feedback device to establish an absolute position reference for the system When applied to an active or passive Homing Mode using a non immediate Home Sequence the Home Offset is the desired position offset of the axis Home Position from the position a
388. is used in tandem with Velocity Feedforward to achieve near zero following error during the entire motion profile To fine tune the Acceleration Feedforward Gain the Velocity Feedforward Gain must first be optimized using the procedure described above While capturing the peak Position Error during the acceleration phase of the jog profile increase the Acceleration Feedforward Gain until the peak Position Error is as small as possible but still positive If the peak Position Error during the acceleration ramp is negative the actual position of the axis is abead of the command position during the acceleration ramp If this occurs decrease the Acceleration Feedforward Gain such that the Position Error is again positive To be thorough the same procedure should be done for the deceleration ramp to verify that the peak Position Error during deceleration is acceptable Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis Attribute Name Data Type Semantics of Values SSV GSV Acceleration Feedforward Gain REAL Position Proportional Gain The Position Error is multiplied by the Position Proportional Gain or Publication 1756 UMO006G EN P May 2005 Pos P Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Increasing this gain value increases the bandwidth of the position servo loop and results in greater static stiffness
389. it These parameters provide the SERCOS drive with critical information needed to compute scaling factors used to convert Drive Counts to Feedback counts Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motor Feedback Resolution DINT Cycles per Motor Feedback Unit Aux Feedback Resolution Cycles per Aux Feedback Unit Aux Feedback Ratio The Aux Feedback Ratio attribute represents the quantitative Publication 1756 UMO006G EN P May 2005 relationship between auxiliary feedback device and the motor For a rotary auxiliary feedback device this attributes value should be the turns ratio between the auxiliary feedback device and the motor shaft For linear auxiliary feedback devices this attribute value would typically represent the feed constant between the motor shaft and the linear actuator The Aux Feedback Ratio attribute is used in calculating range limits and default value calculations during configuration based on the Motion Object Attributes 13 139 selected motor s specifications The value is also used by the drive when running the dual feedback servo loop configuration Internal Access Rule Attribute Name Data Type Semantics of Values GSV Feedback Configuration Aux Feedback Ratio FLOAT Aux Feedback Units per Motor Feedback Unit Both the Logix controller and the SERCOS drive use the Motor and Auxiliary Feedback Configuration attributes to control the scaling of
390. ite access The Servo Drive Configuration Attributes are divided into seven categories Drive Configuration Motor and Feedback Drive Gains Drive Limits Drive Offsets Drive Power and Drive Commissioning attributes These categories correspond roughly to the organization of the RSLogix 5000 Axis Properties pages Many of the following Drive Configuration attributes are associated with corresponding attributes contained in the SERCOS Axis Object associated with the 1756MO8SE 8 Axis SERCOS module When any of these attributes are modified by a Set Attribute List service or an SSV instruction within the user program the local processor value for the attribute is immediately changed and a Set Attribute List service to the SERCOS module is initiated to update the working value stored in the drive The progress of this update can be monitored if necessary within the user program through the Configuration Update in Process bit of the Axis Status Bits attribute The Drive Configuration attributes provide basic drive configuration information These parameters are used to determine the specific drive axis type servo configuration as well as determine drive polarity and fault handling behavior Drive ID Motion Object Attributes 13 125 The Drive ID attribute contains the ASA Product Code of the drive amplifier associated with the axis If the Product Code does not match that of the actual drive amplifier an error is generated during the confi
391. itiates a tuning process on the targeted SERCOS module axis The Tune Status attribute can thus be used to determine when the MRAT initiated operation has successfully completed Conditions may occur however that make it impossible for the control to properly perform the operation When this is the case the tune process is automatically aborted and a tune fault reported that is stored in the Tune Status output parameter Internal Access Rule Attribute Name Data Type Semantics of Values GSV Tune Acceleration Deceleration Time INT Enumeration 0 tune process successful 1 tune in progress 2 tune process aborted by user 3 tune process time out fault 4 tune process failed due to drive fault 5 axis reached Tuning Travel Limit 6 axis polarity set incorrectly 7 tune measurement fault 8 tune configuration fault Tune Status The Tune Acceleration Time and Tune Deceleration Time attributes return acceleration and deceleration time in seconds for the last run MRAT Motion Run Axis Tune instruction These values are used to calculate the Tune Acceleration and Tune Deceleration attributes Internal Access Rule Attribute Name Data Type Semantics of Values GSV Tune Acceleration Time REAL Sec GSV Tune Deceleration Time REAL Sec Tune Acceleration Deceleration Publication 1756 UMO006G EN P May 2005 The Tune Acceleration Time and Tune Deceleration attributes return the mea
392. ition error tolerance value the recommended setting is 15096 to 20096 of the position error while the axis is running at its maximum speed Position Lock Tolerance Specifies the maximum position error the servo module accepts in order to indicate the Position Lock status bit is set This is useful in determining when the desired end position is reached for position moves This value is interpreted as a quantity For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units as shown here Peak Torque Force Limit The Peak Torque Force Limit specifies the maximum percentage of the motors rated current that the drive can command as either positive or negative torque force For example a torque limit of 15096 shall limit the current delivered to the motor to 1 5 times the continuous current rating of the motor Continuous Torque Force Limit The Continuous Torque Force Limit specifies the maximum percentage of the motors rated current that the drive can command on a continuous or RMS basis For example a Continuous Torque Force Limit of 15096 limits the continuous current delivered to the motor to 1 5 times the continuous current rating of the motor Manual Adjust Click on this button to open the Limits tab of the Manual Adjust dialog for online editing of the Position Error Tolerance Position Lock Publication 1756 UMOO6G EN P May 2005 6 88 Naming and Configuring Your M
393. its Drive Motor Motor Feedback Aux Feedback Conversion Feedback Type TTL with Hall 7 Cycles 2000 per Rev Interpolation Factor Cancel Apply Help Figure 6 21 Axis Properties Motor Feedback Tab for Axis Servo Drive Note The Axis Configuration selection made on the General tab and the Loop Configuration selection made on the Drive tab determine which sections of this dialog box Motor and Auxiliary Feedback are enabled When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Feedback Type This field displays the type of feedback associated with the selected motor Cycles The number of cycles of the associated feedback device This helps the Drive Compute Conversion constant used to convert drive units to feedback counts Depending on the feedback type you select this value may be either read only or editable Publication 1756 UMO06G EN P May 2005 6 38 Naming and Configuring Your Motion Axis Per The units used to measure the cycles Interpolation Factor This field displays a fixed read only value for each feedback type This value is used to compute the resolution of the feedback device Aux Feedback Tab The Auxiliary Feedback Tab is enabled only if the Drive tab s Loop AXIS SERVO DRIVE Configuration field is set to Aux Feedback Only Aux Position Servo Dual
394. its support of a maximum of three axes Changes in the Dimension spin box also reflect in the Axis Grid by either expanding or contracting the number of fields available Data is set back to the defaults for any axis that is removed from the Axis Grid due to reducing the Dimension field Axis Grid The Axis Grid is where you associate axes to the Coordinate System There are five columns in the Axis Grid that provide information about the axes in relation to the Coordinate System Brackets The Brackets column displays the indices in tag arrays used with the current coordinate system The tag arrays used in multi axis coordinated motion instructions map to axes using these indices Publication 1756 UMO006G EN P May 2005 7 10 Creating amp Configuring Your Coordinate System Tag Publication 1756 UMO006G EN P May 2005 Coordinate The text in this column X1 X2 or X3 depending on the entry to the Dimension field is used as a cross reference to the axes in the grid For a Cartesian system the mapping is simple Axis Name The Axis Name column is a list of combo boxes the number is determined by the Dimension field used to assign axes to the coordinate system The pulldown lists display all of the Base Tag axes defined in the project Alias Tag axes do not display in the pull down list They can be axes associated with the motion group axes associated with other coordinated systems or axes from the Ungrouped Axes
395. l 0 25 1 7 Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz and the position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed Note that the bandwidth of the torque loop includes feedback sampling delay and filter time constant Position Integral Gain Position Integral Gain or Pos I Gain improves the steady state positioning performance of the system By using Position Integral Gain it is possible to achieve accurate axis positioning despite the presence of such disturbances as static friction or gravity Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Integral Gain REAL 1 mSec Sec At every servo update the current Position Error is accumulated in a variable called the Position Integral Error This value is multiplied by the Position Integral Gain to produce a component to the Velocity Command that attempts to correct for the position error The characteristic of Pos I Gain correction however is that any non zero Position Error will accumulate in time to generate enough force to make the correction This attribute of Pos I Gain makes it invaluable in applicat
396. l components a motor a gearbox and a ball screw that may introduce inaccuracies and that are subject to wear over their lifetime Therefore when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw etc may result in a small amount of motor motion without axis motion As a result the feedback device may indicate movement even though the axis has not physically moved If a value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a non zero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position Stabilization Window The Backlash Stabilization Window controls the Backlash Stabilization feature in the servo control loop Properly configured with a suitable value for the Backlash Stabilization Window entirely eliminates the gearbox buzz without sacrificing any servo performance In general this value should be set to the measured backlash distance A Backlash Stabilization Window value of zero effectively disables the feature Velocity Offset Provides a dynamic velocity correction to the output of the position servo loop in position units per second Torque Offset Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo lo
397. laces programmable IIR filtering Publication 1756 UMO006G EN P May 2005 The 3 8 or 16 Axis SERCOS interface Module 1756 MO8SE 1756 M16SE RSLogix 5000 Programming Software Developing a Motion Control Application Program The ControlLogix Motion Control System 1 5 e No encoder feedback e SSI interface consisting of Differential Clock output and Data return signals replaces the differential encoder interface Position feedback update rate is variable 0 2 0 5 1 and 2 milliseconds e A dead band eliminator algorithm compensates for proportional valves with overlap The 3 8 or 16 Axis SERCOS interface modules 1756 M03SE 1756 MOSSE 1756 M16SE serves as a link between the ControlLogix platform and intelligent drives The communication link between the module and the drive s is via IEC 1491 SErial Real time COmmunication System SERCOS using fiber optic medium The SERCOS interface module supports e reliable high speed data transmission e excellent noise immunity e elimination of interconnect wiring ASA messages converted to SERCOS formatted messages The RSLogix 5000 programming software provides complete programming and commissioning support for the ControlLogix system RSLogix 5000 is the only programming software needed to fully configure and program ControlLogix motion control systems RSLogix 5000 software provides the following motion support e Wizards for servo axis configuration including
398. larity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Note Executing any test operation automatically saves all changes to axis properties Naming and Configuring Your Motion Axis 6 51 Hookup Tab Overview Use this tab to configure and initiate axis hookup and marker test AXIS SERVO DRIVE sequences for an axis of the type AXIS SERVO DRIVE e Axis Properties sercosaxis1 rl X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Test Increment 10 0 Position Units Test Marker Drive Polarity Positive Y Test Feedback Test Command amp Feedback DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Command amp Feedback test may cause axis runaway condition Cancel Apply Help Figure 6 28 Axis Properties Hookup Tab for Axis_Servo_Drive When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Test Increment Specifies the amount of distance traversed by the axis when executing the Command amp Feedback test The default value is set to approximately a quarter of a revolution of the motor in posi
399. lated to the module you are configuring and the text detailing the Module Fault that has occurred The following are common categories for errors Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made Configuring the 1756 MO3SE 1756 MOBSE or 1756 M16SE Module 4 13 Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the software and the module SERCOS Interface Tab The SERCOS interface Tab is for configuring the SERCOS ring It is here where you set the specific Data Rate Cycle Time and Transmit Power for the named 1756 MO3SE MO8SE M16SE SERCOS interface module Auto Detect Figure 4 9 Module Properties SERCOS Interface Tab Use the SERCOS Interface Tab to set and display the e SERCOS baud rate e update rate for the SERCOS ring e fiber optic transmit power range for the SERCOS ring Publication 1756 UMO006G EN P May 2005 4 14 Configuring the 1756 MO3SE 1756 MO08SE or 1756 M16SE Module The SERCOS ring consists of the drives and axes connected
400. le has been configured it stays configured until the module is reset or power is cycled even if the owner drops connection to the module This information applies to I O modules only and does not apply to adapters scanners bridges or other communications modules Configuring an 8720MC Drive 11 15 Owned Displays a yes or no value indicating whether an owner controller is currently connected to the module This information applies to I O modules only and does not apply to adapters scanners bridges or other communications modules Module Identity Displays If the physical module Match agrees with what is specified on the General Tab order for the Match condition to exist all of the following must agree e Vendor e Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch does not agree with what is specified on the General Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Note The Generic modules such as the 1756 MODULE always show a Mismatch because the configured Generic Key does not match any target device Reset Module Click on this button to return a module to its power up state by emulating the cycling of power Resetting a module causes all connections to or through the module to be closed and this may result in loss of control The following modul
401. le the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion e Disabled all active position or velocity integrators are always enabled Publication 1756 UM006G EN P May 2005 6 70 Naming and Configuring Your Motion Axis Manual Adjust Click on this button to access the Gains tab of the Manual Adjust dialog for online editing Publication 1756 UMO06G EN P May 2005 munes w a Figure 6 35 Axis Properties Gains Tab Manual Adjust Screen for Axis Servo Drive Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Naming and Configuring Your Motion Axis 6 71 Set Custom Gains Click on this button to open the Custom Gain Attributes dialog Custom Gain Attributes X Mae ve Side CS VeloctyDroop 00 PosiionUnitsis REAL Close Cancel Help Figure 6 36 Set Custom Gains Dialog from Gains Tab for AXIS_SERVO_DRIVE At this dialog box you can edit the VelocityDroop attribute When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows onl
402. lent voltage to an external velocity servo drive This has the effect of normalizing the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The Velocity Scaling value is typically established by servo s automatic tuning procedure but these values can be calculated if necessary using the following guidelines If the axis is configured for a velocity external servo drive Gin the Servo tab of this dialog the software velocity loop in the servo module is disabled In this case the Velocity Scaling value can be calculated by the following formula Velocity Scaling 100 Speed 100 For example if this axis is using position units of motor revolutions revs and the servo drive is scaled such that with an input of 10096 e g 10 Volts the motor goes 5 000 RPM or 83 3 RPS the Velocity Scaling attribute value would be calculated as Velocity Scaling 10096 83 3 RPS 1 2 Revs Per Second Torque Scaling The Torque Scaling attribute is used to convert the acceleration of the servo loop into equivalent 96 rated torque to the motor This has the effect of normalizing the units of the servo loops gain parameters so that their values are not affected by variations in feedback resolution drive scaling motor and load inertia and mechanical gear ratios The Torque Scaling value is typically established by the controller s au
403. les Module Identity Displays If the physical module Match agrees with what is specified on the General Tab order for the Match condition to exist all of the following must agree e Vendor e Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch does not agree with what is specified on the General Tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab Note The Generic modules such as the 1756 MODULE always show a Mismatch because the configured Generic Key does not match any target device Reset Module Click on this button to return a module to its power up state by emulating the cycling of power Resetting a module causes all connections to or through the module to be closed and this may result in loss of control Note The following modules return an error if a reset is attempted e 1756 L1 ControlLogix5550 Programmable Controller e 1336T AC Vector Drive e 1395 Digital DC Drive Note A controller cannot be reset Publication 1756 UMOO6G EN P May 2005 9 16 Configuring an Ultra 3000 Drive Publication 1756 UMO006G EN P May 2005 Refresh Click on this button to refresh the tab with new data from the module If you are online in Program Remote Program or Remote Run mode and this controller is the owner controller and you have changed the module s co
404. les in Logix5000 Control Systems User Manual publication CNET UMOO1 DeviceNet network control devices DeviceNet Modules in Logix5000 Control Systems User Manual publication DNET UM004 import or export a Logix5000 project or tags from or to a text file Logix5000 Controllers Import Export Reference Manual publication 1756 RM084 convert a PLC 5 or SLC 500 application to a Logix5000 project Logix5550 Controller Converting PLC 5 or SLC 500 Logic to Logix5550 Logic Reference Manual publication 1756 6 8 5 1756 M02AE module install wire and troubleshoot Analog Encoder AE Servo Module Installation Instructions publication 1756 IN047 1756 MO3SE module install wire and troubleshoot 1756 M08SE module install wire and troubleshoot 1756 M16SE module install wire and troubleshoot Controllogix SERCOS interface Module Installation Instructions publication 1756 IN572G EN P 1394C SJTxx D drive install wire and set up 1394 SERCOS Interface Multi Axis Motion Control System publication 1394C 5 20 Publication 1756 UMO006G EN P May 2005 Preface 2 To 1394 drive with SERCOS start up and troubleshoot See 1394 SERCOS Integration Manual publication 1394 IN024 Ultra3000 drive install Ultra3000 Hardware Installation Manual publication 2098 IN003 Ultra3000 drive with SERCOS start up and troubleshoot Ultra3000 SERCOS Integration Manual publicatio
405. lt 3 Negative Hard Overtravel Fault NegHardOvertravelFault 4 Feedback Fault FeedbackFault 5 Feedback Noise Fault FeedbackNoiseFault 6 Auxiliary Feedback Fault AuxFeedbackFault 7 Auxiliary Feedback Noise Fault AuxFeedbackNoiseFault 8 reserved 9 Drive Enable Input Fault DriveEnablelnputFault 10 12 reserved 13 Ground Short Fault GroundShortFault 14 Drive Hardware Fault DriveHardFault 15 Overspeed Fault OverspeedFault 16 Overload Fault OverloadFault 17 Drive Overtemperature Fault DriveOvertempFault 18 Motor Overtemperature Fault MotorOvertempFault 19 Drive Cooling Fault DriveCoolingFault 20 Drive Control Voltage Fault DriveControlVoltageFault 21 Feedback Fault Feedback Fault 22 Commutation Fault CommutationFault 23 Drive Overcurrent Fault DriveOvercurrentFault 24 Drive Overvoltage Fault DriveOvervoltageFault 25 Drive Undervoltage Fault DriveUndervoltageFault 26 Power Phase Loss Fault PowerPhaseLossFault 27 Position Error Fault PositionErrorFault 28 SERCOS Fault SERCOSFault 29 Overtravel Fault No Tag 30 31 Heserved Positive Negative Software Overtravel Faults If either the Positive Soft Overtravel Fault or Negative Soft Overtravel Fault bit attributes are set it indicates that the axis has traveled or attempted to travel beyond the current configured values for Maximum Positive Travel or Maximum Negative Travel respectively Publication 1
406. lt In that case inhibit the axes on that line This lets you run the other line while you take care of the fault Publication 1756 UMO006G EN P May 2005 16 2 Inhibit an Axis Before You Begin Before you inhibit or uninhibitan axis Before you inhibit or uninhibit an axis turn off all the axes 1 Stop all motion 2 Open the servo loops of all the axes Use an instruction such as the Motion Servo Off MSF instruction This lets you stop motion under your control Otherwise the axes turn off on their own when you inhibit or uninhibit one of them The connections to the motion module shut down when you inhibit or uninhibit an axis This opens the servo loops of all the axes that are connected to the module For a SERCOS interface module the SERCOS ring also shuts down T SERCOS ring drive motor J controller motion module SERCOS ring l drive motor The controller automatically restarts the connections The SERCOS ring also phases back up Inhibit only certain types of axes You can inhibit only these types of axes e AXIS SERVO e AXIS SERVO DRIVE e AXIS GENERIC DRIVE Publication 1756 UMO006G EN P May 2005 Inhibit an Axis 16 3 To inhibit all the axes of a motion Do you want to inhibit all the axes of a motion module
407. lue Tune Dynamics Gains Output Limits Offset FaultActions Taa General Motion Planner Units Servo Feedback Conversion Homing Hookup Test Increment oo Position Units Test Marker Feedback Polarity Positive Negative Test Feedback Output Polarity Positive Negative Tosi Quine 4 Fae DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Output amp Feedback test may cause axis runaway condition e J 55 e Figure 6 27 Axis Properties Hookup Tab for Axis Servo Test Increment Specifies the amount of distance traversed by the axis when executing the Output amp Feedback test The default value is set to approximately a quarter of a revolution of the motor in position units Feedback Polarity The polarity of the encoder feedback this field is automatically set by executing either the Feedback Test or the Output amp Feedback Test e Positive e Negative Note When properly configured this setting insures that axis Actual Position value increases when the axis is moved in the user defined positive direction This bit can be configured automatically using the MRHD and MAHD motion instructions Publication 1756 UMO006G EN P May 2005 6 50 Naming and Configuring Your Motion Axis Publication 1756 UMO06G EN P May 2005 Modifying automatically input polarity values by running th
408. lues are specified in the configured Position Units of the axis Publication 1756 UMO006G EN P May 2005 13 86 Motion Object Attributes Note The software travel limits are not enabled until the selected homing sequence is completed Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Maximum Positive Travel REAL Position Units SSV GSV Maximum Negative Travel REAL Position Units Position Error Tolerance The Position Error Tolerance parameter specifies how much position error the servo tolerates before issuing a Position Error Fault Like the position lock tolerance the position error tolerance is interpreted as a quantity For example specifying a position error tolerance of 0 75 Position Units means that a Position Error Fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 Position Units as shown below Position Error Normal System Position Error Fault Operation Fault 10 05 00 05 1 0 Figure 13 11 Position Error Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Lock Tolerance Publication 1756 UMO006G EN P May 2005 Position Error Tolerance REAL Position Units The self tuning routine sets the position error tolerance to twice the following error at maximum speed based on the measured response of the axis In most applications this value provides reasonable protection
409. lure of the connection to this module causes a major fault on the controller if the connection for the module fails Module Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred The following are common categories for errors e Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made e Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault Adding and Configuring Your 1756 MO2AE 1756 MO024AS 1756 HYD02 Motion Module 3 13 e Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the software and the module Associated Axes Tab This tab lets you assign axis tags to specific channels of the servo module Use this tab to configure the selected 1756 MO2AE motion modules by e setting the selected 1756 M02AE motion module s Servo Update Period e associating axis tags of the type AXIS SERVO with channels 0 and 1 imi Module Properties Local 2 1756 MO02AE 13 1 General Connection Associated Axes Module Info Backplane
410. lustration feature is provided ere example guideline other explanation definition Technical Accuracy 1 2 3 Can we be more accurate all provided information is correct text illustration Clarity 1 2 3 How can we make things clearer all provided information is easy to understand Other Comments You can add additional comments on the back of this form Your Name Your Title Function Would you like us to contact you regarding your comments Location Phone No there is no need to contact me Yes please call me Yes please email me at Yes please contact me via Return this form to Rockwell Automation Technical Communications 1 Allen Bradley Dr Mayfield Hts OH 44124 9705 Fax 440 646 3525 Email RADocumentComments ra rockwell com Publication ClG CO521C EN P May 2003 PN957955 83957782 91 Other Comments PLEASE FASTEN HERE DO NOT STAPLE PLEASE FOLD HERE BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE Allen Bradley BELIANCE M ELECTRIC EO DOGE Rockwell Automation 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES PLEASE REMOVE SERCOS interface is a trademark of the Interests group SERCOS interface e V of Stuttgart Germany Rockwell Automation Rockwell Automation provides technical information on the web to assist you in u
411. ly by a factor of 5 When the Tune Inertia BW product reaches 4000 or more the LP filter alone is not going to be enough to manage the quantization noise level So the tune algorithm is going to taper the system bandwidth by the ratio of 4000 Tune Inertia Vel Servo BW This will hold the quantization noise level at a fixed value independent of the Tune Inertia BW product For example a resolver based AB 420G motor with a Tune Inertia value of 213 and a Vel Servo BW of 41 Hz 8733 Inertia BW product will tune with a Pos P Gain of 46 and a Vel P Gain of 117 and LP Filter BW of 93 This has been found to be a good noise free gain set The following sections define in more detail the behavior of all the various configuration attributes associated with the Servo Axis Object The attributes are by definition have read write access The Servo Object Configuration Attributes are divided into six categories Feedback Configuration Servo Configuration Servo Gains Servo Limits Servo Offsets and Servo Commissioning attributes These categories correspond roughly to the organization of the RSLogix 5000 Axis Properties pages Axis position feedback is derived from the motion module s feedback interface hardware Depending on the specific motion module the feedback interface may be an A Quadrature B encoder AQB a Synchronous Serial Interface SSD or a Linear Displacement Transducer LDT Servo Feedback Type Motion Object Attributes 13
412. m Print gt E Task Print Options g Data Type 1My Controller ACD String Type 2 MCLM MCCM Programdecelerror5 ACD 3 Trend Figure 6 1 File Menu to New Component to Tag Publication 1756 UM006G EN P May 2005 6 2 Naming and Configuring Your Motion Axis You can also right click on the Motion Group and select New Axis and the type of axis tag you want to create from the menu Soe ee eg T 5 8 Motion Groups mysercosl AXIS CONSUMED pom Ungrouped Axe New Coordinate System AXIS SERVO mygenerica ES E myservola Monitor Group Tag xe fea Trends AXIS GEMERIC B 3 Data Types Fault Help AXIS VIRTUAL E User Defined Clear MotionGroup Faults m H E Strings H E Predefined d cu Ctrl x Dg Module Defined BE Copy Ctrl C 5 6 1 0 Configuration X Paste Ctra LB rr117586 Mnasr Delete Del Type Description Motion Direct Commands C F T Cross Reference Ctr E Axis Fault Print Properties Figure 6 2 Naming an Axis From Motion Group You can also initiate a new axis by right clicking on Ungroup Axes and selecting the type of axis you want to create Motion Groups i E E mymotiongroup ID mysercoslaxis Ee M mygenericax m myservolaxi i a Trends EFE AXIS SERVO DRIVE B Du Data Types EA Cut Ctrl x k Gi User Defined Copy ROM AXIS GENERIC H E Strings AXIS VIRTUAL H E Predefined Figure 6 3 Naming an Axis From Ungrouped Axes
413. m a Led meram L bx e TE OEE El DIDIT Tauimr toch rr Til ris tmnm COTELO Fhgnin tim tim Fm Falah won tm EJ ES Fos 1 tac touch 1 Tom r touch i a EAs Figure 13 14 Motor Position Servo Loop Diagram Position Command Position Command is the current value of the Fine Command Position into the position loop summing junction in configured axis Position Units Within the active servo loop the Position Command value is used to control the position of the axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Command REAL Position Units Position Feedback Position Feedback is the current value of the Fine Actual Position into the position loop summing junction in configured axis Position Units Within the servo loop the Position Feedback represents the current position of the axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Feedback REAL Position Units Publication 1756 UM006G EN P May 2005 13 100 Motion Object Attributes Aux Position Feedback Aux Position Feedback is the current value of the position feedback coming from the auxiliary feedback input This value is not supported in the first release Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Error Aux Position Feedback REAL Position Units Position Error is the difference
414. m the Motion Group in the Controller Organizer the Motion Group field Publication 1756 UMO006G EN P May 2005 Motion Instructions 12 9 defaults to the group you right clicked on and the MGS command is the default selection fei xd mooo Fast Stop altier Edge eps tite ry gan Figure 12 4 Motion Direct Command Dialog from Motion Group Publication 1756 UMO006G EN P May 2005 12 10 Motion Instructions From Axis in the Controller Organizer You can access the Motion Direct Commands by right clicking on an Axis in the Controller Organizer This is the recommended way when you want to invoke a Motion Instruction for an axis Offline f I RUN e MainTask 5 8 MainProgram A Program Tags MainRioutine i Unscheduled Programs E I Motion Groups g E myMotionGroup 0 X9 MyConsumedAxis RD MyServodsis i myservodrive2 RD myservodrive3 x5 MyServoDriveAxis AD MyVirtual xis B Ungrouped Axes Gta Gane Be Strings i 5 STF DIES Aris kants IBI Motion Direct Commands Figure 12 5 Controller Organizer Axis Motion Direct Commands Publication 1756 UMO06G EN P May 2005 Motion Instructions 12 11 When the Motion Direct Commands dialog is accessed from an Axis in the Controller Organizer the Axis field defaults to the axis you right clicked on and the MSO command is the default selection d Motion Direct Commands servodriveaxis4 2 CTI x fservodiveasst M V
415. mber of axes e Assign axes to the coordinate system tag e Enable Disable automatic updating of the tag Note RSLogix 5000 supports only one Motion Group tag per controller Motion Group Selects and displays the Motion Group to which the Coordinate System is associated A Coordinate System assigned to a Motion Group appears in the Motion Groups branch of the Controller Organizer under the selected Motion Group sub branch Selecting none terminates the Motion Group association and moves the coordinate Publication 1756 UMO006G EN P May 2005 Creating amp Configuring Your Coordinate System Tag 7 9 system to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis button Opens the Motion Group Properties dialog box for the Assigned Motion Group where you can edit the Motion Group properties If no Motion Group is assigned to this coordinate system this button is disabled grayed out New Group button The New Group button opens the New Tag dialog box where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Type This read only field displays the type of coordinate system It currently only supports a Cartesian system therefore the field automatically fills with Cartesian and it cannot be edited Dimension Enter the dimension i e the number of axes that this coordinated system is to support The options are 1 2 or 3 in keeping with
416. meEventArmedStatus 7 Home Event Status HomeEventStatus 8 31 Reserved Publication 1756 UMO006G EN P May 2005 Watch Event Armed Status The Watch Event Armed Status bit attribute is set when a watch event has been armed through execution of the MAW Motion Arm Watch instruction This bit is cleared when either a watch event occurs or a MDW Motion Disarm Watch instruction is executed Watch Event Status The Watch Event Status bit attribute is set when a watch event has occurred This bit is cleared when either another MAW Motion Arm Watch instruction or a MDW Motion Disarm Watch instruction is executed Registration 1 Event Armed Status The Registration 1 Event Armed Status bit attribute is set when a registration checking has been armed for registration input 1 through execution of the MAR Motion Arm Registration instruction This bit is cleared when either a registration event occurs or a MDR Motion Disarm Registration instruction is executed for registration input 1 Registration 1 Event Status The Registration 1 Event Status bit attribute is set when a registration event has occurred on registration input 1 This bit is cleared when either another MAR Motion Arm Registration instruction or a MDR Motion Object Attributes 13 23 Motion Disarm Registration instruction is executed for registration input 1 Registration 2 Event Armed Status The Registration 2 Event Armed Status bit attribute is
417. mit If the feedback device rolls over its count range the absolute position of the axis is no longer valid If the axis is configured for Rotary operation the servo module is responsible for adjusting the Absolute Feedback Offset dynamically based on the configured Unwind value and the rollover of the absolute feedback device If necessary absolute position may be recovered after power cycle by periodically updating the controller s Absolute Feedback Offset value This can be done by selecting the Absolute Feedback Offset enumeration for one of the Axis Info Select attributes This attribute is only active if the Absolute Feedback Enable attribute is True Each of the following Servo Configuration attributes are associated with corresponding attributes contained in the ICP Servo Axis Object associated with servo module such as the 1756M02AE 2 Axis Servo module When any of these attributes are modified by a Set Attribute List service or an SSV instruction within the user program the local processor value for the attribute is immediately changed and a Set Attribute List service to the servo module is initiated to update the working value stored in the servo module The progress of this update can be monitored if necessary within the user program through the ConfigUpdateInProcess Servo Loop Configuration Motion Object Attributes 13 67 The following Servo Configuration attributes provide basic servo loop configuration information
418. module For the purposes of this chapter select a 1756 HYD02 2 Axis Hydraulic Servo 1756 MO2AE 2 Axis Analog Encoder Servo or 1756 M02AS 2 Axis Analog SSI Servo Whichever you select the remaining steps and screens are the same Publication 1756 UMO006G EN P May 2005 Adding and Configuring Your 1756 MO02AE 1756 MO02AS 1756 HYD02 Motion Module 3 5 5 Select OK The Module Create Wizard displays Compatible Module v Figure 3 4 Module Properties Dialog Wizard Naming the Module 6 Make entries in the following fields Field Entry Name Slot Type a name for the servo module The name can e have a maximum of 40 characters e contain letters numbers and underscores Enter the number of the chassis slot that contains your module Description Type a description for your motion module This field is optional Revision The major revision portion is already filled in based on the version of the software that you are running The motion modules are lockstepped with the software and share the major revision number The minor revision can be changed to match the minor revision of the module Publication 1756 UMO06G EN P May 2005 3 6 Adding and Configuring Your 1756 MO2AE 1756 M02AS 1756 HYD02 Motion Module Field Entry Electronic keying Select the electronic keying level To Select Match the vendor catalog number and major revision attr
419. module to be broken and may result in loss of data When you check this box and go online the icon representing this module in the controller organizer displays the Attention Icon If you are Check this checkbox to offline put a place holder for a module you are configuring online stop communication to a module If you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs will go to the last configured Program mode state If you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information will change to indicate that the module is Inhibited and not Faulted If you uninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module If you uninhibit a module while online and a fault condition occurs a connection is not made to the module Major Fault on Controller if Connection Fails checkbox Check this box to configure the controller so that failure of the connection to this module causes a major fault on the controller
420. motion control system using the LED indicators The module provides bi colored LED indicators to show individual drive and feedback status for both axes and a single bi colored LED for module OK 2 AXIS SERVO CHO CH 1 FDBK FDBK DRIVE DRIVE L OK Figure 14 1 1756 M02AE Module LEDs During power up the module completes an indicator test The OK indicator turns red for 1 second and then turns to flashing green if the module passes all its self tests If the Then the module status is Take this action OK LED displays Off The module is not operating e Apply chassis power e Verify the module is completely inserted into the chassis and backplane Hashing The module has passed internal e None if you have not green light diagnostics but it is not configured the module communicating axis data over the backplane e f you have configured the module check the slot number in the 1756 MO2AE Properties dialog box Publication 1756 UMOO6G EN P May 2005 14 2 Troubleshoot Module Lights 1756 M02AE Module Status Using the FDBK Indicator Publication 1756 UMO006G EN P May 2005 If the Then the module status is Take this action OK LED displays Steady e Axis data is being None The module is ready for green light exchanged with the action module e The module is in the normal operating state Fla
421. mum travel limits positive or negative a software overtravel fault is issued The response to this fault is specified by the Soft Overtravel setting in the Fault Actions tab of this dialog Software overtravel limits are disabled during the tuning process Maximum Positive Type the maximum positive position to be used for software overtravel checking in position units Note The Maximum Positive limit must always be greater than the Maximum Negative limit Maximum Negative Type the maximum negative position to be used for software overtravel checking in position units Note The Maximum Negative limit must always be less than the Maximum Positive limit Position Error Tolerance Specifies how much position error the servo tolerates before issuing a position error fault This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 position units means that a position error fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 position units as shown here Note This value is set to twice the following error at maximum speed based on the measured response of the axis during the Naming and Configuring Your Motion Axis 6 87 autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated pos
422. n and Strobe Command Position are used to simultaneously store a snap shot of the actual command position and master offset position of an axis when the MGSP Motion Group Strobe Position instruction is executed The values are stored in the configured Position Units of the axis Refer to the AC Motion Motion Object Attributes 13 9 Instruction Specification for a detailed description of the MGSP instruction Internal Access Rule Attribute Name Data Type Semantics of Values GSV Strobe Actual Position REAL Position Units GSV Strobe Command Position REAL Position Units Start Position Since the MGSP instruction simultaneously stores the actual and command positions for all axes in the specified group of axes the resultant Strobe Actual Position and Strobe Command Position values for different axes can be used to perform real time calculations For example the Strobe Actual Positions can be compared between two axis to provide a form of slip compensation in web handling applications Whenever a new motion planner instruction starts for an axis for example using a MAM instruction the value of the axis command position and actual position is stored at the precise instant the motion begins These values are stored as the Start Command Position and Start Actual Position respectively in the configured Position Units of the axis Internal Attribute Name ASA Data Semantics of Values Access Type
423. n distance then the axis is simply decelerated to a stop The axis does NOT reverse direction to move to the Home Position In this case the PC bit leg of the associated MAH instruction is not set when the IP bit leg is cleared Passive Homing Motion Object Attributes 13 37 In the case where this homing sequence is performed on a rotary axis and the Home Offset value is less than the deceleration distance when the home event is detected the control automatically adds one or more revolutions to the move distance This guarantees the resulting move to the Home Position is unidirectional Passive Immediate Home This is the simplest passive homing sequence type When this sequence is performed the controller immediately assigns the Home Position to the current axis actual position This homing sequence produces no axis motion Passive Home with Switch This passive homing sequence is useful for when an encoder marker is not available or a proximity switch is being used When this sequence is performed in the Passive Homing Mode an external agent moves the axis until the home switch is detected The Home Position is assigned to the axis position at the moment that the limit switch is detected If Home Offset is non zero then the Home Position is offset from the point where the switch is detected by this value Passive Home with Marker This passive homing sequence is useful for single turn rotary and linear encoder application
424. n 2098 IN005 Kinetix 6000 drive design install and wire Kinetix 6000 Installation Manual publication 2094 INO01 Kinetix 6000 drive with SERCOS start up and troubleshoot Kinetix 6000 Integration Manual publication 2094 IN002 8720MC High Performance drive use 8720MC High Performance Drive User Manual publication 8720MC UM001 Publication 1756 UMO006G EN P May 2005 The ControlLogix Motion Control System Quick Start Adding and Configuring Your 1756 M02AE 1756 M02AS 1756 HYD02 Motion Module Table of Contents Chapter 1 ControlLogix Motion Control eer ox XC Re ty 1 1 Components of the ControlLogix Motion System 1 3 The ControlLogix Controller liess 1 3 The Combo Module 1756 L60MO03SE 1 3 The Analog Encoder Servo Module 1756 MO2AE 1 3 The Hydraulic Module 1756 HYD02 1 4 The Synchronous Serial Interface SSD Module 1756 M02AS 1 4 The 3 8 or 16 Axis SERCOS interface Module 1756 MO8SE 1756 MIGSE ae tea 328 we ne thle sone Baas ao ood p RE 1 5 RSLogix 5000 Programming Software 1 5 Developing a Motion Control Application Program 1 5 Application Program Development 1 6 The MOTION INSTRUCTION Tag 1 6 Motion Status and Configuration Parameters 1 7 Modifying Motion Configuration Parameters 1 7 Handling Motion Faults llle 1 7 Chapter 2 Use This G
425. n severely restrict the maximum bandwidth capability of the servo loop When the Integrator Hold Enable attribute value is configured TRUE the servo loop temporarily disables any enabled integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion When the Integrator Hold Enable attribute value is FALSE all active integrators are always enabled Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Servo Limits Maximum Positive Negative Travel Integrator Hold Enable SINT This section covers the various servo attributes that either apply limits to various servo loop real time parameters such as position and output voltage or are used in limit checks of servo loop parameters like position error The Axis Object provides configurable software travel limits via the Maximum Positive and Negative Travel attributes If the axis is configured for software overtravel limit checking by setting the Soft Overtravel Bit in the Servo Configuration Bit word and the axis passes outside these maximum travel limits a Software Overtravel Fault is issued When software overtravel checking is enabled appropriate values for the maximum travel in both the Maximum Positive and Maximum Negative Travel attributes need to be established with Maximum Positive Travel always greater than Maximum Negative Travel Both of these va
426. n units Note The Maximum Negative limit must always be less than the Maximum Positive limit Position Error Tolerance Specifies how much position error the servo tolerates before issuing a position error fault This value is interpreted as a quantity For example setting Position Error Tolerance to 0 75 position units means that a position error fault is generated whenever the position error of the axis is greater than 0 75 or less than 0 75 position units as shown here Note This value is set to twice the following error at maximum speed based on the measured response of the axis during the autotuning process In most applications this value provides reasonable protection in case of an axis fault or stall condition without nuisance faults during normal operation If you need to change the calculated position error tolerance value the recommended setting is 15096 to 20096 of the position error while the axis is running at its maximum speed Position Lock Tolerance Specifies the maximum position error the servo module accepts in order to indicate the Position Lock status bit is set This is useful in Naming and Configuring Your Motion Axis 6 83 determining when the desired end position is reached for position moves This value is interpreted as a quantity For example specifying a lock tolerance of 0 01 provides a minimum positioning accuracy of 0 01 position units as shown here Output Limit Provides
427. n zero Attribute Error Code Commissioning Status Attributes The list of Commissioning Status Attributes associated with the Axis Test Status Object provides access to attributes associated with the state of various motion instruction generated commissioning processes Motion instructions involved in commissioning an axis are MRAT Motion Run Axis Tune and MRHD Motion Run Hookup Diagnostic which are described in detail in the AC Motion Instruction Specification Commissioning Status Attributes are primarily used by external software e g RSLogix5000 to implement the Test and Tuning dialogs associated with the axis configuration tool However these same attributes may also be used as part of the user program to implement a built in axis test and tuning procedure A list of all Commissioning Status Attributes are shown in the tables below In order for the position unit based attributes to return a meaningful value the Conversion Constant Axis Configuration Attribute must be established Furthermore attributes having time units Position Units Sec must also have a valid coarse update period which is established through association with a fully configured Motion Group Object The Test Status attribute returns status of the last run MRHD Motion Run Hookup Diagnostic instruction that initiates a hookup diagnostic process on the targeted servo module axis The Test Status attribute can be used to determine when the MRHD
428. nal Access Rule Attribute Name Data Type Semantics of Values GSV Velocity Command Position Integrator Error REAL Position Units mSec Velocity Command is the current velocity reference to the velocity servo loop in the configured axis Position Units per Second for the specified axis The Velocity Command value hence represents the output of the outer position control loop Velocity Command is not to be confused with Command Velocity which represents the rate of change of Command Position input to the position servo loop Internal Access Rule Attribute Name Data Type Semantics of Values GSV Publication 1756 UMO006G EN P May 2005 Velocity Command REAL Position Units Sec Velocity Feedback Motion Object Attributes 13 45 Velocity Feedback is the actual velocity of the axis as estimated by the servo module in the configured axis Position Units per Second The Estimated Velocity value is computed by applying a 1 KHz low pass filter to the change in actual position over the servo update interval Velocity Feedback is a signed value the sign or depends on which direction the axis is currently moving Internal Access Rule Attribute Name Data Type Semantics of Values GSV Velocity Feedback REAL Position Units Sec Velocity Error Velocity Error is the difference in configured axis Position Units per Second between the commanded and actual velocity
429. nal Access Rule Attribute Name Data Type Semantics of Values GSV Module Fault Bits DINT Direct Access Entire DINT ModuleFaults 0 Control Sync Fault ControlSyncFault 1 Module Sync Fault ModuleSyncFault 2 Timer Event Fault TimerEventFault 3 Module Hardware Fault ModuleHardwareFault 4 SERCOS Communications Fault SERCOSRingFault 5 31 Reserved Control Sync Fault The Control Sync Fault bit attribute is set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the associated servo module The Logix controller is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module The Synchronous Connection Fault bit is cleared when the connection is reestablished Module Sync Fault The Module Sync Fault bit attribute is set when the motion module detects that several position update messages in a row from the ControlLogix processor module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the servo module The servo module is designed to ride th
430. nal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Backlash Stabilization REAL Window Publication 1756 UMO006G EN P May 2005 Mechanical backlash is a common problem in applications that utilize mechanical gearboxes The problem stems from the fact that until the input gear is turned to the point where its proximal tooth contacts an adjacent tooth of the output gear the reflected inertia of the output is not felt at the motor In other words when the gear teeth are not engaged the system inertia is reduced to the motor inertia If the servo loop is tuned for peak performance with the load applied the axis is at best under damped and at worst unstable in the condition where the gear teeth are not engaged In the worst case scenario the motor axis and the input gear oscillates wildly between the limits imposed by the output gear teeth The net effect is a loud buzzing sound when the axis is at rest If this situation persists the gearbox wears out prematurely To prevent this condition the conventional approach is to de tune the servo so that the axis is stable without the gearbox load applied Unfortunately system performance suffers With a Backlash Stabilization Window value commensurate with the amount of backlash in the mechanical system the backlash stabilization algorithm is very effective in eliminating backlash induced instability while maintaining full system bandwidth The key to this algorithm
431. nce The home return speed specified should be less than the maximum speed and greater than zero Homing Configurations The following examples of Active and Passive homing assume that the initial motion if any is in a positive axial direction Click on an individual homing configuration for more information Active Homing Configurations e Active Immediate Home e Active Bi directional Home with Switch e Active Bi directional Home with Marker e Active Bi directional Home with Switch then Marker e Active Uni directional Home with Switch e Active Uni directional Home with Marker Naming and Configuring Your Motion Axis 6 47 e Active Uni directional Home with Switch then Marker e Passive Homing Configurations e Passive Immediate Home e Passive Home with Switch e Passive Home with Marker e Passive Home with Switch then Marker Homing Tab AXIS VIRTUAL Use this tab to configure the attributes related to homing an axis of the type AXIS VIRTUAL Axis Properties myvirtualaxis General Motion Planner Units Conversion Homing Dynamics Tag Mode Active Position imm Position Units Sequence mmediate e La e Figure 6 26 Axis Properties Homing Tab for Virtual Axis Data Type Only an Active Immediate Homing sequence can be performed for an axis of the type AXIS VIRTUAL When this sequence is performed the controller immediately enables the servo drive and assigns the Home Position to the
432. nd ren OE AS 13 76 Position Integral Gain iescates Cw eR RE IHE 13 78 Velocity Proportional Gai s quu deri ie a 9 deo os 13 79 Velocity Integral Gain 4 dva P SR ee SAX 13 80 Position Differential Gain os oco 45 pae PAGS OSS 13 81 Velocity Sealing sd cic Syn id oda tuns Od tcc e t ed 13 81 Torque Scaling 1 aed ue ot Eoo de EH OC oe 13 82 Directional Scaling RAUO cea Vox ET hehe eee OY 13 82 Backlash Reversal Error 0 000000 eee 13 83 Backlash Stabilization Window 13 83 Output LP Filter Bandwidth uv ates a se woe ew ES 13 84 Integrator Hold Enable esee e p dg wt 13 85 SE OCDE Sepe dene nde cere ve Creme Diodes 13 85 Maximum Positive Negative Travel 13 85 Position Error Tolerance ou vod s v rt 13 86 Position Lock Tolerance n a aana naaa eee 13 86 Publication 1756 UMO006G EN P May 2005 Table of Contents 8 Publication 1756 UMO006G EN P May 2005 Output Limit oaa rat e p nb edd aed ipia 13 87 Direct Drive Ramp Rate llle 13 88 Servo OISOUSA c odes aca edited Set eo Eo ett 13 88 Friction Compensation lees 13 88 Friction Compensation Window 13 88 Velocity Offset ou Sua mah seek trap ov hh edt OR UR DL A 13 89 Totg Offset y Such hom Ke Go R YR QUESO OKRA SS 13 89 Output Offset 3 aa oues x peapa ae ple A eta e qn a 13 89 Servo Eauit Contioeubatiola ois dup Etpe Sua x 13 90 Servo Fault ACHOS zo 476 re qo KS eR RAS 13 90 Commissioning Configuration Att
433. ndStillStatus of the DriveStatus bit is set This attribute has a value range of 0 to 2 14748x10 AccelerationLimitPositive This attribute limits the maximum acceleration ability of the drive to the programmed value If the command acceleration exceeds this value AccelLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x109 AccelerationLimitNegative This attribute limits the maximum acceleration ability of the drive to the programmed value If the command acceleration exceeds this value the AccelLimitStatus bit of the DriveStatus attribute is set This attribute has a value range of 2 14748x101 to 0 Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 91 Attribute Description TorqueLimitPositive This attribute displays the maximum torque in the positive direction If the torque limit is exceeded the TorqueLimitStatus bit of the DriveStatus attribute is set This attribute has a value range of 0 to 1000 TorqueLimitNegative This attribute displays the maximum torque in the negative direction If the torque limit is exceeded the TorqueLimitStatus bit of the DriveStatus attribute is set This attribute has a value range of 1000 to 0 Torque Threshold This attribute displays the torque threshold If this limit is exceeded the TorqueThreshold bit of the DriveStatus attribute is set This attribute has a value range
434. ndwidth the greater the attenuation of these high frequency components of the output signal Unfortunately since the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Output LP Filter Bandwidth usually requires lowering the Position or Velocity Proportional Gain of the system to maintain stability Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Publication 1756 UMO006G EN P May 2005 Output LP Filter Bandwidth REAL Hertz The Output LP Low Pass Filter Bandwidth attribute controls the bandwidth of the drives low pass digital output filter The programmable low pass output filter is bypassed if the configured Output LP Filter Bandwidth for this filter is set to zero the default This output filter can be used to filter out or reduce high frequency variation of the drive output to the motor The lower the Output LP Filter Bandwidth the greater the attenuation of these high frequency components of the output signal Unfortunately since the low pass filter adds lag to the servo loop which pushes the system towards instability decreasing the Output LP Filter Bandwidth usually requires lowering the Position or Velocity Proportional Gain of the system to maintain stability The output filter is particularly useful in high inertia applications where resonance behavior can severely restrict the maximum bandwidth capability of the servo loop
435. ne Pos P Vel P Torque Notch Torque Torque gt interpolator 9 Gain gt Gain P Scaling z j gt Position v 5 Filter Frict p Pass gt Fitter P Limit P Amplitier Command Velocity Comp Feedback Error Error Position Accum P Accum P Gain Y Feedback ulator ulator Position Velocity es Integrator Integrator Error Error x Feedback Polarity Motor Feedback Y Channel Hardware Noise Feedback Position Feedpack Position 1 uk 1 Feedback i i H Feedback Yy Coama Channel Position Hardware Aux E E Accum e Feedback e Feedback ulator Position Figure 13 20 Auxiliary Dual Command Servo Dual Command Feedback Servo The Motor Dual Command Feedback Servo configuration provides full position servo control using the auxiliary feedback device for position feedback and the motor mounted feedback device to provide velocity feedback Unlike the Dual Feedback Servo configuration however both command position and command velocity are also applied to the loop to provide smoother feedforward behavior This servo configuration is a good choice in applications where smoothness and stability are important as well as positioning accuracy Note that the
436. ne if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by Publication 1756 UMO006G EN P May 2005 6 58 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 clicking on the Apply button You must re download the edited program to the controller before it can be run Maximum Velocity The steady state speed of the axis it is initially set to Tuning Speed by the tuning process This value is typically set to about 9096 of the maximum speed rating of the motor This provides sufficient head room for the axis to operate at all times within the speed limitations of the motor Any change in value caused by manually changing the spin control is instantaneously sent to the controller Maximum Acceleration The maximum acceleration rate of the axis in Position Units second it is initially set to about 8596 of the measured tuning acceleration rate by the tuning process If set manually this value should typically be set to about 8596 of the maximum acceleration rate of the axis This provides sufficient head room for the axis to operate at all times within the acceleration limits of the drive and motor Any change in value caused by manually changing the spin control is instantaneously sent to the controller Maximum Deceleration T
437. nfiguration in the software then when you click the Apply or the OK button the information is automatically sent to the controller The controller tries to send the information to the module Gf the module s connection is not inhibited If you don t click Apply your changes are not sent to the controller Chapter 10 Configuring a Kinetix 6000 Drive The Kinetix 6000 Digital Servo Drive with fiber optic SERCOS interface simplifies the integration of the Kinetix 6000 with the ControlLogix architecture by providing single point drive commissioning through RSLogix5000 software and reducing the control wiring to a single fiber optic cable You can initiate the configuration of an Kinetix 6000 drive module by either of two methods The first method 1 In the Controller Organizer in the I O Configuration branch select a 1756 MxxSE motion module 2 In the File menu select New Component then Module 15 RSLogix 5000 My Controller 1756 L63 File Edit View Search Logic Communications Tools Window Help B New Ctr N fe Open Ctrl O Close fel Save Ctrl 5 Ki H Ici uiii 11 Favorite New Component Routine A Tag Ctrl Compact sit Generate Report CR Program Print gt y Task Print Options G Data Type String Type x Trend 1My Controller ACD 2 ted1 ACD Figure 10 1 File Menu New Component Module The second method 1 Right click on th
438. nfiguring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module 4 15 It is recommended that you set to High SERCOS Interface Info Tab The SERCOS interface Tab is for monitoring the SERCOS ring of the selected 1756 MO8SE M16SE while it is on line A REFRESH button is available to access the current values Figure 4 10 Module Properties SERCOS Interface Info Tab Use this tab to monitor the following Ring Comm Phase Displays the communications phase of the SERCOS ring 0 Ring Integrity 1 Polling 2 Identity 3 Configuration 4 Cyclic communication Fault Type Displays the current fault type if any on the SERCOS ring Values include Publication 1756 UMO006G EN P May 2005 4 16 Configuring the 1756 MO3SE 1756 MO08SE or 1756 M16SE Module Module Info Tab Publication 1756 UMO006G EN P May 2005 e No fault Loss of received signal e MST error e Missed AT e Excessive AT errors e Duplicate nodes not currently supported e No nodes e Wrong ring cycle e Wrong baud rate e Link transport fault e Wrong phase e Wrong AT number Refresh Click this button to update this page Note this information does not refresh automatically The Module Info tab contains information about the selected module however you can click on e Refresh to display new data from the module Reset Module to return the module to its power up state by emulating the cycling of power By doing this you also clea
439. ng Diagram Individually J acketed Pairs AXIS 0 1394 CFLAE ENABLEDRIVE FAULT AXIS 0 E Tele 3 0 in 1248 6 eee re eee 1756 MO2AE MO2AE OK Figure B 11 1394 CFLAExx Cable Wiring 5V ENC PWR AXIS 0 j 3 Ji n The 1394 CFLAE cable is available in 1 m 3 28 ft 3 m 9 84 ft 8 m 26 25 ft and 15 m 49 26 ft lengths Pinouts for the 1394 CFLAE 5V 5VCOM CHANNEL A HIGH CHANNEL A LOW CHANNEL B HIGH CHANNEL B LOW CHANNEL Z HIGH CHANNEL Z LOW VREF TREF VREF TREF DROK 0 24V EN COM 24V AX ENABLE TO SYSTEM FAULT STRING co Ne agi REDZ2GA vA ne BLACK 22GA y iuuenes DRAIN Ik ge ORANGE 22GA WHT ORG 22GA i YELLOW22GA 1 t WHTYEL 22GA x iei GREENZ2GA ini n WHT GRN 22GA Nn pics DNE A R zu BLUE22GA 7ta ne WHT BLU 22GA ne eee DRAN zuo VIOLET22GA 75 i Nx WHTIO 22GA ne TE GRAY 22GA tat x WHT GRY 22GA x ii DRAIN tt prob n ent SAAE E RED22GA BLACK 226A y DRAN __ ee Figure B 12 1394 CFLAE Pinouts Wiring Registration Sensors The registration inputs to the servo module can support 24V or 5V registration sensors These inputs should be wired to receive source current from the sensor Current sinking sensor configurations are not Publicati
440. ng Error Warning bit sets If the condition persists a Cooling Error Fault occurs This warning bit gives the control program an opportunity to increase drive cooling to avoid a future shutdown situation Attribute Error Code Internal Access Rule Attribute Name Data Type Semantics of Values GSV Attribute Error Code INT ASA Error code returned by erred set attribute list service to the module When an Axis Configuration Fault occurs one or more axis parameters associated with a SERCOS module or drive has not been successfully updated to match the value of the corresponding parameter of the local controller The fact that the configuration of the drive axis no longer matches the configuration of the local controller is a serious fault and results in the shutdown of the faulted axis The Attribute Error Code is reset to zero by reconfiguration of the motion module Axis Configuration Fault information is passed from the SERCOS module or device to the controller via a 16 bit ASA status word contained in the Set Attribute List service response received by the controller A Set Attribute List service to the motion module can be initiated by a software Set Attribute List service to the controller or by an SSV instruction within the controller s program referencing a servo attribute Various routines that process responses to motion services are responsible for updating these attributes The Set and Get service responses provide a status resp
441. ng profile can be used to tune Friction Compensation and Torque Offset Naming and Configuring Your Motion Axis 6 55 Damping Factor Specifies the dynamic response of the servo axis The default is set to 0 8 When gains are tuned using a small damping factor a step response test performed on the axis may generate uncontrolled oscillation The gains generated using a larger damping factor would produce a system step response that has no overshoot and is stable but may be sluggish in response to changes Note The tuning procedure uses the Damping Factor that is set in this field However when the controller recalculates certain attributes in response to a Motor Catalog Number change on the Motor Feedback tab the controller uses the default Damping Factor value of 0 8 and not a different value set in this field Tune Select the gains to be determined by the tuning test Position Error Integrator determines whether or not to calculate a value for the Position Integral Gain e Velocity Feedforward determines whether or not to calculate a value for the Velocity Feedforward Gain e Velocity Error Integrator determines whether or not to calculate a value for the Velocity Integral Gain Acceleration Feedforward determines whether or not to calculate a value for the Acceleration Feedforward Gain e Friction Compensation determines whether or not to calculate a value for the Friction Compensation Gain e Tor
442. ng value is typically established by the drive s automatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Torque Scaling REAL Rated Position Units Per Second2 Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs and that with 100 rated torque applied to the motor the motor accelerates at a rate of 3000 Revs Sec the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS 0 033 Rated Revs Per Second Note that if the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains will also not reflect the true performance of the system Publication 1756 UMO006G EN P May 2005 13 156 Motion Object Attributes Integrator Hold Enable When the Integrator Hold Enable attribute value is configured TRUE the servo loop temporarily disables any enabled integrators while the command position is changing This feature is used by point to point moves to minimize the integrator wind up during motion When the Integrator Hold Enable attribute value is FALSE all active integrators are always enabled Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV
443. ng with the actual position data to the Logix processor Thus the drive status data update time is precisely the coarse update period Once the servo status attributes of interest are periodically updated in this fashion the values of these attributes may be accessed via the standard GSV or Get Attribute List service Note if a GSV is done to one of these drive for 1 release Publication 1756 UM006G EN P May 2005 13 136 Motion Object Attributes status attributes without the having selected this attribute via the Axis Info Select attribute the attribute value is static and will not reflect the true value in the drive Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motor and Feedback Configuration Motor ID Axis Info Select 1 DINT Axis Info Select 2 Enumeration 0 None default Position Command 2 Position Feedback 3 Aux Position Feedback 4 Position Error 5 Position Int Error 6 Velocity Command 7 Velocity Feedback 8 Velocity Error 9 Velocity Int Error 10 Accel Command 11 Accel Feedback 2 reserved 13 Marker Distance 14 Torque Command 15 Torque Feedback 16 Pos Dynamic Torque Limit 17 Neg Dynamic Torque Limit 18 Motor Capacity 19 Drive Capacity 20 Power Capacity 21 Bus Regulator Capacity 22 Motor Electrical Angle 23 Torque Limit Source 24 DC Bus Voltage 25 Reserved This section cov
444. ning sum of the Velocity Error in the configured axis Position Units per Second for the specified axis For an axis with an active velocity servo loop the velocity integrator error is used along with other error terms to drive the motor to the Motion Object Attributes 13 101 condition where the velocity feedback is equal to the velocity command Internal Access Rule Attribute Name Data Type Semantics of Values GSV Velocity Command Velocity Integrator Error REAL Position Units mSec Sec Velocity Command is the current velocity reference to the velocity servo loop in the configured axis Position Units per Second for the specified axis The Velocity Command value hence represents the output of the outer position control loop Velocity Command is not to be confused with Command Velocity which represents the rate of change of Command Position input to the position servo loop Internal Access Rule Attribute Name Data Type Semantics of Values GSV Velocity Feedback Velocity Command REAL Position Units Sec Velocity Feedback is the actual velocity of the axis as estimated by the SERCOS module in the configured axis Position Units per second The estimated velocity is generated by applying a 1 KHz low pass filter to the change in actual position over the servo update interval Velocity Feedback is a signed value the sign or depends on which direction the axis is curren
445. ns MASR or MGSR Hard Shutdown When configured for Hard Shutdown the axis is immediately placed in the Shutdown state i e Drive Enable disabled Servo Action disabled and the OK contact opened Unless the drive is configured to provide some form of dynamic breaking this results in the axis Publication 1756 UMOO6G EN P May 2005 13 42 Motion Object Attributes Servo Status Attributes Publication 1756 UMO006G EN P May 2005 coasting to a stop To recover from the Shutdown state requires execution of one of the axis or group Shutdown Reset instructions MASR or MGSR The following sections define the behavior of the various status attributes associated with the Servo specific behavior of the Motion Axis Object Status attributes are by definition read access only The following Servo specific Status Attributes are divided into 3 categories Servo Status attributes Servo Commissioning Status attributes and Servo Status Bit attributes The list of Servo Status Attributes associated with the Axis Object provides access to the servo module resident information for the axis These values may be used as part of the user program to perform real time measurements of servo operation A list of all Servo Status Attributes is shown in the tables below Since Servo Status Attributes values are resident in the axis servo module these values need to be transferred to the ControlLogix processor module on a regular basis To avoi
446. ns to the motion module are running again e For a SERCOS ring the SERCOS ring has phased up again What you want to do next My Axis X InhibitStatus b NOP Publication 1756 UMO06G EN P May 2005 16 6 Inhibit an Axis Example Uninhibit an Axis 1 Make sure all exes are off This axis is off And this axis is off All axes are off My Axis X ServoActionstatus My amp xis Y ServoActionStatus A amp xes Off ji P i m 2 Use a one shot instruction to trigger the uninhibit Your condition to Your condition to inhibit All axes are off Give the command to uninhibit uninhibit the axis Is on the axis is off the axis My Axis X Lnlnhibit My amp xis X Inhibit All_Axes_Off p H SR One Shot Rising Storage Bit My_Axi Output Bit My_Axi Uninhibit SB X lUninhibit Cmd 3 Uninhibit the axis The uninhibit command turns on Uninhibit this axis My Axis X Llninhibit Cmd SSY Set System Value Class Name AXIS Instance Name My amp xis X Attribute Name Inhibit amp xis Source Zero Uninhibit the axis 4 Wait for the inhibit process to finish All of these have happened THESE e The axis is uninhibited e All uninhibited axes are ready e The connections to the motion module are running again e
447. nstraints of a stable servo system the higher the Velocity Internal Access Rule Motion Object Attributes 13 95 Servo Bandwidth is the better the dynamic performance of the system A maximum value for the Velocity Servo Bandwidth is generated by the MRAT Motion Run Axis Tune instruction Computing gains based on this maximum value via the MAAT instruction results in dynamic response in keeping with the current value of the Damping Factor described above Alternatively the responsiveness of the system can be softened by reducing the value of the Velocity Servo Bandwidth before executing the MAAT instruction Attribute Name Data Type Semantics of Values SSV GSV Position Servo Bandwidth Velocity Servo Bandwidth REAL Hertz There are practical limitations to the maximum Velocity Servo Bandwidth for the velocity servo loop based on the drive system and in some cases the desired damping factor of the system Z Exceeding these limits could result in an unstable servo operation These bandwidth limitations may be expressed as follows For an external velocity loop servo drive Max Velocity Servo Bandwidth Hz 0 159 2 Tune Rise Time For an external torque loop servo drive Max Velocity Servo Bandwidth Hz 0 159 0 25 1 7 1 Drive Model Time Constant The factor of 0 159 represents the 1 2PI factor required to convert Radians per Second units to Hertz The value for the Position Servo Bandwidth represents
448. ntrolNet Bridge 1756 ControlNet Bridge 1756 ControlNet Bridge 1756 ControlNet Bridge Redundant Media 1756 ControlNet Bridge Redundant Media 1756 ControlNet Bridge Redundant Media 1756 ControlNet Bridge Redundant Media 1756 DH Bridge RIO Scanner 1756 DH Bridge RIO Scanner 1756 S43000 Drive Interface 1756 543100 Drive Interface 1756 SA500 Drive Interface xl Show Vendor Ai IV Other v Specialty 1 0 Select All V Analog WM Digital V Communication M Motion v Controller Clear All Figure 3 2 Select Module Type Screen Fully Loaded Publication 1756 UM006G EN P May 2005 Adding and Configuring Your 1756 MO2AE 1756 M02AS 1756 HYD02 Motion Module 3 3 3 Click on the Clear All button to clear the dialog window then click on Motion to list the available Motion Modules Select Module Type x Type 1756M 2AE 2 Axis Hydraulic Servo 2 Analog Encoder Servo 2 Axis Analog SSI Servo 1756 MO03SE 3 Axis SERCOS Interface 1756 MO08SE 8 Axis SERCOS Interface 1756 M16SE 16 Axis SERCOS Interface Show Vendor Ai Other Specialty 1 0 Select All Analog Digital Communication v Motion Controller Clear All Figure 3 3 Select Module Type Screen with Motion Options M02AE Highlighted New Module Use this dialog to select and create a new module The context sensitive menu appears from which you can select the module for your application Type The Type f
449. nual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you e identify a hazard e avoid a hazard recognize the consequence TAATAAN Labels may be located on or inside the equipment e g drive or motor to alert people that dangerous voltage may be present l BURN HAZARD Labels may be located on or inside the equipment e g drive or motor to alert people that surfaces may be dangerous temperatures Introduction Updated Information Summary of Changes This release of this document contains new and updated information To find new and updated information look for change bars as shown next to this paragraph This document contains the following changes Change Page Quick start for setting up motion control 2 1 Make sure that your Kinetix 6000 drive has firmware revision 1 80 or 6 12 10 10 later if you want to use its auxiliary feedback port Troubleshoot situations that are associated with S Curve prof
450. o the right of this field to open the Axis Properties dialog for the associated axis to make the appropriate changes to the axis properties See the chapter entitled Naming and Configuring Your Motion Axis for more information regarding the appropriate settings for the type of module you are adding New Axis button Click on this button to navigate to the New Tag dialog to create an AXIS SERVO tag to associate with one of the channels See the chapter entitled Naming and Configuring Your Motion Axis in this manual for more information on creating axes with RSLogix 5000 The Module Info tab contains information about the selected module however you can click on e Refresh to display new data from the module Reset Module to return the module to its power up state by emulating the cycling of power By doing this you also clear all faults The Module Info Tab displays module and status information about the module It also allows you to reset a module to its power up state The information on this tab is not displayed if you are offline or currently creating a module Use this tab to determine the identity of the module Adding and Configuring Your 1756 MO2AE 1756 M02AS 1756 HYD02 Motion Module 3 15 The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available ieset Module Figure 3 11 Module Properties Module Info
451. ode is reset to zero by reconfiguration of the motion module Axis Configuration Fault information is passed from the servo module or device to the controller via a 16 bit ASA status word contained in the Set Attribute List service response received by the controller A Set Attribute List service to the motion module can be initiated by a software Set Attribute List service to the controller or by an SSV instruction within the controllers program referencing a servo attribute Various routines that process responses to motion services are responsible for updating these attributes The Set and Get service responses provide a status response with each attribute that was processed That status value is defined by ASA as follows UINT16 Values 0 255 0x00 OxFF are reserved to mirror common service status codes Values 256 65535 are available for object class attribute specific errors For a list of ASA error codes see Appendix B The Attribute Error ID is used to retain the ID of the servo attribute that returned a non zero attribute error code resulting in an Axis Configuration Fault The Attribute Error ID defaults to zero and after a Publication 1756 UMO006G EN P May 2005 13 56 Motion Object Attributes fault has occurred may be reset to zero by reconfiguration of the motion module Internal Access Rule Attribute Name Data Type Semantics of Values GSV Attribute Error ID INT Attribute ID associated with no
452. odule 2 5 Configuring a 1394C SJT05 10 22 D Digital Servo Drive 8 1 consumed tag 6 3 ControlLogix Motion Control 1 1 ControlLogix motion control 1 1 Components 1 3 Features 1 3 coordinate system overview 2 16 Coordinate System Properties Dynamics Tab 7 13 Manual Adjust 7 14 Reset Button 7 15 Manual Adjust Button 7 14 Position Tolerance Box 7 14 Actual 7 14 Command 7 14 Vector Box 7 13 Maximum Acceleration 7 14 Maximum Deceleration 7 14 Maximum Speed 7 13 Editing 7 7 General Tab 7 8 Axis Grid 7 9 Axis Name 7 10 Coordinate 7 10 Coordination Mode 7 10 Ellipsis Button 7 10 Dimension 7 9 Ellipsis button 7 9 Enable Coordinate System Auto Tag Update 7 10 Publication 1756 UMO006G EN P May 2005 Motion Group 7 8 New Group button 7 9 Type 7 9 Tag Tab 7 16 Data Type 7 17 Description 7 16 Name 7 16 Scope 7 17 Style 7 17 Tag Type 7 17 Units Tab 7 11 Axis Grid 7 12 Axis Name 7 12 Conversion Ratio 7 12 Conversion Ratio Units 7 12 Coordination Units 7 11 Coordinated Motion Instructions 12 5 coordinated system time master set 2 2 Creating A Motion Group 5 1 CST master See coordinated system time master D Diagrams Block B 1 Wiring B 4 Direct Commands Accessing From Axis 12 10 From Group 12 8 From the Main Menu 12 6 Supported Commands Motion Event 12 12 Motion Group 12 12 Motion Move 12 12 Motion State 12 11 drive add SERCOS interface drive 2 4 check wiring 2 12 E Editing 1756 MO8SE Module Properties 4 8
453. of a servo axis For an axis with an active velocity servo loop velocity error is used along with other error terms to drive the motor to the condition where the velocity feedback is equal to the velocity command Internal Access Rule Attribute Name Data Type Semantics of Values GSV REAL Velocity Error Position Units Sec Velocity Integrator Error Velocity Integrator Error is the running sum of the Velocity Error in the configured axis Position Units per Second for the specified axis For an axis with an active velocity servo loop the velocity integrator error is used along with other error terms to drive the motor to the condition where the velocity feedback is equal to the velocity command Internal Access Rule Attribute Name Data Type Semantics of Values GSV Acceleration Command REAL Velocity Integrator Error Position Units mSec Sec Acceleration Command is the current acceleration reference to the output summing junction in the configured axis Position Units per Second for the specified axis The Acceleration Command value hence represents the output of the inner velocity control loop Acceleration Command is not to be confused with Command Velocity which represents the rate of change of Command Position input to the position servo loop Internal Access Rule Attribute Name Data Type Semantics of Values GSV Acceleration Command REAL
454. of the home position is calculated as shown below Uncertainty 1 Inch Sec 0 000001 Sec 0 000001 Inch Clearly using the marker pulse as part of the homing sequence results in a tremendous increase in absolute homing accuracy over just employing mechanical limit switches Active Bi directional Home with Switch then Marker This is the most precise active homing sequence available When this sequence is performed the axis moves in the specified Home Direction at the specified Home Speed until the home limit switch is detected The axis then decelerates to a stop and moves in the opposite direction at the specified Home Return Speed until the home limit switch is cleared After clearing the home limit switch the axis continues in the same direction at the Home Return Speed until the first encoder marker is detected The Home Position is assigned to the axis position at the moment that the marker is detected and the axis then decelerates to a stop If Home Offset is non zero then the Home Position is offset from the point where the marker is detected by this value The controller then moves the axis back to the Home Position at the specified Home Return Speed using a trapezoidal move profile If the axis is configured as a Rotary Axis the move back to the Home Motion Object Attributes 13 35 Position takes the shortest path G e no more than revolution Axis behavior for this homing sequence is shown below Axis Position
455. of the motion module is required to recover from a module fault condition Configuration Fault The Configuration Fault bit is set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module This collection of four attributes can be used to determine which associated axis has a specific fault shutdown or servo on status Bit 0 indicates axis 0 of the coordinate system has the specified condition etc Internal Access Rule Attribute Name Data Type Semantics of Values Tag Physical Axes Faulted DWORD Direct Access PhysicalAxesFaulted Bit 0 axis 0 Bit 7 axis 7 Bits 8 31 Reserved Tag Modules Faulted DWORD Direct Access ModulesFaulted Bit 0 axis 0 Bit 7 axis 7 Bits 8 31 Reserved Publication 1756 UMO006G EN P May 2005 Motion Object Attributes 13 181 Internal Access Rule Attribute Name Data Type Semantics of Values Tag Axis Configuration Faulted DWORD Direct Access AxesConfigurationFaulted Bit 0 axis 0 Bit 7 axis 7 Bits 8 31 Reserved Tag Axes Shutdown Status DWORD Direct Access AxesShutdownStatus Bit 0 axis 0 Bit 7 axis 7 Bits 8 31 Reserved Tag Axes Servo On DWORD Direct Access Ax
456. om the integral gain a Friction Compensation Window is applied around the current command position when the axis is not being commanded to move If the actual position is within the Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied If the Friction Compensation Window is set to zero this feature is effectively disabled A non zero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Friction Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Backlash Compensation Reversal Offset Backlash Reversal Offset provides the capability to compensate for positional inaccuracy introduced by mechanical backlash For example power train type applications require a high level of Publication 1756 UMO06G EN P May 2005 6 94 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanica
457. om the previous scan clear this value if necessary e Disabled displays the value from the previous scan Reset Max Click on this button to clear the Scan Times Max value Publication 1756 UMOO06G EN P May 2005 5 8 The Motion Group Tag Tab Use this tab to modify the name and description of the group Publication 1756 UMO06G EN P May 2005 Figure 5 7 Motion Group Properties Tag Tab When you are online all of the parameters on this tab transition to a read only state and cannot be modified If you go online before you save your changes all pending changes revert to their previously saved state Name Enter the name of the motion group This name must not exceed 40 characters If you enter more than 40 characters the system notifies you and it ignores the extra characters Description Enter a description of the motion group This description must not exceed 128 characters If you enter more than 128 characters the system notifies you and it ignores the extra characters Tag Type read only Displays the type of tag The Motion Group 5 9 e Dase a normal tag Alias a tag that references another tag with the same definition Data Type read only The axis data type MOTION GROUP Scope Displays the scope of the current tag The scope is either controller scope or program scope based on one of the existing programs in the controller Style Not applicable to motion group tags Produce
458. omprise all the axis object attributes that are used by RSLogix 5000 to support the interface to the axis object including configuration attributes used in customizing many of the configuration screens and motion instructions that operate on the axis object The Axis Object Interface Attributes comprise all the axis object attributes that are used by external software e g RSLogix5000 to support the interface to the axis object including configuration attributes used in customizing many of the configuration screens and motion instructions that operate on the axis object The following attributes are used by software to establish the interfaces and structure of the motion axis object instance The Axis Structure Address is used to return the actual physical address in memory where the axis instance is located Internal Access Rule Data Type Semantics of Values n a Axis Instance Axis Structure Address DINT Absolute Address of Axis Structure The Axis Instance attribute is used to return the instance number of an axis Major fault records generated for an axis major fault contains only the instance of the offending axis This attribute would then typically be used by a user to determine if this was the offending axis i e if the instance number matches Internal Access Rule Attribute Name Data Type Semantics of Values GSV Axis Instance DINT Instance Number assigned to Axis Publication 1756 UMO006G EN P Ma
459. on 1756 UMO006G EN P May 2005 From 1756 M02AE Loop and Interconnect Diagrams B 11 allowed because the registration input common IN COM is shared with the other 24V servo module inputs 24V Registration Sensor REG24V L 7 Belden 9501 2X IN COM Figure B 13 24V Registration Sensor 5V Registration Sensor REGSV From 1756 MO2AE L Belden 9501 IN COM Figure B 14 5V Registration Sensor 24 VDC Field Power Supply 24 Volt Registration Sensor Supply Output Common 5 VDC Field Power Supply 5 Volt Registration Sensor Supply Output Common Publication 1756 UM006G EN P May 2005 B 12 Loop and Interconnect Diagrams Wiring the Home Limit Switch Input The home limit switch inputs to the servo module are designed for 24V nominal operation These inputs should be wired for current sourcing operation 24 VDC Field Power Supply T HOME o From 1756 MO2AE L Belden 9501 IN COM Figure B 15 Home Limit Switch Wiring Wiring the OK Contacts A set of isolated solid state OK relay contacts is provided for optional interface to an E stop string which controls power to the associated drives The OK contacts are rated to drive an external 24V pilot relay for example Allen Bradley 700 HA32Z24 whose contacts can be incorporated into the E Stop string as shown below
460. on 6 44 Return Speed 6 46 Sequence 6 45 Speed 6 46 Hookup Tab AXIS_SERVO 6 48 Feedback Polarity 6 49 Output Polarity 6 50 Test Feedback 6 50 Test Increment 6 49 Test Marker 6 50 Test Output amp Feedback 6 50 Hookup Tab Overview AXIS SERVO DRIVE 6 51 Drive Polarity 6 51 Test Feedback 6 52 Test Increment 6 51 Test Marker 6 52 Test Output amp Feedback 6 52 Limits Tab AXIS SERVO 6 80 Manual Tune 6 84 Maximum Negative 6 82 Maximum Positive 6 82 Output Limit 6 83 Position Error Tolerance 6 82 Soft Travel Limits 6 82 Limits Tab AXIS SERVO DRIVE 6 84 Continuous Torque Force Limit 6 87 Hard Travel Limits 6 86 Manual Tune 6 87 Maximum Negative 6 86 Maximum Positive 6 86 Peak Torque Force Limit 6 87 Position Error Tolerance 6 86 Position Lock Tolerance 6 87 Set Custom Limits 6 88 Soft Travel Limits 6 86 Motor Feedback Tab AXIS SERVO DRIVE 6 37 Motor Cycles 6 37 Motor Feedback Type 6 37 Motor Interpolation Factor 6 38 Per 6 38 Offset Tab AXIS SERVO 6 91 Backlash Compensation 6 93 Reversal Offset 6 93 Stabilization Window 6 94 Friction Deadband Compensation 6 93 Friction Compensation 6 93 Friction Compensation Window 6 93 Manual Tune 6 95 Output Offset 6 94 Torque Offset 6 94 Velocity Offset 6 04 Offset Tab AXIS SERVO DRIVE 6 95 Backlash Compensation 6 97 Reversal Offset 6 97 Stabilization Window 6 98 Friction Compensation 6 96 Index 5 Friction Compen
461. on Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied If the Friction Compensation Window is set to zero this feature is effectively disabled A non zero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Friction Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Backlash Compensation Reversal Offset Backlash Reversal Offset provides the capability to compensate for positional inaccuracy introduced by mechanical backlash For example power train type applications require a high level of accuracy and repeatability during machining operations Axis motion is often generated by a number of mechanical components a motor a gearbox and a ball screw that may introduce inaccuracies and that are subject to wear over their lifetime Therefore when an axis is commanded to reverse direction mechanical play in the machine through the gearing ball screw etc may result in a small amount of motor motion without axis motion As a result the feedback dev
462. on Object Attributes 13 89 being commanded to move If the actual position is within the Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied Of course should the Friction Compensation Window be set to zero this feature is effectively disabled A non zero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Friction Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Friction Compensation Window REAL Position Units Velocity Offset Velocity Offset compensation can be used to correct to provide a dynamic velocity correction to the output of the position servo loop Since this value is updated synchronously every Coarse Update Period the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Velocity Of
463. on of the module being created e view the vendor of the module being created e enter the name of the module e enter a description for the module e set the Base Node for the module e select the minor revision number of your module Publication 1756 UMO006G EN P May 2005 Configuring a 1394x SJTxx D Digital Servo Drive 8 5 e select Electronic Keying Exact Match Compatible Module or Disable Keying e view the status the controller has about the module you can only view the status while online Type Displays the module type of the 1394x SJTxx D digital servo drive module being created read only Vendor Displays the vendor of the module being created read only Name Enter the name of the module The name must be IEC 1131 3 compliant If you attempt to enter an invalid character or exceed the maximum length the software beeps and ignores the character Description Enter a description for the module here up to 128 characters You can use any printable character in this field If you exceed the maximum length the software beeps to warn you and ignores any extra characters Base Node Type or select the Base Node number of the drive module This node number is determined by multiplying the node number from the module s rotary switch 1 to 9 by a factor of ten Thus valid Base Node values are 10 20 30 40 50 60 70 80 or 90 Revision Select the minor revision number of your module The revision is divided into
464. ond the current position limits as established by hardware Publication 1756 UMO006G EN P May 2005 13 52 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Feedback Fault If the Feedback Fault bit is set for a specific feedback source it indicates that one of the following conditions occurred The differential electrical signals for one or more of the feedback channels e g A and A B and B or Z and Z for an A Quad B encoder are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Feedback Noise Fault If the Feedback Noise Fault bit attribute is set for a specific feedback source it indicates that noise has been detected on the
465. onfiguring each of these attributes Generally all command bits is set according to the current Command Motion Object Attributes 13 135 Polarity bit value and the feedback bits is set according to the current Feedback Polarity bit setting Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Polarity INT Position Polarity Bit Map 0 pos cmd 1 additive pos cmd 2 pos feedback 1 3 pos feedback 2 4 use position limits 5 use under over flow Polarity bits bit 0 non inverted bit 1 inverted GSV Velocity Polarity INT Velocity Polarity Bit Map 0 vel cmd 1 additive vel cmd 2 vel feedback Polarity bits bit 0 non inverted bit 1 inverted GSV Axis Info Select Torque Polarity INT Torque Polarity Bit Map 0 torque cmd 1 additive torque cmd 2 torque feedback Polarity bits bit 0 non inverted bit 1 inverted Changing the auto configured values of the above advanced attributes can result in unpredictable motion behavior Therefore these values read only A Axis Info Select attributes are used to enable periodic data updates for selected drive status attributes This method of accessing drive status data is designed to reduce the flow of unnecessary data for the SERCOS module By selecting the drive status attribute of interest from the enumerated list this attribute s value is transmitted alo
466. onnection Tab 4 10 Inhibit Module checkbox 4 11 Major Fault On Controller 4 12 Module Fault 4 12 Requested Packet Interval 4 11 General Tab Description 4 8 Electronic Keying 4 9 Compatible Module 4 9 Disable Keying 4 9 Exact Match 4 9 Name 4 8 Revision 4 9 Slot 4 8 Status 4 9 Type 4 8 Vendor 4 8 Module Info Tab 4 16 Configured 4 18 Identification 4 17 Internal State Status 4 18 Module Identity 4 19 Owned 4 18 Refresh 4 19 Reset Module 4 19 SERCOS Interface Info Tab 4 15 Fault Type 4 15 Refresh 4 16 Ring Comm Phase 4 15 SERCOS Interface Tab 4 13 Cycle Time 4 14 Data Rate 4 14 Transmit Power 4 14 1756 MxxSE Adding the module 4 1 8720MC Drive Configuring 11 1 Properties 11 5 General Tab Node 11 6 Associated Axes Tab 11 11 Ellipsis 11 11 New Axis 11 11 Node 11 11 Connection Tab 11 8 Inhibit Module 11 9 Major Fault on Controller 11 10 Module Fault 11 10 General Tab 11 5 Description 11 6 Electronic Keying 11 6 Name 11 6 Revision 11 6 Status 11 7 Type 11 6 Vendor 11 6 Module Info Tab 11 12 Configured 11 14 Identification 11 13 Internal State Status 11 14 Major Minor Fault Status 11 14 Module Identity 11 15 Owned 11 15 Index 3 Reset Module 11 15 Module InfoTab Refresh 11 15 Power Tab Bus Regulator ID 11 12 Power Tab 8720MC Drive 11 12 A Adding and Configuring Your 1756 M02AE 1756 M02AS 1756 HYD02 Motion Module 3 1 Adding the 1756 M02AE Module 3 1 New Module 3 3 Analog Encoder Servo Mo
467. onse with each attribute that was processed That status value is defined by ASA as follows UINT16 Values 0 255 0x00 OxFF are reserved to mirror common service status codes Values 256 65535 are available for object class attribute specific errors For a list of ASA error codes see Appendix B Publication 1756 UMOO6G EN P May 2005 13 120 Motion Object Attributes Attribute Error ID The Attribute Error ID is used to retain the ID of the servo attribute that returned a non zero attribute error code resulting in an Axis Configuration Fault The Attribute Error ID defaults to zero and after a fault has occurred may be reset to zero by reconfiguration of the motion module Internal Access Rule Attribute Name Data Type Semantics of Values GSV Attribute Error ID INT Attribute ID associated with non zero Attribute Error Code SERCOS Error Code The SERCOS Error Code value can be used to identify the source of the drive parameter update failure that resulted in the Axis Configuration Fault The error codes for this attribute are derived from the IEC 1394 SERCOS Interface standard Internal Access Rule GSV Commissioning Status Attributes Publication 1756 UMO006G EN P May 2005 Attribute Name Data Type Semantics of Values SERCOS Error Code Error code returned by SERCOS module indicating source of drive parameter update failure See Appendix C The SERCOS Error Code value can be used to identify the
468. onstant feedback counts per Position Unit for the axis The greater the Average Velocity Timebase value the better the speed resolution but the slower the response to changes in speed The Average Velocity resolution in Position Units per second may be calculated using the equation below 1 Averaged Velocity Timebase Seconds x K E coms Position Wit For example on an axis with position units of inches and a conversion constant K of 20000 an averaged velocity time base of 0 25 seconds results in an average velocity resolution of Inches 0 012 Inches 025300000 A Second Minute Note that the minimum Average Velocity Timebase value is Coarse Update period defined by the associated Motion Group Object See the Motion Configuration Attribute section of this document for more information on setting the Averaged Velocity Timebase and the Conversion Constant parameters Actual Velocity Actual Velocity is the current instantaneously measured speed of an axis in the configured axis Position Units per second It is calculated as the current increment to the actual position per coarse update interval Actual Velocity is a signed value the sign or depends on which direction the axis is currently moving Internal Access Rule Data Type Semantics of Values GSV Actual Velocity REAL Position Units Sec Actual Velocity is a signed floating point value Its resolution does not depend on the Averaged Velocity Timebas
469. ontrolSyncFault 1 Module Sync Fault ModuleSyncFault 2 Timer Event Fault TimerEventFault 3 Module Hardware Fault ModuleHardwareFault 4 31 Reserved Servo Module Fault Bits DINT Control Sync Fault The Control Sync Fault bit attribute is set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the associated servo module The Logix controller is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module The Synchronous Connection Fault bit is cleared when the connection is reestablished Module Sync Fault The Module Sync Fault bit attribute is set when the motion module detects that several position update messages in a row from the ControlLogix processor module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the servo module The servo module is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condit
470. op Action Attributes 13 164 Brake Engage Delay 1 2232 ve ee a d 13 165 Brake Release Delay cui cena Ate e E 13 165 Resistive Brake Contact Delay 13 166 Drive Power Attributes ww o oo aaua nad oe aeta 13 167 Power Supply ID S aS cca Mikal ae oda eh domes anes 13 167 Bus Reg l tor 1D 2a oh ete ee ees SEXO ee 13 168 PWM Frequency Selectus saa oe exp ees 13 168 Commissioning Configuration Attributes 13 168 Test Increment oss Peter ied SEOXS ESPECIE 13 169 Tuning Travel Limit gh amp Re edic 6 d dep pa RGIS 13 169 Tuning Speed oses rzepa que we dix Dod doa pes 13 169 TUNNE TOGUE ced extras eR ee AIRE RC Rad pact 13 169 Damping ESCtOor a qa sor opc e pc Ve etd aes 13 170 Drive Model Time Constant 1 cora d qoe oath d 13 170 Velocity Servo Bandwidth i52 4 852444 5 baw ads 13 171 Position Servo Bandwidth wo elei EV 13 171 Motor Inertia amp Load Inertia Ratio sn 13 172 Troubleshoot Module Lights Table of Contents 11 Tuning Configuration Bits sa eara det e ES wed ded 13 173 Motion Coordinate System Object a usce eoe 13 174 Trttoc y DO 2 ace Mod dor a o eo el det a 13 174 Group Axis and Coordinate System Relationships 13 175 Motion Coordinate System Object Status Attributes 13 176 Motion Group Instance soie he abs 13 176 Coordinate System Status eux y ve vtae xS 13 177 Coordinate Motion Status 0 00005 13 178 Ais Fault as S eur ut tS aa
471. op output Output Offset Corrects the problem of axis drift by adding a fixed voltage value not to exceed 10 Volts to the Servo Output value Input a value to achieve near zero drive velocity when the uncompensated Servo Output value is zero When interfacing an external Servo Drive especially for velocity servo drives it is necessary to compensate for the effect of drive offset Cumulative offsets of the servo module s DAC output and the Servo Drive Input result in a situation where a zero commanded Servo Output value causes the axis to drift If the drift is excessive it can Naming and Configuring Your Motion Axis 6 95 cause problems with the Hookup Diagnostic and Tuning procedures as well as result in a steady state non zero position error when the servo loop is closed Manual Adjust Click on this button to open the Offset tab of the Manual Adjust dialog for online editing of the Friction Deadband Compensation Backlash Compensation Velocity Offset Torque Offset and Output Offset parameters Figure 6 47 Axis Properties Offset Tab Manual Adjust Screen for Axis Servo Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Offset Tab AXIS SERVO DRIVE Use this tab to make offline adjustments to the following Servo Output values e Friction Compensation e Velocity Offset and e Torqu
472. or 14 5 1756 M02AS Module Status Using the DRIVE Indicator 14 6 1756 HYD02 Module LED Indicators 14 7 1756 HYD02 Module Status Using the OK Indicator 14 7 1756 HYD02 Module Status Using the FDBK Indicator 14 8 1756 HYD02 Module Status Using the DRIVE Indicator 14 9 SERCOS interface LED T dicatOrs vec bru 14 10 1756 MOS3SE MO8SE amp M16SE SERCOS Communication Phase Status Using the CP Indicator 14 11 Publication 1756 UMOO06G EN P May 2005 Table of Contents 12 Troubleshoot Axis Motion Inhibit an Axis Specifications and Performance Publication 1756 UMO006G EN P May 2005 1756 MO3SE MO8SE amp M16SE Module Status Using the OK TricliC AOT yield tate qs i eS De ud ded icd ot det O d d d 14 11 1756 MO3SE MO8SE amp M16SE SERCOS Ring Status 14 12 Chapter 15 About this chapter er IR Pa ERST ESSE gs panes 15 1 Why does my axis accelerate when I stop it 15 1 ERAS e cua dote ot e dm deren e Abos 15 1 EGOR TOR va y dp CRUCIS d vacas pat ctae ehe 15 1 CUSE ed Cope E boite ere ede PE He Pere ds deu 15 2 COPtecuve doeblofi vx v duel ane nega dg B qo gn d 15 2 Why does my axis overshoot its target speed 15 3 EXE 40 d TARUERSTaXQURSNUERSRISZPRSTRSS 15 3 LOOR OE Qoae sete npo ode o aceite dae oe epee ey 15 3 acc CC 15 4 COMECH VS Action Gesta E A s Pair tue icc eq ees 15 5 Why is there a delay when I stop and then restart a jog 15 6 AILS m
473. or Click on the Conversion Tab to access the Axis Properties Conversion dialog Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Positioning Mode E Conversion Constant ooo Feedback Counts 1 0 Position Units Position Unwind 8000 Feedback Counts Unwind Cancel Apply Help Publication 1756 UM006G EN P May 2005 6 40 Naming and Configuring Your Motion Axis Figure 6 23 Axis Properties AXIS SERVO Conversion Tab The differences in the appearance of the Conversion Tab screens for the AXIS SERVO and AXIS SERVO DRIVE are the default values for Conversion Constant and Position Unwind and the labels for these values Axis Properties mysercos1laxis fat x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Taa General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Positioning Mode Rotary m 2000000 Drive Counts 1 0 Position Units Conversion Constant 200000 0 based on 200000 Counts Motor Rev ae Drive Counts Unwind Position Unwind 200000 based on 200000 Counts Motor Rev DK Cancel Help Figure 6 24 Axis Properties AXIS_SERVO_DRIVE Conversion Tab Conversion Tab Use this tab to view edit the Positioning Mode Conversion Constant and if configured as Rotary the Unwind values for an axis of the tag types AX
474. or Troubleshoot Module Lights 14 7 If the The module status is Take this action DRIVE LED displays Flashing red The axis drive output is in the Check for faults that may have light shutdown state generated this state Execute the Motion Axis Shutdown Reset instruction Resume normal operation Steady red The axis drive is faulted Check the drive status light Clear the Drive Fault condition at the drive Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation Check the configuration for the Drive Fault If configured to be normally open and there is no voltage this is the normal condition If configured to be normally closed and 24V dc is applied this is the normal condition The module uses a single bi colored LED to indicate module OK status and bi colored LED indicators to show individual feedback FDBE and drive DRIVE status for both axes r HYDRAULIC AXO AX1 FDBK FDBK DRIVE DRIVE OK Figure 14 3 1756 HYD02 Module LEDs During power up the module completes an indicator test The OK indicator turns red for 1 second and then turns to flashing green if the module passes all its self tests If the OK The module status is Take this action indicator displays Off The module is not operating Apply chassis power Verify the module is completely inserted in chassis an
475. ordinate System tag which is always COORDINATE SYSTEM This field cannot be edited and is for informational purposes only Scope Displays the scope of the current Coordinate System tag The scope for a Coordinate System tag can only be controller scope This field is not editable and is for informational purposes only Style Not applicable Publication 1756 UMOO06G EN P May 2005 7 18 Creating amp Configuring Your Coordinate System Tag Right Mouse Click Properties Publication 1756 UMO006G EN P May 2005 Right mouse clicking on a specific Coordinate System launches the following pop up menu ee arias EE En 5 6 Motion Groups Motion XD Axis XD Axisl XD Axis2 xb Coordinated sys Ungroupeds Monitor Coordinate System Tag Trends amp Data Types Ck User Define Oe Strings Cut iar Predefined Copy CR Module Def paste 3 6 1 0 Configurati Delete B 1 1756 M fl 12098 Cross Reference f 2 2098 E Associated Ax Figure 7 12 Right Click Pop Up Menu Fault Help Gear eoordinate system Faults Print Coordinate System Properties The menu has the following options e Monitor Coordinate System Tag launches the data monitor with focus on the coordinate system tag from which the monitor was launched e Fault Help launches on line help to assist in understanding and correcting system faults e Clear Coo
476. os Neg Torque Limit Accel Torque Command kaad Command Command Velocity Error Low Pass Filter Vel P Gain Velocity Feedback Error Accum ulator Vel I P Gain y Velocity Integrator Error Motor x Feedback Polarity Motor Feedback Y Channel Hardware Feedback Le Motor Position Feedback Aux Feedback Channel E Hardware Aux Feedback ulator ra Feedback be Position Figure 13 17 Auxiliary Position Servo Dual Feedback Servo This configuration provides full position servo control using the auxiliary feedback device for position feedback and the motor mounted feedback device to provide velocity feedback This servo configuration combines the advantages of accurate positioning associated with the auxiliary position servo with the smoothness and stability of the motor position servo configuration Note that the motor mounted feedback device also provides motor position information necessary for commutation Synchronous input data to the servo loop includes Position Command Velocity Offset and Torque Offset These values are updated at the coarse update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attr
477. osition Bandwidth Hz 0 25 1 Z Velocity Bandwidth Hz For example if the maximum bandwidth of the velocity servo loop is 40 Hz and the damping factor Z is 0 8 the maximum the maximum position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed Attribute Name Data Type Semantics of Values SSV GSV Publication 1756 UMO006G EN P May 2005 Tuning Configuration Bits DINT 0 Tuning Direction Reverse 1 Tune Position Error Integrator 2 Tune Velocity Error Integrator 3 Tune Velocity Feedforward 4 Tune Acceleration Feedforward 5 Tune Output Low Pass Filter 6 Bi directional Tuning 7 Tune Friction Compensation 8 Tune Torque Offset 9 31 Reserved Tuning Direction Reverse The Tune Direction Reverse bit attribute determines the direction of the tuning motion profile initiated by the MRAT Motion Run Axis Tune instruction If this bit is set true motion is initiated in the reverse or negative direction Tune Position Error Integrator The Tune Position Error Integrator bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Position Integral Gain If this bit is clear false the value for the Position Integral Gain is set to zero Motion Object Attributes 13 97 Tune Velocity Error Integrator The Tune Velocity Error Integrator bit attribute determines whether or not the MAAT M
478. otion Apply Axis Tune instruction calculates a value for the Velocity Integral Gain If this bit is clear false the value for the Velocity Integral Gain is set to zero Tune Velocity Feedforward The Tune Velocity Feedforward bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Velocity Feedforward Gain If this bit is clear false the value for the Velocity Feedforward Gain is set to zero Tune Acceleration Feedforward The Tune Acceleration Feedforward bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Acceleration Feedforward Gain If this bit is clear false the value for the Acceleration Feedforward Gain is set to zero Tune Output Low Pass Filter The Tune Output Low Pass Filter bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Output Filter Bandwidth If this bit is clear false the value for the Output Filter Bandwidth is set to zero which disables the filter Bi directional Tuning The Bi directional Tuning bit attribute determines the whether the tuning motion profile initiated by the MRAT Motion Run Axis Tune instruction is unidirectional or bi directional If this bit is set true the tuning motion profile is first initiated in specified tuning direction and then is repeated in the opposite direction Information returned by the Bi direc
479. otion Axis Tolerance Peak Torque Force Limit and Continuous Torque Force Limit parameters Manual Adjust mysercos1axis X Dynamics Gains Output Limits Offset Position Error Tolerance oo 4 Position Units Reset ie Position Lock Tolerance 0 01 3 Position Units PeakTorque Force Limit 0 0 zd Rated Continuous T orque Force Limit fi 00 0 E Rated OK Cancel Apply Help Figure 6 44 Axis Properties Limits Tab for Axis Servo Drive Note The Manual Adjust button is disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Set Custom Limits Click this button to open the Custom Limit Attributes dialog Custom Limits Attributes xi Name veue unts Typed VebchyUmiBipdar OD Postion Unisi REAL AccebrslonLim Bipoa 0 0 Postion Untsis REAL VeloctyLintPostive 0 0 Postion Unts s REAL VebctyLmiNegaive OD Postion Untsis REAL VebctyThreshod 0 0 Postion Untsis REAL AccebrslionLim Posive 0 0 Postion Unts s REAL AccelerationLimitNedgative 0 0 Position Units s REAL Close Cancel Help Figure 6 45 Set Custom Limits Dialog from the Limits Tab for the AXIS SERVO DRIVE Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 89 From this dialog box you can monitor and edit the limit related attributes When RSLogix 5000 software i
480. otion module Much of this information is the same as for adding and configuring the 1756 MO2AE as discussed in the previous chapter To configure a 1756 MO3SE 1756 MO8SE or 1756 M16SE motion module 1 In the Controller Organizer right mouse click on I O Configuration MainProgram Unscheduled Programs B 63 Motion Groups E ca Motion gt Axis i Axis1 x5 Axis2 1b Coordinated sys xb coord syst2 Ungrouped Axes E Trends E1 amp 3 Data Types gu User Defined oe Strings Cg Predefined air Module Defined IO Configuration El 1 2098 0 f 2 2098 0 B 4 1756 mo2 Git Chit Gopy Gt FG Paste Gtr ey Print Ctr P Figure 4 1 Controller Organizer 1 0 Configuration New Module Publication 1756 UM006G EN P May 2005 4 2 Configuring the 1756 MO3SE 1756 MOBSE or 1756 M16SE Module 2 Or in the File menu select New Component then Module 54 RSLogix 5000 FredsStructure 1756 L55 File om pon ent Figure 4 2 File Menu New Component Module Selected Publication 1756 UMO006G EN P May 2005 Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module 4 3 3 The Select Module Type screen displays Select Clear All Select Motion The list displays only available motion modules Type fi 756 MO3SE 2 Axis Hydraulic Servo 2 Axis Analog Encoder Servo 2 Axis Analog SSI Servo 3 Axis SERCOS Interface 8 Axis SERCOS Interface 1756 M16SE 16 Axis SERCOS Interface
481. otor inch or motor millimeter This value applies to all position data Valid values range from 1 to 2 32 1 One Least Significant Bit LSB for position data equals 360 Rotational Position Resolution Note Drive Resolution is also referred to as Rotational Position Resolution When you save an edited Drive Resolution value a message box appears asking you if you want the controller to automatically recalculate certain attribute settings Drive Resolution is especially helpful for either fractional unwind applications or multi turn applications requiring cyclic compensation You can modify the Drive Resolution value so that dividing it by the Unwind Value yields a whole integer value The higher the Drive Resolution setting the finer the resolution Drive Enable Input Checking To activate Drive Enable Input Checking click on the checkbox When active box is checked the drive regularly monitors the state of the Drive Enable Input This dedicated input enables the drive s power structure and servo loop If Drive Enable Input Checking is not active then no such checking of the Drive Enable Input occurs Drive Enable Input Fault Click on the checkbox to activate the Drive Enable Input Fault When active a fault detected on the external drive notifies the motion module via Drive Fault Input Naming and Configuring Your Motion Axis 6 33 Real Time Axis Information Attribute 1 Attribute 2 Select up to two axis attributes who
482. ou go online before you save your changes all pending changes revert to their previously saved state Axis Properties mysercos laxis el X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Name mysercos axis Description Tag Type Base Data Type axis SERVO DRIVE Scope My Controller Style Cancel Apply Help Figure 6 53 Axis Properties Tag Tab Displays the name of the current tag You can rename this tag if you wish Description Displays the description of the current tag if any is available You can edit this description if you wish Tag Type Indicates the type of the current tag This type may be e Base e Alias e Consumed Displays the data type associated with the current tag Publication 1756 UMO06G EN P May 2005 6 108 Naming and Configuring Your Motion Axis Assigning Additional Motion Axes Publication 1756 UMO006G EN P May 2005 Data Type Displays the axis data type of the current tag Scope Displays the scope of the current tag The scope is either controller scope or program scope based on one of the existing programs in the controller Style Displays the default style in which to display the value of the tag Note that style is only applicable to an atomic tag a structure tag does not have a display style You
483. ove parameters have not yet been saved or applied Limits Tab AXIS SERVO DRIVE Use this tab to make the following offline configurations e enable and set maximum positive and negative software travel limits and e configure both Position Error Tolerance and Position Lock Tolerance Publication 1756 UMO06G EN P May 2005 Naming and Configuring Your Motion Axis 6 85 for an axis of the type AXIS SERVO DRIVE configured as a Servo drive in the General tab of this dialog e Axis Properties mysercos1axis rj x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Hard Travel Limits Manual Adjust Soft Travel Limits Set Custom Limits Maximum Positive oo Position Units Maximum Negative foo Position Units Position Error Tolerance m Position Units Position Lock Tolerance o Position Units Peak Torque Force Limit foo Rated Continuous Torque Force Limit 00 0 Rated Cancel Apply Help Figure 6 43 Axis Properties Limits Tab for Axis_Servo_Drive The parameters on this tab can be edited in either of two ways edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin con
484. owing formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil Thus according to an old machine tool rule of thumb a loop gain of 1 IPM mil Pos P gain 16 7 Sec provides stable positioning for virtually any axis In general however modern position servo systems typically run much tighter than this The typical value for the Position Proportional Gain is 100 Sec Bandwidth Method If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 Publication 1756 UMOO6G EN P May 2005 13 78 Motion Object Attributes Position Integral Gain Publication 1756 UMO006G EN P May 2005 In general however modern position servo systems typically run with at least a unity gain bandwidth of 16 Hertz The typical value for the Position Proportional Gain is 100 Sec Maximum Bandwidth There are limitations to the maximum bandwidth that can be achieved for the position loop based on the dynamics of the inner velocity and torque loops of the system and the desired damping of the system Z These limitations may be expressed as follows Bandwidth Pos 0 25 1 Z Bandwidth Vel 0 25 1 Z2 Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz and
485. perating Cold Temperature IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock e 0 to 60 C 32 to 140 F Storage IEC 60068 2 1 Test Ab Un packaged Non operating Cold Temperature IEC 60068 2 2 Test Bb Un packaged Non operating Dry Heat IEC 60068 2 14 Test Na Un packaged Non operating Thermal Shock e 40 to 85 C 40 to 185 F Relative Humidity IEC 60068 2 30 Test Db Un packaged Non operating Damp Heat e 5 to 95 non condensing Vibration IEC 60068 2 6 Test Fc Operating e 2g 10 500Hz Operating Shock IEC 60068 2 27 Test Ea Unpackaged Shock e 30g Non Operating IEC 60068 2 27 Test Ea Unpackaged Shock Shock e 50g Emissions CISPR 11 Group 1 Class A ESD Immunity IEC 61000 4 2 e AkV contact discharges e 8kV air discharges Radiated RF IEC 61000 4 3 Immunity e 10V m with 1kHz sine wave 80 AM from 80MHz to 2000MHz e 10V m with 200Hz 5096 Pulse 10096AM at 900Mhz e 10V m with 200Hz 50 Pulse 100 AM at 1890Mhz Enclosure Type Rating None open style Number of Drives 1756 MO3SE Up To 3 SERCOS interface drives 1756 M08SE Up to 8 SERCOS interface drives 1756 M16SE Up to 16 SERCOS interface drives SERCOS interface 1756 MO3SE 4 Mbits or 8 Mbits per second Date Rate 1756 M08SE 4 Mbits or 8 Mbits per second 1756 M16SE 4 Mbits or 8 Mbits per second Publication 1756 UM006G EN P May 2005 A 10 Specifications and
486. pt however to move the axis further beyond the hard overtravel limit switch using a motion instruction results in an instruction error To recover from this fault the axis must be moved back within normal operation limits of the machine and the limit switch closed The hard overtravel fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Any attempt to clear the fault while the overtravel limit switch is still open and the drive is enabled is unsuccessful Position Error Fault If the Position Error Fault bit attribute is set it indicates that the servo has detected that the axis position error has exceeded the current configured value for Position Error Tolerance This fault can only occur when the drive is in the enabled state This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear Motion Object Attributes 13 113 Feedback 1 or Feedback 2 Fault If the Feedback Fault bit is set for a specific feedback source it indicates for an A Quad B feedback device that one of the following conditions occurred The differential electrical signals for one or more of the feedback channels e g A and A B and B or Z and Z for an A Quad B encoder are at the same level both high or both low Under normal operation the differenti
487. que Offset determines whether or not to calculate a value for the Torque Offset This tuning configuration is only valid if configured for bi directional tuning e Output Filter determines whether or not to calculate a value for the Output Filter Bandwidth Publication 1756 UMOO6G EN P May 2005 6 56 Naming and Configuring Your Motion Axis Dynamics Tab Publication 1756 UMO006G EN P May 2005 Start Tuning Click on this button to begin the tuning test If the tuning process completes successfully the following attributes are set On this tab Gains tab Dynamics tab These attributes are set Velocity Feedforward Gain if checked under Tune above Acceleration Feedforward Gain if checked under Tune above Position Proportional Gain Position Integral Gain if checked under Tune above Velocity Proportional Gain Velocity Integral Gain if checked under Tune above Maximum Velocity Maximum Acceleration Maximum Deceleration Output tab Torque Scaling Velocity Scaling AXIS SERVO only Low Pass Output Filter see Note below Limits Position Error Tolerance The Tune Bandwidth dialog opens for Servo drives where you can tweak bandwidth values Note During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Executing a Tune operation automatically saves all changes to
488. r 1 release Publication 1756 UMOO06G EN P May 2005 13 126 Motion Object Attributes Internal Access Rule Attribute Name Data Type Semantics of Values GSV Primary Operation Mode INT Bit Map x000 no mode x001 torque servo x010 vel servo x011 pos servo w fdbk1 x100 pos servo w fdbk2 x101 pos servo w fdbk1and 2 x110 reserved x111 2 no servo GSV Telegram Type INT Enumeration 0 2 no cyclic data 1 trq cmd 2 vel cmd vel fbk 3 vel cmd pos fbk 4 pos cmd pos fbk 5 pos vel cmd pos fbk and vel fbk 6 vel cmd 7 applic Telegram default GSV AT Configuration list Struct Struct length data INT DINT 16 GSV MDT Configuration list Struct Struct length data INT DINT its 4 Fault Configuration Bits Internal Access Rule Attribute Name Data Type Semantics of Values GSV Fault Configuration Bits DINT Bit Field Publication 1756 UMO006G EN P May 2005 Soft Overtravel Checking 0 Soft Overtravel Checking 1 Hard Overtravel Checking 2 3 Reserved 4 Drive Enable Input Fault Checking 5 Drive Enable Input Checking 6 31 Reserved Overtravel Checking for Linear Axis Only Change to Rotary or Overtravel Checking requires Home range checks When the Soft Overtravel Checking bit is set it enables a periodic test that monitors the current position of the axis and issues a Positive Soft Overtravel Fault or Negative Soft Overtravel Fault if e
489. r all faults The Module Info Tab displays module and status information about the module It also allows you to reset a module to its power up state The information on this tab is not displayed if you are offline or currently creating a module Use this tab to determine the identity of the module Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module 4 17 The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available Deo denen Figure 4 11 Module Properties Module Info Tab Identification Displays the module s e Vendor Product Type e Product Code e Revision Number e Serial Number e Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module Publication 1756 UMO006G EN P May 2005 4 18 Configuring the 1756 MO3SE 1756 MO08SE or 1756 M16SE Module Publication 1756 UMO006G EN P May 2005 Major Minor Fault Status If you are configuring a This field displays one of the following EEPROM fault Backplane fault None digital module Comm Lost with owner Channel fault None analog module any other module None Unrecoverable Recoverable Internal State Status This field displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configur
490. r routing as described in the system level installation manual 3 Refer to Industrial Automation Wiring and Grounding Guidelines publication number 1770 4 1 1756 HYD02 Motion Module Number of axes Specifications and Performance A 3 2 axes maximum Servo loop Type Gain resolution Absolute position range Rate Proportional integral and differential PID with Feed Forwards and Directional scaling 32 bit floating point 230 000 LDT counts 500Hz to 4kHz Selectable Module location 1756 ControlLogix chassis Module keying Electronic Power dissipation 5 5W maximum Thermal dissipation 18 77 BTU hr Backplane current 5 1V dc 700mA and 24V dc Q 2 5mA LDT input Type Resolution Electrical Interface Input impedance Output Load Transducer PWM Start Stop rising or falling edge less than 0 001 inch with single recirculation Isolated 5V differential RS 422 signal 215 Ohm differential 100 Ohm minimum Must use External Interrogation signal Registration inputs Type 24V dc input voltage Maximum on Minimum on Maximum off 5V dc input voltage Maximum on Minimum on Maximum off Input impedance 24V dc input 5V dc input Response time position latched Optically isolated current sinking input 24V dc nominal 26 4V dc 18 5V dc 3 5V dc 5V dc nominal 5 5V de 3 7V de 1 5V de 9 5 kQ 1 2kQ 1 servo update period Servo update period is the
491. ral Gain to produce a component to the Servo Output or Torque Command that attempts to correct for the velocity Naming and Configuring Your Motion Axis 6 63 error The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too much I Gain results in axis oscillation and servo instability In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice The typical value for the Velocity Proportional Gain is 15 mSec 2 Velocity Feedforward Velocity Feedforward Gain scales the current Command Velocity by the Velocity Feedforward Gain and adds it as an offset to the Velocity Command Hence the Velocity Feedforward Gain allows the following error of the servo system to be reduced to nearly zero when running at a constant speed This
492. ration is acceptable Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis The standard RA SERCOS drive s digital velocity loop provides damping without the requirement for an analog tachometer The Velocity Error is multiplied by the Velocity Proportional Gain to produce a Torque Command that ultimately attempts to correct for the velocity error creating the damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability The velocity loop also allows higher effective position loop gain values to be used however too much Velocity Proportional Gain leads to high frequency instability and resonance effects Note that units for Velocity Proportional Gain are identical to that of the Position Proportional Gain making it easy to perform classic calculations to determine damping and bandwidth Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Publication 1756 UMO006G EN P May 2005 Velocity Proportional Gain REAL 1 Sec The standard RA SERCOS drive s digital velocity loop provides damping without the requirement for an analog tachometer The Velocity Error is multiplied by the Velocity Proportional Gain to produce a Torque Command that ultimately attempts to correct for the velocity error creating the damping effect Thus increasing the Velo
493. ravel Disable Drive Soft Overtravel Disable Drive Cancel Apply Help Figure 6 51 Axis Properties Fault Action Tab for Axis_Servo_Drive When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Select one of the following fault actions for each fault type e Shutdown If a fault action is set to Shutdown then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Shutdown is the most severe action to a fault and it is usually reserved for faults that could endanger the machine or the operator if power is not removed as quickly and completely as possible Publication 1756 UMO006G EN P May 2005 6 104 Naming and Configuring Your Motion Axis Publication 1756 UMO06G EN P May 2005 e Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs it brings the axis to a stop by applyin
494. rdinate System Faults clears all system faults associated with this coordinate system tag This option is grayed out inactive if there are no faults associated with the selected coordinate system e Cut cuts the coordinated system from its folder Copy copies the selected coordinated system and all of its properties e Paste is never active from the right mouse click menu when initiated from the coordinate system tag It only becomes active when initiated from a right mouse click on the Ungrouped Axes folder or Motion Group when a coordinate system has been Cut or Copied Delete removes the coordinate system from the Motion Group Tag or Ungrouped Axes folder Cross Reference launches the Cross Reference screen which lists all references associated with the selected coordinate system tag Creating amp Configuring Your Coordinate System Tag 7 19 e Print sends tag information to the printer Coordinate System Properties launches the tabbed Coordinate System Properties screen Cut Copy Paste and Delete A Coordinate System tag can be cut or copied from either a Motion Behavior Group Tag or the Ungrouped Axes folder Once cut or copied it can be pasted into either a Motion Group Tag or the Ungrouped Folder Copy Paste A Copy Paste operation implies creation of a new coordinate system tag The new tag has the exact same properties as its host It is automatically given a new name when p
495. ributes 13 92 TCS TCLS OIC a decode qo bcne eR HEIC PCR 13 92 Tuning Travel Lumix ee C Y ECL 13 93 TPIS Speed ox patel este irap Mete XD Eo AC 13 93 T ning PO CU 7242 iet fe dus Y bake Me tcu aed 15 95 Damping Factory go ade ctae eot Lut x eios aa 13 94 Drive Model Time Constant v ion io war c eic cea 13 94 Velocity Servo Bandwidth 0000 13 94 Position Servo Bandwidth l l 13 95 Tuning Configuration Bits c4 Cu sock a aep One wipe 13 96 Servo Drive Status Attributes v isa vid Edw rS TES 13 98 Drive Status Attributes js 4 epe eA Se ee Lilies 13 98 Position Command uou ul ae Src to d hex e Ge ee 13 99 Position Feedback yt eux ey ex Gum vecbxacisd d 13 99 Aux Position Feedback 5o dedi quee e pen 13 100 Position EOT 3 5 4 4 ne aw amp Ge aa Se Ee OER SL 13 100 Position Integrator EtTOF llle 13 100 Veloaty Emot eo rob Ir eese Bry OG d P tpe 13 100 Velocity Integrator BIfOE x2 44 oed Ree hs 13 100 Velocity Command 4 0 sas vA XR tek en 13 101 Velocity Feedbacks dcum psi Be e ac E e 13 101 Acceleration Commasd iua deed oe ER RE 13 101 Acceleration Feedback 2 uu vu edu cte sci sott 13 102 Marker Dist orsa ba Ae Ra ree aca 13 102 Torque Command wee wed eh ere kaa eu Sees EI 13 102 Torque ReedDack i4 suut bre BARS a eoe e ett 13 102 Posy Neg Dynamic Torque Limit 45202 4 04 ak rads 13 102 Motor Capacity 0 0 0 ee 13 103 Drive Capacity s s Ava m keke eae G4 eme LORS 13 10
496. ributes 13 167 Drive power structure enabled Drive Enable Status bit is set Turn on motor brake output to release brake Wait Brake Release Delay Time while motor brake releases Track Command reference Servo Action Status bit is set Case 2 Disable Category 1 Stop 1 8 Disable axis is initiated via an MSF instruction or a drive disable fault action Drive stops tracking command reference Servo Action Status bit is cleared Apply Stopping Torque to stop motor Wait for zero speed or Stopping Time Limit Turn off brake output to engage motor brake Wait for Brake Engage delay while motor brake engages Disable drive power structure Drive Enable Status bit is cleared Turn off RBM output to disconnect motor from drive Case 3 Shutdown Category 0 Stop 1 Drive stops tracking command reference Servo Action Status bit is cleared Disable drive power structure Drive Enable Status bit is cleared Turn off brake output to engage brake Turn off RBM output to disconnect motor from drive Drive Power Attributes Two key drive configuration attributes are used to verify that the actual drive has the proper power supply and bus regulator hardware Power Supply ID The Power Supply ID attribute contains the enumeration of the specific A B Power Supply or System Module catalog numbers associated with the axis If the Power Supply ID does not match that Publication
497. riction Compensation and hunting from the integral gain a Friction Compensation Window is applied around the current command position when the axis is not being commanded to move If the actual position is within the Friction Compensation Window the Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within the window the servo integrators are also disabled Thus once the position error reaches or exceeds the value of the Friction Compensation Window attribute the full Friction Compensation value is applied If the Friction Compensation Window is set to zero this feature is effectively disabled Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Friction Compensation REAL Position Units Window Publication 1756 UMO006G EN P May 2005 A non zero Friction Compensation Window has the effect of softening the Friction Compensation as its applied to the Servo Output and reducing the dithering effect that it can create This generally allows higher values of Friction Compensation to be applied Hunting is also eliminated at the cost of a small steady state error Velocity Offset Motion Object Attributes 13 161 Velocity Offset compensation can be used to correct to provide a dynamic velocity correction to the output of the position servo loop Since this value is updated synchronously every Coarse Update Perio
498. rive 1395 Digital DC Drive A controller cannot be reset The Backplane tab on the Module Properties window is displayed for informational purposes You can use this tab to review diagnostic information about the module s communications over the backplane and the chassis in which it is located clear a fault and set the transmit retry limit Information on this tab is displayed only if you are online If you selected a Listen Only communication format when you created the module this tab is not available Publication 1756 UMO006G EN P May 2005 3 18 Adding and Configuring Your 1756 MO02AE 1756 M02AS 1756 HYD02 Motion Module The data on this tab comes directly from the module Publication 1756 UMO06G EN P May 2005 Figure 3 12 Module Properties Backplane Tab ControlBus Status This box either displays OK or one of the following errors e Receiver disabled e Multicast addresses disabled e RA GA miscompare To clear the module s backplane fault click the Clear Fault button ControlBus Parameters This box contains the following fields and button Multicast CRC Error Threshold This value is the point where it enters a fault state because of Cyclic Redundancy Check CRO errors Transmit Retry Limit Not applicable to motion module Adding and Configuring Your 1756 MO02AE 1756 MO02AS 1756 HYD02 Motion Module 3 19 Set Limit Button You must click on the Reset Limit button to make the new Transmit Ret
499. rive Position Command Velocity ervo Feedback output Error Error Position Accum gt o 1 Accum gt vel 1 Feedback ulator an ulator en Position Velocity Integrator Integrator Error Error Tm iti Servo Config Position Low x Motor Pass Filter LY Encoder Polarity didt Position i Feedback Ly Psalt Y Coarse v 356 Input osition T AQB Accum i e Encoder lq e Mist ulator Counter Watch T Event Watch l Event Handler 1 1 1 Watch Position i chz Homing Marker Event Marker Input lt Event Marker ke Handler Latch T Registration 1 Regist S Event j noget le Registration Handler Input Figure 13 8 Position Servo with Torque Servo Drive Position Servo with Velocity Servo Drive This configuration provides full position servo control using an external velocity loop servo drive Note that in this configuration the servo module does not close the velocity loop but rather the drive does Synchronous input data to the servo loop includes Position Command and Velocity Offset Torque Offset is ignored These values are updated at the coarse update rate of the associated motion group The Position Command value is derived directly from the output of the motion planner while the Velocity Offset value is derived from the current value of the corresponding attributes The Velocity Offset attribute can be changed programmatically via SSV Publication 1756 UMO006G EN P M
500. rive enable output is deactivated Furthermore this fault action opens the OK contact associated with the servo module which can be used to open the E Stop string to the drive power supply Shutdown is the most severe action to a fault and it is usually reserved for faults which could endanger the machine or the operator if power is not removed as quickly and completely as possible Disable Drive If a fault action is set to Disable Drive then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate drive enable output is deactivated Shutdown is the most severe action to a fault and it is usually used for faults which could endanger the machine or the operator if power is not removed as quickly as possible Stop Command If a fault action is set to Stop Command then when the associated fault occurs the axis immediately starts decelerating the axis command position to a stop at the configured Maximum Deceleration Rate without disabling servo action or the servo modules Drive Enable output This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults Once the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared Publication 1756 UMO006G EN P May 2005 13 92 Motion Object Attributes Commissioning Configuration Attributes Test Increment Stat
501. rocess Outside United Please contact your local Rockwell Automation representative for States return procedure www rockwellautomation com Corporate Headquarters Rockwell Automation 777 East Wisconsin Avenue Suite 1400 Milwaukee WI 53202 5302 USA Tel 1 414 212 5200 Fax 1 414 212 5201 Headquarters for Allen Bradley Products Rockwell Software Products and Global Manufacturing Solutions 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 SA NV Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Headquarters for Dodge and Reliance Electric Products Americas Rockwell Automation 6040 Ponders Court Greenville SC 29615 4617 USA Tel 1 864 297 4800 Fax 1 864 281 2433 Europe Middle East Africa Rockwell Automation Herman Heinrich Gossen Strasse 3 50858 K ln Germany Tel 49 0 2234 379410 Fax 49 0 2234 3794164 Asia Pacific Rockwell Automation 55 Newton Road 11 01 02 Revenue House Singapore 307987 Tel 65 6356 9077 Fax 65 6356 9011 Publication 1756 UMO06G EN P May 2005 PN 957955 83 Supersedes Publication 1756 UMOO6F EN P March 2004 Copyright 2005 Rockwell Automation Inc All rights res
502. roduce a component to the Velocity Command that ultimately attempts to correct for the position error Pos I Gain improves the steady state positioning performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability Publication 1756 UMOO6G EN P May 2005 6 68 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 In certain cases Pos I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion While the Pos I Gain if employed is typically established by the automatic servo tuning procedure in the Tuning tab of this dialog the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system in the Output tab of this dialog box Once this is done the Pos I Gain can be computed based on the current or computed value for the Pos P Gain using the following formula Pos I Gain 025 0 001 Sec mSec Pos P Gain 2 Assuming a Pos P Gain value of 100 Sec 1 this results in a Pos I Gain value of 2 5 0 1 mSec 1 Sec 1 Proportional
503. roduce a component to the Velocity Command that ultimately attempts to correct for the position error Increasing this gain value increases the bandwidth of the position servo loop and results in greater static stiffness of the axis which is a measure of the corrective force that is applied to an axis for a given position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability Internal Access Rule SSV GSV Attribute Name Data Type Semantics of Values Position Proportional Gain REAL 1 Sec Publication 1756 UMO006G EN P May 2005 13 148 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 A well tuned system will move and stop quickly or smartly and exhibit little or no ringing during constant velocity or when the axis stops If the response time is poor or the motion sloppy or slow the proportional gain may need to be increased If excessive ringing or overshoot is observed when the motor stops the proportional gain may need to be decreased While the Pos P Gain is typically established by the automatic servo tuning procedure the Pos P gain may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system Refer to Torque Scaling attribute description for an explanation of how t
504. rofiles associated with the specified homing sequence Uni directional and Bi directional refer whether or not the jog is to reverse direction after detecting the homing event Forward and Reverse refer to the direction of the initial jog during the homing process The available active homing sequences are described in detail below with the assumption that the Home Direction is always forward Active Immediate Home This is the simplest active homing sequence type When this sequence is performed the controller immediately enables the servo drive and assigns the Home Position to the current axis actual position and command position This homing sequence produces no axis motion and the Home Offset attribute is not applicable Active Bi directional Home with Switch This active homing sequence is useful when an encoder marker is not available When this sequence is performed the axis moves in the specified Home Direction at the specified Home Speed until the home limit switch is detected The axis then decelerates to a stop and then moves in the opposite direction at the specified Home Return Speed until the home limit switch is cleared When the home limit switch is cleared axis position is immediately redefined to be equal to the Home Position and the axis decelerates to a stop If Home Offset is non zero then the Home Position is offset from the point where the home switch is cleared by this value Once the axis decelerates to a Motion Obj
505. rom using the axis 1 or any non zero This inhibits the axis value Let the controller use the axis This 0 uninhibit the axis Motion Dynamics Configuration Maximum Speed The value of the Maximum Speed attribute is used by various motion instructions e g MAJ MAM MCD etc to determine the steady state Publication 1756 UMOO6G EN P May 2005 13 40 Motion Object Attributes speed of the axis These instructions all have the option of specifying speed as a percent of the Maximum Speed attribute value for the axis The Maximum Speed value for the axis is automatically set to the Tuning Speed by the MAAT Motion Apply Axis Tune instruction This value is typically set to 90 of the maximum speed rating of the motor This provides sufficient head room for the axis to operate at all times within the speed limitations of the motor Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Maximum Speed REAL Position Units Sec Maximum The Maximum Acceleration and Deceleration attribute values are Acceleration Deceleration frequently used by motion instructions such as MAJ MAM MCD etc to determine the acceleration and deceleration rates to apply to the axis These instructions all have the option of specifying acceleration and deceleration as a percent of the Maximum Acceleration and Maximum Deceleration attributes for the axis The Maximum Acceleration and Maximum Deceleration values
506. roperties later in this manual for detailed information about entering configuration information General Wizard Screen The General screen lets you associate the tag to a Motion Group enter the Coordinate System Type select the Dimension for the tag i e the number of associated axes enter the associated axis information and select whether or not to update Actual Position values of the Coordinate System automatically during operation This screen has the same fields as the General Tab found under Coordinate System Properties Units Wizard Screen The Units screen is where you determine the units that define the coordinate system At this screen you define the Coordination Units and the Conversion Ratios This screen has the same fields as the Units Tab found under Coordinate System Properties Dynamics Wizard Screen The Dynamics screen is for entering the Vector values used for Maximum Speed Maximum Acceleration and Maximum Deceleration It is also used for entering the Actual and Command Position Tolerance values This screen has the same fields as the Dynamics Tab found under Coordinate System Properties Manual Adjust Button The Manual Adjust button is inactive when creating a Coordinate System tag via the Wizard screens It is active on the Dynamics Tab of the Coordinate System Properties screen It is described in detail in the Editing Coordinate System Properties later in this chapter Tag Wizard Screen The Ta
507. rough a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module The Synchronous Connection Fault bit is cleared when the connection is reestablished Timer Event Fault If the Timer Event Fault bit attribute is set it indicates that the associated servo module has detected a problem with the module s Publication 1756 UMO006G EN P May 2005 13 118 Motion Object Attributes Drive Warning Bit Attributes timer event functionality used to synchronize the motion module s servo loop to the master timebase of the Logix rack i e Coordinated System Time The Timer Event Fault bit can only be cleared by reconfiguration of the motion module Module Hardware Fault If the Module Hardware Fault bit attribute is set it indicates that the associated servo module has detected a hardware problem that in general is going to require replacement of the module to correct SERCOS Ring Fault The SERCOS Ring Fault bit sets when the SERCOS module detects that a problem has occurred on the SERCOS ring i e the light has been broken or a drive has been powered down All of the warning bit attributes defined below are not supported in the initial release of this object Internal Access Rule Attribute Name Data Type Semantics of Values GSV Public
508. rties mysercos1axis lel x Homina Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Axis Configuration Servo Y Motion Group mymotiongroup E New Group Associated Module Madule lt none gt Module Type lt none gt Node 0 Y Figure 6 7 Axis Properties General Tab for Axis Servo Drive Use this tab to do the following for an axis of the data type AXIS SERVO DRIVE e Configure the axis for Servo operation or for position Feedback Only Publication 1756 UMO006G EN P May 2005 6 10 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Assign the axis or terminate the assignment of an axis to a Motion Group e Associate the axis with a SERCOS Drive e View the base node of the associated 1756 MxxSE motion module Note RSLogix 5000 supports only one Motion Group tag per controller When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mod
509. ruction that initiates a hookup diagnostic process on the targeted SERCOS module axis The Test Status attribute can thus be used to determine when the MRHD initiated operation has successfully completed Conditions may occur however that make it impossible for the control to properly perform the operation When this is the case the test process is automatically aborted and a test fault reported that is stored in the Test Status output parameter Internal Access Rule Attribute Name Data Type Semantics of Values GSV Test Direction Forward Test Status INT Enumeration 0 test process successful 1 test in progress 2 test process aborted by user 3 test process time out fault 2 seconds 4 test failed servo fault 5 test failed insufficient test increment 6 test failed wrong polarity 7 test failed missing signal 8 test failed device comm error 9 test failed feedback config error 10 test failed motor wiring error The Test Direction Forward attribute reports the direction of axis travel during the hookup test as seen by the SERCOS drive during the last test process initiated by a MRHD Motion Run Hookup Test instruction A Test Direction value of 1 forward indicates that the direction of motion as observed by the SERCOS drive was in the forward clockwise or positive direction Note that the value for Test Direction as determined by the MRHD process does not
510. rvo drive has detected a fault and has indicated such to the servo module via the Drive Fault input This fault condition is latched and requires execution of an explicit MAFR Motion Axis Fault ReseD or MASR Motion Axis Shutdown Reset instruction to clear The Module Fault Bit attribute is a collection of all faults that have module scope as opposed to axis scope Generally a these module faults are reflected by all axes supported by the given servo module Module Fault attribute information is passed from a physical module or device to the controller via an 8 bit value contained in the in the header of the Synchronous Input connection assembly Thus these fault bits are updated every coarse update period by the Motion Task The module s map driver should also monitor module Faults so module fault conditions can be reflected to the user through the Module Properties dialog All of the fault bit attributes defined below can be handled by the ControlLogix processor as a Major Fault by configuring the associated Group Object s General Fault Type Mechanism attribute accordingly Publication 1756 UMOO6G EN P May 2005 13 54 Motion Object Attributes Otherwise any specific fault handling must be done as part of the user program Internal Access Rule Attribute Name Data Type Semantics of Values GSV Publication 1756 UMO006G EN P May 2005 Direct Access Entire DINT ServoModuleFault 0 Control Sync Fault C
511. rvo Fault Bit Attributes 13 51 Drive Fault 13 53 Feedback Fault 13 52 Feedback Noise Fault 13 52 Negative Hardware Overtravel Faults 13 51 Negative Soft Overtravel Status 13 51 Position Error Fault 13 53 Positive Hardware Overtravel Faults 13 51 Positive Soft Overtravel Status 13 51 Servo Output Level 13 46 Servo Status Bit Attributes 13 46 Drive Enable Status 13 47 Home Input Status 13 48 Negative Overtravel Input Sta tus 13 48 Output Limit Status 13 48 Position Lock Status 13 48 Positive Overtravel Input Status Publication 1756 UMO06G EN P May 2005 16 Index 13 48 Process Status 13 48 Registration 1 Input Status 13 48 Registration 2 Input Status 13 48 Servo Action Status 13 47 Shutdown Status 13 47 Velocity Command 13 44 Velocity Error 13 45 Velocity Feedbac 13 45 Velocity Integrator Error 13 45 Status Attributes 13 7 Motion Status Attributes 13 7 Output Cam Lock Status 13 24 Output Cam Pending Status 13 23 Output Cam Status 13 23 Output Cam Transition Status 13 24 Motion attributes Changing configuration parameters 1 7 Understanding status and configuration parameters 1 7 Motion Axis Fault Reset 12 2 Motion Axis Gear 12 2 Motion Axis Home 12 2 Motion Axis Jog 12 2 Motion Axis Move 12 2 Motion Axis Position Cam 12 3 Motion Axis Shutdown 12 2 Motion Axis Shutdown Reset 12 2 Motion Axis Stop 12 2 Motion Axis Time Cam 12 3 Motion Calculate Cam Profile 12 3 Motion Calculate Slave Values 12 3 Motion Change Dyn
512. ry Limit effective If you do not and then click either the OK or the Apply button this limit is not set Receive Error Counters This box displays the number of receiving errors that occurred in the following categories e Bad CRC errors that occurred on received frames messages e Bus time out when the receiver timed out e CRC error multicast receive errors Transmit Error Counters This box displays the number of transmitting errors that occurred in the following categories e Bad CRC errors that occurred on transmitted frames e Bus Time out when the transmitter bus timed out Refresh Click on the Refresh button to refresh the tab When you refresh the tab if you re using then digital analog or motion counters are cleared modules another module the tab is refreshed but the counters are not cleared Assigning Additional You can assign additional AED B het B A tions You can assign up to 16 1756 MO2AE modules to eac Motion Modules ip Logix5000 controller Each module uses a maximum of two axes Publication 1756 UMOO6G EN P May 2005 3 20 X Adding and Configuring Your 1756 MO02AE 1756 M02AS 1756 HYD02 Motion Module Publication 1756 UMO006G EN P May 2005 Adding the 1756 M03SE 1756 MO08SE or 1756 M16SE Chapter 4 Configuring the 1756 MO3SE 1756 M08SE or 1756 M16SE Module This chapter reviews the necessary steps for configuring the 1756 MOSSE 1756 MO8SE or 1756 M16SE m
513. s When this sequence is performed in the Passive Homing Mode an external agent moves the axis until the marker is detected The home position is assigned to the axis position at the precise position where the marker was detected If Home Offset is non zero then the Home Position is offset from the point where the switch is detected by this value Passive Home with Switch then Marker This passive homing sequence is useful for multi turn rotary applications When this sequence is performed in the Passive Homing Mode an external agent moves the axis until the home switch and then the first encoder marker is detected The home position is assigned to the axis position at the precise position where the marker was detected If Home Offset is non zero then the Home Position is offset from the point where the switch is detected by this value Publication 1756 UMOO6G EN P May 2005 13 38 Motion Object Attributes Home Configuration Bits Internal Access Rule Data Type Semantics of Values SSV GSV Home Position Home Configuration Bits DINT 0 Reserved 1 Home Switch Normally Closed 2 Reserved 3 31 Reserved Home Switch Normally Closed The Home Switch Normally Closed bit attribute determines the normal state of the home limit switch used by the homing sequence The normal state of the switch is its state prior to being engaged by the axis during the homing sequence For example if the Home Switch Normally Closed bit
514. s set in the General tab of this dialog box with Position Loop Configuration e Axis Properties myservolaxis General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Position Gains Manual Adjust Proportional im 1 s Integral oo aa Differential oo r Velocity Gains Proportional o D 1 s o 0 1 ms s Integrator Hold Enabled Feedforward Gains Velocity oo Acceleration joo t Integral Cancel Apply Help Figure 6 32 Axis Properties Gains Tab for Axis Servo The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gains around an optional digitally synthesized inner velocity loop The parameters on this tab can be edited in either of two ways edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 50
515. s the only valid Home Sequences for Homing Mode are immediate or switch as no physical marker exists for the LDT or SSI feedback devices e Passive In this mode homing redefines the absolute position of the axis on the occurrence of a home switch or encoder marker event Passive homing is most commonly used to calibrate uncontrolled axes although it can also be used with controlled axes to create a custom homing sequence Passive homing for a given home sequence works similar to the corresponding active homing sequence except that no motion is commanded the controller just waits for the switch and marker events to occur Publication 1756 UMO006G EN P May 2005 6 44 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 e Absolute AXIS SERVO DRIVE and AXIS SERVO when associated with a 1756 HYD02 LDT feedback or 1756 M02AS SSI feedback module only In this mode the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device The only valid Home Sequence for an absolute Homing Mode is immediate In the LDT and SSI cases the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position less any enabled Absolute Feedback Offset to the reported position of the absolute feedback device Prior to execution of the absolute homing process u
516. s Output Limits Offset Fault Actions Tag Velocity Scaling 0 z osition Units s Manual Adjust Torque Scaling um Pasition Units s 2 Direction Scaling Ratio 0 Forward Reverse Scaling v Enable Low pass Output Filter Low pass Output Filter Bandwidth 000 0 Hertz OK Cancel Help Figure 6 37 Axis Properties Output Tab for Axis_Servo The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits e edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication 1756 UMOO06G EN P May 2005 6 74 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Velocity Scaling The Velocity Scaling attribute is used to convert the output of the servo loop into equiva
517. s also used in range limit and default value calculations during configuration based on the selected motor s specifications If the application uses a 3 1 gearbox and a 5 mm pitch ball screw and the user s Position Unit is say cm the Conversion Constant is again rational since we are Load Referenced The user sets the Conversion Constant to 20 000 Drive Counts cm based on the default Drive Resolution value of 200000 Drive Counts mm This system would work in this configuration without any loss of mechanical precision i e a move of 10 cm would move the actuator exactly 10 cm The Drive Scaling Bits attribute configuration is derived directly from the Drive Units attribute Internal Access Rule Attribute Name Data Type Semantics of Values GSV Drive Scaling Bits DINT Bit map 0 Scaling type 0 standard 1 custom 1 Scaling unit 0 rotary linear 2 Linear scaling unit 0 metric 1 english 3 Data Reference 0 motor 3 31 Reserved Scaling Type The Scaling Type bit attribute is used to enable custom scaling using the position velocity acceleration and torque scaling parameters defined by the SERCOS Interface standard When the bit is clear default these scaling parameters are all set based on the preferred Rockwell Automation SERCOS drive scaling factors Currently there is no Logix support for custom scaling Publication 1756 UMO006G EN P May 2005 13 132 Motion Object
518. s code of the motion engine in the module e g OxAF for the MO2AE module C2C Map Instance When the Axis Data Type attribute is specified to be Consumed then this axis is associated to the consumed data by specifying both the C2C Map Instance and the C2C Connection Instance For all other Axis Data Types if this axis is to be produced then this attribute is set to 1 Publication 1756 UMO006G EN P May 2005 Motion Object Attributes 13 3 one to indicate that the connection is off of the local controller s map instance Internal Access Rule Attribute Name Data Type Semantics of Values GSV SINT Producer Consumed axis s associated C2C map instance C2C Map Instance C2C Connection Instance When Axis Data Type is specified to be Consumed then this axis is associated to the consumed data by specifying both the C2C Map Instance and the C2C Connection Instance This attribute is the connection instance under the C2C map instance which provides the axis data being sent to it from another axis via a C2C connection For all other Axis Data Types if this axis is to be produced then this attribute is set to the connection instance under the local controller s map instance 1 that is used to send the remote axis data via the C2C connection Internal Access Rule Attribute Name Data Type Semantics of Values GSV Producer Consumed axis s associated C2C connection instance in reference to the
519. s disabled when RSLogix 5000 is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Limits Tab AXIS SERVO Use this tab to make the following offline configurations e enable and set maximum positive and negative software travel limits and e configure both Position Error Tolerance and Position Lock Tolerance and e set the servo drive s Output Limit Publication 1756 UMO06G EN P May 2005 Naming and Configuring Your Motion Axis 6 81 for an axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog Axis Properties myservolaxis Of X General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Soft Travel Limits Manual Adjust Maximum Positive foo Position Units Maximum Negative 0 0 Pasition Units Position Error Tolerance oo Position Units Position Lock Tolerance oo Position Units Output Limit 10 0 Volts Cancel Apply Help Figure 6 41 Axis Properties Limits Tab for Axis_Servo The parameters on this tab can be edited in either of two ways e edit on this tab by typing your parameter changes and then clicking on OK or Apply to save your edits edit in the Manual Adjust dialog click on the Manual Adjust button to open the Manual Adjust dialog to this tab and use the spin controls to edit parameter settings Your ch
520. s in axis oscillation and servo instability In certain cases Vel I Gain control is disabled One such case is when the servo output to the axis drive is saturated Continuing integral control behavior in this case would only exacerbate the situation When the Integrator Hold parameter is set to Enabled the servo loop automatically disables the integrator during commanded motion Due to the destabilizing nature of Integral Gain it is recommended that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice While the Vel I Gain if employed is typically established by the automatic servo tuning procedure Cin the Tune tab of this dialog box the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system in the Output tab Once this is done the Vel I Gain can be computed based on the current or computed value for the Vel P Gain using the following formula Vel I Gain 0 25 0 001 Sec mSec Vel P Gain 2 The typical value for the Velocity Proportional Gain is 15 mSec 2 Integrator Hold If the Integrator Hold parameter is set to e Enabled the servo loop temporarily disables any enabled position or velocity integrators whi
521. s online the parameters on this tab transition to a read only state When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Attributes The following attribute values can be monitored and edited in this dialog box Attribute Description VelocityLimitBipolar This attribute sets the velocity limit symmetrically in both directions If the command velocity exceeds this value VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 AccelerationLimitBipolar This attribute sets the acceleration and deceleration limits for the drive If the command acceleration exceeds this value AccelLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 TorqueLimitBipolar This attribute sets the torque limit symmetrically in both directions When actual torque exceeds this value TorqueLimitStatus of the DriveStatus attribute is set This attribute has a
522. s that the axis has been forced into the shutdown state Zero DAC Request Acknowledge When the Zero DAC Acknowledge bit is set the servo module acknowledges that the DAC output for the axis has been set to zero volts Abort Home Acknowledge When the Abort Home Acknowledge bit is set the servo module acknowledges that the active home procedure has been aborted Abort Event Acknowledge When the Abort Home Acknowledge bit is set the servo module acknowledges that the active registration or watch position event procedure has been aborted Change Pos Reference The Change Position Reference bit attribute is set when the Servo loop has switched to a new position coordinate system The Logix processor to uses this bit when processing new position data from the servo module to account for the offset implied by the shift in the reference point The bit is cleared when the Logix processor acknowledges completion of the reference position change by clearing its Change Cmd Reference bit Motion Object Attributes 13 51 Servo Fault Bit Attributes The Servo Fault Bits attribute is a collection of all fault attributes that are associated with the servo axis Servo Fault Bit attributes are passed from a servo module to the controller via a 32 bit value in the Synchronous Input connection axis data structure Thus these fault bits are updated every coarse update period All of the fault bit attributes defined below can be handled by the Con
523. sation Window 6 97 Manual Tune 6 98 Torque Offset 6 98 Velocity Offset 6 98 Output Tab SERVO_AXIS 6 72 Enable Low pass Output Filter 6 75 Low pass Output Filter Bandwidth 6 75 Manual Tune 6 76 Torque Scaling 6 74 Velocity Scaling 6 74 Output Tab Overview AXIS SERVO DRIVE 6 76 Enable Low pass Output Filter 6 79 Enable Notch Filter 6 78 Load Inertia Ratio 6 78 Low pass Output Filter Bandwidth 6 79 Manual Tune 6 80 Motor Inertia 6 78 Notch Filter 6 78 Torque Scaling 6 78 Servo Tab AXIS SERVO 6 22 Direct Drive Ramp Rate 6 24 Drive Fault Input 6 23 Enable Direct Drive Ramp Control 6 24 Enable Drive Fault Input 6 23 External Drive Configuration 6 23 Hydraulic 6 23 Torque 6 23 Velocity 6 23 Loop Configuration 6 23 Real Time Axis Information 6 24 Attribute 1 Attribute 2 6 24 Tag Tab 6 106 Data Type 6 108 Description 6 107 Name 6 107 Scope 6 108 Style 6 108 Tag Type 6 107 Tune Tab AXIS SERVO AXIS SERVO DRIVE 6 53 Damping Factor 6 55 Direction 6 54 Speed 6 53 Start Tuning 6 56 Torque AXIS SERVO 6 54 Torque Force AXIS SERVO DRIVE 6 53 Travel Limit 6 53 Publication 1756 UMO06G EN P May 2005 6 Index Tune 6 55 Axis Tag types alias tag 6 3 7 3 base tag 6 3 7 3 produced tag 6 3 Block diagrams for a 1756 M02AE module B 1 With a torque servo drive B 2 With a velocity servo drive B 3 C Catalog 6 33 coarse update period set 2 6 configure SERCOS interface m
524. se of the axis continues past its target speed until acceleration equals 0 Publication 1756 UMO006G EN P May 2005 Troubleshoot Axis Motion 15 5 Corrective action Use a Motion Axis Stop MAS instruction to stop the axis Or set up your instructions like this Jog PB Locat4 Data 0 My Axis OK m Motion Axis Jog i EN Axis My Ais Motion Control Li ON Direction ER Speed L1 Speed IP Use the same acceleration rate as the instruction that stops the axis Speed Units Accel Rate Or use a lower acceleration Jog PB Local4 Data 0 My Axis OK Use the same acceleration rate as the instruction that starts the axis Accel Units Decel Rate Decel Units Profile Merge Merge Speed Or use a higher acceleration Publication 1756 UMO06G EN P May 2005 15 6 Troubleshoot Axis Motion Why is there a delay when stop and then restart a jog Example Look for Publication 1756 UMO006G EN P May 2005 While an axis is jogging at its target speed you stop the axis Before the axis stops completely you restart the jog The axis continues to slow down before it speeds up You use a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you use a Motion Axis Jog MAJ instruction to start the axis again The axis doesn t respond right away It continues to slow down Eventually it speeds back up to
525. se status are transmitted along with the actual position data to the Logix processor The values of the selected attributes can be accessed via the standard GSV or Get Attribute List service Note The servo status data update time is precisely the coarse update period If a GSV is done to one of these servo status attributes without the having selected this attribute via the Drive Info Select attribute the attribute value is static and does not reflect the true value in the servo module Change Catalog button The Change Catalog button accesses the motor database and provides for selecting a new motor catalog number There are three boxes that can be used for refine the selection process Change Catalog Number x Catalog Number MPLA330P M OK Cancel Help Filters Voltage Family Feedback Type 230 0 H SRM Figure 6 18 Change Catalog Screen Catalog Number Lists the available catalog numbers from the Motor Database based on any selection criteria from the Filters fields Publication 1756 UMO006G EN P May 2005 6 34 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Filters There are three optional Filter fields that allow you to refine your search of the Motor Database The Filter boxes are defaulted to all Voltage Lets you select a voltage rating from the pull down list to broaden or narrow your search The default is all Family
526. shing e A major recoverable e Check the servo fault red light failure has occurred word for the source of e Acommunication fault the error timer fault or NVS e Clear the fault condition update is in progress using the motion e The OK contact has instructions opened e Resume normal operation e Ifthe flashing persists reconfigure the module Solid red e A potential e Reboot the module light eee e f the solid red persists Lina eas replace the module e The OK contact has opened Ifthe LED Then the module status is Take this action displays Off The axis is not used e None if you are not using this axis e f you are using this axis make sure you configured the module and associated an axis tag with the module Hashing The axis is in the normal servo None You can change the green light loop inactive state servo axis state by executing motion instructions Steady The axis is in the normal servo None You can change the green light loop active state servo axis state by executing motion instructions Flashing The axis servo loop error e Correct the source of the red light tolerance has been exceeded problem e Clear the servo fault using a fault reset instruction e Resume normal operation Troubleshoot Module Lights If the LED displays Then the module status is Take this action Solid red light 1756 M02AE Module Status Using the DRIVE Indicator An axis encoder
527. sing its products At http support rockwellautomation com you can find Support technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3223 Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell 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 United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return p
528. sing the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled IMPORTANT Position For the SSI feedback transducer no physical marker pulse exists However a pseudo marker reference is established by the MO2AS module firmware at the feedback device s roll over point A single turn Absolute SSI feedback device rolls over at its maximum turns count 1 rev A multi turn Absolute SSI feedback device there are multiple revs or feedback baseunit distances the device rolls over at its maximum turns count which is usually either 1024 or 2048 If you need to establish the roll over of the feedback device a ladder rung using an SSV to set Home Sequence equal Home to marker with the following parameters Class Name SSI Axis Attribute Name Home Sequence and Value 2 to Marker must be added to the application program cannot be set Axis Properties and must be reset back to its initial value 0 Immediate or 1 Switch after establishing the roll over The Home Sequence to Marker must be used to allow feedback to travel until the roll over i e pseudo marker is found This must be done without the motor attached to any axis as this could cause up to Maximum number of turn s before pseudo marker is found Type the desired absolute position in position units for the axis after the specified homing sequence has been completed In most cases this position is set to zero although any
529. sion is divided into the major revision and minor revision The major revision displayed statically is chosen on the Select Module Type dialog The major revision is used to indicate the revision of the interface to the module The minor revision is used to indicate the firmware revision Select the minor revision number of your module Electronic Keying Select one of these keying options for your module during initial module configuration Exact Match all of the parameters must match or the inserted module rejects the connection Compatible Module the Module Types Catalog Number and Major Revision must match The Minor Revision of the physical module must be equal to or greater than the one specified in the software or the inserted module rejects the connection Disable Keying Controller does not employ keying at all ATTENTION Changing the Electronic Keying selection may cause the connection to the module to be broken and may A result in a loss of data Be extremely cautious when using this option if used incorrectly this option can lead to personal injury or death property damage or economic loss Status This is a Read Only field that displays the Controllers current opinion of the module Standby A transient state that occurs when shutting down Faulted It is unable to communicate with the module When Faulted is displayed check the Connection Tab fore the fault listing Publication 1756 UMO
530. sition cam when the last Motion Group Strobe Position MGSP instruction was executed The Strobe Master Offset is returned in master position units The Strobe Master Offset will show the same unwind characteristic as the position of a linear axis Internal Access Rule Attribute Name Data Type Semantics of Values GSV Strobe Master Offset REAL Master Position Units Start Master Offset The Start Master Offset is the position offset that was applied to the master side of the position cam when the last Motion Axis Move MAM instruction with the move type set to Absolute Master Offset or Incremental Master Offset was executed The Start Master Offset is returned in master position units The Start Master Offset will show the same unwind characteristic as the position of a linear axis Publication 1756 UMO006G EN P May 2005 Motion Object Attributes 13 15 Internal Access Rule Attribute Name Data Type Semantics of Values GSV Start Master Offset REAL Master Position Units Publication 1756 UMOO06G EN P May 2005 13 16 Motion Object Attributes Motion Status Bit Attributes This section describes the various Motion Axis Object status bit attributes Motion Status Bits Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motion Status Bits DINT Direct Access Entire DINT MotionStatus 0 Acceleration Status AccelStatus 1 Decelera
531. stablish the absolute machine reference position The Absolute Home Mode is invalid Note If using Single turn or Multi turn Absolute SSI Feedback transducers see the Homing Tab information for important Publication 1756 UMOO6G EN P May 2005 6 28 Naming and Configuring Your Motion Axis details concerning Absolute feedback tranducer s marker reference When the servo axis is associated to a 1756 HYD02 motion module then LDT Linear Displacement Transducer is the only option for Feedback Type e Axis Properties myservolaxis Biel X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type LDT Linear Displacement Transducer LDT Type Recirculations 1 Conversion Constant 1080 00 Calibration Constant 3 0 us in v Length 36 0 in Y Calculate Scaling a Position UnitsZin Calculated Values Minimum Servo Update Period 349 000000 M Enable Absolute Feedback Absolute Feedback Offset oo Pasition Units Publication 1756 UMO006G EN P May 2005 OK Cancel Help Figure 6 16 Servo Feedback Tab for 1756 HYD02 LDT Type This field selects the type of LDT to use to provide feedback to the Hydraulic module The available types are PWM Start Stop Rising or Start Stop Falling Recirculations Use this field to set the number of repetitions to use to
532. ster Position Filter Bandwidth The Master Position Filter Bandwidth field is enabled when the Enable Position Filter checkbox is selected This field controls the bandwidth for master position filtering Enter a value in Hz in this field to set the bandwidth to for the Master Position Filter TTTTNTUEO value of zero for Master Position Filter Bandwidth effectively disables the master position filtering Press Apply to accept your edits Naming and Configuring Your Motion Axis 6 21 Select the Units tab to access the Axis Properties Units dialog e Axis Properties myservolaxis Efel X Tune Dynamics Gans Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Pasition Units Position Units Average Velocity Timebase 0 25 Seconds Units Tab Cancel Apply Help Figure 6 12 Axis Properties Units Tab The Units Tab is the same for all axis data types Use this tab to determine the units to define your motion axis When RSLogix 5000 software is online and the controller transitions to hard run or the servo loop is on i e active then all the attributes on this tab transition to a read only state When any attribute transitions to a read only state then any pending attribute changes are reverted When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog
533. sured acceleration and deceleration values for the last run MRAT Motion Run Axis Tuning instruction These values are used in the case of an external torque servo drive configuration to calculate the Tune Inertia value of the axis and are also typically used by a subsequent MAAT Motion Apply Axis Tune to determine the tuned Motion Object Attributes 13 123 values for the Maximum Acceleration and Maximum Deceleration attributes Internal Access Rule Attribute Name Data Type Semantics of Values GSV Tune Acceleration REAL Position Units Sec2 GSV Tune Deceleration REAL Position Units Sec2 Tune Inertia The Tune Inertia value represents the total inertia for the axis as calculated from the measurements made during the last MRAT Motion Run Axis Tune initiated tuning process In actuality the units of Tune Inertia are not industry standard inertia units but rather in terms of percent 96 of rated drive output per MegaCounts Sec of feedback input In this sense it represents the input gain of torque servo drive These units represent a more useful description of the inertia of the system as seen by the servo controller The Tune Inertia value is used by the MAAT Motion Apply Axis Tune instruction to calculate the Torque Scaling Internal Access Rule GSV Attribute Name Data Type Semantics of Values If the Tune Inertia value exceeds 10096Rated MegaCounts Per Second performance of the digital s
534. system step response that have no overshoot but have a significantly lower servo bandwidth The default value for the Damping Factor of 0 8 should work fine for most applications Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Damping Factor REAL Drive Model Time Constant The value for the Drive Model Time Constant represents lumped Internal Access Rule model time constant for the drives current loop used by the MRAT instruction to calculate the Maximum Velocity and Position Servo Bandwidth values The Drive Model Time Constant is the sum of the drive s current loop time constant the feedback sample period and the time constant associated with the velocity feedback filter This value is set to a default value when the axis is configured based on the specific servo module selection This value is only used by MRAT when the axis is configured for an External Torque Servo Drive Attribute Name Data Type Semantics of Values SSV GSV Drive Model Time Constant REAL Sec Velocity Servo Bandwidth The value for the Velocity Servo Bandwidth represents the unity gain Publication 1756 UMO006G EN P May 2005 bandwidth that is to be used to calculate the gains for a subsequent MAAT Motion Apply Axis Tune instruction The unity gain bandwidth is the frequency beyond which the velocity servo is unable to provide any significant position disturbance correction In general within the co
535. t Disable 13 41 Fast Shutdown 13 41 Fast Stop 13 41 Hard Disable 13 41 Hard Shutdown 13 41 Motion Homing Configuration 13 30 Active Homing 13 32 Active Bi directional Home with Marker 13 33 Active Bi directional Home with Switch 13 32 Active Bi directional Home with Switch then Marker 13 34 Active Immediate Home 13 32 Active Uni directional Home with Mark er 13 36 Active Uni directional Home with Switch 13 35 Active Uni directional Home with Switch then Marker 13 36 Home Configuration Bits 13 38 Home Switch Normally Closed 13 38 Home Mode 13 30 Absolute 13 31 Active 13 31 Passive 13 31 Home Offset 13 38 Index 9 Home Position 13 38 Home Return Speed 13 39 Home Sequence and Home Di rection 13 32 Home Speed 13 39 Passive Homing 13 37 Passive Home with Marker 13 37 Passive Home with Switch 13 37 Passive Home with Switch then Marker 13 37 Passive Immediate Home 13 37 Motion Planner Configuration At tributes 13 25 Master Input Configuration Bits 13 26 Master Delay Compensa tion 13 26 Master Position Filter 13 27 Master Position Filter Band width 13 27 Output Cam Execution Targets 13 25 Motion Unit Configuration Attributes 13 28 Average Velocity Timebase 13 28 Position Units 13 28 Position Unwind 13 30 Rotary Axis 13 29 Interface Attributes 13 1 Axis Configuration State 13 5 Axis Data Type 13 4 Consumed 13 4 Feedback 13 4 Generic 13 4 Servo 13 4 Servo Drive 13 4 Virtual 13 4 Axis Instance 13 1
536. t be dro EX d eden 13 147 Driye erp MPH sae 13 147 Position Proportional Gain xa 4 vs box xx wes 13 147 Position Integral G2310 3 9 kee Sete RAPIT ese es 13 149 Velocity Feedforward Gain eee es 13 150 Acceleration Feedforward Gain 13 151 Velocity Proportional Gaitey 4 Cox 48 Sexe E 13 152 Velocity Integral Goa v edema t o net 13 153 Output LP Filter Bandwidth 22 voe wide we 13 154 Output Notch Filter Frequency vs vo m e 13 155 Torque Scalig opas qud ebbe pat wae POR 13 155 Integrator Hold Boable stone weeded d Pure a 13 156 Advanced Drive Gain Attributes 13 156 Drive Liis seca erg e e c ou eg Y esta 13 156 Maximum Positive Negative Travel 13 156 Position Error Tolerance dos wp cw edo 13 157 Position Lock ToletatiQese oe ocv oon he re nod 13 157 TORQUEO mits Soa stripe Viper ch oe Bc OR RENE AI PIRA 13 158 Continuous Torque Limit s dos ed aciei dts ss 13 159 Advanced Drive LUNIES uec aei oe y pote ped 13 159 Dive Offsets soiree ta RARER ERSTE SE RESO ES Sas 13 160 Friction Compensation 0 0 0 0 0 0 eee eee 13 160 Friction Compensation Window 13 160 Nelocdity Olselvex ik ene ed SEPA Ee Du Nur s ee 13 161 POGUE COR SEES a pear 508 ba area a SRA Ri aw Qt 13 161 Backlash Reversal Briton osx dd prae eee bag 13 161 Backlash Stabilization Window in 13 162 Drive Fault Actions ss act Seed ote ola PESE 13 163 Advanced St
537. t of the coordinated move instructions and in the future will specify the source and target systems for coordinate transformations Creating a tag of data type COORDINATE SYSTEM creates instances of this object The Multi Axis Coordination functionality provides the user with easy mechanisms for moving multiple axes of a Cartesian coordinate system in a coordinated fashion and in the future relating the axes of one coordinate system to the axes of another coordinate system The interfaces to both mechanisms are simple instructions which can be viewed as extensions to the already existing motion instructions RSLogix software must interface with Logix processor based motion related objects to affect motion behavior This is done through CIP message based services or a User Program The Motion Coordinate System Object is but one of many types of objects that are required to support coordinated motion within the Logix control architecture The diagram below illustrates how this object relates to other motion objects within the Logix system The following diagram shows the relationship between existing Device Motion Group Axis objects and the new Motion Coordinate System object Currently only one Motion Group instance is supported Publication 1756 UM006G EN P May 2005 13 176 Motion Object Attributes per controller The arrow labeled all coordinate groups would only apply if more than one Motion Group instance was supported
538. t set this filter has the effect of smoothing out the actual position signal from the master axis and thus smoothing out the corresponding motion of the slave axis The trade off for smoothness is an increase in lag time between the response of the slave axis to changes in motion of the master Note that the Master Position Filter also provides filtering to the extrapolation noise introduced by the Master Delay Compensation algorithm if enabled When the Master Position Filter bit is set the bandwidth of the Master Position Filter is controlled by the Master Position Filter Bandwidth attribute see below This can be done by setting the Master Position Filter bit and controlling the Master Position Filter Bandwidth directly Setting the Master Position Filter Bandwidth to zero can be used to effectively disable the filter The Master Position Filter Bandwidth attribute controls the activity of the single poll low pass filter that filters the specified master axis position input to the slave s gearing or position camming operation When enabled this filter has the effect of smoothing out the actual position signal from the master axis and thus smoothing out the corresponding motion of the slave axis The trade off for smoothness Publication 1756 UMOO6G EN P May 2005 13 28 Motion Object Attributes is an increase in lag time between the response of the slave axis to changes in motion of the master Internal Access Rule Attribute
539. t which the home event occurred The Home Offset is applied at the end of Motion Object Attributes 13 39 the specified homing sequence before the axis moves to the Home Position In most cases Home Offset is set to zero Internal Access Rule Data Type Semantics of Values SSV GSV Home Offset REAL Position Units After an active bi directional homing sequence has completed the axis is left at the specified Home Position If the Home Offset is non zero the axis will then be offset from the marker or home switch event point by the Home Offset value If the Home Offset is zero the axis will sit right on top of the marker or home switch point Home Speed The Home Speed attribute controls the speed of the jog profile used in the first leg of an active homing sequence as described in the above discussion of the Home Sequence Type attribute Internal Access Rule Data Type Semantics of Values SSV GSV Home Speed REAL Position Units Sec Home Return Speed The Home Return Speed attribute controls the speed of the jog profile used after the first leg of an active bi directional homing sequence as described in the above discussion of the Home Sequence Type attribute Internal Access Rule Data Type Semantics of Values SSV GSV Home Return Speed REAL Position Units Sec InhibitAxis Inhibits or uninhibts an axis Attribute Datatype Instruction Description InhibitAxis INT GSV To Set the attribute to d Block the controller f
540. tatus 13 108 Velocity Lock Status 13 107 Velocity Standstill Status 13 107 Velocity Threshold 13 107 Marker Distance 13 102 Motor Capacity 13 103 Motor Electrical Degrees 13 103 Negative Dynamic Torque Limi 13 102 Position Command 13 99 Position Error 13 100 Position Feedback 13 99 Position Integrator Error 13 100 Positive Dynamic Torque Limit 13 102 Power Capacity 13 103 Torque Command 13 102 Torque Feedback 13 102 Torque Limit Source 13 104 Velocity Command 13 101 Velocity Error 13 100 Velocity Feedback 13 101 Velocity Integrator Error 13 100 Servo Fault Configuration 13 90 Servo Fault Actions 13 90 Disable Drive 13 91 Shutdown 13 91 Status Only 13 92 Stop Command 13 91 Servo Gains Acceleration Feedforward Gain 13 75 Bandwidth Method 13 77 Integrator Hold Enable 13 85 Loop Gain Method 13 77 Maximum Bandwidth 13 78 Position Differential Gain 13 81 Position Integral Gain 13 78 Position Proportional Gain 13 76 Velocity Feedforward Gain 13 74 Velocity Integral Gain 13 80 Velocity Proportional Gain 13 79 Backlash Reversal Error 13 83 Backlash Stabilization Window 13 83 Directional Scaling Ratio 13 82 Maximum Bandwidth 13 80 Output LP Filter Bandwidth 13 84 Torque Scaling 13 82 Velocity Scaling 13 81 Servo Limits 13 85 Direct Drive Ramp Rate 13 88 Friction Compensation 13 88 Friction Compensation Window 13 88 Maximum Negative Travel 13 85 Maximum Positive Travel 13 85 Output Limit 13 87 Output Offset
541. tch Event Registration 1 Event Task Instance The Registration 1 Event Task Instance attribute indicates which user Task is triggered when a Registration 1 event occurs The user Task is triggered at the same time that the Process Complete bit is set for the instruction that armed the watch event This attribute attributes is set through internal communication from the user Task object to the Axis object when the Task trigger attribute is set to an select the Registration 1 Event Task Instance attribute of the Axis This attribute Publication 1756 UMO06G EN P May 2005 13 6 Motion Object Attributes should not be set directly by an external device This attribute is available to be read externally Get attributes List for diagnostic information Internal Access Rule Attribute Name Data Type Semantics of Values n a Registration 1 Event Task DINT Instance User Event Task that is triggered to execute when a Registration 1 event occurs An instance value of 0 indicates that no event task has been configured to be triggered by the Registration 1 Event Registration 2 Event Task Instance The Registration 2 Event Task Instance attribute indicates which user Task is triggered when a Registration 2 event occurs The user Task is triggered at the same time that the Process Complete bit is set for the instruction that armed the watch event This attribute attributes is set through internal communicat
542. te Publication 1756 UMO006G EN P May 2005 13 184 Motion Object Attributes Conversion Ratio Conversion Ratio describes the ratio of axis position units to coordination units for each axis Axis position units are defined in the Axis Properties page Internal Access Rule Attribute Name Data Type Semantics of Values n a Conversion Ratio Struct Struct Numerator UINT UINT length REALIn REAL numerator Length range 1 8 must be equal to Dimension n a Conversion Ratio Struct Struct Denominator UINT UINT length DINT n DINT denominator Length range 1 8 must be equal to Dimension Coordinate System Dynamics Configuration Maximum Speed The value of the Maximum Speed attribute is used by various motion instructions e g MCLM MCCM etc to determine the steady state speed of the coordinate system vector when the speed is specified as a percent of the Maximum Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSV Maximum Speed REAL Coordination Units Sec Maximum Acceleration The Maximum Acceleration attribute value is used by motion instructions such as MCLM MCCM etc to determine the acceleration rate to apply to the coordinate system vector when the acceleration is specified as a percent of the Maximum Internal Access Rule Attribute Name Data Type Semantics of Values GSV SSV Maximum Acceleration R
543. te Del Cross Reference Ctrl E Properties Figure 11 2 New Module Selection from Pop Up Menu Configuring an 8720MC Drive 11 3 The Select Module Type dialog displays Type 8720MC B014 2038 DSD HV150 SE Ultra3000 460VA4C SERCOS Drive 344 Cont 684 Peak 2038 DSD HV220 SE Ultra3000 460V4C SERCOS Drive 474 Cont 345 Peak 8720MC B014 37 20ML 460 VAC 750VDC SERCOS Drive 144 Cont 214 Peak 8720MC 460 VAC 750VDC SERCOS Drive 214 Cont 324 Peak 8720MC B027 8720MC 460 VAC 750VDC SERCOS Drive 274 Cont 414 Peak 8720MC B034 S720MC 460 VAC 750VDC SERCOS Drive 344 Cont 514 Peak 8720MC BO42 S720MC 460 VAC 750VDC SERCOS Drive 424 Cont 634 Peak 8720MC B048 S720MC 460 VAC 750VDC SERCOS Drive 484 Cont 724 Peak 8720MC D065 8720MC 750VDC SERCOS Drive 654 Cont 984 Peak 8720MC D078 8720MC 750VDC SERCOS Drive 784 Cont 1174 Peak 8720MC D097 8720MC 750VDC SERCOS Drive 974 Cont 1454 Peak 8720MC D120 8720MC 750VDC SERCOS Drive 1204 Cont 1804 Peak 8720MC D149 8720MC 750VDC SERCOS Drive 1494 Cont 2244 Peak 8720MC D180 8720MC 750VDC SERCOS Drive 1804 Cont 2704 Peak h Show Vendor Ai v Other v Specialty 1 0 Select All v Analog WM Digital V Communication I Motion v Controller Clear All DK Cancel Help Figure 11 3 Select Module Type Window 3 In the Select Module Type dialog select the desired drive module The 8720MC drives begin with th
544. te or stopped the The Coordinated Motion Status bit is cleared Internal Access Rule Attribute Name Data Type Semantics of Values GSV Axis Status Bits DINT Direct Access Entire DINT AxisStatus 0 Servo Action Status ServoActionStatus 1 Drive Enable Status DriveEnableStatus 2 Axis Shutdown Status ShutdownStatus 3 Configuration Update in Process ConfigUpdatelnProcess 4 31 Reserved Servo Action Status The Servo Action Status bit attribute is set when the associated axis is under servo control If the bit is not set then servo action is disabled Drive Enable Status The Drive Enable Status bit attribute is set when the Drive Enable output of the associated physical axis is currently enabled If the bit is not set then physical servo axis Drive Enable output is currently disabled Shutdown Status The Shutdown Status bit attribute is set when the associated axis is currently in the Shutdown state As soon as the axis is transitioned from the Shutdown state to another state the Shutdown Status bit is cleared Publication 1756 UMOO6G EN P May 2005 13 20 Motion Object Attributes Axis Fault Bit Attributes Configuration Update in Process The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service or an SSV in the user program As soon as such an
545. ted MAH instruction is not set when the IP bit leg is cleared In the case where this homing sequence is performed on a rotary axis and the Home Offset value is less than the deceleration distance when the home event is detected the control automatically adds one or more revolutions to the move distance This guarantees the resulting move to the Home Position is unidirectional Publication 1756 UMOO06G EN P May 2005 13 36 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Active Uni directional Home with Marker This active homing sequence is useful for single turn rotary and linear encoder applications when uni directional motion is required When this sequence is performed in the Active Homing Mode the axis moves in the specified Home Direction at the specified Home Speed until the marker is detected The Home Position is assigned to the axis position at the moment that the marker is detected If Home Offset is non zero then the Home Position is offset from the point where the marker was detected by this value The controller then continues to move the axis to the Home Position at the specified Home Speed using a trapezoidal move profile By setting a Home Offset greater than the deceleration distance unidirectional motion to the Home Position is insured However if the Home Offset value is less than the deceleration distance then the axis is simply decelerated to a stop The axis does NOT reverse direction to
546. teger value the Rotational Position Scaling attribute may be modified to a value that is integer divisible by the Unwind value The following examples demonstrate how the Drive Resolution value may be used together with the Conversion Constant to handle various applications Rotary Gear Head WITHOUT Aux Feedback Device Based on a rotary motor selection Drive Resolution would be expressed as Drive Counts per Motor Rev and be applied to the Rotational Position Resolution IDN The user would set the Conversion Constant to Drive Counts per user defined Position Unit If it is a 3 1 gearbox and the user s Position Unit is say Revs of the gear output shaft the Conversion Constant is 200 000 3 which is irrational But in this case the user could simply set the Drive Resolution to 300 000 Drive Counts Motor Rev and the Conversion Constant could then be set to 100 000 Drive Counts Output Shaft Rev This system would work with this configuration without any loss of mechanical precision i e a move of 1 output shaft revolution would move the output shaft exactly 1 revolution Publication 1756 UMOO6G EN P May 2005 13 130 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Linear Ball Screw WITHOUT Aux Feedback Device Again based on a rotary motor selection Drive Resolution would be expressed as Drive Counts per Motor Rev and be applied to the Rotational Position Resolution IDN The user would set the Conversion Const
547. tem Z These limitations may be expressed as follows Bandwidth Velocity 0 25 1 Z Bandwidth Torque For example if the bandwidth of the drive s torque loop is 100 Hz and the damping factor Z is 0 8 the velocity bandwidth is approximately 40 Hz Based on this number the corresponding gains for the loop can be computed Note that the bandwidth of the torque loop includes feedback sampling delay and filter time constant The velocity loop in the motion controller is not used when the servo module is configured for a velocity loop servo drive Thus establishing the Velocity Proportional Gain is not required in this case The typical value for the Velocity Proportional Gain is 250 Sec When configured for a torque current loop servo drive every servo update the current Velocity Error is also accumulated in variable called the Velocity Integral Error This value is multiplied by the Velocity Integral Gain to produce a component to the Servo Output or Torque Command that attempts to correct for the velocity error The characteristic of Vel I Gain correction however is that any non zero Velocity Error accumulates in time to generate enough force to make the correction This attribute of Vel I Gain makes it invaluable in applications where velocity accuracy is critical The higher the Vel I Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately I Gain control is intrinsically unstable Too mu
548. terrogate signal every Servo Update time and measures the time between the Start Stop pulses or the PWM pulse width The resolution of the position measurement is determined by the frequency of the clock used for the time measurement In the 1756 HYD02 design a 60 MHz clock is used and both edges of the clock signal are used for an effective time resolution of 8 3 nanoseconds This translates into a position resolution better than 0 001 inch Note It is possible to achieve higher resolutions with PWM transducers that are configured to perform multiple internal measurements recirculations and report the sum of those measurements in the pulse width Motion Object Attributes 13 63 LDT Type This attribute provides a selection for the LDT Type It provides the following enumerated values PWM Start Stop Rising and Start Stop Falling This attribute is only active if the Transducer Type is set to LDT Internal Access Rule Attribute Name Data Type Semantics of Values GSV LDT Type SINT Enumeration 0 PWM 1 Start Stop Rising 2 Start Stop Falling LDT Recirculations This attribute provides the number of recirculations This attribute is only active if the Transducer Type is set to LDT and LDT Type is set to PWM Internal Access Rule Attribute Name Data Type Semantics of Values GSV LDT Recirculations SINT LDT Calibration Constant This attribute provides for setting a calibration constant for LDT d
549. terrupt service routine is to read the latched encoder counter values from the EDC The change in the encoder counter value from the last timer event is computed and this delta value is added to a 32 bit signed integer position accumulator which represents the Actual Position of the axis The Actual Position value is used as feedback to the position servo loop and as input to the Watch Event Handler as shown in the above servo diagrams The delta position value represents velocity feedback which when configured to do so may be filtered and applied to the inner velocity servo loop Synchronous Serial Interface SSI Some servo modules like the 1756 M02AS provide an interface to transducers with Synchronous Serial Interface SSD outputs SSI outputs use standard 5V differential signals RS422 to transmit information from the transducer to the controller The signals consist of a Clock generated by the controller and Data generated by the transducer Publication 1756 UMO006G EN P May 2005 13 62 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Each transducer with an SSI output provides output data of a specified number of bits of either Binary or Gray code data The controller must generate a stream of clock pulses with the correct number of bits and a frequency within the range supported by the transducer The servo module can be configured via the Servo Axis Object to generate any number of clock pulses between 8 an
550. tes and Drive Status Bit attributes The list of Drive Status Attributes associated with the Motion Axis Object provides access to servo drive resident information for the axis These values may be used as part of the user program to perform real time measurements of drive operation A list of all Drive Status Attributes is shown in the table below Since Drive Status Attributes values are resident in the drive these values need to be transferred to the ControlLogix processor module on a regular basis To avoid unnecessary communication traffic transferring data that is not of interest it is necessary to explicitly activate transfer of the specific Drive Status Attribute data from the drive using the Axis Info Select attributes Thus a Servo Status Attribute value is ONLY valid if the attribute has been selected by one of the Axis Info Select attributes Otherwise the Drive Status Attribute value is forced to zero In order for the above position unit based attributes to return a meaningful value the Conversion Constant Axis Configuration Attribute must be established Furthermore attributes having velocity or acceleration units e g Position Units Sec must also have a valid coarse update period which is established through association with a fully configured Motion Group Object Motion Object Attributes 13 99 Each of the Drive Status Attributes appears in the following Servo block diagram Tug LOTT lanlum Haid rawa tae
551. tesian Future releases may contain Spherical Polar SCARA geometry for example Internal Access Rule Attribute Name Data Type Semantics of Values n a System Type DINT 0 unused 1 Cartesian Dimension This attribute configures the number of axes associated with this coordinate system Internal Access Rule Attribute Name Data Type Semantics of Values n a Dimension DINT 1 8 This attribute is settable ONLY as part of the create service Axes The list of axes associated to this instance of the Motion Coordinate System Internal Access Rule Attribute Name Data Type Semantics of Values n a Axes STRUCT OF Struct UINT UINT length ARRAY OF UDINT axis instance s UDINTS Length range 1 8 must be equal to Dimension Axes must be sent in the same order as the arrayed attributes are to be indexed Max Pending Moves The Max Pending Moves attribute is used to determine how many Move Pending queue slots should be created as part of the Coordinate System s create service Internal Access Rule Attribute Name Data Type Semantics of Values GSV Max Pending Moves This attribute is settable ONLY as part of the create service For first release this will limited to a queue of one Publication 1756 UMO006G EN P May 2005 Motion Object Attributes 13 183 Coordination Mode The Coordination Mode attribute configures which axes is used in velocity vector calculations that bein
552. that Position Integral Gain and Velocity Integral Gain be considered mutually exclusive If Integral Gain is needed for the application use one or the other but not both In general where static positioning accuracy is required Position Integral Gain is the better choice Publication 1756 UM006G EN P May 2005 13 154 Motion Object Attributes Output LP Filter Bandwidth While the Vel I Gain if employed is typically established by the automatic servo tuning procedure the Pos I Gain value may also be set manually Before doing this it must be stressed that the Torque Scaling factor for the axis must be established for the drive system Refer to Torque Scaling attribute description for an explanation of how the Torque Scaling factor can be calculated Once this is done the Vel I Gain can be computed based on the current or computed value for the Vel P Gain using the following formula Vel I Gain 0 25 0 001 Sec mSec Vel P Gain Assuming a Vel P Gain value of 0 25 Sec this results in a Vel I Gain value of 15 6 mSecl Sec The Output LP Low Pass Filter Bandwidth attribute controls the bandwidth of the drives low pass digital output filter The programmable low pass output filter is bypassed if the configured Output LP Filter Bandwidth for this filter is set to zero the default This output filter can be used to filter out or reduce high frequency variation of the drive output to the motor The lower the Output LP Filter Ba
553. the Pos P Gain using the following formula Pos I Gain 025 0 001 Sec mSec Pos P Gain 2 Assuming a Pos P Gain value of 100 Sec 1 this results in a Pos I Gain value of 2 5 0 1 mSec 1 Sec 1 Differential Position Differential Gain helps predict a large overshoot before it happens and makes the appropriate attempt to correct it before the overshoot actually occurs Proportional Velocity Gain Note This parameter is enabled for all loop types except Torque loop Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Servo Output or Torque Command that ultimately attempts to correct for the velocity error creating a damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonance effects If you know the desired unity gain bandwidth of the velocity servo in Hertz you can use the following formula to calculate the corresponding P gain Velocity P Gain Bandwidth Hertz 6 28 The typical value for the Velocity Proportional Gain is 250 Integral Velocity Gain Note This parameter is enabled for all loop types except Torque loop At every servo update the current Velocity Error is accumulated in a variable called the Velocity Integral Error This value is multiplied by the Velocity Integ
554. the Servo module By selecting the servo status attribute of interest from the enumerated list this attribute s value is transmitted along with the actual position data to the Logix processor Thus the servo status data update time is precisely the coarse update period Once the servo status attributes of interest are periodically updated in this fashion the values of these attributes may be accessed via the standard GSV or Get Attribute List service Note if a GSV is done to one of these servo status attributes without the having selected this attribute via the Axis Publication 1756 UMOO6G EN P May 2005 13 70 Motion Object Attributes Info Select attribute the attribute value is static and will not reflect the true value in the servo module Internal Access Rule Attribute Name Data Type Semantics of Values GSV Axis Info Select 1 DINT Axis Info Select 2 Enumeration 0 None default 1 Position Command 2 Position Feedback 3 Aux Position Feedback 4 Position Error 5 Position Int Error 6 Velocity Command 7 Velocity Feedback 8 Velocity Error 9 Velocity Int Error 10 Accel Command 11 Accel Feedback 12 Servo Output Level 13 Marker Distance 14 24 reserved 25 Absolute Offset Servo Polarity Bits Internal Access Rule Attribute Name Data Type Semantics of Values GSV Servo Polarity Bits DINT Enumeration 0 Feedback Polarity Negative 1 Servo
555. the associated axis is currently in the Shutdown state As soon as the axis is transitioned from the Shutdown state to another state the Shutdown Status bit is cleared Publication 1756 UMO006G EN P May 2005 13 48 Motion Object Attributes Publication 1756 UMO006G EN P May 2005 Process Status The Process Status bit attribute is set when there is an axis tuning operation or an axis hookup diagnostic test operation in progress on the associated physical axis Output Limit Status The Output Limit Status bit attribute is set when the magnitude of the output of the associated physical servo axis has reached or exceeded the configured Output Limit value If this bit is not set then the magnitude of the servo output is within the configured Output Limit value Position Lock Status The Position Lock Status bit attribute is set when the magnitude of the axis position error has become less than or equal to the configured Position Lock Tolerance value for the associated physical axis If this bit is not set then the magnitude of the axis position error is greater than the configured Position Lock Tolerance value Home Input Status The Home Input Status bit attribute represents the current state of the dedicated Home input This bit is set if the Home input is active and clear if inactive Registration 1 2 Input Status The Registration Input 1 and Registration Input 1 Status bit attributes represent the current state of the
556. the axis Jog PB lt Locat4 Data 0 gt My Axis OK A e Motion Axis Jog Axis My Axis Motion Control Jog 1 DN Direction 0 ER Speed Jog_1_Speed 500 IP5 Speed Units Units per sec Accel Rate Jog 1 Accel 200 Accel Units Units per sec2 Use the same deceleration rate 1 ieee P in both instructions Unite pera S Curve Disabled Programmed Jog PB lt Local 4 Data O gt uil ER In a MAS instruction set Change n m Decel to Yes The axis uses the Stoph pece Decel Rate of the instruction T 0e Decel Unts Units per sec2 Publication 1756 UMO006G EN P May 2005 Chapter 16 Purpose When Inhibit an Axis To block the controller from using an axis Inhibit an axis when Controller My Controller Tasks C Motion Groups ca My Motion Group You want to block the controller from using an 155 My Axis X axis because the axis is faulted or not installed z gt My Axis Y qa Ungrouped Axes You want to let the controller use the other axes Trends 20 Data Types 1 0 Configuration Example 1 Suppose you make equipment that has between 8 and 12 axes depending on which options your customer buys In that case set up one project for all 12 axes When you install the equipment for a customer inhibit those axes that the customer didn t buy Example 2 Suppose you have 2 production lines that use the same SERCOS ring And suppose one of the lines gets a fau
557. the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module e f you uninhibit a module while online and a fault condition occurs a connection is not made to the module Major Fault on Controller if Connection Fails checkbox Check this box to configure the controller so that failure of the connection to this module causes a major fault on the controller if the connection for the module fails Module Fault Displays the fault code returned from the controller related to the module you are configuring and the text detailing the Module Fault that has occurred The following are common categories for errors Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully Module Configuration Invalid The configuration in the module is invalid This error is commonly caused by the Electronic Key Passed fault Publication 1756 UMO006G EN P May 2005 Configuring an Ultra 3000 Drive 9 11 Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs betw
558. the motor from overheating Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Advanced Drive Limits Continuous Torque Limit REAL Rated The Continuous Torque Limit specifies the maximum percentage of the motors rated current that the drive can command on a continuous or RMS basis For example a Continuous Torque Limit of 150 limits the continuous current delivered to the motor to 1 5 times the continuous current rating of the motor The following advanced attributes map directly to SERCOS IDNs Thus for a detailed description of these attributes refer to the corresponding IDN descriptions found in the SERCOS Interface standard Since these attributes are automatically configured to reasonable default values manual configuration by the user is not required unless motivated by a specific application requirement Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Velocity Limit Bipolar REAL Position Units sec SSV GSV Acceleration Limit Bipolar REAL Position Units sec SSV GSV Velocity Limit Positive REAL Position Units sec SSV GSV Velocity Limit Negative REAL Position Units sec SSV GSV Velocity Threshold REAL Position Units sec SSV GSV Velocity Window REAL Position Units sec SSV GSV Velocity Standstill Window REAL Position Units sec SSV GSV Acceleration Limit Pos REAL Position Units sec
559. the number of counts per motor revolution as set in the Drive Resolution field of the Drive tab Click on Apply to accept your changes Homing Tab AXIS SERVO and Use this tab to configure the attributes related to homing an axis of the AXIS SERVO DRIVE type AXIS SERVO or AXIS SERVO DRIVE When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Axis Properties mysercos1axis OF x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Mode adve e Position o Position Units Offset o Position Units Sequence SwitchMarker Limit Switch Normally Open Closed Active Home Sequence Group Direction Forward Bi directional Speed oo Position Units s Return Speed oo Position Units s Cancel Apply Help Figure 6 25 Axis Properties Homing Tab for Axis_Servo_Drive Mode Select the homing mode Publication 1756 UM006G EN P May 2005 Naming and Configuring Your Motion Axis 6 43 Active In this mode the desired homing sequence is selected by specifying whether a home limit switch and or the encoder marker is used for this axis Active homing sequences always use the trapezoidal velocity profile For LDT and SSI feedback selection
560. the position bandwidth is 16 Hz Based on these numbers the corresponding proportional gains for the loops can be computed Note that the bandwidth of the torque loop includes feedback sampling delay and filter time constant Position Integral Gain or Pos I Gain improves the steady state positioning performance of the system By using Position Integral Gain it is possible to achieve accurate axis positioning despite the presence of such disturbances as static friction or gravity Increasing the integral gain generally increases the ultimate positioning accuracy of the system Excessive integral gain however results in system instability Every servo update the current Position Error is accumulated in variable called the Position Integral Error This value is multiplied by the Position Integral Gain to produce a component to the Velocity Command that attempts to correct for the position error The characteristic of Pos I Gain correction however is that any non zero Position Error accumulates in time to generate enough force to make the correction This attribute of Pos I Gain makes it invaluable in applications where positioning accuracy or tracking accuracy is critical The higher the Pos I Gain value the faster the axis is driven to the zero Position Error condition Unfortunately Pos I Gain control is intrinsically unstable Too much Pos I Gain results in axis oscillation and servo instability If the axis is configured for an external v
561. the target speed Jog PB Locak4 Data 0 My Axis OK pP Motion Axis Jog EN Axis Axis Motion Control Jog 1 DN Direction 0 Speed Jog_1_Speed 600 IP Speed Units Units per sec Accel Rate 1 Accel 200 Accel Units Units per sec2 Decel Rate Jog 1 Decel i 200 The instruction that Decel Units Units per sec2 starts the axis uses an Profile S Curve S Curve profile Merge Disabled Merge Speed Programmed Less Jog PB lt Local 4 Data 0 gt AS _ Motion Axis Stop EN Axis My Axis CDN Motion Control Stop 1 ER2 The instruction that stops the axis keeps the Stop Type Jog iP S Curve profile Suppose you use an MAS More gt gt instruction with the Stop Type set to Jog In that case the axis keeps the profile of the MAJ instruction that started the axis Troubleshoot Axis Motion 15 7 Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis An S Curve profile has to get acceleration to 0 before the axis can speed up again The following trends show how the axis stops and starts with a trapezoidal profile and an S Curve profile Start while decelerating Trapezoidal S Curve speed goes down until acceleration is 0 The axis speeds back up as soon as you start the jog The axis continues to slow
562. this button to return a module to its power up state by emulating the cycling of power Resetting a module causes all connections to or through the module to be closed and this may result in loss of control The Backplane tab on the Module Properties window is displayed for informational purposes You can use this tab to review diagnostic information about the module s communications over the backplane and the chassis in which it is located clear a fault and set the transmit retry limit Information on this tab is displayed only if you are online If you selected a Listen Only communication format when you created the module this tab is not available Publication 1756 UMO006G EN P May 2005 4 20 Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module The data on this tab comes directly from the module Figure 4 12 Module Properties Backplane Tab ControlBus Status This box either displays OK or one of the following errors e Receiver disabled e Multicast addresses disabled e RA GA miscompare To clear the module s backplane fault click the Clear Fault button ControlBus Parameters This box contains the following fields and button Multicast CRC Error Threshold This value is the point where it enters a fault state because of Cyclic Redundancy Check CRC errors Transmit Retry Limit Not applicable to motion module Publication 1756 UMO06G EN P May 2005 Configuring the 1756 MO3SE 1756 MO8SE or 1
563. this tag for up to A checked box indicates that this tag is available to remote controllers through controller to controller messaging If this box is checked the system displays the maximum number of consumers i e connections allowed for this tag The default number of consumers is 2 Base Tag If this tag is an alias this field displays the name of the motion group tag on which this alias was based The base tag actually defines the memory where the data element is stored Publication 1756 UMO06G EN P May 2005 5 10 The Motion Group Publication 1756 UMO006G EN P May 2005 Naming an Axis Chapter 6 Naming and Configuring Your Motion Axis This chapter describes how to name configure and edit your axis properties Be careful while reading this information Many of the screens appear to be the same and many are but some of the screens change in content based on the type of axis They are labeled where different so read through the entire section to make sure you find the correct explanation for the type of axis selected Naming an axis adds it to your application To name an axis Go to the File pull down menu select New Component and then select Tag File Edit View Search Logic Communications Tools Window Help New Ctrl h Open Ctrl 0 Close Save Ctrl S 4 Favorite New Component Routine E Compact Modul Marc ule Generate Report C8 Progra
564. ting The output of the servo drive to the motor as a function of position servo error both with and without servo torque limiting is shown below Without Servo Output Limiting With Servo Output Limiting Servo Amplifier Output Position Error Figure 13 23 Torque Limit Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Torque Limit Bipolar REAL Rated Publication 1756 UMO006G EN P May 2005 The torque limit specifies the maximum percentage of the motors rated current that the drive can command as either positive or negative torque For example a torque limit of 150 shall limit the current delivered to the motor to 1 5 times the continuous current rating of the motor Continuous Torque Limit Motion Object Attributes 13 159 The Torque limit attribute provides a method for controlling the continuous torque limit imposed by the drive s thermal model of the motor Increasing the Continuous Torque Limit increases the amount of continuous motor torque allowed before the drive either folds back the motor current or the drive declares a motor thermal fault Motors equipped with special cooling options can be configured with a Continuous Torque Limit of greater than 10096 rated to attain higher continuous torque output from the motor Motors operating in high ambient temperature conditions can be configured with a Continuous Torque Limit of less than 10096 rated torque to protect
565. tion Abort Home Request When the Abort Home Request bit is set any active homing procedures are cancelled Abort Event Request When the Abort Event Request bit is set any active registration or watch event procedures are cancelled Change Cmd Reference The Change Command Reference Request bit attribute is set when the Logix processor has switched to a new position coordinate system for command position The servo module processor uses this bit when processing new command position data from the Logix processor to account for the offset implied by the shift in the reference point The bit is cleared when the Servo module acknowledges completion of the reference position change by clearing its Change Position Reference bit Publication 1756 UMO006G EN P May 2005 13 50 Motion Object Attributes Axis Response Bit Attributes Internal Access Rule Attribute Name Data Type Semantics of Values GSV Publication 1756 UMO006G EN P May 2005 Axis Control Bits DINT 0 Abort Process Acknowledge 1 Shutdown Acknowledge 2 Zero DAC Acknowledge 3 Abort Home Acknowledge 4 Abort Event Acknowledge 5 14 Reserved 15 Change Pos Reference 1 6 31 Reserved Abort Process Acknowledge When the Abort Process Acknowledge bit is set the servo module acknowledges that the tuning or test process has been aborted Shutdown Request Acknowledge When the Shutdown Acknowledge bit is set the servo module acknowledge
566. tion and Maximum Deceleration and are used by the Coordinated Motion instructions in calculations when their operands are expressed as percent of Maximum The Coordination Units to the right of the edit boxes automatically change when the coordination units are redefined at the Units screen Maximum Speed Enter the value for Maximum Speed to be used by the Coordinated Motion instructions in calculating vector speed when speed is expressed as a percent of maximum Publication 1756 UM006G EN P May 2005 7 14 Creating amp Configuring Your Coordinate System Tag Dynamics Tab Manual Adjust Publication 1756 UMO006G EN P May 2005 Maximum Acceleration Enter the value for Maximum Acceleration to be used by the Coordinated Motion instructions to determine the acceleration rate to apply to the coordinate system vector when acceleration is expressed as a percent of maximum Maximum Deceleration Enter the value for Maximum Deceleration to be used by the Coordinated Motion instructions to determine the deceleration rate to apply to the coordinate system vector when deceleration is expressed as a percent of maximum The Maximum Deceleration value must be a non zero value to achieve any motion using the coordinate system Position Tolerance Box In the Position Tolerance Box values are entered for Actual and Command Position Tolerance values See the Logix5000 Motion Instruction Set Reference Manual 1756 RM007 for more information
567. tion 13 160 Friction Compensation Window 13 160 Torque Offset 13 161 Velocity Offset 13 161 Drive Power Attributes 13 167 Bus Regulator ID 13 168 Power Supply ID 13 167 PWM Frequency Select 13 168 Drive Warning Bit Attributes 13 118 Cooling Error Warning 13 119 Drive Overtemperature Warning 13 118 Motor Overtemperature Warn ing 13 119 Overload Warning 13 118 Module Fault Bit Attributes 13 116 Control Sync Fault 13 117 Module Hardware Fault Index 13 13 118 Module Sync Fault 13 117 SERCOS Ring Fault 13 118 Timer Event Fault 13 117 Motor and Feedback Configuration 13 136 Aux Feedback Ratio 13 138 Feedback Configuration 15 139 Feedback Polarity 13 140 Feedback Type 13 139 Linear Feedback Unit 15 159 Feedback Interpolation 13 140 Feedback Resolution 13 138 Feedback Type 13 137 Feedback Units 13 138 Motor Data 13 136 Motor ID 13 136 SERCOS Error Code 13 120 Servo Drive Configuration Attributes 13 124 Advanced Scaling Attributes 13 131 Data Reference 13 132 Linear Scaling Unit 13 132 Scaling Type 13 131 Scaling Unit 13 132 Advanced Servo Configuration Attributes 13 125 Drive Configuration 13 124 Drive ID 13 125 Drive Polarity 13 133 Advanced Polarity At tributes 13 134 Custom Polarity 13 134 Negative Polarity 13 134 Positive Polarity 13 134 Drive Resolution 13 128 Drive Travel Range Limit 13 129 Drive Units 13 128 Fault Configuration Bits 13 126 Drive Enable Input Check ing 13 127 Drive Enable Input Fault H
568. tion Error at constant speed is negative the actual position of the axis is abead of the command position If this occurs decrease the Velocity Feedforward Gain such that the Position Error is again positive Note that reasonable maximum velocity acceleration and deceleration values must be entered to jog the axis The Acceleration Feedforward Gain attribute is used to provide the Torque Command output necessary to generate the commanded acceleration It does this by scaling the current Command Acceleration by the Acceleration Feedforward Gain and adding it as an offset to the Servo Output generated by the servo loop With this done the servo loops do not need to generate much control effort hence the Position and or Velocity Error values are significantly reduced When used in conjunction with the Velocity Feedforward Gain the Acceleration Feedforward Gain allows the following error of the servo system during the acceleration and deceleration phases of motion to be reduced to nearly zero This is important in applications such as electronic gearing and synchronization applications where it is necessary that the actual axis position not significantly lag behind the commanded position at any time Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Acceleration Feedforward REAL 96 Gain The optimal value for Acceleration Feedforward is 10096 theoretically In reality however the value may need to be t
569. tion Icon If you are Check this checkbox to offline put a place holder for a module you are configuring online stop communication to a module If you inhibit the module while you are online and connected to the module the connection to the module is nicely closed The module s outputs go to the last configured Program mode state If you inhibit the module while online but a connection to the module has not been established perhaps due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted If you uninhibit a module clear the checkbox while online and no fault condition occurs a connection is made to the module and the module is dynamically reconfigured if you are the owner controller with the configuration you have created for that module If you are a listener have chosen a Listen Only Communications Format you can not re configure the module If you uninhibit a module while online and a fault condition occurs a connection is not made to the module Publication 1756 UMO006G EN P May 2005 Major Fault on Controller if Connection Fails checkbox Check this box to configure the controller so that failure of the connection to this module causes a major fault on the controller if the connection for the module fails Module Fault Displays the fault code returned from the controller re
570. tion Specification for a detailed description of these instructions The accuracy of the registration position value saved as a result of a registration event is a function of the delay in recognizing the specified transition typically 1 usec for hardware registration and the speed of the axis during this time The uncertainty in the registration position is the distance traveled by the axis during this interval as shown by the equation below Position Units Uncertainty Axis speed X Delay Second Use the formula given above to calculate the maximum registration position error for the expected axis speed Alternatively you can calculate the maximum axis speed for a specified registration accuracy by re arranging this formula as shown below Position Units Desired Accuracy Position Units Maximum Speed Second Delay The two Registration Time values contain the lower 32 bits of CST time at which their respective registration events occurred Units for this attribute are in microseconds Internal Access Rule Attribute Name Data Type Semantics of Values GSV Registration 1 Time DINT Lower 32 bits of CST time GSV Registration 2 Time DINT Lower 32 bits of CST time Interpolation Time Interpolated Time is the 32 bit CST time used to calculate the interpolated positions When this attribute is updated with a valid CST value the Interpolated Actual Position and Interpolated Command Position values
571. tion Status DecelStatus 2 Move Status MoveStatus 3 Jog Status JogStatus 4 Gearing Status GearingStatus 5 Homing Status HomingStatus 6 Stopping Status StoppingStatus 7 Homed Status HomedStatus 8 Position Cam Status PositionCamStatus 9 Time Cam Status TimeCamStatus 10 Position Cam Pending Status PositionCamPendingStatus 11 Time Cam Pending Status TimeCamPendingStatus 12 Gearing Lock Status GearingLockStatus 13 Position Cam Lock Status PositionCamLockStatus 14 Reserved Time Cam Lock Status 15 Master Offset Move Status Master Offset MoveStatus 16 Coordinated Motion Status CoordinatedMotionStatus 17 31 Reserved Publication 1756 UMO006G EN P May 2005 Acceleration Deceleration Status The Acceleration and Deceleration Status bit attributes can be used to determine if the axis is currently being commanded to accelerate or decelerate If neither bit is set then the axis is running at steady state velocity or at rest Motion Object Attributes 13 17 Move Status The Move Status bit attribute is set if a Move motion profile is currently in progress As soon as the Move is complete or superseded by some other motion operation the Move Status bit is cleared Jog Status The Jog Status bit attribute is set if a Jog motion profile is currently in progress As soon as the Jog is complete or superseded by some other motion operation the Jog Status bit is cleared
572. tion units Drive Polarity The polarity of the servo loop of the drive set by executing the Command amp Feedback Test e Positive e Negative Note Proper wiring guarantees that the servo loop is closed with negative feedback However there is no guarantee that the Publication 1756 UMO06G EN P May 2005 6 52 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 servo drive has the same sense of forward direction as the user for a given application Negative Polarity inverts the polarity of both the command position and actual position data of the servo drive Thus selecting either Positive or Negative Drive Polarity makes it possible to configure the positive direction sense of the drive to agree with that of the user This attribute can be configured automatically using the MRHD and MAHD motion instructions Modifying polarity values automatically input by running the Command amp Feedback Test can cause a N runaway condition Test Marker Runs the Marker test which ensures that the encoder A B and Z channels are connected correctly and phased properly for marker detection When the test is initiated you must manually move the axis one revolution for the system to detect the marker If the marker is not detected check the encoder wiring and try again Test Feedback Runs the Feedback Test which checks and if necessary reconfigures the Feedback Polarity setting When the test
573. tional Tuning profile can be used to tune Friction Compensation and Torque Offset When configured for a hydraulics External Drive Type the bi directional tuning algorithm also computes the Directional Scaling Ratio Tune Friction Compensation The Tune Friction Compensation bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Friction Compensation Gain This tuning configuration is only valid if configured for bi directional tuning If this bit is clear false the value for the Friction Compensation Gain is not affected Publication 1756 UMOO6G EN P May 2005 13 98 Motion Object Attributes Servo Drive Status Attributes Drive Status Attributes Publication 1756 UMO006G EN P May 2005 Tune Torque Offset The Tune Torque Offset bit attribute determines whether or not the MAAT Motion Apply Axis Tune instruction calculates a value for the Torque Offset This tuning configuration is only valid if configured for bi directional tuning If this bit is clear false the value for the Torque Offset is not affected The following sections define in more detail the behavior of the various status attributes associated with the Servo Drive specific behavior of the Motion Axis Object Status attributes are by definition read access only The following Servo specific Status Attributes are divided into 3 categories Drive Status attributes Drive Commissioning Status attribu
574. tix 6000 Drive and Node set to Auxiliary This also places a spat C on the Aux Feedback Tab and you must go there and select the appropriate values On the Drive Motor Tab the Loop Configuration is changed to Aux Feedback Only Publication 1756 UMO006G EN P May 2005 6 14 Naming and Configuring Your Motion Axis General Tab AXIS VIRTUAL The AXIS VIRTUAL General Tab is shown below Axis Properties myvirtualaxis General Motion Planner Units Conversion Homina Dynamics Tag Motion Group Publication 1756 UMO006G EN P May 2005 mymotiongroup New Group DK Cancel Apply Help __ Cancel e Figure 6 9 Axis Properties General Tab for Axis_Virtual Use this tab to associate the axis of the data type AXIS_VIRTUAL to a Motion Group Note RSLogix 5000 supports only one Motion Group tag per controller When RSLogix 5000 software is online the parameters on this tab transition to a read only state When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connect to the same controller using RSLogix 5000 and invoke the Axis Wizard or Axis Properties dialog the firmware allows only the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from
575. tly moving Internal Access Rule Attribute Name Data Type Semantics of Values GSV Acceleration Command Velocity Feedback REAL Position Units Sec Acceleration Command is the current acceleration reference to the output summing junction in the configured axis Position Units per Second for the specified axis The Acceleration Command value hence represents the output of the inner velocity control loop Acceleration Command is not to be confused with Command Velocity which represents the rate of change of Command Position input to the position servo loop Internal Access Rule Attribute Name Data Type Semantics of Values GSV Acceleration Command REAL Position Units Sec Acceleration Command is the current acceleration reference to the output summing junction in the configured axis Position Units per Second for the specified axis The Acceleration Command value hence represents the output of the inner velocity control loop Acceleration Command is not to be confused with Command Velocity Publication 1756 UMOO6G EN P May 2005 13 102 Motion Object Attributes Acceleration Feedback which represents the rate of change of Command Position input to the position servo loop Acceleration Feedback is the actual velocity of the axis as estimated by the servo module in the configured axis Position Units per Second The Estimated Acceleration is calculated by taking the differ
576. to any previous motion Position Control instruction Command Position data is transferred by the ControlLogix Processor to a physical axis as part of an ongoing synchronous data transfer process which results in a delay of one coarse update period Thus the Command Position value that is obtained is the command position that is acted upon by the physical servo axis one coarse update period from now Internal Access Rule Attribute Name Data Type Semantics of Values GSV Command Position REAL Position Units Strobe Position Publication 1756 UMO006G EN P May 2005 The figure below shows the relationship between Actual Position Command Position and Position Error for an axis with an active servo loop Actual Position is the current position of the axis as measured by the feedback device e g encoder Position error is the difference between the Command and Actual Positions of the servo loop and is used to drive the motor to make the actual position equal to the command position Position Error Command Position Actual Position Figure 13 1 Position Error Command position is useful when performing motion calculations and incremental moves based on the current position of the axis while the axis is moving Using command position rather than actual position avoids the introduction of cumulative errors due to the position error of the axis at the time the calculation is performed Strobe Actual Positio
577. tomatic tuning procedure but the value can be manually calculated if necessary using the following guidelines Torque Scaling 10096 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 10096 rated torque applied to the motor if the motor accelerates at a rate of 3000 Revs Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS2 0 033396 Rated Revs Per Second2 Naming and Configuring Your Motion Axis 6 75 Note If the Torque Scaling value does not reflect the true torque to acceleration characteristic of the system the gains also does not reflect the true performance of the system Enable Low pass Output Filter Select this to enable the servo s low pass digital output filter De select this to disable this filter Note During tuning if the controller detects a high degree of tuning inertia it enables the Low Pass Output Filter and calculates and sets a value for Low Pass Output Filter Bandwidth Low pass Output Filter Bandwidth With Enable Low pass Output Filter selected this value sets the bandwidth in Hertz of the servo s low pass digital output filter Use this output filter to filter out high frequency variation of the servo module output to the drive All output from the servo module greater than the Filter Bandwidth setting is filtered out and not sent to the drive
578. tor must be entered as an integer only Conversion Ratio Units The Conversion Ratio Units column displays the axis position units to coordination units used The Axis Position units are defined in the Axis Properties Units screen and the coordination units are defined in Coordinated System Properties Units screen These values are dynamically updated when changes are made to either axis position units or coordination units Click on the Apply button to preserve your edits or Cancel to discard your changes Creating amp Configuring Your Coordinate System Tag 7 13 Click on the Dynamics Tab to access the Coordinate System Properties Dynamics dialog w Coordinate System Properties mycoordsyst General Units Dynamics Tag Manual Adjust Maximum Speed o 0 Coordination Units s Maximum Acceleration oo Coordination Units s 2 Maximum Deceleration oo Coordination LInits s 2 Position Tolerance Actual oo Coordination Units Command oo Coordination Units r Vector DK Cancel Apply Help Figure 7 9 Coordinate System Properties Dynamics Tab Dynamics Tab The Dynamics dialog of the Coordinate System is for entering the Vector values used for Maximum Speed Maximum Acceleration and Maximum Deceleration It is also used for entering the Actual and Command Position Tolerance values Vector Box In the Vector box values are entered for Maximum Speed Maximum Accelera
579. trolLogix controllers in each chassis and each controller can control up to 32 axes of motion The ControlLogix controller provides the following motion support e Thirty eight motion instructions e A high speed motion task which manages motion functions and generates move profiles e The ability to control up to 16 Analog Encoder servo modules for a total of 32 axes e SERCOS support The Combo module is comprised of the 1756 L63A controller and the 1756 MO3SE SERCOS interface motion module The two modules are physically connected to each other to form a double wide ControlLogix module with two lenses and one door The hardware has the same properties as its two inclusive modules with these exceptions e User RAM is limited to 750Kbytes e It has 8Mbytes of Flash memory The Analog Encoder servo module provides an analog quadrature encoder servo drive interface The servo module receives configuration and move information from the ControlLogix controller and manages motor position and velocity The servo module supports Publication 1756 UMOO6G EN P May 2005 1 4 The ControlLogix Motion Control System e Connection capability for up to two drives e 10V analog outputs e Quadrature encoder inputs e Home limit switch inputs e Drive fault inputs Drive enable outputs e 5V or 24V position registration inputs e 250 Us position and velocity loop updates The Hydraulic Module 1756 HYD02 The Hydraulic Module implemen
580. trolLogix processor as a Major Fault by configuring the associated Group Object s General Fault Type Mechanism attribute accordingly Otherwise any specific fault handling must be done as part of the user program Internal Access Rule Attribute Name Data Type Semantics of Values GSV Servo Fault Bits DINT Direct Access Entire DINT ServoFault 0 Positive Soft Overtravel Fault PosSoftOvertravelFault 1 Negative Soft Overtravel Fault NegSoftOvertravelFault 2 Positive Hard Overtravel Fault PosHardOvertravelFault 3 Negative Hard Overtravel Fault 4 Feedback Fault FeedbackFault 5 Feedback Noise Fault FeedbackNoiseFault 6 Auxiliary Feedback Fault AuxFeedbackFault 7 Auxiliary Feedback Noise Fault 8 Position Error Fault PositionErrorFault 9 Drive Fault DriveFault 13 31 Reserved Positive Negative Soft Overtravel Status If either the Positive Overtravel Status or Negative Overtravel Status bit attributes are set it indicates that the axis has traveled or attempted to travel beyond the current configured values for Maximum Positive Travel or Maximum Negative Travel respectively As soon as the axis is moved back within these travel limits the corresponding Overtravel Status bit is cleared Positive Negative Hardware Overtravel Faults If either the Positive Hard Overtravel Status or Negative Hard Overtravel Status bit attributes are set it indicates that the axis has traveled bey
581. trols to edit parameter settings Your changes are saved the moment a spin control changes any parameter value Note The parameters on this tab become read only and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication 1756 UMO006G EN P May 2005 6 86 Naming and Configuring Your Motion Axis Publication 1756 UMO006G EN P May 2005 Hard Travel Limits Enables a periodic test that monitors the current state of the positive and negative overtravel limit switch inputs when Positioning Mode is set to Linear in the Conversion tab of this dialog If an axis is configured for hardware overtravel checking and if that axis passes beyond a positive or negative overtravel limit switch a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault is issued The response to this fault is specified by the Hard Overtravel setting in the Fault Actions tab of this dialog Soft Travel Limits Enables software overtravel checking for an axis when Positioning Mode is set to Linear Gin the Conversion tab of this dialog If an axis is configured for software overtravel limits and if that axis passes beyond these maxi
582. ts Units per sec2 stops the axis Decel Rate 1 Decel 200 Decel Units Units per sec2 Profile S Curve Merge Disabled S Curve profile Merge Speed Programmed Jog PB Locak4 Data 0 My Axis OK Motion Axis Jog KEN Axis My Axis Motion Control F DN gt Direction The MAJ instruction that stops the axis has a lower acceleration rate than the instruction that starts the axis Decel Units Units per sec2 Profile S Curve S Curve profile Merge Disabled Merge Speed Programmed lt lt Less Publication 1756 UMO006G EN P May 2005 15 4 Troubleshoot Axis Motion Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e An S Curve profile has to get acceleration to 0 before the axis can slow down e If you reduce the acceleration it takes longer to get acceleration to 0 e In the meantime the axis continues past it s initial target speed The following trends show how the axis stops with a trapezoidal profile and an S Curve profile Stop while accelerating and reduce the acceleration rate Trapezoidal speed goes past its target The axis slows down as soon as you start the The stopping instruction reduces the acceleration of the axis It stopping instruction The lower acceleration doesn t now takes longer to bring the acceleration rate to 0 The axis change the respon
583. ts a complete two axis digital position servo system using Linear Magnetostrictive Displacement Transducer LDT inputs providing analog servo output to external and proportional valves The Hydraulic module supports many of the same features as the 1756 MO2AE with these exceptions e Feed Forward adjust is supported in addition to single step Auto Tune e Gain ratio between extend direction and retract direction to accommodate hydraulic cylinder dynamics Intelligent transducer noise detection filtering in hardware and firmware replaces programmable IIR filtering e No encoder feedback e LDT interface consisting of Differential Interrogate and Return signals replaces the differential encoder interface Position feedback update rate is variable 0 5 1 and 2 milliseconds e A dead band eliminator algorithm compensates for proportional valves with overlap The Synchronous Serial Interface The ControlLogix SSI module implements a complete two axis digital SSI Module 1756 M02AS position servo system using absolute transducers with Synchronous Serial Interface SSD feedback The SSI module supports many of the same features as the 1756 MO2AE with these exceptions e Feed Forward adjust is supported in addition to single step Auto Tune e Gain ratio between extend direction and retract direction to accommodate hydraulic cylinder dynamics e Intelligent transducer noise detection filtering in hardware and firmware rep
584. ttribute Name Data Type Semantics of Values SSV GSV Position Integral Gain REAL 1 mSec Sec Velocity Proportional Gain When configured for a torque current loop servo drive the servo module s digital velocity loop provides damping without the requirement for an analog tachometer The Velocity Error is multiplied by the Velocity Proportional Gain to produce a component to the Servo Output or Torque Command that ultimately attempts to correct for the velocity error creating the damping effect Thus increasing the Velocity Proportional Gain results in smoother motion enhanced acceleration reduced overshoot and greater system stability The velocity loop also allows higher effective position loop gain values to be used however too much Velocity Proportional Gain leads to high frequency instability and resonance effects Note that units for Velocity Proportional Gain are identical to that of the Position Proportional Gain making it easy to perform classic inches min mil calculations to determine static stiffness or damping Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Velocity Proportional Gain REAL 1 Sec Publication 1756 UMOO6G EN P May 2005 13 80 Motion Object Attributes Velocity Integral Gain Maximum Bandwidth There are limitations to the maximum bandwidth that can be achieved for the velocity loop based on the dynamics of the torque loop of the servo drive and the desired damping of the sys
585. ttribute Name Data Type Semantics of Values SSV GSV Tuning Travel Limit REAL Position Units The Tuning Travel Limit attribute is used in conjunction with the MRAT Motion Run Axis Tuning instruction to limit the excursion of the axis during the test If while performing the tuning motion profile the servo module determines that the axis is not be able to complete the tuning process before exceeding the Tuning Travel Limit the servo module terminates the tuning profile and report that the Tuning Travel Limit was exceeded via the Tune Status attribute This does not mean that the Tuning Travel Limit was actually exceeded but that had the tuning process gone to completion that the limit would have been exceeded Tuning Speed The Tuning Speed attribute value determines the maximum speed of the MRAT Motion Run Axis Tune initiated tuning motion profile This attribute should be set to the desired maximum operating speed of the motor prior to running the MRAT instruction The reason for doing this is that the tuning procedure measures maximum acceleration and deceleration rates based on ramps to and from the Tuning Speed Thus the accuracy of the measured acceleration and deceleration capability is reduced by tuning at a speed other than the desired operating speed of the system Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Tuning Speed REAL Position Units Sec Tuning Torque The Tuning
586. ttribute is set if a Coordinate Move motion profile currently has one or more pending coordinated moves Move Pending Queue Full Status The Move Pending Queue Full Status attribute is set to indicate that the queue for pending coordinated moves is full and thus no more pending moves can be submitted The Axis Fault Bits attribute is a roll up of all of the axes associated to this motion coordinate system A bit being set indicates that one of the associated axes has that fault Internal Access Rule Attribute Name Data Type Semantics of Values Tag Axis Fault DWORD Direct Access Entire DINT AxisFault 0 Physical Axis Fault PhysicalAxisFault 1 Module Fault ModuleFault 2 Configuration Fault ConfigFault 3 31 Reserved Physical Axis Fault If the Physical Axis Fault bit is set it indicates that there is one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis Publication 1756 UM006G EN P May 2005 13 180 Motion Object Attributes Faulted Shutdown Servo On Axes Module Fault The Module Fault bit attribute is set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration
587. ture are disabled Stop Command If a fault action is set to Stop Command then when the associated fault occurs Logix control of the drive s ser4vo loop is maintained and the axis immediately starts decelerating the to a stop at the configured Maximum Deceleration rate without disabling the drive This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults since it is relatively easy to recover from Once the stop command fault action has stopped the axis no further motion can be generated until the fault is first cleared The only exception to this rule is in the case of the Hardware Overtravel and Software Overtravel faults where we allow the axis to be jogged or moved off the limit Status Only If a fault action is set to Status Only then when the associated fault occurs motion faults must be handled by the application program In general this setting should only be used in applications where the standard fault actions are not appropriate The recommended setting of the fault action configuration parameters suitable for most applications are provided as defaults Warning When setting a fault action of Stop Command or Status Only the drive must remain enabled for the Logix controller to continue to control the axis For example in the case of Stop Command it is not possible for the Logix controller to bring the axis to a controlled stop when the axis is already disabled due to a dri
588. tus 13 177 Motion Group Instance 13 176 Motion Coordinate System Attributes Actual Position 13 181 Address of 13 181 Motion Coordinate System Configuration Attributes 13 181 Axes 13 182 Coordinate System Auto Tag Update 13 183 Coordinate System Dynamics Con figuration 13 184 Actual Position Tolerance 13 185 Command Position Tolerance 13 185 Maximum Acceleratio 13 184 Maximum Deceleration 13 184 Maximum Speed 13 184 Coordinate System Units Configura tion 13 183 Conversion Ratio 13 184 Coordination Units 13 183 Coordination Mode 13 183 Dimension 13 182 Max Pending Moves 13 182 System Type 13 182 Motion Status Attributes Actual Acceleration 13 11 Actual Position 13 7 Actual Velocity 13 10 Average Velocity 13 9 Command Acceleration 13 11 Command Position 13 8 Command Velocity 13 11 Interpolated Actual Position 13 14 Interpolated Command Position 13 14 Interpolation Time 13 13 Master Offset 13 14 Motion Status Bits 13 16 Acceleration Status 13 16 Coordinated Motion Status 13 19 Deceleration Status 13 16 Gearing Lock Status 13 18 Gearing Status 13 17 Homed Status 13 17 Homing Status 13 17 Jog Status 13 17 Master Offset Move Status 15 19 Move Status 13 17 Position Cam Lock Status 13 18 Position Cam Pending Status 13 18 Position Cam Status 13 17 Stopping Status 13 17 Time Cam Pending Status 13 18 Time Cam Status 13 18 Registration Position 13 12 Registration Time 13 13 Start Master Offset 13 14 Start Position 13 9
589. ual e Fach motion instruction needs a motion control tag The tag uses a MOTION INSTRUCTION data type The tag stores the status information of the instruction 1756 RM003 MSO Motion Servo On N5 Axis mt No Motion control tag Motion control A gt Use the tag for the motion control operand of motion instruction ATTENTION j only once Unintended operation of the control variables may happen if you re use of the same motion control tag in other instructions Example Here s an example of a simple ladder diagram that homes jogs and moves an axis If Initialize_Pushbutton on and the axis off My Axis X ServoActionStatus off then The MSO instruction turns on the axis Initialiee Pushbutton My Axis X Servo amp ctionStatus gt __ MSO Motion Servo On Axis My Axis x uz Motion Control My Axis X n If Home Pushbutton on and the axis hasn t been homed My Axis X AxisHomedStatus off then The MAH instruction homes the axis Home Pushbutton My Axis X AxisHomedStatus p 3 MAH Motion Axis Home Axis My Axis x E Motion Control My Axis X Home Publication 1756 UMO006G EN P May 2005 Quick Start 2 15 If Jog Pushbutton on and the axis on My Axis X ServoActionStatus on then The MAJ instruction jogs the axis forward at 8 units s Jog Pushbutton My Axis X Servo amp ctionStatus Motion Axis Jog Axis
590. ue and the last Position Error value is computed This value is then multiplied by the Position Loop Differential Gain to produce a component to the Servo Output or Velocity Command that attempts to correct for the change in position error creating a damping effect Increasing this gain value results in greater damping of the axis Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Position Differential Gain REAL Velocity Scaling The Velocity Scaling attribute is used to convert the output of the Internal Access Rule servo loop into equivalent voltage to an external velocity servo drive This has the effect of normalizing the units of the servo loop gain parameters so that their values are not affected by variations in feedback resolution drive scaling or mechanical gear ratios The Velocity Scaling value is typically established by servo s automatic tuning procedure but these values can be calculated if necessary using the following guidelines Attribute Name Data Type Semantics of Values SSV GSV Velocity Scaling REAL Position Units Per Second If the axis is using a velocity servo drive the software velocity loop in the servo module is disabled In this case the Velocity Scaling value can be calculated by the following formula Velocity Scaling 100 Speed 100 For example if this axis is using position units of motor revolutions revs and the servo drive is scaled such that with
591. ue may need to be tweaked to accommodate velocity loops with non infinite loop gain and other application considerations Note Acceleration Feedforward Gain is not applicable for applications employing velocity loop servo drives Such systems would require the acceleration feedforward functionality to be located in the drive itself Proportional Position Gain Position Error is multiplied by the Position Loop Proportional Gain or Pos P Gain to produce a component to the Velocity Command that ultimately attempts to correct for the position error Too little Pos P Gain results in excessively compliant or mushy axis behavior Too large a Pos P Gain on the other hand can result in axis oscillation due to classical servo instability Note To set the gain manually you must first set the Torque scaling in the Output tab of this dialog If you know the desired loop gain in inches per minute per mil or millimeters per minute per mil use the following formula to calculate the corresponding P gain Pos P Gain 16 667 Desired Loop Gain IPM mil If you know the desired unity gain bandwidth of the position servo in Hertz use the following formula to calculate the corresponding P gain Pos P Gain Bandwidth Hertz 6 28 The typical value for the Position Proportional Gain is 100 Sec 1 Integral Position Gain The Integral i e summation of Position Error is multiplied by the Position Loop Integral Gain or Pos I Gain to p
592. ule Properties Wizard Dialog Connection Screen 9 On this screen there are no required fields but you can enter how you want to handle connection faults The Requested Packet Interval RPD field does not pertain to the SERCOS interface modules and is greyed out Inhibit Module defaults to Unchecked Click on the check box to inhibit the module Major Fault on Controller check box defaults to uncheck Click on the box if you want to check this option Click on Next gt to advance the SERCOS interface Create Wizard screen Publication 1756 UMO006G EN P May 2005 4 6 Configuring the 1756 MO3SE 1756 MO8SE or 1756 M16SE Module 10 The SERCOS interface screen displays Auto Detect F Figure 4 6 Module Properties Wizard Dialog SERCOS interface Screen 11 On this screen you can enter the Data Rate SERCOS ring Cycle time and the transmit power for the SERCOS ring The rest of the Create Wizard screens are only informational and do not let you enter any information It saves time if you click on the Finish button at this time 12 The 1756 MOSSE M16SE motion module appears in the I O Configuration branch of the Controller Organizer It can now be put into use or edited as you require SERCOS interface Motion The 1756 M03SE M08SE M16SE SERCOS interface motion module has been added To edit the 1756 MO3SE MOSSE M16SE Module Module Overview Properties go to the I O Configuration organizer and right click on Pu
593. ult 13 115 Ground Short Fault 13 114 Motor Overtemperature Fault 13 115 Negative Hardware Overtravel Faults 13 112 Negative Software Overtravel Faults 13 111 Overload Fault 13 115 Overspeed Fault 13 115 Position Error Fault 13 112 Positive Hardware Overtravel Faults 13 112 Positive Software Overtravel Faults 13 111 Power Phase Loss Fault 13 116 SERCOS Fault 13 116 Drive Gains 13 147 Acceleration Feedforward Gain 13 151 Advanced Drive Gain Attributes 13 156 Integrator Hold Enable 13 156 Output LP Filter Bandwidth 13 154 Output Notch Filter Frequency 13 155 Position Integral Gain 13 149 Position Proportional Gain 13 147 Bandwidth Method 13 148 Loop Gain Method 13 148 Maximum Bandwidth 13 148 Torque Scaling 13 155 Velocity Feedforward Gain 13 150 Velocity Integral Gain 13 153 Velocity Proportional Gain 13 152 Maximum Bandwidth 13 153 Drive Limits 13 156 Advanced Drive Limits 13 159 Continuous Torque Limit 13 159 Maximum Negative Travel 13 156 Maximum Positive Travel 13 156 Position Error Tolerance 13 157 Position Lock Tolerance 13 157 Torque Limit 13 158 Drive Offsets 13 160 Backlash Reversal Error 13 161 Backlash Stabilization Window 13 162 Drive Fault Actions 13 163 Advanced Stop Action At tributes 13 164 Brake Engage Delay 13 165 Brake Release Delay 13 165 Disable Drive 13 164 Resistive Brake Contact De lay 13 166 Shutdown 13 163 Status Only 13 164 Stop Command 13 164 Friction Compensa
594. updated automatically Drive Motor Tab Use this tab to configure the servo loop for an AXIS SERVO DRIVE AXIS SERVO DRIVE axis and open the Change Catalog dialog box Axis Properties mysercos1axis Pm x Homing Hookup Tune Dynamics Gains Dutput Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Amplifier Catalog Number Motor Catalog Number p Change Catalag Loop Configuration Dual Command Servo Drive Resolution 200000 Drive Counts per Motor Rev Calculate v Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Infomation Attribute 1 Position Feedback d Attribute 2 none DK Cancel Help Figure 6 17 Axis Properties Drive Tab for Axis_Servo_Drive Publication 1756 UM006G EN P May 2005 Naming and Configuring Your Motion Axis 6 31 When a parameter transitions to a read only state any pending changes to parameter values are lost and the parameter reverts to the most recently saved parameter value Amplifier Catalog Number Select the catalog number of the amplifier to which this axis is connected Catalog Number Select the catalog number of the motor associated with this axis When you change a Motor Catalog Number the controller recalculates the values of the following values using among other values the default Damping Factor of 0 8
595. uped Axes Monitor Coordinate System Tag Gi Trends Data Types Fault Help Cg User Defined Clear Coordinate System Faults e Cg Strings Ge Predefined amp Cut C Module Defined Copy 8 6 1 0 Configuration g Paste E B 1 1756 M035E fl 1 2094 ACOE fl 2 2098 Dsp Bl 3 8720MC BC fl 10 1394C 5J f r211756 Mn2AF Associated Axes x mysercos2axis Delete Cross Reference Print Figure 7 6 Select Properties after right clicking on Coordinate System The Coordinate System Properties General window appears The name of the Coordinate System tag that is being edited appears in the Publication 1756 UMO006G EN P May 2005 7 8 Creating amp Configuring Your Coordinate System Tag title bar to the right of Coordinate System Properties The General screen is shown below w Coordinate System Properties mycoordsyst Of X General Units Dynamics Tag Motion Group mymotiongroup a New Group Type Dimension 2 m Axis Name Coordination Mode S xj S cx v Enable Coordinate System Auto Tag Update Figure 7 7 Coordinate System Properties General Tab General Tab Use this tab to do the following for a coordinate system e Assign the coordinate system or terminate the assignment of a coordinate system to a Motion Group Change the number of dimension i e the nu
596. uped Axes folder or the Motion Group if the tag was initiated from the Motion Group menu Pressing the Configure button next to the Data Type field invokes the Coordinate System Tag Wizard to let you continue to configure the Coordinate System tag The Coordinate System Wizard screens walk you through the process of configuring a Coordinate System These are the same screens that appear when you access Coordinate System Properties but instead of appearing as tabbed screens they advance you through the process by individual screens At the bottom of each screen are a series of buttons To advance to the next screen click on the Next button and the information you entered is saved and you advance to the next wizard screen To end your progression through the Wizard screens click on the Finish button The information entered to this point is saved and the Coordinate System is stored in the Controller Organizer Publication 1756 UMOO6G EN P May 2005 7 6 Creating amp Configuring Your Coordinate System Tag Publication 1756 UMO006G EN P May 2005 under either the Ungrouped Axes folder or the Motion Group if a motion group has been associated with the coordinate system It is not necessary to use the Wizard screens to configure your Coordinate System Once it has been created you can access the Coordinate System Properties screen and enter the information for the Coordinate System See the section entitled Editing Coordinate System P
597. ur options are dependent upon the motion module to which the axis is associated A Quadrature B Encoder Interface AQB The 1756 M02AE servo module provides interface hardware to support incremental quadrature encoders equipped with standard 5 Volt differential encoder interface signals The AQB option has no associated attributes to configure Synchronous Serial Interface SSI The 1756 M02AS servo module provides an interface to transducers with Synchronous Serial Interface SSD outputs SSI outputs use standard 5V differential signals RS422 to transmit information from the transducer to the controller The signals consist of a Clock generated by the controller and Data generated by the transducer Publication 1756 UMOO06G EN P May 2005 6 26 Naming and Configuring Your Motion Axis Linear Displacement Transducer LDT The 1756 HYD02 Servo module provides an interface to the Linear Magnetostrictive Displacement Transducer or LDT A Field Programmable Gate Array FPGA is used to implement a multi channel LDT Interface Each channel is functionally equivalent and is capable of interfacing to an LDT device with a maximum count of 240 000 The LDT interface has transducer failure detection and digital filtering to reduce electrical noise The Feedback screen changes in appearance depending on the selected Feedback Type When the servo axis is associated with a 1756 MO2AS motion module the only Feedback Type available is SSI S
598. ur own name to an existing coordinate system tag Use this dialog to create new tags You can create base tags and alias tags while the controller is either online or offline as long as the new tag is verified However tags created online can only be created in the Ungrouped Axes folder and cannot be used for motion at that time Publication 1756 UMO006G EN P May 2005 7 4 Creating amp Configuring Your Coordinate System Tag Publication 1756 UMO006G EN P May 2005 New Tag Parameters The following parameters appear on the New Tag dialog when you are creating a base tag or an alias tag Make entries in the following fields Field Entry Name Type a name for the coordinate system tag The name can have a maximum of 40 characters containing letters numbers and underscores _ Description Type a description for your motion axis for annotation purposes This field is optional Tag Type Click on the radio button for the type of tag to create The only legal choices are Tag and Alias Selecting either Produced or Consumed generates an error when the OK button is pressed Alias For This field only displays when Alias is selected for Tag Type Enter the name of the related Base Tag Data type Enter COORDINATE_SYSTEM Scope A Coordinate System tag can only be created at the controller scope Name Enter a relevant name for the new tag The name can be up to 40 characters and can be composed
599. ure Motion Instruction tag 1 6 Naming a Coordinate System 7 1 Entering Tag Information 7 3 Parameters 7 4 Alias For 7 5 Data Type 7 5 Description 7 4 Name 7 4 Scope 7 5 Style 7 5 Tag Type 7 4 Alias 7 5 Base 7 4 Naming an Axis 6 1 Entering Tag Information 6 3 Common Parameters 6 4 Data Type 6 4 Description 6 4 Name 6 4 Tag Type 6 4 Alias 6 4 Base 6 4 Consumed 6 4 Produced 6 4 New Module window 3 5 RSLogix 5000 programming software 1 2 Features 1 5 Motion Instructions 12 1 S Select Module Type window 3 2 SERCOS interface drive add to controller 2 4 SERCOS interface Module 1 5 SERCOS interface module set up 2 5 SERCOS interface modules choose 2 3 Specifications A 1 1756 HYD02 Motion Module A 3 Publication 1756 UMO06G EN P May 2005 18 Index 1756 M02AE Motion Module A 1 1756 M02AS Motion Module A 6 1756 MOSSE 1756 MO8SE amp 1756 M16SE Motion Module A 9 SSV instruction The The The Changing configuration parameters 1 7 T Combo Module 1756 L60MO3SE 1 3 Hydraulic Module 1756 HYD02 1 4 Synchronous Serial Interface SSI Module 1756 M02AS 1 4 Troubleshooting 14 1 Publication 1756 UMO006G EN P May 2005 1756 HYD02 Module LED 14 7 DRIVE Indicator 14 9 FDBK Indicator 14 8 OK Indicator 14 7 1756 M02AE LED 14 1 DRIVE LED indicator 14 3 FDBK LED indicator 14 2 OK LED indicator 14 1 1756 M02AS LED 14 4 DRIVE Indicator 14 6 FDBK Indicator 14 5 OK Indicator 14 4 1756 MOSSE LED SE
600. uring the execution of motion instructions Every motion instruction has a motion control parameter that requires a MOTION INSTRUCTION tag to store status information Publication 1756 UMO006G EN P May 2005 MSO Motion Servo On N3 The Bis Le N3 motion control A Motion control 7 A parameter Figure 1 3 Motion Control Parameter ATTENTION A Tags used for the motion control parameter of instructions should only be used once Re use of the motion control parameter in other instructions can cause unintended operation of the control variables For more information about the MOTION_INSTRUCTION tag refer to Appendix C The Motion Control Structures and the Logix Controller Motion Instruction Set Reference Manual 1756 RMO007 The ControlLogix Motion Control System 1 7 Motion Status and Configuration You can read motion status and configuration parameters in your Parameters ladder logic program using two methods Modifying Motion Configuration Parameters Method Example For more information Directly accessing e Axis faults Refer to Appendix C The the AXIS and e Motion status Motion Control Structures MOTION_GROUP e Servo status structures Using the GSV e Actual Refer to the nput Output instruction position Instructions chapter of the e Command Logix Controller Instruction Set position Reference Manual publication e Actual 1756 RM003B velocity In your ladder logic program
601. us Only If a fault action is set to Status Only then when the associated fault occurs motion faults must be handled by the application program In general this setting should only be used in applications where the standard fault actions are not appropriate The recommended setting of the fault action configuration parameters suitable for most applications are provided as defaults When setting a fault action of Stop Command or Status Only the drive must remain enabled for the Logix controller to continue to control the axis For example in the case of Stop Command it is not possible for the Logix controller to bring the axis to a controlled stop when the axis is already disabled due to a drive fault Similarly selecting Status Only only allows motion to continue if the drive itself is still enabled and tracking the command reference The Axis Object provides sophisticated automatic test tuning instructions which allow it to determine proper settings for the servo loop attributes for each axis These include not only the polarities the gains and also the maximum acceleration deceleration and velocity parameters Usually the servo loop parameters need only be tested and tuned once when the motion controller is first integrated into the machine or when the machine is being commissioned at start up However if the load on any axis changes significantly or if the motor or servo amplifier is replaced for any reason it may be necessary to
602. using Trends in the Controller Organizer Use of Motion Direct Commands can fine tune the system with or without load to optimize its performance When in the testing and or debugging cycle you can issue Motion Direct Commands to establish or reestablish conditions such as Home Often during initial development or enhancement to mature applications you need to test the system in small manageable areas These areas can include Home to establish initial conditions Incrementally Move to a physical position and monitor system dynamics under specific conditions The Motion Direct Command dialog can be accessed from the Tools pull down of the Main Menu by right clicking on the Group in the Controller Organizer and by right clicking on an Axis in the Controller Organizer The point of entry determines the look of the opening dialog and the default values that are set You can access the Motion Direct Commands dialog directly from the Tool pull down of the Main Menu amp RSLogix 5000 mdconline 1756 L1 File Edi View Search Logic Communications S SE Window Help al s 7 el Options bad 8 HEE E Security lemProg 0 Not Running Translate PLC5 SLC lo Forces hi i attery Fault iniport eas lo Edis 140 Not Present Export Tags a Motion Direct Comm zi 3 Controller mdconline 8 Controller Tags i fl Cel E ait L aineline Snitz Figure 12 1 Main Menu Tools Pull down
603. ut Load 100 Ohm minimum Transducer Binary or Gray code Clock Frequency 208kHz or 625kHz Registration inputs Type Optically isolated current sinking input 24V dc input voltage 24V dc nominal Maximum 26 4V dc Minimum on 18 5V de Maximum off 3 5V de 5V dc input voltage 5V dc nominal Maximum 5 5V de Minimum on 3 7V de Maximum off 1 5V de Input impedance 24V dc input 9 5 KQ 5V dc input 1 2 kQ Response time position latched 1 servo update period Servo update period is the period at which the position and or velocity feedback is sampled and a new servo loop is closed to generate a new servo output The time of this period is a user defined setting from 250us to 2000s All other inputs Type Optically isolated current sinking input Input voltage 24V dc nominal Maximum 26 4V dc Minimum on 17 0V dc Maximum off 8 5V dc Input impedance 7 5 kQ Publication 1756 UM006G EN P May 2005 Servo output Type Voltage range Voltage resolution Load Maximum offset Gain error Specifications and Performance A 7 Analog voltage x 10V dc 16 bits 5 6 kOhms resistive minimum 25 mV 4 All other outputs Type Operating voltage Maximum Operating current Solid state isolated relay contacts 24V dc nominal 26 4V dc 75 mA Isolation Voltage User to System 30V continuous RTB keying User defined Field wiring arm 36 position RTB 1756 TBCH or TBS6H RTB screw torque
604. ute Feedback is set the servo module adds the Absolute Feedback Offset to the current position of the feedback device to establish the absolute machine reference position Absolute feedback devices retain their position reference even through a power cycle therefore the machine reference system can be restored at power up Absolute Feedback Offset If Absolute feedback is enabled this field becomes active You can enter the amount of offset in position units to be added to the current position of the Feedback device The SSI is an absolute feedback device To establish an appropriate value for the Offset the MAH instruction can be executed with the Home Mode set to Absolute the only valid option if Enable Absolute Feedback is enabled When executed the module computes the Absolute Feedback Offset as the difference between the configured value for Home Position and the current absolute feedback position of the axis The computed Absolute Feedback Offset is immediately applied to the axis upon completion of the MAH instruction The actual position of the axis is re referenced during execution of the MAH instruction therefore the servo loop must not be active If the servo loop is active the MAH instruction errors When the Enable Absolute Feedback is disabled the servo module ignores the Absolute Feedback Offset and treats the feedback device as an incremental position transducer A homing or redefine position operation is required to e
605. utes 13 103 time These limits include the amplifier peak limit motor peak limit user current limit amplifier thermal limit and the motor thermal limit Internal Access Rule Attribute Name Data Type Semantics of Values GSV Pos Dynamic Torque Limit Neg Dynamic Torque Limit REAL Rated Motor Capacity This parameter displays the present utilization of motor capacity as a percent of rated capacity Internal Access Rule Attribute Name Data Type Semantics of Values GSV Motor Capacity REAL 96 Drive Capacity This parameter displays the present utilization of drive capacity as a percent of rated capacity Internal Access Rule Attribute Name Data Type Semantics of Values GSV Drive Capacity REAL 96 Power Capacity This parameter displays the present utilization of the axis power supply as a percent of rated capacity Internal Access Rule Attribute Name Data Type Semantics of Values GSV Power Capacity REAL 96 Bus Regulator Capacity This parameter displays the present utilization of the axis bus regulator as a percent of rated capacity Internal Access Rule Attribute Name Data Type Semantics of Values GSV Bus Regulator Capacity REAL 96 Motor Electrical Degrees This parameter is the present electrical angle of the motor shaft Internal Access Rule Attribute
606. utes 13 145 when used in conjunction with future Function Block programs provides custom outer control loop capability Servo Config Motor Dual Command v Command Output Output Pos Neg Notch Coarse Torque rem Filter Torque ba ine gt Offset i Bw Limit interpolator Position Command Velocity d Torque Coarse Position Command Velocity Command Error Error Low Vel P Torque Frict Notch Torque Torque OF tao wr gt Teme E Stet Lp pass of Notch L Tet I9 Torus Position Command Velocity Feedback T Error m osition Accum Feedback ulator gt Gain Y Position Velocity Integrator Integrator Motor Error Low Pass Filter Feedback Polarity Motor Feedback Y Hardware Channel Motor one t Feedback Position H Feedback Aux H Coarse H ieo v Position Hardware ennel p Accum e Feedback __ ulator Position PSE Auxiliary Dual Command Servo Figure 13 19 Motor Dual Command Servo The Auxiliary Dual Command Servo configuration provides full position servo control using only the auxiliary mounted feedback device to provide position and velocity feedback Unlike the Auxiliary Position Servo configuration however both command position and command velocity are applied to the loop
607. value range of 0 to 1000 VelocityLimitPositive This attribute displays the maximum allowable velocity in the positive direction If the velocity limit is exceeded bit 5 Velocity Command Above Velocity Limit VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 Publication 1756 UMO006G EN P May 2005 6 90 Naming and Configuring Your Motion Axis Attribute Description VelocityLimitNegative This attribute displays the maximum allowable velocity in the negative direction If the velocity limit is exceeded bit 5 Velocity Command Above Velocity Limit VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 2 14748x10 to 0 VelocityThreshold This attribute displays the velocity threshold limit If the motor velocity is less than this limit Velocity ThresholdStatus of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 VelocityWindow This attribute displays the limits of the velocity window If the motor s actual velocity differs from the command velocity by an amount less that this limit VelocityLockStatus of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 VelocityStandstill Window This attribute displays the velocity limit for the standstill window If the motor velocity is less than this limit VelocitySta
608. value within the software travel limits can be used After the homing sequence is complete the axis is left in this position Naming and Configuring Your Motion Axis 6 45 If the Positioning Mode set in the Conversion tab of the axis is Linear then the home position should be within the travel limits if enabled If the Positioning Mode is Rotary then the home position should be less than the unwind distance in position units Offset Type the desired offset Gif any in position units the axis is to move upon completion of the homing sequence to reach the home position In most cases this value is zero Sequence Select the event that causes the Home Position to be set Sequence Type Description Immediate Sets the Home Position to the present actual position without motion Switch Sets the Home Position when axis motion encounters a home limit switch Marker Sets the Home Position when axis encounters an encoder marker Switch Marker Sets the Home Position when axis first encounters a home limit switch then encounters an encoder marker Note See the section Homing Configurations below for a detailed description of each combination of homing mode sequence and direction Limit Switch If a limit switch is used indicate the normal state of that switch i e before being engaged by the axis during the homing sequence e Normally Open e Normally Closed Publication 1756 UMOO6G E
609. ve fault Similarly selecting Status Only only allows motion to continue if the drive itself is still enabled and tracking the command reference The following advanced attributes map directly to SERCOS IDNs Thus for a detailed description of these attributes refer to the corresponding IDN descriptions found in the SERCOS Interface standard and the A B SERCOS Drive PISD Since these attributes are automatically configured based on the current Drive Configuration Motion Object Attributes 13 165 the user need not be concerned with manually configuring each of these attributes Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Stopping Torque REAL Rated SSV GSV Stopping Time Limit REAL Sec Brake Engage Delay The Brake Engage Delay attribute controls the amount of time that the drive continues to apply torque to the motor after the motor brake output is changed to engage the brake This gives time for the motor brake to engage Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Brake Engage Delay Time REAL Sec Below is the sequence of events associated with engaging the motor brake e Disable axis is initiated via MSF or drive disable fault action Drive stops tracking command reference Servo Action Status bit clears e Decel to zero speed using configured Stopping Torque e Zero speed or Stopping Time Limit is reached e Turn motor
610. ver the axis position travels outside the configured travel limits The travel limits Motion Object Attributes 13 127 are determined by the configured values for the Maximum Positive Travel and Maximum Negative Travel attributes This software overtravel check is not a substitute but rather a supplement for hardware overtravel fault protection which uses hardware limit switches to directly stop axis motion at the drive and deactivate power to the system If the Soft Overtravel Checking bit is clear default then no software overtravel checking is done Software overtravel checking is only available for a linear servo axes Hard Overtravel Checking When the Hard Overtravel Checking bit is set it enables a periodic test that monitors the current state of the positive and negative overtravel limit switch inputs and issues a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault if ever the axis position travels activates the limit switch inputs If the Hardware Overtravel Checking bit is clear default then no overtravel limit switch input checking is done Hardware overtravel checking is only available for a linear servo axes Drive Enable Input Fault Handling When the Drive Enable Input Fault Handling bit is set it enables the drive to post a fault based on the condition of the Drive Enable Input If an attempt is made to enable the drive axis without an active Drive Enable Input the drive declares a Drive Enable Input
611. vo Fault Actions Each axis can be configured to respond to each of the five types of servo faults in any one of four different ways This flexibility is important because motion control applications differ widely in their fault action requirements Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Soft Overtravel Fault Action SINT Enumeration 0 shutdown 1 disabled drive 2 stop command 3 status only SSV GSV SSV GSV Publication 1756 UMO006G EN P May 2005 Hard Overtravel Fault Action SINT Enumeration 0 shutdown 1 disabled drive 2 stop command 3 status only Position Error Fault Action SINT Enumeration 0 shutdown 1 disabled drive 2 stop command 3 status only Motion Object Attributes 13 91 Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Feedback Fault Action SINT Enumeration 0 shutdown 1 disabled drive 2 stop command 3 status only SSV GSV Feedback Noise Fault Action SINT Enumeration 0 shutdown 1 disabled drive 2 stop command 3 status only SSV GSV Drive Fault Action SINT Enumeration 0 shutdown 1 disabled drive 2 stop command 3 status only Shutdown If a fault action is set to Disable Drive then when the associated fault occurs axis servo action is immediately disabled the servo amplifier output is zeroed and the appropriate d
612. w data from the module Reset Module to return the module to its power up state by emulating the cycling of power By doing this you also clear all faults Identification Displays the module s e Vendor e Product Type e Product Code e Revision e Serial Number Publication 1756 UMO006G EN P May 2005 11 14 Configuring an 8720MC Drive Publication 1756 UMO006G EN P May 2005 e Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module Major Minor Fault Status If you are configuring a This field displays one of the following digital module EEPROM fault Backplane fault None analog module Comm Lost with owner Channel fault None Any other module None Unrecoverable Recoverable Internal State Status Displays the module s current operational state e Self test e Flash update e Communication fault e Unconnected e Flash configuration bad Major Fault please refer to Major Minor Fault Status above e Run mode e Program mode e 16 xxxx unknown If you selected the wrong module from the module selection tab this field displays a hexadecimal value A textual description of this state is only given when the module identity you provide is a match with the actual module Configured Displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once a modu
613. ware doesn t let you add more than 1 motion group Action Details 1 Choose your coarse update The coarse update period is a trade off between updating positions of your axes and period scanning your code Use these guidelines as a rough starting point A How many axes do you have e Less than 11 axes Set the coarse update period to 10 ms e 11 axes or more Set the coarse update period to 1 ms per axis B Leave at least half the controller s time for the scan of all your code C If you have SERCOS interface motion modules set the coarse update period to a multiple of the cycle time of the motion module Example if the cycle time is 2 ms set the coarse update period to 8 ms 10 ms 12 ms etc D If you have analog motion modules set the coarse update period to 1 At least 3 times the servo update period of the motion module 2 A multiple of the servo update period of the motion module Publication 1756 UMO006G EN P May 2005 Quick Start 2 1 Action Details 2 Add the motion group 3 6 Controller My Controller Controller Tags 73 Controller Fault Handler 3 Power Up Handler 3 8 Tasks L8 MainTask 3 Unscheduled Programs Phases A d Trends s New Motion Group d Cut CtrMX Copy Ctrl C E Paste Ctrl New Tag x eS B CI Name My Motion Group Cancel Help Description Usage normal
614. weaked to accommodate torque loops with non infinite loop gain and other application considerations One thing that may force a smaller Acceleration Feedforward value is that increasing amounts of feedforward tends to exacerbate axis overshoot When necessary the Acceleration Feedforward Gain may be tweaked from the 100 value by running a simple user program that jogs the axis in the positive direction and monitors the Position Error of the axis during the jog Usually Acceleration Feedforward is used in tandem with Velocity Feedforward to achieve near zero following error during the entire motion profile To fine tune the Acceleration Feedforward Gain the Velocity Feedforward Gain must first be optimized using the procedure described above While capturing the Publication 1756 UMOO6G EN P May 2005 13 152 Motion Object Attributes Velocity Proportional Gain peak Position Error during the acceleration phase of the jog profile increase the Acceleration Feedforward Gain until the peak Position Error is as small as possible but still positive If the peak Position Error during the acceleration ramp is negative the actual position of the axis is abead of the command position during the acceleration ramp If this occurs decrease the Acceleration Feedforward Gain such that the Position Error is again positive To be thorough the same procedure should be done for the deceleration ramp to verify that the peak Position Error during decele
615. which instructs the drive to scale in English units If the Scaling Unit is set to rotary the Linear Scaling Unit bit has no affect When interfacing to Rockwell SERCOS drive products the Standard Drive Units based on the Scaling Unit and Linear Scaling Unit bit selections are shown in the following table Standard Drive Units Metric English Rotary Rev Rev Linear Millimeter Inch Data Reference The Data Reference bit determines which side of the mechanical transmission to reference position velocity acceleration and torque data If motor is selected then position velocity acceleration and torque data is referenced to the motor side of the transmission If load is selected then position velocity acceleration and torque data is Motion Object Attributes 13 133 referenced to the load side of the transmission This is only applicable when using an auxiliary feedback device The following advanced attributes are derived from the Drive Scaling Bits attribute These attributes are automatically configured to appropriate defaults Internal Access Rule Attribute Name Data Type Semantics of Values GSV Position Data Scaling INT Default rotary axis in Revs GSV Position Data Scaling DINT see IEC 1491 Factor GSV Position Data Scaling Exp INT see IEC 1491 GSV Rotational Pos Resolution DINT Drive Units per Rev GSV Velocity Data Scaling INT Default rotary
616. wing section provides explanations of the Motion Module Properties screens Use these screens to edit the properties of the module when changes need to be made You can access the Module Properties screen by highlighting the motion module and right clicking the mouse Publication 1756 UMO006G EN P May 2005 3 8 Adding and Configuring Your 1756 MO2AE 1756 M02AS 1756 HYD02 Motion Module Select Properties from the displayed pop up menu screen as shown in the following figure 8 63 1 0 Configuration 1 1756 MO2AE m fl New Module d cut Ctrlex Copy Ctrl C KS Paste Ctrl Servo Update Period Delete Del Module Fault Cross Reference Ctrl E Edit properties For selected component Figure 3 7 Controller Organizer Module Properties Pop up This accesses the Module Properties screen The screen is tabbed to expedite movement to the required dialog imi Module Properties Local 2 1756 MO2AE 13 1 General Connection Associated Axes Module Info Backplane Type 1756 MO24E 2 Axis Analog Encoder Servo Vendor Allen Bradley Name fnynd2ae Slot 2 E Description xl Revision E E Electronic Keying Compatible Module Status Offline Cancel Apply Help Figure 3 8 Module Properties General Tab General Tab Use this tab to create view module properties for 1756 MO2AE motion module This dialog provides you with the means to view the type description vendor and th
617. x E Instruction Timing Motion event instructions control the arming and disarming of special event checking functions such as registration and watch position Publication 1756 UMO006G EN P May 2005 12 4 Motion Instructions Motion Configuration Instructions Publication 1756 UMO006G EN P May 2005 The motion event instructions are Instruction Abbreviation Description Motion Arm Watch MAW Arms watch position event checking Position for an axis Motion Disarm Watch MDW Disarms watch position event Position checking for an axis Motion Arm Registration MAR Arms servo module registration event checking for an axis Motion Disarm MDR Registration Disarms servo module registration event checking for an axis Motion Arm Output Cam MAOC Arms an Qutput Cam for a particular Axis and Output as determined by the operands for the instruction Motion Disarm Output MDOC Disarms either one or all Output Cam Cams connected to a specified axis depending on the selection in the Disarm Type operand For more information about motion state instructions refer to the Motion Event Instructions chapter of Logix Controller Motion Instruction Set Reference Manual publication 1756 RM007 For more information about instruction timing refer to Appendix E Instruction Timing Motion configuration instructions allow you to tune an axis and to run diagnostic tests for your control system
618. xact Match all of the parameters described below must match or the inserted module will reject the connection e Compatible Modules The following criteria must be met or else the inserted module will reject the connection The Module Types Catalog Number and Major Revision must match The Minor Revision of the physical module must be equal to or greater than the one specified in the software e Disable Keying Controller does not employ keying at all ATTENTION Changing the Electronic Keying selections may cause the connection to the module to be broken and may N result in a loss of data Be extremely cautious when using this option if used incorrectly this option can lead to personal injury or death property damage or economic loss When you insert a module into a slot in a ControlLogix chassis RSLogix 5000 compares the following information for the inserted module to that of the configured slot e Vendor e Product Type e Catalog Number e Major Revision e Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot Publication 1756 UMOO06G EN P May 2005 9 8 Configuring an Ultra 3000 Drive Status Displays the status the controller has about the module This status Indicates Standby A transient state that occurs when shutting down Faulted The controller is unable to communicate with the module When the status is Fault
619. y 2005 Motion Object Attributes Group Instance The Assigned Group Instance attribute is used to determine what motion group object instance this axis is assigned to Internal Access Rule Attribute Name Data Type Semantics of Values GSV Assigned Group Instance DINT Instance Number of Group assigned to Axis Map Instance The axis is associated to a specific motion compatible module by specifying the instance of the map entry representing the module Internal Access Rule Attribute Name Data Type Semantics of Values GSV Map Instance DINT 1 0 Map Instance Number This is 0 for virtual and consumed Data Types Module Channel The axis is associated to a specific channel on a motion compatible module by specifying the Module Channel attribute Internal Access Rule Attribute Name Data Type Semantics of Values GSV Module Channel SINT Zero based channel number of the module Oxff indicates unassigned The axis is associated to a specific channel on a motion compatible module by specifying the Module Channel attribute Module Class Code The ASA class code of the object in the motion module which is supporting motion e g OxAF is the ASA object ID of the Servo Module Axis Object residing in the 1756 M02AE module Internal Access Rule Attribute Name Data Type Semantics of Values GSV Module Class Code DINT ASA Object clas
620. y and cannot be edited when the controller is online if the controller is set to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 is offline the following parameters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 93 Friction Deadband Compensation Friction Compensation The percentage of output level added to a positive current Servo Output value or subtracted from a negative current Servo Output value for the purpose of moving an axis that is stuck in place due to static friction It is not unusual for an axis to have enough static friction called sticktion that even with a significant position error the axis refuses to budge Friction Compensation is used to break sticktion in the presence of a non zero position error This is done by adding or subtracting a percentage output level called Friction Compensation to the Servo Output value The Friction Compensation value should be just less than the value that would break the sticktion A larger value can cause the axis to dither i e move rapidly back and forth about the commanded position Friction Compensation Window To address the issue of dither when applying Friction Compensation and hunting fr
621. y available for a linear servo axes Axis Info Select Motion Object Attributes 13 69 Drive Fault Checking The 1756 M02AE servo module provides a dedicated drive fault input for each axis These inputs may be connected to fault outputs on the external drive Gf provided to notify the servo module of a fault in the drive itself Set the Drive Fault Checking bit if you are using the servo module s drive fault input and then specify the drive fault contact configuration of the amplifier s drive fault output as described below Drive Fault Normally Closed The Drive Fault Normally Closed bit attribute controls the sense of the Drive Fault input to the servo module If this bit is set true then during normal fault free operation of the drive the Drive Fault input should be active i e 24 Volts If a drive fault occurs the drive will open its drive fault output contacts and remove 24 Volts from the servo module s Drive Fault input generating an axis Drive Fault condition This is the default fail safe configuration In some cases it may be necessary to clear the Drive Fault Normally Closed bit to interface with a drive system that closes its contacts when faulted This is generally not recommended for fail safe operation Axis Info Select attributes are used to enable periodic data updates for selected servo status attributes This method of accessing servo status data is designed to reduce the flow of unnecessary data for
622. y the Motion Axis Object active passive and absolute Active homing is the most common homing procedure for physical servo axes Motion Object Attributes 13 31 Passive Passive homing redefines the current absolute position of the axis on the occurrence of a home switch or encoder marker event Passive homing is most commonly used to calibrate uncontrolled axes although it can also be used with controlled axes to create a custom homing sequence Passive homing for a given home sequence works similar to the corresponding active homing sequence as described below except that no motion is commanded the controller just waits for the switch and marker events to occur If the configured feedback type does not support a marker signal the marker and switch then marker homing sequences are not be applicable Active When active homing is chosen as the homing mode the desired homing sequence is then selected by specifying whether or not a home limit switch and or the encoder marker is used for this axis Active homing sequences always use the trapezoidal velocity profile The Home Sequence attribute section below describes the available active homing sequences If the configured feedback type does not support a marker signal the marker and switch then marker homing sequences are not be applicable Absolute If the motion axis hardware supports an absolute feedback device a Homing Mode of absolute may be used The only valid
623. y the first workstation to make any changes to axis attributes The second workstation switches to a Read Only mode indicated in the title bar so that you may view the changes from that workstation but not edit them Publication 1756 UM006G EN P May 2005 6 72 Naming and Configuring Your Motion Axis Attribute The following attribute value can be monitored and edited in this dialog box Attribute Description VelocityDroop This 32 bit unsigned attribute also referred to as static gain acts as a very slow discharge of the velocity loop integrator VelocityDroop may be used as a component of an external position loop system where setting this parameter to a higher non zero value eliminates servo hunting due to load stick friction effects This parameter only has effect if VelocityIntegralGain is not zero Its value ranges from 0 to 2 14748x10 12 Note This value is not applicable for Ultra3000 drives Output Tab AXIS SERVO Use this dialog for offline configuration of e scaling values which are used to generate gains and e the servo s low pass digital output filter for an axis of the type AXIS SERVO configured as a Servo drive in the General tab of this dialog Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 73 Axis Properties myservolaxis OF x General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gain
624. y to the Ultra3000 SERCOS drives The only available selection in the pull down menu is none The Module Info Tab displays module and status information about the module It also allows you to reset a module to its power up state Configuring an Ultra 3000 Drive 9 13 The information on this tab is not displayed if you are either offline or currently creating a module D of el END BETES Reset Module Figure 9 11 Module Properties Module Info TIP You can use this tab to determine the identity of the module The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available e Refresh to display new data from the module e Reset Module to return the module to its power up state by emulating the cycling of power By doing this you also clear all faults Identification Displays the module s e Vendor e Product Type e Product Code e Revision e Serial Number Publication 1756 UMO006G EN P May 2005 9 14 Configuring an Ultra 3000 Drive Publication 1756 UMO006G EN P May 2005 e Product Name The name displayed in the Product Name field is read from the module This name displays the series of the module If the module is a 1756 L1 module this field displays the catalog number of the memory expansion board this selection applies to any controller catalog number even if additional memory cards are added M
625. ying at all ATTENTION A Changing the Electronic Keying selections may cause the connection to the module to be broken and may result in a loss of data Be extremely cautious when using this option if used incorrectly this option can lead to personal injury or death property damage or economic loss When you insert a module into a slot in a ControlLogix chassis RSLogix 5000 compares the following information for the inserted module to that of the configured slot e Vendor e Product Type e Catalog Number e Major Revision e Minor Revision This feature prevents the inadvertent insertion of the wrong module in the wrong slot Status Displays the status the controller has about the module This status Indicates Standby A transient state that occurs when shutting down Faulted The controller is unable to communicate with the module When the status is Faulted the Connection tab displays the fault Validating A transient state that occurs before connecting to the module Connecting A state that occurs while the connection s are being established to the module Publication 1756 UMO006G EN P May 2005 11 8 Configuring an 8720MC Drive This status Indicates Running The module is communicating and everything is working as expected Shutting Down The connections are closing Inhibited The connection to the module is inhibited Waiting The connection to th
626. ynchronous Serial Interface and the Feedback Tab screen looks like the following illustration Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type ssi Synchronous Serial Interface Code Type C Bina Gray Data Length 13 bits Clock Frequency 208 kHz v Enable Absolute Feedback Absolute Feedback Offset oo Pasition Units Cancel Apply Help Figure 6 15 Servo Feedback Tab for 1756 M02AS Code Type The type of code either Binary or Gray used to report SSI output If the module s setting does not match the feedback device the positions jump around erratically as the axis moves Publication 1756 UMO006G EN P May 2005 Naming and Configuring Your Motion Axis 6 27 Data Length The length of output data in a specified number of bits between 8 and 31 The data length for the selected feedback device can be found in its specifications Clock Frequency Sets the clock frequency of the SSI device to either 208 default or 625 kHz When the higher clock frequency is used the data from the feedback device is more recent but the length of the cable to the transducer must be shorter than with the lower frequency Enable Absolute Feedback This checkbox allows you to either enable checked or disable unchecked the Absolute Feedback feature The default is enabled If Enable Absol
627. zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a non zero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Backlash Reversal Error REAL Backlash Stabilization Window The Backlash Stabilization Window attribute is used to control the Backlash Stabilization feature in the servo control loop What follows is a description of this feature and the general backlash instability phenomenon Internal Access Rule Attribute Name Data Type Semantics of Values SSV GSV Backlash Stabilization Window REAL Mechanical backlash is a common problem in applications that utilize mechanical gearboxes The problem stems from the fact that until the input gear is turned to the point where its proximal tooth contacts an adjacent tooth of the output gear the reflected inertia of the output is Publication 1756 UMO006G EN P May 2005 13 84 Motion Object Attributes Output LP Filter Bandwidth Publication 1756 UMO006G EN P May 2005 not felt at the motor In other words when the gear teeth are not engaged the system inertia is reduced to the motor inertia If the servo loop is tuned for peak performance with the load applied the axis

1756-UM006G-EN-P, Logix5000 Motion Modules User Manual

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